From 4711ca8980eddd33299b6b0cc24650e4481942d0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 28 Oct 2018 17:34:41 -0400 Subject: [PATCH 0001/1152] Added a number of docker images --- docker/ubuntu-gtsam-python-vnc/Dockerfile | 18 ++++ docker/ubuntu-gtsam-python-vnc/bootstrap.sh | 111 ++++++++++++++++++++ docker/ubuntu-gtsam-python-vnc/build.sh | 4 + docker/ubuntu-gtsam-python-vnc/vnc.sh | 5 + docker/ubuntu-gtsam-python/Dockerfile | 29 +++++ docker/ubuntu-gtsam-python/build.sh | 3 + docker/ubuntu-gtsam/Dockerfile | 35 ++++++ docker/ubuntu-gtsam/build.sh | 3 + 8 files changed, 208 insertions(+) create mode 100644 docker/ubuntu-gtsam-python-vnc/Dockerfile create mode 100755 docker/ubuntu-gtsam-python-vnc/bootstrap.sh create mode 100755 docker/ubuntu-gtsam-python-vnc/build.sh create mode 100755 docker/ubuntu-gtsam-python-vnc/vnc.sh create mode 100644 docker/ubuntu-gtsam-python/Dockerfile create mode 100755 docker/ubuntu-gtsam-python/build.sh create mode 100644 docker/ubuntu-gtsam/Dockerfile create mode 100755 docker/ubuntu-gtsam/build.sh diff --git a/docker/ubuntu-gtsam-python-vnc/Dockerfile b/docker/ubuntu-gtsam-python-vnc/Dockerfile new file mode 100644 index 000000000..83222881a --- /dev/null +++ b/docker/ubuntu-gtsam-python-vnc/Dockerfile @@ -0,0 +1,18 @@ +# Get the base Ubuntu/GTSAM image from Docker Hub +FROM dellaert/ubuntu-gtsam-python:bionic + +# Things needed to get a python GUI +ENV DEBIAN_FRONTEND noninteractive +RUN apt-get install -y python-tk +RUN pip install matplotlib + +# Install a VNC X-server, Frame buffer, and windows manager +RUN apt-get install -y x11vnc xvfb fluxbox + +# Finally, install wmctrl needed for bootstrap script +RUN apt-get install -y wmctrl + +# Copy bootstrap script and make sure it runs +COPY bootstrap.sh / + +CMD '/bootstrap.sh' diff --git a/docker/ubuntu-gtsam-python-vnc/bootstrap.sh b/docker/ubuntu-gtsam-python-vnc/bootstrap.sh new file mode 100755 index 000000000..21356138f --- /dev/null +++ b/docker/ubuntu-gtsam-python-vnc/bootstrap.sh @@ -0,0 +1,111 @@ +#!/bin/bash + +# Based on: http://www.richud.com/wiki/Ubuntu_Fluxbox_GUI_with_x11vnc_and_Xvfb + +main() { + log_i "Starting xvfb virtual display..." + launch_xvfb + log_i "Starting window manager..." + launch_window_manager + log_i "Starting VNC server..." + run_vnc_server +} + +launch_xvfb() { + local xvfbLockFilePath="/tmp/.X1-lock" + if [ -f "${xvfbLockFilePath}" ] + then + log_i "Removing xvfb lock file '${xvfbLockFilePath}'..." + if ! rm -v "${xvfbLockFilePath}" + then + log_e "Failed to remove xvfb lock file" + exit 1 + fi + fi + + # Set defaults if the user did not specify envs. + export DISPLAY=${XVFB_DISPLAY:-:1} + local screen=${XVFB_SCREEN:-0} + local resolution=${XVFB_RESOLUTION:-1280x960x24} + local timeout=${XVFB_TIMEOUT:-5} + + # Start and wait for either Xvfb to be fully up or we hit the timeout. + Xvfb ${DISPLAY} -screen ${screen} ${resolution} & + local loopCount=0 + until xdpyinfo -display ${DISPLAY} > /dev/null 2>&1 + do + loopCount=$((loopCount+1)) + sleep 1 + if [ ${loopCount} -gt ${timeout} ] + then + log_e "xvfb failed to start" + exit 1 + fi + done +} + +launch_window_manager() { + local timeout=${XVFB_TIMEOUT:-5} + + # Start and wait for either fluxbox to be fully up or we hit the timeout. + fluxbox & + local loopCount=0 + until wmctrl -m > /dev/null 2>&1 + do + loopCount=$((loopCount+1)) + sleep 1 + if [ ${loopCount} -gt ${timeout} ] + then + log_e "fluxbox failed to start" + exit 1 + fi + done +} + +run_vnc_server() { + local passwordArgument='-nopw' + + if [ -n "${VNC_SERVER_PASSWORD}" ] + then + local passwordFilePath="${HOME}/.x11vnc.pass" + if ! x11vnc -storepasswd "${VNC_SERVER_PASSWORD}" "${passwordFilePath}" + then + log_e "Failed to store x11vnc password" + exit 1 + fi + passwordArgument=-"-rfbauth ${passwordFilePath}" + log_i "The VNC server will ask for a password" + else + log_w "The VNC server will NOT ask for a password" + fi + + x11vnc -ncache 10 -ncache_cr -display ${DISPLAY} -forever ${passwordArgument} & + wait $! +} + +log_i() { + log "[INFO] ${@}" +} + +log_w() { + log "[WARN] ${@}" +} + +log_e() { + log "[ERROR] ${@}" +} + +log() { + echo "[$(date '+%Y-%m-%d %H:%M:%S')] ${@}" +} + +control_c() { + echo "" + exit +} + +trap control_c SIGINT SIGTERM SIGHUP + +main + +exit diff --git a/docker/ubuntu-gtsam-python-vnc/build.sh b/docker/ubuntu-gtsam-python-vnc/build.sh new file mode 100755 index 000000000..8d280252f --- /dev/null +++ b/docker/ubuntu-gtsam-python-vnc/build.sh @@ -0,0 +1,4 @@ +# Build command for Docker image +# TODO(dellaert): use docker compose and/or cmake +# Needs to be run in docker/ubuntu-gtsam-python-vnc directory +docker build -t dellaert/ubuntu-gtsam-python-vnc:bionic . diff --git a/docker/ubuntu-gtsam-python-vnc/vnc.sh b/docker/ubuntu-gtsam-python-vnc/vnc.sh new file mode 100755 index 000000000..c0ab692c6 --- /dev/null +++ b/docker/ubuntu-gtsam-python-vnc/vnc.sh @@ -0,0 +1,5 @@ +# After running this script, connect VNC client to 0.0.0.0:5900 +docker run -it \ + --workdir="/usr/src/gtsam" \ + -p 5900:5900 \ + dellaert/ubuntu-gtsam-python-vnc:bionic \ No newline at end of file diff --git a/docker/ubuntu-gtsam-python/Dockerfile b/docker/ubuntu-gtsam-python/Dockerfile new file mode 100644 index 000000000..0c7d131be --- /dev/null +++ b/docker/ubuntu-gtsam-python/Dockerfile @@ -0,0 +1,29 @@ +# Get the base Ubuntu/GTSAM image from Docker Hub +FROM dellaert/ubuntu-gtsam:bionic + +# Install pip +RUN apt-get install -y python-pip python-dev + +# Install python wrapper requirements +RUN pip install -r /usr/src/gtsam/cython/requirements.txt + +# Run cmake again, now with cython toolbox on +WORKDIR /usr/src/gtsam/build +RUN cmake \ + -DCMAKE_BUILD_TYPE=Release \ + -DGTSAM_USE_SYSTEM_EIGEN=ON \ + -DGTSAM_WITH_EIGEN_MKL=OFF \ + -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ + -DGTSAM_BUILD_TIMING_ALWAYS=OFF \ + -DGTSAM_BUILD_TESTS=OFF \ + -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \ + .. + +# Build again, as ubuntu-gtsam image cleaned +RUN make -j3 install && make clean + +# Needed to run python wrapper: +RUN echo 'export PYTHONPATH=/usr/local/cython/' >> /root/.bashrc + +# Run bash +CMD ["bash"] diff --git a/docker/ubuntu-gtsam-python/build.sh b/docker/ubuntu-gtsam-python/build.sh new file mode 100755 index 000000000..1696f6c61 --- /dev/null +++ b/docker/ubuntu-gtsam-python/build.sh @@ -0,0 +1,3 @@ +# Build command for Docker image +# TODO(dellaert): use docker compose and/or cmake +docker build --no-cache -t dellaert/ubuntu-gtsam-python:bionic . diff --git a/docker/ubuntu-gtsam/Dockerfile b/docker/ubuntu-gtsam/Dockerfile new file mode 100644 index 000000000..bdfa8d9a5 --- /dev/null +++ b/docker/ubuntu-gtsam/Dockerfile @@ -0,0 +1,35 @@ +# Get the base Ubuntu image from Docker Hub +FROM dellaert/ubuntu-boost-tbb-eigen3:bionic + +# Install git +RUN apt-get update && \ + apt-get install -y git + +# Install compiler +RUN apt-get install -y build-essential + +# Clone GTSAM +WORKDIR /usr/src/ +RUN git clone https://bitbucket.org/gtborg/gtsam.git + +# Run cmake +RUN mkdir /usr/src/gtsam/build +WORKDIR /usr/src/gtsam/build +RUN cmake \ + -DCMAKE_BUILD_TYPE=Release \ + -DGTSAM_USE_SYSTEM_EIGEN=ON \ + -DGTSAM_WITH_EIGEN_MKL=OFF \ + -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ + -DGTSAM_BUILD_TIMING_ALWAYS=OFF \ + -DGTSAM_BUILD_TESTS=OFF \ + -DGTSAM_INSTALL_CYTHON_TOOLBOX=OFF \ + .. + +# Build +RUN make -j3 install && make clean + +# Needed to link with GTSAM +RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib' >> /root/.bashrc + +# Run bash +CMD ["bash"] diff --git a/docker/ubuntu-gtsam/build.sh b/docker/ubuntu-gtsam/build.sh new file mode 100755 index 000000000..bf545e9c2 --- /dev/null +++ b/docker/ubuntu-gtsam/build.sh @@ -0,0 +1,3 @@ +# Build command for Docker image +# TODO(dellaert): use docker compose and/or cmake +docker build --no-cache -t dellaert/ubuntu-gtsam:bionic . From b925142b987af501fb86d738079e6491940f5e37 Mon Sep 17 00:00:00 2001 From: Martin Brossard Date: Fri, 2 Aug 2019 17:13:02 +0200 Subject: [PATCH 0002/1152] Create pose3Localizationexample.txt pose3example.txt without loop closure --- examples/Data/pose3Localizationexample.txt | 9 +++++++++ 1 file changed, 9 insertions(+) create mode 100644 examples/Data/pose3Localizationexample.txt diff --git a/examples/Data/pose3Localizationexample.txt b/examples/Data/pose3Localizationexample.txt new file mode 100644 index 000000000..a35005aa2 --- /dev/null +++ b/examples/Data/pose3Localizationexample.txt @@ -0,0 +1,9 @@ +VERTEX_SE3:QUAT 0 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 +VERTEX_SE3:QUAT 1 1.001367 0.015390 0.004948 0.190253 0.283162 -0.392318 0.854230 +VERTEX_SE3:QUAT 2 1.993500 0.023275 0.003793 -0.351729 -0.597838 0.584174 0.421446 +VERTEX_SE3:QUAT 3 2.004291 1.024305 0.018047 0.331798 -0.200659 0.919323 0.067024 +VERTEX_SE3:QUAT 4 0.999908 1.055073 0.020212 -0.035697 -0.462490 0.445933 0.765488 +EDGE_SE3:QUAT 0 1 1.001367 0.015390 0.004948 0.190253 0.283162 -0.392318 0.854230 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000 +EDGE_SE3:QUAT 1 2 0.523923 0.776654 0.326659 0.311512 0.656877 -0.678505 0.105373 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000 +EDGE_SE3:QUAT 2 3 0.910927 0.055169 -0.411761 0.595795 -0.561677 0.079353 0.568551 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000 +EDGE_SE3:QUAT 3 4 0.775288 0.228798 -0.596923 -0.592077 0.303380 -0.513226 0.542221 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000 From 3d7ce45de66bb401cdd7c124cf0b4ef0fd228a57 Mon Sep 17 00:00:00 2001 From: Martin Brossard Date: Fri, 2 Aug 2019 17:14:31 +0200 Subject: [PATCH 0003/1152] Create Pose3Localization.cpp Pose3Example_g2o with marginal computation. --- examples/Pose3Localization.cpp | 83 ++++++++++++++++++++++++++++++++++ 1 file changed, 83 insertions(+) create mode 100644 examples/Pose3Localization.cpp diff --git a/examples/Pose3Localization.cpp b/examples/Pose3Localization.cpp new file mode 100644 index 000000000..becb9530c --- /dev/null +++ b/examples/Pose3Localization.cpp @@ -0,0 +1,83 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file Pose3SLAMExample_initializePose3.cpp + * @brief A 3D Pose SLAM example that reads input from g2o, and initializes the Pose3 using InitializePose3 + * Syntax for the script is ./Pose3SLAMExample_initializePose3 input.g2o output.g2o + * @date Aug 25, 2014 + * @author Luca Carlone + */ + +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +int main(const int argc, const char *argv[]) { + + // Read graph from file + string g2oFile; + if (argc < 2) + g2oFile = findExampleDataFile("pose3Localizationexample.txt"); + else + g2oFile = argv[1]; + + NonlinearFactorGraph::shared_ptr graph; + Values::shared_ptr initial; + bool is3D = true; + boost::tie(graph, initial) = readG2o(g2oFile, is3D); + + // Add prior on the first key + NonlinearFactorGraph graphWithPrior = *graph; + noiseModel::Diagonal::shared_ptr priorModel = // + noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished()); + Key firstKey = 0; + for(const Values::ConstKeyValuePair& key_value: *initial) { + std::cout << "Adding prior to g2o file " << std::endl; + firstKey = key_value.key; + graphWithPrior.add(PriorFactor(firstKey, Pose3(), priorModel)); + break; + } + + std::cout << "Optimizing the factor graph" << std::endl; + GaussNewtonParams params; + params.setVerbosity("TERMINATION"); // this will show info about stopping conditions + GaussNewtonOptimizer optimizer(graphWithPrior, *initial, params); + Values result = optimizer.optimize(); + std::cout << "Optimization complete" << std::endl; + + std::cout << "initial error=" <error(*initial)<< std::endl; + std::cout << "final error=" <error(result)<< std::endl; + + if (argc < 3) { + result.print("result"); + } else { + const string outputFile = argv[2]; + std::cout << "Writing results to file: " << outputFile << std::endl; + writeG2o(*graph, result, outputFile); + std::cout << "done! " << std::endl; + } + + // Calculate and print marginal covariances for all variables + Marginals marginals(*graph, result); + for(const auto& key_value: result) { + auto p = dynamic_cast*>(&key_value.value); + if (!p) continue; + std::cout << marginals.marginalCovariance(key_value.key) << endl; + } + return 0; +} From f68c06a10d2aad69e95951f806b6f566eb9511b5 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 18 Sep 2019 18:44:21 -0400 Subject: [PATCH 0004/1152] wrapped more mEstimators as well as their weight functions --- gtsam.h | 31 +++++++++++++++++++++++++++++++ 1 file changed, 31 insertions(+) diff --git a/gtsam.h b/gtsam.h index bf3575580..23590f5f8 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1362,6 +1362,8 @@ virtual class Null: gtsam::noiseModel::mEstimator::Base { // enabling serialization functionality void serializable() const; + + double weight(double error) const; }; virtual class Fair: gtsam::noiseModel::mEstimator::Base { @@ -1370,6 +1372,8 @@ virtual class Fair: gtsam::noiseModel::mEstimator::Base { // enabling serialization functionality void serializable() const; + + double weight(double error) const; }; virtual class Huber: gtsam::noiseModel::mEstimator::Base { @@ -1378,6 +1382,18 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base { // enabling serialization functionality void serializable() const; + + double weight(double error) const; +}; + +virtual class Cauchy: gtsam::noiseModel::mEstimator::Base { + Cauchy(double k); + static gtsam::noiseModel::mEstimator::Cauchy* Create(double k); + + // enabling serialization functionality + void serializable() const; + + double weight(double error) const; }; virtual class Tukey: gtsam::noiseModel::mEstimator::Base { @@ -1386,6 +1402,8 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base { // enabling serialization functionality void serializable() const; + + double weight(double error) const; }; virtual class Welsch: gtsam::noiseModel::mEstimator::Base { @@ -1394,8 +1412,21 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base { // enabling serialization functionality void serializable() const; + + double weight(double error) const; }; +virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { + GemanMcClure(double k); + static gtsam::noiseModel::mEstimator::GemanMcClure* Create(double k); + + // enabling serialization functionality + void serializable() const; + + double weight(double error) const; +}; + +//TODO DCS and L2WithDeadZone mEstimators }///\namespace mEstimator From c8e18c95d0cd6efb5212515280ae61632000f2a2 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 18 Sep 2019 20:08:10 -0400 Subject: [PATCH 0005/1152] added script to visualize values of different mEstimators --- matlab/gtsam_examples/VisualizeMEstimators.m | 160 +++++++++++++++++++ 1 file changed, 160 insertions(+) create mode 100644 matlab/gtsam_examples/VisualizeMEstimators.m diff --git a/matlab/gtsam_examples/VisualizeMEstimators.m b/matlab/gtsam_examples/VisualizeMEstimators.m new file mode 100644 index 000000000..b8ffc03c4 --- /dev/null +++ b/matlab/gtsam_examples/VisualizeMEstimators.m @@ -0,0 +1,160 @@ +import gtsam.* + +clear all; +close all; + +x = linspace(-10, 10, 1000); +% x = linspace(-10, 10, 21) + +[rho, psi, w] = fair(x); +plot_rho(x, rho, 1, -1, 30) +title('Fair'); +plot_psi(x, psi, 7, -3, 3); +plot_w(x, w, 13, 3); + +[rho, psi, w] = huber(x); +plot_rho(x, rho, 2, -1, 30); +title('Huber'); +plot_psi(x, psi, 8, -15, 15); +plot_w(x, w, 14, 5); + +[rho, psi, w] = cauchy(x); +plot_rho(x, rho, 3, -0.1, 0.1); +title('Cauchy'); +plot_psi(x, psi, 9, -0.2, 0.2); +plot_w(x, w, 15, 1.5); + +[rho, psi, w] = gemancclure(x); +plot_rho(x, rho, 4, -1, 1); +title('Geman-McClure'); +plot_psi(x, psi, 10, -1, 1); +plot_w(x, w, 16, 1.5); + +[rho, psi, w] = welsch(x); +plot_rho(x, rho, 5, -5, 10); +title('Welsch'); +plot_psi(x, psi, 11, -2, 2); +plot_w(x, w, 17, 2); + +[rho, psi, w] = tukey(x); +plot_rho(x, rho, 6, -5, 10); +title('Tukey'); +plot_psi(x, psi, 12, -2, 2); +plot_w(x, w, 18, 2); + +function plot_rho(x, y, idx, yll, ylu) + subplot(3, 6, idx); + plot(x, y); + xlim([-15, 15]); + ylim([yll, ylu]); +end + +function plot_psi(x, y, idx, yll, ylu) + subplot(3, 6, idx); + plot(x, y); + xlim([-15, 15]); + ylim([yll, ylu]); +end + +function plot_w(x, y, idx, yl) + subplot(3, 6, idx); + plot(x, y); + xlim([-15, 15]); + ylim([-yl, yl]); +end + +function [rho, psi, w] = fair(x) + import gtsam.* + c = 1.3998; + + rho = c^2 * ( (abs(x) ./ c) - log(1 + (abs(x)./c)) ); + est = noiseModel.mEstimator.Fair(c); + + w = zeros(size(x)); + for i = 1:size(x, 2) + w(i) = est.weight(x(i)); + end + + psi = w .* x; +end + +function [rho, psi, w] = huber(x) + import gtsam.* + k = 5; + t = (abs(x) > k); + + rho = (x .^ 2) ./ 2; + rho(t) = k * (abs(x(t)) - (k/2)); + est = noiseModel.mEstimator.Huber(k); + + w = zeros(size(x)); + for i = 1:size(x, 2) + w(i) = est.weight(x(i)); + end + + psi = w .* x; +end + +function [rho, psi, w] = cauchy(x) + import gtsam.* + c = 0.1; + + rho = (c^2 / 2) .* log(1 + ((x./c) .^ 2)); + + est = noiseModel.mEstimator.Cauchy(c); + + w = zeros(size(x)); + for i = 1:size(x, 2) + w(i) = est.weight(x(i)); + end + + psi = w .* x; +end + +function [rho, psi, w] = gemancclure(x) + import gtsam.* + c = 1.0; + rho = ((x .^ 2) ./ 2) ./ (1 + x .^ 2); + + est = noiseModel.mEstimator.GemanMcClure(c); + + w = zeros(size(x)); + for i = 1:size(x, 2) + w(i) = est.weight(x(i)); + end + + psi = w .* x; +end + +function [rho, psi, w] = welsch(x) + import gtsam.* + c = 2.9846; + rho = (c^2 / 2) * ( 1 - exp(-(x ./ c) .^2 )); + + est = noiseModel.mEstimator.Welsh(c); + + w = zeros(size(x)); + for i = 1:size(x, 2) + w(i) = est.weight(x(i)); + end + + psi = w .* x; +end + +function [rho, psi, w] = tukey(x) + import gtsam.* + c = 4.6851; + t = (abs(x) > c); + + rho = (c^2 / 6) * (1 - (1 - (x ./ c) .^ 2 ) .^ 3 ); + rho(t) = c .^ 2 / 6; + + est = noiseModel.mEstimator.Tukey(c); + + w = zeros(size(x)); + for i = 1:size(x, 2) + w(i) = est.weight(x(i)); + end + + psi = w .* x; +end From ab044b693b004ca9e229736cdfd1043f09fa55dd Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 18 Sep 2019 23:41:20 -0400 Subject: [PATCH 0006/1152] different plots for each mEstimator --- matlab/gtsam_examples/VisualizeMEstimators.m | 54 ++++++++++++-------- 1 file changed, 33 insertions(+), 21 deletions(-) diff --git a/matlab/gtsam_examples/VisualizeMEstimators.m b/matlab/gtsam_examples/VisualizeMEstimators.m index b8ffc03c4..8fce828aa 100644 --- a/matlab/gtsam_examples/VisualizeMEstimators.m +++ b/matlab/gtsam_examples/VisualizeMEstimators.m @@ -7,57 +7,69 @@ x = linspace(-10, 10, 1000); % x = linspace(-10, 10, 21) [rho, psi, w] = fair(x); +figure(1); plot_rho(x, rho, 1, -1, 30) title('Fair'); -plot_psi(x, psi, 7, -3, 3); -plot_w(x, w, 13, 3); +plot_psi(x, psi, 2, -3, 3); +plot_w(x, w, 3, 3); +saveas(figure(1), 'fair.png'); [rho, psi, w] = huber(x); -plot_rho(x, rho, 2, -1, 30); +figure(2); +plot_rho(x, rho, 1, -1, 30); title('Huber'); -plot_psi(x, psi, 8, -15, 15); -plot_w(x, w, 14, 5); +plot_psi(x, psi, 2, -15, 15); +plot_w(x, w, 3, 5); +saveas(figure(2), 'huber.png'); [rho, psi, w] = cauchy(x); -plot_rho(x, rho, 3, -0.1, 0.1); +figure(3); +plot_rho(x, rho, 1, -0.1, 0.1); title('Cauchy'); -plot_psi(x, psi, 9, -0.2, 0.2); -plot_w(x, w, 15, 1.5); +plot_psi(x, psi, 2, -0.2, 0.2); +plot_w(x, w, 3, 1.5); +saveas(figure(3), 'cauchy.png'); [rho, psi, w] = gemancclure(x); -plot_rho(x, rho, 4, -1, 1); +figure(4); +plot_rho(x, rho, 1, -1, 1); title('Geman-McClure'); -plot_psi(x, psi, 10, -1, 1); -plot_w(x, w, 16, 1.5); +plot_psi(x, psi, 2, -1, 1); +plot_w(x, w, 3, 1.5); +saveas(figure(4), 'gemanmcclure.png'); [rho, psi, w] = welsch(x); -plot_rho(x, rho, 5, -5, 10); +figure(5); +plot_rho(x, rho, 1, -5, 10); title('Welsch'); -plot_psi(x, psi, 11, -2, 2); -plot_w(x, w, 17, 2); +plot_psi(x, psi, 2, -2, 2); +plot_w(x, w, 3, 2); +saveas(figure(5), 'welsch.png'); [rho, psi, w] = tukey(x); -plot_rho(x, rho, 6, -5, 10); +figure(6); +plot_rho(x, rho, 1, -5, 10); title('Tukey'); -plot_psi(x, psi, 12, -2, 2); -plot_w(x, w, 18, 2); +plot_psi(x, psi, 2, -2, 2); +plot_w(x, w, 3, 2); +saveas(figure(6), 'tukey.png'); function plot_rho(x, y, idx, yll, ylu) - subplot(3, 6, idx); + subplot(3, 1, idx); plot(x, y); xlim([-15, 15]); ylim([yll, ylu]); end function plot_psi(x, y, idx, yll, ylu) - subplot(3, 6, idx); + subplot(3, 1, idx); plot(x, y); xlim([-15, 15]); ylim([yll, ylu]); end function plot_w(x, y, idx, yl) - subplot(3, 6, idx); + subplot(3, 1, idx); plot(x, y); xlim([-15, 15]); ylim([-yl, yl]); @@ -131,7 +143,7 @@ function [rho, psi, w] = welsch(x) c = 2.9846; rho = (c^2 / 2) * ( 1 - exp(-(x ./ c) .^2 )); - est = noiseModel.mEstimator.Welsh(c); + est = noiseModel.mEstimator.Welsch(c); w = zeros(size(x)); for i = 1:size(x, 2) From f71e156bced9d6a1aed094f004d647fcf71becea Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 19 Sep 2019 16:13:59 -0400 Subject: [PATCH 0007/1152] Fixed comment --- gtsam/linear/NoiseModel.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 5c540caa3..464bb38ed 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -635,9 +635,9 @@ namespace gtsam { * To illustrate, let's consider the least-squares (L2), L1, and Huber estimators as examples: * * Name Symbol Least-Squares L1-norm Huber - * Residual \rho(x) 0.5*x^2 |x| 0.5*x^2 if x Date: Thu, 19 Sep 2019 12:58:27 -0400 Subject: [PATCH 0008/1152] renamed global variables in smallExample.h and added optional noise model parameters --- tests/smallExample.h | 55 +++++++++++++++++++++++--------------------- 1 file changed, 29 insertions(+), 26 deletions(-) diff --git a/tests/smallExample.h b/tests/smallExample.h index 146289dac..d268f2787 100644 --- a/tests/smallExample.h +++ b/tests/smallExample.h @@ -159,10 +159,10 @@ namespace example { namespace impl { typedef boost::shared_ptr shared_nlf; -static SharedDiagonal sigma1_0 = noiseModel::Isotropic::Sigma(2,1.0); -static SharedDiagonal sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1); -static SharedDiagonal sigma0_2 = noiseModel::Isotropic::Sigma(2,0.2); -static SharedDiagonal constraintModel = noiseModel::Constrained::All(2); +static SharedDiagonal kSigma1_0 = noiseModel::Isotropic::Sigma(2,1.0); +static SharedDiagonal kSigma0_1 = noiseModel::Isotropic::Sigma(2,0.1); +static SharedDiagonal kSigma0_2 = noiseModel::Isotropic::Sigma(2,0.2); +static SharedDiagonal kConstrainedModel = noiseModel::Constrained::All(2); static const Key _l1_=0, _x1_=1, _x2_=2; static const Key _x_=0, _y_=1, _z_=2; @@ -170,40 +170,43 @@ static const Key _x_=0, _y_=1, _z_=2; /* ************************************************************************* */ -inline boost::shared_ptr sharedNonlinearFactorGraph() { +inline boost::shared_ptr +sharedNonlinearFactorGraph(const noiseModel::Base &noiseModel1 = kSigma0_1, + const noiseModel::Base &noiseModel2 = kSigma0_2) { using namespace impl; - using symbol_shorthand::X; using symbol_shorthand::L; + using symbol_shorthand::X; // Create - boost::shared_ptr nlfg( - new NonlinearFactorGraph); + boost::shared_ptr nlfg(new NonlinearFactorGraph); // prior on x1 - Point2 mu(0,0); - shared_nlf f1(new simulated2D::Prior(mu, sigma0_1, X(1))); + Point2 mu(0, 0); + shared_nlf f1(new simulated2D::Prior(mu, noiseModel1, X(1))); nlfg->push_back(f1); // odometry between x1 and x2 Point2 z2(1.5, 0); - shared_nlf f2(new simulated2D::Odometry(z2, sigma0_1, X(1), X(2))); + shared_nlf f2(new simulated2D::Odometry(z2, noiseModel1, X(1), X(2))); nlfg->push_back(f2); // measurement between x1 and l1 Point2 z3(0, -1); - shared_nlf f3(new simulated2D::Measurement(z3, sigma0_2, X(1), L(1))); + shared_nlf f3(new simulated2D::Measurement(z3, noiseModel2, X(1), L(1))); nlfg->push_back(f3); // measurement between x2 and l1 Point2 z4(-1.5, -1.); - shared_nlf f4(new simulated2D::Measurement(z4, sigma0_2, X(2), L(1))); + shared_nlf f4(new simulated2D::Measurement(z4, noiseModel2, X(2), L(1))); nlfg->push_back(f4); return nlfg; } /* ************************************************************************* */ -inline NonlinearFactorGraph createNonlinearFactorGraph() { - return *sharedNonlinearFactorGraph(); +inline NonlinearFactorGraph +createNonlinearFactorGraph(const noiseModel::Base &noiseModel1 = kSigma0_1, + const noiseModel::Base &noiseModel2 = kSigma0_2) { + return *sharedNonlinearFactorGraph(noiseModel1, noiseModel2); } /* ************************************************************************* */ @@ -372,19 +375,19 @@ inline std::pair createNonlinearSmoother(int T) { // prior on x1 Point2 x1(1.0, 0.0); - shared_nlf prior(new simulated2D::Prior(x1, sigma1_0, X(1))); + shared_nlf prior(new simulated2D::Prior(x1, kSigma1_0, X(1))); nlfg.push_back(prior); poses.insert(X(1), x1); for (int t = 2; t <= T; t++) { // odometry between x_t and x_{t-1} Point2 odo(1.0, 0.0); - shared_nlf odometry(new simulated2D::Odometry(odo, sigma1_0, X(t - 1), X(t))); + shared_nlf odometry(new simulated2D::Odometry(odo, kSigma1_0, X(t - 1), X(t))); nlfg.push_back(odometry); // measurement on x_t is like perfect GPS Point2 xt(t, 0); - shared_nlf measurement(new simulated2D::Prior(xt, sigma1_0, X(t))); + shared_nlf measurement(new simulated2D::Prior(xt, kSigma1_0, X(t))); nlfg.push_back(measurement); // initial estimate @@ -412,7 +415,7 @@ inline GaussianFactorGraph createSimpleConstraintGraph() { Vector b1(2); b1(0) = 1.0; b1(1) = -1.0; - JacobianFactor::shared_ptr f1(new JacobianFactor(_x_, Ax, b1, sigma0_1)); + JacobianFactor::shared_ptr f1(new JacobianFactor(_x_, Ax, b1, kSigma0_1)); // create binary constraint factor // between _x_ and _y_, that is going to be the only factor on _y_ @@ -422,7 +425,7 @@ inline GaussianFactorGraph createSimpleConstraintGraph() { Matrix Ay1 = I_2x2 * -1; Vector b2 = Vector2(0.0, 0.0); JacobianFactor::shared_ptr f2(new JacobianFactor(_x_, Ax1, _y_, Ay1, b2, - constraintModel)); + kConstrainedModel)); // construct the graph GaussianFactorGraph fg; @@ -453,8 +456,8 @@ inline GaussianFactorGraph createSingleConstraintGraph() { Vector b1(2); b1(0) = 1.0; b1(1) = -1.0; - //GaussianFactor::shared_ptr f1(new JacobianFactor(_x_, sigma0_1->Whiten(Ax), sigma0_1->whiten(b1), sigma0_1)); - JacobianFactor::shared_ptr f1(new JacobianFactor(_x_, Ax, b1, sigma0_1)); + //GaussianFactor::shared_ptr f1(new JacobianFactor(_x_, kSigma0_1->Whiten(Ax), kSigma0_1->whiten(b1), kSigma0_1)); + JacobianFactor::shared_ptr f1(new JacobianFactor(_x_, Ax, b1, kSigma0_1)); // create binary constraint factor // between _x_ and _y_, that is going to be the only factor on _y_ @@ -468,7 +471,7 @@ inline GaussianFactorGraph createSingleConstraintGraph() { Matrix Ay1 = I_2x2 * 10; Vector b2 = Vector2(1.0, 2.0); JacobianFactor::shared_ptr f2(new JacobianFactor(_x_, Ax1, _y_, Ay1, b2, - constraintModel)); + kConstrainedModel)); // construct the graph GaussianFactorGraph fg; @@ -493,7 +496,7 @@ inline GaussianFactorGraph createMultiConstraintGraph() { // unary factor 1 Matrix A = I_2x2; Vector b = Vector2(-2.0, 2.0); - JacobianFactor::shared_ptr lf1(new JacobianFactor(_x_, A, b, sigma0_1)); + JacobianFactor::shared_ptr lf1(new JacobianFactor(_x_, A, b, kSigma0_1)); // constraint 1 Matrix A11(2, 2); @@ -512,7 +515,7 @@ inline GaussianFactorGraph createMultiConstraintGraph() { b1(0) = 1.0; b1(1) = 2.0; JacobianFactor::shared_ptr lc1(new JacobianFactor(_x_, A11, _y_, A12, b1, - constraintModel)); + kConstrainedModel)); // constraint 2 Matrix A21(2, 2); @@ -531,7 +534,7 @@ inline GaussianFactorGraph createMultiConstraintGraph() { b2(0) = 3.0; b2(1) = 4.0; JacobianFactor::shared_ptr lc2(new JacobianFactor(_x_, A21, _z_, A22, b2, - constraintModel)); + kConstrainedModel)); // construct the graph GaussianFactorGraph fg; From f58d421b71836dbb850913fcf55356282595d18a Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 24 Sep 2019 12:48:38 -0400 Subject: [PATCH 0009/1152] improve m-estimator visualization code --- matlab/gtsam_examples/VisualizeMEstimators.m | 196 ++++++------------- 1 file changed, 63 insertions(+), 133 deletions(-) diff --git a/matlab/gtsam_examples/VisualizeMEstimators.m b/matlab/gtsam_examples/VisualizeMEstimators.m index 8fce828aa..5120934fe 100644 --- a/matlab/gtsam_examples/VisualizeMEstimators.m +++ b/matlab/gtsam_examples/VisualizeMEstimators.m @@ -1,172 +1,102 @@ -import gtsam.* +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Plot visualizations of residuals, residual derivatives, and weights for the various mEstimators. +% @author Varun Agrawal +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% import gtsam.* clear all; close all; x = linspace(-10, 10, 1000); -% x = linspace(-10, 10, 21) +% x = linspace(-5, 5, 101); -[rho, psi, w] = fair(x); -figure(1); -plot_rho(x, rho, 1, -1, 30) -title('Fair'); -plot_psi(x, psi, 2, -3, 3); -plot_w(x, w, 3, 3); -saveas(figure(1), 'fair.png'); +c = 1.3998; +rho = fair(x, c); +fairNoiseModel = gtsam.noiseModel.mEstimator.Fair(c); +plot_m_estimator(x, fairNoiseModel, rho, 'Fair', 1, 'fair.png') -[rho, psi, w] = huber(x); -figure(2); -plot_rho(x, rho, 1, -1, 30); -title('Huber'); -plot_psi(x, psi, 2, -15, 15); -plot_w(x, w, 3, 5); -saveas(figure(2), 'huber.png'); +c = 1.345; +rho = huber(x, c); +huberNoiseModel = gtsam.noiseModel.mEstimator.Huber(c); +plot_m_estimator(x, huberNoiseModel, rho, 'Huber', 2, 'huber.png') -[rho, psi, w] = cauchy(x); -figure(3); -plot_rho(x, rho, 1, -0.1, 0.1); -title('Cauchy'); -plot_psi(x, psi, 2, -0.2, 0.2); -plot_w(x, w, 3, 1.5); -saveas(figure(3), 'cauchy.png'); +c = 0.1; +rho = cauchy(x, c); +cauchyNoiseModel = gtsam.noiseModel.mEstimator.Cauchy(c); +plot_m_estimator(x, cauchyNoiseModel, rho, 'Cauchy', 3, 'cauchy.png') -[rho, psi, w] = gemancclure(x); -figure(4); -plot_rho(x, rho, 1, -1, 1); -title('Geman-McClure'); -plot_psi(x, psi, 2, -1, 1); -plot_w(x, w, 3, 1.5); -saveas(figure(4), 'gemanmcclure.png'); +c = 1.0; +rho = gemanmcclure(x, c); +gemanmcclureNoiseModel = gtsam.noiseModel.mEstimator.GemanMcClure(c); +plot_m_estimator(x, gemanmcclureNoiseModel, rho, 'GemanMcClure', 4, 'gemanmcclure.png') -[rho, psi, w] = welsch(x); -figure(5); -plot_rho(x, rho, 1, -5, 10); -title('Welsch'); -plot_psi(x, psi, 2, -2, 2); -plot_w(x, w, 3, 2); -saveas(figure(5), 'welsch.png'); +c = 2.9846; +rho = welsch(x, c); +welschNoiseModel = gtsam.noiseModel.mEstimator.Welsch(c); +plot_m_estimator(x, welschNoiseModel, rho, 'Welsch', 5, 'welsch.png') -[rho, psi, w] = tukey(x); -figure(6); -plot_rho(x, rho, 1, -5, 10); -title('Tukey'); -plot_psi(x, psi, 2, -2, 2); -plot_w(x, w, 3, 2); -saveas(figure(6), 'tukey.png'); +c = 4.6851; +rho = tukey(x, c); +tukeyNoiseModel = gtsam.noiseModel.mEstimator.Tukey(c); +plot_m_estimator(x, tukeyNoiseModel, rho, 'Tukey', 6, 'tukey.png') -function plot_rho(x, y, idx, yll, ylu) - subplot(3, 1, idx); - plot(x, y); - xlim([-15, 15]); - ylim([yll, ylu]); -end - -function plot_psi(x, y, idx, yll, ylu) - subplot(3, 1, idx); - plot(x, y); - xlim([-15, 15]); - ylim([yll, ylu]); -end - -function plot_w(x, y, idx, yl) - subplot(3, 1, idx); - plot(x, y); - xlim([-15, 15]); - ylim([-yl, yl]); -end - -function [rho, psi, w] = fair(x) - import gtsam.* - c = 1.3998; - - rho = c^2 * ( (abs(x) ./ c) - log(1 + (abs(x)./c)) ); - est = noiseModel.mEstimator.Fair(c); - +%% Plot rho, psi and weights of the mEstimator. +function plot_m_estimator(x, model, rho, plot_title, fig_id, filename) w = zeros(size(x)); for i = 1:size(x, 2) - w(i) = est.weight(x(i)); + w(i) = model.weight(x(i)); end psi = w .* x; + + figure(fig_id); + subplot(3, 1, 1); + plot(x, rho); + xlim([-5, 5]); + title(plot_title); + subplot(3, 1, 2); + plot(x, psi); + xlim([-5, 5]); + subplot(3, 1, 3); + plot(x, w); + xlim([-5, 5]); + saveas(figure(fig_id), filename); end -function [rho, psi, w] = huber(x) - import gtsam.* - k = 5; +function rho = fair(x, c) + rho = c^2 * ( (abs(x) ./ c) - log(1 + (abs(x)./c)) ); +end + +function rho = huber(x, k) t = (abs(x) > k); rho = (x .^ 2) ./ 2; rho(t) = k * (abs(x(t)) - (k/2)); - est = noiseModel.mEstimator.Huber(k); - - w = zeros(size(x)); - for i = 1:size(x, 2) - w(i) = est.weight(x(i)); - end - - psi = w .* x; end -function [rho, psi, w] = cauchy(x) - import gtsam.* - c = 0.1; - +function rho = cauchy(x, c) rho = (c^2 / 2) .* log(1 + ((x./c) .^ 2)); - - est = noiseModel.mEstimator.Cauchy(c); - - w = zeros(size(x)); - for i = 1:size(x, 2) - w(i) = est.weight(x(i)); - end - - psi = w .* x; end -function [rho, psi, w] = gemancclure(x) - import gtsam.* - c = 1.0; +function rho = gemanmcclure(x, c) rho = ((x .^ 2) ./ 2) ./ (1 + x .^ 2); - - est = noiseModel.mEstimator.GemanMcClure(c); - - w = zeros(size(x)); - for i = 1:size(x, 2) - w(i) = est.weight(x(i)); - end - - psi = w .* x; end -function [rho, psi, w] = welsch(x) - import gtsam.* - c = 2.9846; +function rho = welsch(x, c) rho = (c^2 / 2) * ( 1 - exp(-(x ./ c) .^2 )); - - est = noiseModel.mEstimator.Welsch(c); - - w = zeros(size(x)); - for i = 1:size(x, 2) - w(i) = est.weight(x(i)); - end - - psi = w .* x; end -function [rho, psi, w] = tukey(x) - import gtsam.* - c = 4.6851; +function rho = tukey(x, c) t = (abs(x) > c); rho = (c^2 / 6) * (1 - (1 - (x ./ c) .^ 2 ) .^ 3 ); rho(t) = c .^ 2 / 6; - - est = noiseModel.mEstimator.Tukey(c); - - w = zeros(size(x)); - for i = 1:size(x, 2) - w(i) = est.weight(x(i)); - end - - psi = w .* x; end From 3eb8e3d9bcb3b2fdc22370828433a018579a5cd1 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 25 Sep 2019 23:02:21 -0400 Subject: [PATCH 0010/1152] fixed function declarations which use globally declared noise models --- tests/smallExample.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tests/smallExample.h b/tests/smallExample.h index d268f2787..2b29a6d10 100644 --- a/tests/smallExample.h +++ b/tests/smallExample.h @@ -171,8 +171,8 @@ static const Key _x_=0, _y_=1, _z_=2; /* ************************************************************************* */ inline boost::shared_ptr -sharedNonlinearFactorGraph(const noiseModel::Base &noiseModel1 = kSigma0_1, - const noiseModel::Base &noiseModel2 = kSigma0_2) { +sharedNonlinearFactorGraph(const SharedNoiseModel &noiseModel1 = impl::kSigma0_1, + const SharedNoiseModel &noiseModel2 = impl::kSigma0_2) { using namespace impl; using symbol_shorthand::L; using symbol_shorthand::X; @@ -204,8 +204,8 @@ sharedNonlinearFactorGraph(const noiseModel::Base &noiseModel1 = kSigma0_1, /* ************************************************************************* */ inline NonlinearFactorGraph -createNonlinearFactorGraph(const noiseModel::Base &noiseModel1 = kSigma0_1, - const noiseModel::Base &noiseModel2 = kSigma0_2) { +createNonlinearFactorGraph(const SharedNoiseModel &noiseModel1 = impl::kSigma0_1, + const SharedNoiseModel &noiseModel2 = impl::kSigma0_2) { return *sharedNonlinearFactorGraph(noiseModel1, noiseModel2); } From 6e076363026aeb377266f6d3a5bbffa182e50652 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 16 Apr 2019 23:45:27 -0400 Subject: [PATCH 0011/1152] Added several methods --- gtsam/geometry/SO3.cpp | 72 ++++++++++++++++++++++++++++++++ gtsam/geometry/SO3.h | 66 +++++++++++++++++++++++++---- gtsam/geometry/tests/testSO3.cpp | 31 +++++++++++++- 3 files changed, 159 insertions(+), 10 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index 034956e99..cd321b126 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -20,14 +20,32 @@ #include #include + +#include + #include #include #include namespace gtsam { +/* ************************************************************************* */ namespace so3 { +Matrix99 Dcompose(const SO3& R) { + Matrix99 H; + H << I_3x3 * R(0, 0), I_3x3 * R(1, 0), I_3x3 * R(2, 0), // + I_3x3 * R(0, 1), I_3x3 * R(1, 1), I_3x3 * R(2, 1), // + I_3x3 * R(0, 2), I_3x3 * R(1, 2), I_3x3 * R(2, 2); + return H; +} + +Matrix3 compose(const Matrix3& M, const SO3& R, OptionalJacobian<9, 9> H) { + Matrix3 MR = M * R.matrix(); + if (H) *H = Dcompose(R); + return MR; +} + void ExpmapFunctor::init(bool nearZeroApprox) { nearZero = nearZeroApprox || (theta2 <= std::numeric_limits::epsilon()); if (!nearZero) { @@ -116,11 +134,44 @@ SO3 SO3::AxisAngle(const Vector3& axis, double theta) { return so3::ExpmapFunctor(axis, theta).expmap(); } +/* ************************************************************************* */ +SO3 SO3::ClosestTo(const Matrix3& M) { + Eigen::JacobiSVD svd(M, Eigen::ComputeThinU | Eigen::ComputeThinV); + const auto& U = svd.matrixU(); + const auto& V = svd.matrixV(); + const double det = (U * V.transpose()).determinant(); + return U * Vector3(1, 1, det).asDiagonal() * V.transpose(); +} + +/* ************************************************************************* */ +SO3 SO3::ChordalMean(const std::vector& rotations) { + // See Hartley13ijcv: + // Cost function C(R) = \sum sqr(|R-R_i|_F) + // Closed form solution = ClosestTo(C_e), where C_e = \sum R_i !!!! + Matrix3 C_e {Z_3x3}; + for (const auto& R_i : rotations) { + C_e += R_i; + } + return ClosestTo(C_e); +} + /* ************************************************************************* */ void SO3::print(const std::string& s) const { std::cout << s << *this << std::endl; } +//****************************************************************************** + Matrix3 SO3::Hat(const Vector3& xi) { return skewSymmetric(xi); } + + /* ************************************************************************* */ + Vector3 SO3::Vee(const Matrix3& X) { + Vector3 xi; + xi(0) = -X(1, 2); + xi(1) = X(0, 2); + xi(2) = -X(0, 1); + return xi; +} + /* ************************************************************************* */ SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { if (H) { @@ -199,6 +250,27 @@ Matrix3 SO3::LogmapDerivative(const Vector3& omega) { W * W; } +/* ************************************************************************* */ +static Vector9 vec(const SO3& R) { return Eigen::Map(R.data()); } + +static const std::vector G({SO3::Hat(Vector3::Unit(0)), + SO3::Hat(Vector3::Unit(1)), + SO3::Hat(Vector3::Unit(2))}); + +static const Matrix93 P = + (Matrix93() << vec(G[0]), vec(G[1]), vec(G[2])).finished(); + +/* ************************************************************************* */ +Vector9 SO3::vec(OptionalJacobian<9, 3> H) const { + const SO3& R = *this; + if (H) { + // As Luca calculated (for SO4), this is (I3 \oplus R) * P + *H << R * P.block<3, 3>(0, 0), R * P.block<3, 3>(3, 0), + R * P.block<3, 3>(6, 0); + } + return gtsam::vec(R); +}; + /* ************************************************************************* */ } // end namespace gtsam diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index 5f1c7d1bf..fd0d6f1e1 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -38,14 +38,13 @@ class SO3: public Matrix3, public LieGroup { protected: public: - enum { - dimension = 3 - }; + enum { N = 3 }; + enum { dimension = 3 }; /// @name Constructors /// @{ - /// Constructor from AngleAxisd + /// Default constructor creates identity SO3() : Matrix3(I_3x3) { } @@ -61,9 +60,15 @@ public: Matrix3(angleAxis) { } - /// Static, named constructor TODO think about relation with above + /// Static, named constructor. TODO(dellaert): think about relation with above GTSAM_EXPORT static SO3 AxisAngle(const Vector3& axis, double theta); + /// Static, named constructor that finds SO(3) matrix closest to M in Frobenius norm. + static SO3 ClosestTo(const Matrix3& M); + + /// Static, named constructor that finds chordal mean = argmin_R \sum sqr(|R-R_i|_F). + static SO3 ChordalMean(const std::vector& rotations); + /// @} /// @name Testable /// @{ @@ -85,13 +90,16 @@ public: /// inverse of a rotation = transpose SO3 inverse() const { - return this->Matrix3::inverse(); + return this->transpose(); } /// @} /// @name Lie Group /// @{ + static Matrix3 Hat(const Vector3 &xi); ///< make skew symmetric matrix + static Vector3 Vee(const Matrix3 &X); ///< inverse of Hat + /** * Exponential map at identity - create a rotation from canonical coordinates * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula @@ -127,13 +135,53 @@ public: using LieGroup::inverse; /// @} + /// @name Other methods + /// @{ + + /// Vectorize + Vector9 vec(OptionalJacobian<9, 3> H = boost::none) const; + + /// Return matrix (for wrapper) + const Matrix3& matrix() const { return *this;} + + /// @ + + private: + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) + { + ar & boost::serialization::make_nvp("R11", (*this)(0,0)); + ar & boost::serialization::make_nvp("R12", (*this)(0,1)); + ar & boost::serialization::make_nvp("R13", (*this)(0,2)); + ar & boost::serialization::make_nvp("R21", (*this)(1,0)); + ar & boost::serialization::make_nvp("R22", (*this)(1,1)); + ar & boost::serialization::make_nvp("R23", (*this)(1,2)); + ar & boost::serialization::make_nvp("R31", (*this)(2,0)); + ar & boost::serialization::make_nvp("R32", (*this)(2,1)); + ar & boost::serialization::make_nvp("R33", (*this)(2,2)); + } + }; -// This namespace exposes two functors that allow for saving computation when -// exponential map and its derivatives are needed at the same location in so<3> -// The second functor also implements dedicated methods to apply dexp and/or inv(dexp) namespace so3 { +/** + * Compose general matrix with an SO(3) element. + * We only provide the 9*9 derivative in the first argument M. + */ +Matrix3 compose(const Matrix3& M, const SO3& R, + OptionalJacobian<9, 9> H = boost::none); + +/// (constant) Jacobian of compose wrpt M +Matrix99 Dcompose(const SO3& R); + +// Below are two functors that allow for saving computation when exponential map +// and its derivatives are needed at the same location in so<3>. The second +// functor also implements dedicated methods to apply dexp and/or inv(dexp). + /// Functor implementing Exponential map class GTSAM_EXPORT ExpmapFunctor { protected: diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp index 56751fa06..94c130f9f 100644 --- a/gtsam/geometry/tests/testSO3.cpp +++ b/gtsam/geometry/tests/testSO3.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file testQuaternion.cpp + * @file testSO3.cpp * @brief Unit tests for SO3, as a GTSAM-adapted Lie Group * @author Frank Dellaert **/ @@ -278,6 +278,35 @@ TEST(SO3, ApplyInvDexp) { } } +/* ************************************************************************* */ +TEST(SO3, vec) { + const Vector9 expected = Eigen::Map(R2.data()); + Matrix actualH; + const Vector9 actual = R2.vec(actualH); + CHECK(assert_equal(expected, actual)); + boost::function f = [](const SO3& Q) { + return Q.vec(); + }; + const Matrix numericalH = numericalDerivative11(f, R2, 1e-5); + CHECK(assert_equal(numericalH, actualH)); +} + +//****************************************************************************** +TEST(Matrix, compose) { + Matrix3 M; + M << 1, 2, 3, 4, 5, 6, 7, 8, 9; + SO3 R = SO3::Expmap(Vector3(1, 2, 3)); + const Matrix3 expected = M * R.matrix(); + Matrix actualH; + const Matrix3 actual = so3::compose(M, R, actualH); + CHECK(assert_equal(expected, actual)); + boost::function f = [R](const Matrix3& M) { + return so3::compose(M, R); + }; + Matrix numericalH = numericalDerivative11(f, M, 1e-2); + CHECK(assert_equal(numericalH, actualH)); +} + //****************************************************************************** int main() { TestResult tr; From cc9b4bb497807283d180b657a6701e6a80fcedc2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 16 Apr 2019 23:45:53 -0400 Subject: [PATCH 0012/1152] Added SO(4) class --- gtsam/geometry/SO4.cpp | 226 +++++++++++++++++++++++++++++++ gtsam/geometry/SO4.h | 146 ++++++++++++++++++++ gtsam/geometry/tests/testSO4.cpp | 172 +++++++++++++++++++++++ 3 files changed, 544 insertions(+) create mode 100644 gtsam/geometry/SO4.cpp create mode 100644 gtsam/geometry/SO4.h create mode 100644 gtsam/geometry/tests/testSO4.cpp diff --git a/gtsam/geometry/SO4.cpp b/gtsam/geometry/SO4.cpp new file mode 100644 index 000000000..ebbc91c01 --- /dev/null +++ b/gtsam/geometry/SO4.cpp @@ -0,0 +1,226 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file SO4.cpp + * @brief 4*4 matrix representation of SO(4) + * @author Frank Dellaert + * @author Luca Carlone + */ + +#include +#include +#include +#include + +#include +#include + +#include +#include + +using namespace std; + +namespace gtsam { + +/* ************************************************************************* */ +static Vector3 randomOmega(boost::mt19937 &rng) { + static boost::uniform_real randomAngle(-M_PI, M_PI); + return Unit3::Random(rng).unitVector() * randomAngle(rng); +} + +/* ************************************************************************* */ +// Create random SO(4) element using direct product of lie algebras. +SO4 SO4::Random(boost::mt19937 &rng) { + Vector6 delta; + delta << randomOmega(rng), randomOmega(rng); + return SO4::Expmap(delta); +} + +/* ************************************************************************* */ +void SO4::print(const string &s) const { cout << s << *this << endl; } + +/* ************************************************************************* */ +bool SO4::equals(const SO4 &R, double tol) const { + return equal_with_abs_tol(*this, R, tol); +} + +//****************************************************************************** +Matrix4 SO4::Hat(const Vector6 &xi) { + // skew symmetric matrix X = xi^ + // Unlike Luca, makes upper-left the SO(3) subgroup. + // See also + // http://scipp.ucsc.edu/~haber/archives/physics251_13/groups13_sol4.pdf + Matrix4 Y = Z_4x4; + Y(0, 1) = -xi(2); + Y(0, 2) = +xi(1); + Y(1, 2) = -xi(0); + Y(0, 3) = -xi(3); + Y(1, 3) = -xi(4); + Y(2, 3) = -xi(5); + return Y - Y.transpose(); +} +/* ************************************************************************* */ +Vector6 SO4::Vee(const Matrix4 &X) { + Vector6 xi; + xi(2) = -X(0, 1); + xi(1) = X(0, 2); + xi(0) = -X(1, 2); + xi(3) = -X(0, 3); + xi(4) = -X(1, 3); + xi(5) = -X(2, 3); + return xi; +} + +//****************************************************************************** +/* Exponential map, porting MATLAB implementation by Luca, which follows + * "SOME REMARKS ON THE EXPONENTIAL MAP ON THE GROUPS SO(n) AND SE(n)" by + * Ramona-Andreaa Rohan */ +SO4 SO4::Expmap(const Vector6 &xi, ChartJacobian H) { + if (H) throw std::runtime_error("SO4::Expmap Jacobian"); + gttic(SO4_Expmap); + + // skew symmetric matrix X = xi^ + const Matrix4 X = Hat(xi); + + // do eigen-decomposition + auto eig = Eigen::EigenSolver(X); + Eigen::Vector4cd e = eig.eigenvalues(); + using std::abs; + sort(e.data(), e.data() + 4, [](complex a, complex b) { + return abs(a.imag()) > abs(b.imag()); + }); + + // Get a and b from eigenvalues +/i ai and +/- bi + double a = e[0].imag(), b = e[2].imag(); + if (!e.real().isZero() || e[1].imag() != -a || e[3].imag() != -b) { + throw runtime_error("SO4::Expmap: wrong eigenvalues."); + } + + // Build expX = exp(xi^) + Matrix4 expX; + using std::cos; + using std::sin; + const auto X2 = X * X; + const auto X3 = X2 * X; + double a2 = a * a, a3 = a2 * a, b2 = b * b, b3 = b2 * b; + if (a != 0 && b == 0) { + double c2 = (1 - cos(a)) / a2, c3 = (a - sin(a)) / a3; + return I_4x4 + X + c2 * X2 + c3 * X3; + } else if (a == b && b != 0) { + double sin_a = sin(a), cos_a = cos(a); + double c0 = (a * sin_a + 2 * cos_a) / 2, + c1 = (3 * sin_a - a * cos_a) / (2 * a), c2 = sin_a / (2 * a), + c3 = (sin_a - a * cos_a) / (2 * a3); + return c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3; + } else if (a != b) { + double sin_a = sin(a), cos_a = cos(a); + double sin_b = sin(b), cos_b = cos(b); + double c0 = (b2 * cos_a - a2 * cos_b) / (b2 - a2), + c1 = (b3 * sin_a - a3 * sin_b) / (a * b * (b2 - a2)), + c2 = (cos_a - cos_b) / (b2 - a2), + c3 = (b * sin_a - a * sin_b) / (a * b * (b2 - a2)); + return c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3; + } else { + return I_4x4; + } +} + +//****************************************************************************** +Vector6 SO4::Logmap(const SO4 &Q, ChartJacobian H) { + if (H) throw std::runtime_error("SO4::Logmap Jacobian"); + throw std::runtime_error("SO4::Logmap"); +} + +/* ************************************************************************* */ +SO4 SO4::ChartAtOrigin::Retract(const Vector6 &xi, ChartJacobian H) { + if (H) throw std::runtime_error("SO4::ChartAtOrigin::Retract Jacobian"); + gttic(SO4_Retract); + const Matrix4 X = Hat(xi / 2); + return (I_4x4 + X) * (I_4x4 - X).inverse(); +} + +/* ************************************************************************* */ +Vector6 SO4::ChartAtOrigin::Local(const SO4 &Q, ChartJacobian H) { + if (H) throw std::runtime_error("SO4::ChartAtOrigin::Retract Jacobian"); + const Matrix4 X = (I_4x4 - Q) * (I_4x4 + Q).inverse(); + return -2 * Vee(X); +} + +/* ************************************************************************* */ +static SO4::Vector16 vec(const SO4 &Q) { + return Eigen::Map(Q.data()); +} + +static const std::vector G( + {SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), + SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), + SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))}); + +static const Eigen::Matrix P = + (Eigen::Matrix() << vec(G[0]), vec(G[1]), vec(G[2]), + vec(G[3]), vec(G[4]), vec(G[5])) + .finished(); + +/* ************************************************************************* */ +Matrix6 SO4::AdjointMap() const { + gttic(SO4_AdjointMap); + // Elaborate way of calculating the AdjointMap + // TODO(frank): find a closed form solution. In SO(3) is just R :-/ + const SO4 &Q = *this; + const SO4 Qt = this->inverse(); + Matrix6 A; + for (size_t i = 0; i < 6; i++) { + // Calculate column i of linear map for coeffcient of Gi + A.col(i) = SO4::Vee(Q * G[i] * Qt); + } + return A; +} + +/* ************************************************************************* */ +SO4::Vector16 SO4::vec(OptionalJacobian<16, 6> H) const { + const SO4 &Q = *this; + if (H) { + // As Luca calculated, this is (I4 \oplus Q) * P + *H << Q * P.block<4, 6>(0, 0), Q * P.block<4, 6>(4, 0), + Q * P.block<4, 6>(8, 0), Q * P.block<4, 6>(12, 0); + } + return gtsam::vec(Q); +}; + +/* ************************************************************************* */ +Matrix3 SO4::topLeft(OptionalJacobian<9, 6> H) const { + const Matrix3 M = this->topLeftCorner<3, 3>(); + const Vector3 m1 = M.col(0), m2 = M.col(1), m3 = M.col(2), + q = this->topRightCorner<3, 1>(); + if (H) { + *H << Z_3x1, -m3, m2, q, Z_3x1, Z_3x1, // + m3, Z_3x1, -m1, Z_3x1, q, Z_3x1, // + -m2, m1, Z_3x1, Z_3x1, Z_3x1, q; + } + return M; +} + +/* ************************************************************************* */ +Matrix43 SO4::stiefel(OptionalJacobian<12, 6> H) const { + const Matrix43 M = this->leftCols<3>(); + const auto &m1 = col(0), m2 = col(1), m3 = col(2), q = col(3); + if (H) { + *H << Z_4x1, -m3, m2, q, Z_4x1, Z_4x1, // + m3, Z_4x1, -m1, Z_4x1, q, Z_4x1, // + -m2, m1, Z_4x1, Z_4x1, Z_4x1, q; + } + return M; +} + +/* ************************************************************************* */ + +} // end namespace gtsam diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h new file mode 100644 index 000000000..e270c9555 --- /dev/null +++ b/gtsam/geometry/SO4.h @@ -0,0 +1,146 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file SO4.h + * @brief 4*4 matrix representation of SO(4) + * @author Frank Dellaert + * @author Luca Carlone + * @date March 2019 + */ + +#pragma once + +#include +#include +#include +#include + +#include + +#include +#include + +namespace gtsam { + +/** + * True SO(4), i.e., 4*4 matrix subgroup + */ +class SO4 : public Matrix4, public LieGroup { + public: + enum { N = 4 }; + enum { dimension = 6 }; + + typedef Eigen::Matrix Vector16; + + /// @name Constructors + /// @{ + + /// Default constructor creates identity + SO4() : Matrix4(I_4x4) {} + + /// Constructor from Eigen Matrix + template + SO4(const MatrixBase &R) : Matrix4(R.eval()) {} + + /// Random SO(4) element (no big claims about uniformity) + static SO4 Random(boost::mt19937 &rng); + + /// @} + /// @name Testable + /// @{ + + void print(const std::string &s) const; + bool equals(const SO4 &R, double tol) const; + + /// @} + /// @name Group + /// @{ + + /// identity rotation for group operation + static SO4 identity() { return I_4x4; } + + /// inverse of a rotation = transpose + SO4 inverse() const { return this->transpose(); } + + /// @} + /// @name Lie Group + /// @{ + + static Matrix4 Hat(const Vector6 &xi); ///< make skew symmetric matrix + static Vector6 Vee(const Matrix4 &X); ///< inverse of Hat + static SO4 Expmap(const Vector6 &xi, + ChartJacobian H = boost::none); ///< exponential map + static Vector6 Logmap(const SO4 &Q, + ChartJacobian H = boost::none); ///< and its inverse + Matrix6 AdjointMap() const; + + // Chart at origin + struct ChartAtOrigin { + static SO4 Retract(const Vector6 &omega, ChartJacobian H = boost::none); + static Vector6 Local(const SO4 &R, ChartJacobian H = boost::none); + }; + + using LieGroup::inverse; + + /// @} + /// @name Other methods + /// @{ + + /// Vectorize + Vector16 vec(OptionalJacobian<16, 6> H = boost::none) const; + + /// Project to top-left 3*3 matrix. Note this is *not* in general \in SO(3). + Matrix3 topLeft(OptionalJacobian<9, 6> H = boost::none) const; + + /// Project to Stiefel manifold of 4*3 orthonormal 3-frames in R^4, i.e., pi(Q) -> S \in St(3,4). + Matrix43 stiefel(OptionalJacobian<12, 6> H = boost::none) const; + + /// Return matrix (for wrapper) + const Matrix4 &matrix() const { return *this; } + + /// @ + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &boost::serialization::make_nvp("Q11", (*this)(0, 0)); + ar &boost::serialization::make_nvp("Q12", (*this)(0, 1)); + ar &boost::serialization::make_nvp("Q13", (*this)(0, 2)); + ar &boost::serialization::make_nvp("Q14", (*this)(0, 3)); + + ar &boost::serialization::make_nvp("Q21", (*this)(1, 0)); + ar &boost::serialization::make_nvp("Q22", (*this)(1, 1)); + ar &boost::serialization::make_nvp("Q23", (*this)(1, 2)); + ar &boost::serialization::make_nvp("Q24", (*this)(1, 3)); + + ar &boost::serialization::make_nvp("Q31", (*this)(2, 0)); + ar &boost::serialization::make_nvp("Q32", (*this)(2, 1)); + ar &boost::serialization::make_nvp("Q33", (*this)(2, 2)); + ar &boost::serialization::make_nvp("Q34", (*this)(2, 3)); + + ar &boost::serialization::make_nvp("Q41", (*this)(3, 0)); + ar &boost::serialization::make_nvp("Q42", (*this)(3, 1)); + ar &boost::serialization::make_nvp("Q43", (*this)(3, 2)); + ar &boost::serialization::make_nvp("Q44", (*this)(3, 3)); + } + +}; // SO4 + +template <> +struct traits : Testable, internal::LieGroupTraits {}; + +template <> +struct traits : Testable, internal::LieGroupTraits {}; + +} // end namespace gtsam diff --git a/gtsam/geometry/tests/testSO4.cpp b/gtsam/geometry/tests/testSO4.cpp new file mode 100644 index 000000000..037280136 --- /dev/null +++ b/gtsam/geometry/tests/testSO4.cpp @@ -0,0 +1,172 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file testSO4.cpp + * @brief Unit tests for SO4, as a GTSAM-adapted Lie Group + * @author Frank Dellaert + **/ + +#include +#include +#include +#include +#include +#include + + +#include + +#include + +using namespace std; +using namespace gtsam; + +//****************************************************************************** +TEST(SO4, Concept) { + BOOST_CONCEPT_ASSERT((IsGroup)); + BOOST_CONCEPT_ASSERT((IsManifold)); + BOOST_CONCEPT_ASSERT((IsLieGroup)); +} + +//****************************************************************************** +SO4 id; +Vector6 v1 = (Vector(6) << 0.1, 0, 0, 0, 0, 0).finished(); +SO4 Q1 = SO4::Expmap(v1); +Vector6 v2 = (Vector(6) << 0.01, 0.02, 0.03, 0.00, 0.00, 0.00).finished(); +SO4 Q2 = SO4::Expmap(v2); +Vector6 v3 = (Vector(6) << 1, 2, 3, 4, 5, 6).finished(); +SO4 Q3 = SO4::Expmap(v3); + +//****************************************************************************** +TEST(SO4, Random) { + boost::mt19937 rng(42); + auto Q = SO4::Random(rng); + EXPECT_LONGS_EQUAL(4, Q.matrix().rows()); +} +//****************************************************************************** +TEST(SO4, Expmap) { + // If we do exponential map in SO(3) subgroup, topleft should be equal to R1. + auto R1 = SO3::Expmap(v1.head<3>()); + EXPECT((Q1.topLeft().isApprox(R1))); + + // Same here + auto R2 = SO3::Expmap(v2.head<3>()); + EXPECT((Q2.topLeft().isApprox(R2))); + + // Check commutative subgroups + for (size_t i = 0; i < 6; i++) { + Vector6 xi = Vector6::Zero(); + xi[i] = 2; + SO4 Q1 = SO4::Expmap(xi); + xi[i] = 3; + SO4 Q2 = SO4::Expmap(xi); + EXPECT(((Q1 * Q2).isApprox(Q2 * Q1))); + } +} + +//****************************************************************************** +TEST(SO4, Cayley) { + CHECK(assert_equal(id.retract(v1 / 100), SO4::Expmap(v1 / 100))); + CHECK(assert_equal(id.retract(v2 / 100), SO4::Expmap(v2 / 100))); +} + +//****************************************************************************** +TEST(SO4, Retract) { + auto v = Vector6::Zero(); + SO4 actual = traits::Retract(id, v); + EXPECT(actual.isApprox(id)); +} + +//****************************************************************************** +TEST(SO4, Local) { + auto v0 = Vector6::Zero(); + Vector6 actual = traits::Local(id, id); + EXPECT(assert_equal((Vector)v0, actual)); +} + +//****************************************************************************** +TEST(SO4, Invariants) { + EXPECT(check_group_invariants(id, id)); + EXPECT(check_group_invariants(id, Q1)); + EXPECT(check_group_invariants(Q2, id)); + EXPECT(check_group_invariants(Q2, Q1)); + EXPECT(check_group_invariants(Q1, Q2)); + + EXPECT(check_manifold_invariants(id, id)); + EXPECT(check_manifold_invariants(id, Q1)); + EXPECT(check_manifold_invariants(Q2, id)); + EXPECT(check_manifold_invariants(Q2, Q1)); + EXPECT(check_manifold_invariants(Q1, Q2)); +} + +/* ************************************************************************* */ +TEST(SO4, compose) { + SO4 expected = Q1 * Q2; + Matrix actualH1, actualH2; + SO4 actual = Q1.compose(Q2, actualH1, actualH2); + CHECK(assert_equal(expected, actual)); + + Matrix numericalH1 = + numericalDerivative21(testing::compose, Q1, Q2, 1e-2); + CHECK(assert_equal(numericalH1, actualH1)); + + Matrix numericalH2 = + numericalDerivative22(testing::compose, Q1, Q2, 1e-2); + CHECK(assert_equal(numericalH2, actualH2)); +} + +/* ************************************************************************* */ +TEST(SO4, vec) { + using Vector16 = SO4::Vector16; + const Vector16 expected = Eigen::Map(Q2.data()); + Matrix actualH; + const Vector16 actual = Q2.vec(actualH); + CHECK(assert_equal(expected, actual)); + boost::function f = [](const SO4& Q) { + return Q.vec(); + }; + const Matrix numericalH = numericalDerivative11(f, Q2, 1e-5); + CHECK(assert_equal(numericalH, actualH)); +} + +/* ************************************************************************* */ +TEST(SO4, topLeft) { + const Matrix3 expected = Q3.topLeftCorner<3, 3>(); + Matrix actualH; + const Matrix3 actual = Q3.topLeft(actualH); + CHECK(assert_equal(expected, actual)); + boost::function f = [](const SO4& Q3) { + return Q3.topLeft(); + }; + const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); + CHECK(assert_equal(numericalH, actualH)); +} + +/* ************************************************************************* */ +TEST(SO4, stiefel) { + const Matrix43 expected = Q3.leftCols<3>(); + Matrix actualH; + const Matrix43 actual = Q3.stiefel(actualH); + CHECK(assert_equal(expected, actual)); + boost::function f = [](const SO4& Q3) { + return Q3.stiefel(); + }; + const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); + CHECK(assert_equal(numericalH, actualH)); +} + +//****************************************************************************** +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +//****************************************************************************** From 137afaecbba3c09e0450579434bf97083e335f45 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 16 Apr 2019 23:46:08 -0400 Subject: [PATCH 0013/1152] Added variable dimension SO(n) class --- gtsam/geometry/SOn.h | 291 +++++++++++++++++++++++++++++++ gtsam/geometry/tests/testSOn.cpp | 109 ++++++++++++ 2 files changed, 400 insertions(+) create mode 100644 gtsam/geometry/SOn.h create mode 100644 gtsam/geometry/tests/testSOn.cpp diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h new file mode 100644 index 000000000..bc6282fe4 --- /dev/null +++ b/gtsam/geometry/SOn.h @@ -0,0 +1,291 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file SOn.h + * @brief n*n matrix representation of SO(n) + * @author Frank Dellaert + * @date March 2019 + */ + +#pragma once + +#include + +#include + +#include + +#include + +namespace gtsam { +namespace internal { +// Calculate N^2 at compile time, or return Dynamic if so +constexpr int VecSize(int N) { return (N < 0) ? Eigen::Dynamic : N * N; } +} // namespace internal + +/** + * Base class for rotation group objects. Template arguments: + * Derived: derived class + * N : dimension of ambient space, or Eigen::Dynamic, e.g. 4 for SO4 + * D : dimension of rotation manifold, or Eigen::Dynamic, e.g. 6 for SO4 + */ +template +class SOnBase { + public: + enum { N2 = internal::VecSize(N) }; + using VectorN2 = Eigen::Matrix; + + /// @name Basic functionality + /// @{ + + /// Get access to derived class + const Derived& derived() const { return static_cast(*this); } + + /// @} + /// @name Manifold + /// @{ + + /// @} + /// @name Lie Group + /// @{ + + /// @} + /// @name Other methods + /// @{ + + /** + * Return vectorized rotation matrix in column order. + * Will use dynamic matrices as intermediate results, but returns a fixed size + * X and fixed-size Jacobian if dimension is known at compile time. + * */ + VectorN2 vec(OptionalJacobian H = boost::none) const { + const size_t n = derived().rows(), n2 = n * n; + const size_t d = (n2 - n) / 2; // manifold dimension + + // Calculate G matrix of vectorized generators + Matrix G(n2, d); + for (size_t j = 0; j < d; j++) { + // TODO(frank): this can't be right. Think about fixed vs dynamic. + G.col(j) << Derived::Hat(n, Eigen::VectorXd::Unit(d, j)); + } + + // Vectorize + Vector X(n2); + X << derived(); + + // If requested, calculate H as (I \oplus Q) * P + if (H) { + H->resize(n2, d); + for (size_t i = 0; i < n; i++) { + H->block(i * n, 0, n, d) = derived() * G.block(i * n, 0, n, d); + } + } + return X; + } + /// @} +}; + +/** + * Variable size rotations + */ +class SOn : public Eigen::MatrixXd, + public SOnBase { + public: + enum { N = Eigen::Dynamic }; + enum { dimension = Eigen::Dynamic }; + + /// @name Constructors + /// @{ + + /// Construct SO(n) identity + SOn(size_t n) : Eigen::MatrixXd(n, n) { + *this << Eigen::MatrixXd::Identity(n, n); + } + + /// Constructor from Eigen Matrix + template + SOn(const Eigen::MatrixBase& R) : Eigen::MatrixXd(R.eval()) {} + + /// Random SO(n) element (no big claims about uniformity) + static SOn Random(boost::mt19937& rng, size_t n) { + // This needs to be re-thought! + static boost::uniform_real randomAngle(-M_PI, M_PI); + const size_t d = n * (n - 1) / 2; + Vector xi(d); + for (size_t j = 0; j < d; j++) { + xi(j) = randomAngle(rng); + } + return SOn::Retract(n, xi); + } + + /// @} + /// @name Manifold + /// @{ + + /** + * Hat operator creates Lie algebra element corresponding to d-vector, where d + * is the dimensionality of the manifold. This function is implemented + * recursively, and the d-vector is assumed to laid out such that the last + * element corresponds to so(2), the last 3 to so(3), the last for to so(4) + * etc... For example, the vector-space isomorphic to so(5) is laid out as: + * a b c d | u v w | x y | z + * where the latter elements correspond to "telescoping" sub-algebras: + * 0 -z y -w d + * z 0 -x v -c + * -y x 0 -u b + * w -v u 0 -a + * -d c -b a 0 + * This scheme behaves exactly as expected for SO(2) and SO(3). + */ + static Matrix Hat(size_t n, const Vector& xi) { + if (n < 2) throw std::invalid_argument("SOn::Hat: n<2 not supported"); + + Matrix X(n, n); // allocate space for n*n skew-symmetric matrix + X.setZero(); + if (n == 2) { + // Handle SO(2) case as recursion bottom + assert(xi.size() == 1); + X << 0, -xi(0), xi(0), 0; + } else { + // Recursively call SO(n-1) call for top-left block + const size_t dmin = (n - 1) * (n - 2) / 2; + X.topLeftCorner(n - 1, n - 1) = Hat(n - 1, xi.tail(dmin)); + + // Now fill last row and column + double sign = 1.0; + for (size_t i = 0; i < n - 1; i++) { + const size_t j = n - 2 - i; + X(n - 1, j) = sign * xi(i); + X(j, n - 1) = -X(n - 1, j); + sign = -sign; + } + } + return X; + } + + /** + * Inverse of Hat. See note about xi element order in Hat. + */ + static Vector Vee(const Matrix& X) { + const size_t n = X.rows(); + if (n < 2) throw std::invalid_argument("SOn::Hat: n<2 not supported"); + + if (n == 2) { + // Handle SO(2) case as recursion bottom + Vector xi(1); + xi(0) = X(1, 0); + return xi; + } else { + // Calculate dimension and allocate space + const size_t d = n * (n - 1) / 2; + Vector xi(d); + + // Fill first n-1 spots from last row of X + double sign = 1.0; + for (size_t i = 0; i < n - 1; i++) { + const size_t j = n - 2 - i; + xi(i) = sign * X(n - 1, j); + sign = -sign; + } + + // Recursively call Vee to fill remainder of x + const size_t dmin = (n - 1) * (n - 2) / 2; + xi.tail(dmin) = Vee(X.topLeftCorner(n - 1, n - 1)); + return xi; + } + } + + /** + * Retract uses Cayley map. See note about xi element order in Hat. + */ + static SOn Retract(size_t n, const Vector& xi) { + const Matrix X = Hat(n, xi / 2.0); + const auto I = Eigen::MatrixXd::Identity(n, n); + return (I + X) * (I - X).inverse(); + } + + /** + * Inverse of Retract. See note about xi element order in Hat. + */ + static Vector Local(const SOn& R) { + const size_t n = R.rows(); + const auto I = Eigen::MatrixXd::Identity(n, n); + const Matrix X = (I - R) * (I + R).inverse(); + return -2 * Vee(X); + } + + /// @} + /// @name Lie group + /// @{ + + /// @} +}; + +template <> +struct traits { + typedef manifold_tag structure_category; + + /// @name Testable + /// @{ + static void Print(SOn R, const std::string& str = "") { + gtsam::print(R, str); + } + static bool Equals(SOn R1, SOn R2, double tol = 1e-8) { + return equal_with_abs_tol(R1, R2, tol); + } + /// @} + + /// @name Manifold + /// @{ + enum { dimension = Eigen::Dynamic }; + typedef Eigen::VectorXd TangentVector; + // typedef Eigen::MatrixXd Jacobian; + typedef OptionalJacobian ChartJacobian; + // typedef SOn ManifoldType; + + /** + * Calculate manifold dimension, e.g., + * n = 3 -> 3*2/2 = 3 + * n = 4 -> 4*3/2 = 6 + * n = 5 -> 5*4/2 = 10 + */ + static int GetDimension(const SOn& R) { + const size_t n = R.rows(); + return n * (n - 1) / 2; + } + + // static Jacobian Eye(const SOn& R) { + // int dim = GetDimension(R); + // return Eigen::Matrix::Identity(dim, + // dim); + // } + + static SOn Retract(const SOn& R, const TangentVector& xi, // + ChartJacobian H1 = boost::none, + ChartJacobian H2 = boost::none) { + if (H1 || H2) throw std::runtime_error("SOn::Retract"); + const size_t n = R.rows(); + return R * SOn::Retract(n, xi); + } + + static TangentVector Local(const SOn& R, const SOn& other, // + ChartJacobian H1 = boost::none, + ChartJacobian H2 = boost::none) { + if (H1 || H2) throw std::runtime_error("SOn::Local"); + Matrix between = R.inverse() * other; + return SOn::Local(between); + } + + /// @} +}; + +} // namespace gtsam diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp new file mode 100644 index 000000000..868833ce1 --- /dev/null +++ b/gtsam/geometry/tests/testSOn.cpp @@ -0,0 +1,109 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file testSOnBase.cpp + * @brief Unit tests for Base class of SO(n) classes. + * @author Frank Dellaert + **/ + +// #include +// #include +// #include +#include +#include +#include +#include +#include + +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +TEST(SOn, SO5) { + const auto R = SOn(5); + EXPECT_LONGS_EQUAL(5, R.rows()); + Values values; + const Key key(0); + values.insert(key, R); + const auto B = values.at(key); + EXPECT_LONGS_EQUAL(5, B.rows()); +} + +/* ************************************************************************* */ +TEST(SOn, Random) { + static boost::mt19937 rng(42); + EXPECT_LONGS_EQUAL(3, SOn::Random(rng, 3).rows()); + EXPECT_LONGS_EQUAL(4, SOn::Random(rng, 4).rows()); + EXPECT_LONGS_EQUAL(5, SOn::Random(rng, 5).rows()); +} + +/* ************************************************************************* */ +TEST(SOn, HatVee) { + Vector6 v; + v << 1, 2, 3, 4, 5, 6; + + Matrix expected2(2, 2); + expected2 << 0, -1, 1, 0; + const auto actual2 = SOn::Hat(2, v.head<1>()); + CHECK(assert_equal(expected2, actual2)); + CHECK(assert_equal((Vector)v.head<1>(), SOn::Vee(actual2))); + + Matrix expected3(3, 3); + expected3 << 0, -3, 2, // + 3, 0, -1, // + -2, 1, 0; + const auto actual3 = SOn::Hat(3, v.head<3>()); + CHECK(assert_equal(expected3, actual3)); + CHECK(assert_equal(skewSymmetric(1, 2, 3), actual3)); + CHECK(assert_equal((Vector)v.head<3>(), SOn::Vee(actual3))); + + Matrix expected4(4, 4); + expected4 << 0, -6, 5, -3, // + 6, 0, -4, 2, // + -5, 4, 0, -1, // + 3, -2, 1, 0; + const auto actual4 = SOn::Hat(4, v); + CHECK(assert_equal(expected4, actual4)); + CHECK(assert_equal((Vector)v, SOn::Vee(actual4))); +} + +/* ************************************************************************* */ +TEST(SOn, RetractLocal) { + // If we do expmap in SO(3) subgroup, topleft should be equal to R1. + Vector6 v1 = (Vector(6) << 0, 0, 0, 0.01, 0, 0).finished(); + Matrix R1 = SO3::Retract(v1.tail<3>()); + SOn Q1 = SOn::Retract(4, v1); + CHECK(assert_equal(R1, Q1.block(0, 0, 3, 3), 1e-7)); + CHECK(assert_equal(v1, SOn::Local(Q1), 1e-7)); +} + +/* ************************************************************************* */ +TEST(SOn, vec) { + auto x = SOn(5); + Vector6 v; + v << 1, 2, 3, 4, 5, 6; + x.block(0, 0, 4, 4) = SO4::Expmap(v).matrix(); + Matrix actualH; + const Vector actual = x.vec(actualH); + boost::function h = [](const SOn& x) { return x.vec(); }; + const Matrix H = numericalDerivative11(h, x, 1e-5); + CHECK(assert_equal(H, actualH)); +} + +//****************************************************************************** +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +//****************************************************************************** From 2fb4668bba398ee9454e32def8711ad5562a3491 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 17 Apr 2019 00:05:53 -0400 Subject: [PATCH 0014/1152] Added factor for Karcher mean constraint: fixes the geodesic mean to impose a global gauge constraint. --- gtsam/slam/KarcherMeanFactor-inl.h | 62 ++++++++++++ gtsam/slam/KarcherMeanFactor.h | 70 +++++++++++++ gtsam/slam/tests/testKarcherMeanFactor.cpp | 109 +++++++++++++++++++++ 3 files changed, 241 insertions(+) create mode 100644 gtsam/slam/KarcherMeanFactor-inl.h create mode 100644 gtsam/slam/KarcherMeanFactor.h create mode 100644 gtsam/slam/tests/testKarcherMeanFactor.cpp diff --git a/gtsam/slam/KarcherMeanFactor-inl.h b/gtsam/slam/KarcherMeanFactor-inl.h new file mode 100644 index 000000000..cfe071ee5 --- /dev/null +++ b/gtsam/slam/KarcherMeanFactor-inl.h @@ -0,0 +1,62 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/* + * @file KarcherMeanFactor.cpp + * @author Frank Dellaert + * @date March 2019 + */ + +#pragma once + +#include +#include +#include +#include + +using namespace std; + +namespace gtsam { + +template +T FindKarcherMean(const vector& rotations) { + // Cost function C(R) = \sum PriorFactor(R_i)::error(R) + // No closed form solution. + NonlinearFactorGraph graph; + static const Key kKey(0); + for (const auto& R : rotations) { + graph.emplace_shared >(kKey, R); + } + Values initial; + initial.insert(kKey, T()); + auto result = GaussNewtonOptimizer(graph, initial).optimize(); + return result.at(kKey); +} + +template +template +KarcherMeanFactor::KarcherMeanFactor(const CONTAINER& keys, int d) + : NonlinearFactor(keys) { + if (d <= 0) { + throw std::invalid_argument( + "KarcherMeanFactor needs dimension for dynamic types."); + } + // Create the constant Jacobian made of D*D identity matrices, + // where D is the dimensionality of the manifold. + const auto I = Eigen::MatrixXd::Identity(d, d); + std::map terms; + for (Key j : keys) { + terms[j] = I; + } + jacobian_ = + boost::make_shared(terms, Eigen::VectorXd::Zero(d)); +} +} // namespace gtsam \ No newline at end of file diff --git a/gtsam/slam/KarcherMeanFactor.h b/gtsam/slam/KarcherMeanFactor.h new file mode 100644 index 000000000..d0f2f57db --- /dev/null +++ b/gtsam/slam/KarcherMeanFactor.h @@ -0,0 +1,70 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/* + * @file KarcherMeanFactor.h + * @author Frank Dellaert + * @date March 2019ƒ + */ + +#pragma once + +#include +#include + +#include +#include + +namespace gtsam { +/** + * Optimize for the Karcher mean, minimizing the geodesic distance to each of + * the given rotations, ,by constructing a factor graph out of simple + * PriorFactors. + */ +template +T FindKarcherMean(const std::vector& rotations); + +/** + * The KarcherMeanFactor creates a constraint on all SO(3) variables with + * given keys that the Karcher mean (see above) will stay the same. Note the + * mean itself is irrelevant to the constraint and is not a parameter: the + * constraint is implemented as enforcing that the sum of local updates is + * equal to zero, hence creating a rank-3 constraint. Note it is implemented as + * a soft constraint, as typically it is used to fix a gauge freedom. + * */ +template +class KarcherMeanFactor : public NonlinearFactor { + /// Constant Jacobian made of d*d identity matrices + boost::shared_ptr jacobian_; + + enum {D = traits::dimension}; + + public: + /// Construct from given keys. + template + KarcherMeanFactor(const CONTAINER& keys, int d=D); + + /// Destructor + virtual ~KarcherMeanFactor() {} + + /// Calculate the error of the factor: always zero + double error(const Values& c) const override { return 0; } + + /// get the dimension of the factor (number of rows on linearization) + size_t dim() const override { return D; } + + /// linearize to a GaussianFactor + boost::shared_ptr linearize(const Values& c) const override { + return jacobian_; + } +}; +// \KarcherMeanFactor +} // namespace gtsam \ No newline at end of file diff --git a/gtsam/slam/tests/testKarcherMeanFactor.cpp b/gtsam/slam/tests/testKarcherMeanFactor.cpp new file mode 100644 index 000000000..bcc20c62a --- /dev/null +++ b/gtsam/slam/tests/testKarcherMeanFactor.cpp @@ -0,0 +1,109 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/* + * @file testKarcherMeanFactor.cpp + * @author Frank Dellaert + */ + +#include +#include +#include +#include +#include +#include +#include + +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +// Rot3 version +/* ************************************************************************* */ +static const Rot3 R = Rot3::Expmap(Vector3(0.1, 0, 0)); + +/* ************************************************************************* */ +// Check that optimizing for Karcher mean (which minimizes Between distance) +// gets correct result. +TEST(KarcherMean, FindRot3) { + std::vector rotations = {R, R.inverse()}; + Rot3 expected; + auto actual = FindKarcherMean(rotations); + EXPECT(assert_equal(expected, actual)); +} + +/* ************************************************************************* */ +// Check that the InnerConstraint factor leaves the mean unchanged. +TEST(KarcherMean, FactorRot3) { + // Make a graph with two variables, one between, and one InnerConstraint + // The optimal result should satisfy the between, while moving the other + // variable to make the mean the same as before. + // Mean of R and R' is identity. Let's make a BetweenFactor making R21 = + // R*R*R, i.e. geodesic length is 3 rather than 2. + NonlinearFactorGraph graph; + graph.emplace_shared>(1, 2, R * R * R); + std::vector keys{1, 2}; + graph.emplace_shared>(keys); + + Values initial; + initial.insert(1, R.inverse()); + initial.insert(2, R); + const auto expected = FindKarcherMean({R, R.inverse()}); + + auto result = GaussNewtonOptimizer(graph, initial).optimize(); + const auto actual = + FindKarcherMean({result.at(1), result.at(2)}); + EXPECT(assert_equal(expected, actual)); + EXPECT( + assert_equal(R * R * R, result.at(1).between(result.at(2)))); +} + +/* ************************************************************************* */ +// SO(4) version +/* ************************************************************************* */ +static const SO4 Q = SO4::Expmap((Vector6() << 1, 2, 3, 4, 5, 6).finished()); + +/* ************************************************************************* */ +TEST(KarcherMean, FindSO4) { + std::vector rotations = {Q, Q.inverse()}; + auto expected = SO4(); //::ChordalMean(rotations); + auto actual = FindKarcherMean(rotations); + EXPECT(assert_equal(expected, actual)); +} + +/* ************************************************************************* */ +TEST(KarcherMean, FactorSO4) { + NonlinearFactorGraph graph; + graph.emplace_shared>(1, 2, Q * Q * Q); + std::vector keys{1, 2}; + graph.emplace_shared>(keys); + + Values initial; + initial.insert(1, Q.inverse()); + initial.insert(2, Q); + const auto expected = FindKarcherMean({Q, Q.inverse()}); + + auto result = GaussNewtonOptimizer(graph, initial).optimize(); + const auto actual = + FindKarcherMean({result.at(1), result.at(2)}); + EXPECT(assert_equal(expected, actual)); + EXPECT(assert_equal((Matrix)(Q * Q * Q).matrix(), + result.at(1).between(result.at(2)))); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ From 6eefc56e171e18a8238dbf57f9792336f8cd026e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 17 Apr 2019 00:07:38 -0400 Subject: [PATCH 0015/1152] Wrapped SO(3), SO(4) and new factor, and added SO(4) tests in python --- cython/gtsam/tests/test_Pose3.py | 3 +- cython/gtsam/tests/test_SO4.py | 59 ++++++++++++++++++++++++++ gtsam.h | 73 ++++++++++++++++++++++++++++++-- 3 files changed, 130 insertions(+), 5 deletions(-) create mode 100644 cython/gtsam/tests/test_SO4.py diff --git a/cython/gtsam/tests/test_Pose3.py b/cython/gtsam/tests/test_Pose3.py index 577a13304..138f1ff13 100644 --- a/cython/gtsam/tests/test_Pose3.py +++ b/cython/gtsam/tests/test_Pose3.py @@ -6,8 +6,9 @@ All Rights Reserved See LICENSE for the license information Pose3 unit tests. -Author: Frank Dellaert & Duy Nguyen Ta (Python) +Author: Frank Dellaert, Duy Nguyen Ta """ +# pylint: disable=no-name-in-module import math import unittest diff --git a/cython/gtsam/tests/test_SO4.py b/cython/gtsam/tests/test_SO4.py new file mode 100644 index 000000000..3b30a8e89 --- /dev/null +++ b/cython/gtsam/tests/test_SO4.py @@ -0,0 +1,59 @@ +""" +GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +SO4 unit tests. +Author: Frank Dellaert +""" +# pylint: disable=no-name-in-module, import-error +import unittest + +import numpy as np +from gtsam import SO4 + +id = SO4() +v1 = np.array([0.1, 0, 0, 0, 0, 0]) +Q1 = SO4.Expmap(v1) +v2 = np.array([0.01, 0.02, 0.03, 0, 0, 0]) +Q2 = SO4.Expmap(v2) + + +class TestSO4(unittest.TestCase): + """Test selected SO4 methods.""" + + def test_constructor(self): + """Construct from matrix.""" + matrix = np.eye(4) + so4 = SO4(matrix) + self.assertIsInstance(so4, SO4) + + def test_retract(self): + """Test retraction to manifold.""" + v = np.zeros((6,), np.float) + actual = id.retract(v) + self.assertTrue(actual.equals(id, 1e-9)) + + def test_local(self): + """Check localCoordinates for trivial case.""" + v0 = np.zeros((6,), np.float) + actual = id.localCoordinates(id) + np.testing.assert_array_almost_equal(actual, v0) + + def test_compose(self): + """Check compose works in subgroup.""" + expected = SO4.Expmap(2*v1) + actual = Q1.compose(Q1) + self.assertTrue(actual.equals(expected, 1e-9)) + + def test_vec(self): + """Check wrapping of vec.""" + expected = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]) + actual = id.vec() + np.testing.assert_array_equal(actual, expected) + + +if __name__ == "__main__": + unittest.main() diff --git a/gtsam.h b/gtsam.h index bf3575580..d06d83a56 100644 --- a/gtsam.h +++ b/gtsam.h @@ -537,6 +537,60 @@ class Rot2 { void serialize() const; }; +#include +class SO3 { + // Standard Constructors + SO3(); + SO3(Matrix R); + static gtsam::SO3 AxisAngle(const Vector axis, double theta); + static gtsam::SO3 ClosestTo(const Matrix M); + + // Testable + void print(string s) const; + bool equals(const gtsam::SO3& other, double tol) const; + + // Group + static gtsam::SO3 identity(); + gtsam::SO3 inverse() const; + gtsam::SO3 between(const gtsam::SO3& R) const; + gtsam::SO3 compose(const gtsam::SO3& R) const; + + // Manifold + gtsam::SO3 retract(Vector v) const; + Vector localCoordinates(const gtsam::SO3& R) const; + static gtsam::SO3 Expmap(Vector v); + + // Other methods + Vector vec() const; + Matrix matrix() const; +}; + +#include +class SO4 { + // Standard Constructors + SO4(); + SO4(Matrix R); + + // Testable + void print(string s) const; + bool equals(const gtsam::SO4& other, double tol) const; + + // Group + static gtsam::SO4 identity(); + gtsam::SO4 inverse() const; + gtsam::SO4 between(const gtsam::SO4& Q) const; + gtsam::SO4 compose(const gtsam::SO4& Q) const; + + // Manifold + gtsam::SO4 retract(Vector v) const; + Vector localCoordinates(const gtsam::SO4& Q) const; + static gtsam::SO4 Expmap(Vector v); + + // Other methods + Vector vec() const; + Matrix matrix() const; +}; + #include class Rot3 { // Standard Constructors and Named Constructors @@ -559,6 +613,7 @@ class Rot3 { static gtsam::Rot3 Quaternion(double w, double x, double y, double z); static gtsam::Rot3 Rodrigues(Vector v); static gtsam::Rot3 Rodrigues(double wx, double wy, double wz); + static gtsam::Rot3 ClosestTo(const Matrix M); // Testable void print(string s) const; @@ -1974,6 +2029,8 @@ class Values { void insert(size_t j, const gtsam::Point3& point3); void insert(size_t j, const gtsam::Rot2& rot2); void insert(size_t j, const gtsam::Pose2& pose2); + void insert(size_t j, const gtsam::SO3& R); + void insert(size_t j, const gtsam::SO4& Q); 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::Cal3_S2& cal3_s2); @@ -1989,6 +2046,8 @@ class Values { void update(size_t j, const gtsam::Point3& point3); void update(size_t j, const gtsam::Rot2& rot2); void update(size_t j, const gtsam::Pose2& pose2); + void update(size_t j, const gtsam::SO3& R); + void update(size_t j, const gtsam::SO4& Q); 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::Cal3_S2& cal3_s2); @@ -1999,7 +2058,7 @@ class Values { void update(size_t j, Vector vector); void update(size_t j, Matrix matrix); - template + template T at(size_t j); /// version for double @@ -2332,7 +2391,7 @@ 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; @@ -2343,7 +2402,7 @@ virtual class PriorFactor : gtsam::NoiseModelFactor { #include -template +template virtual class BetweenFactor : gtsam::NoiseModelFactor { BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel); T measured() const; @@ -2355,7 +2414,7 @@ virtual class BetweenFactor : gtsam::NoiseModelFactor { #include -template +template virtual class NonlinearEquality : gtsam::NoiseModelFactor { // Constructor - forces exact evaluation NonlinearEquality(size_t j, const T& feasible); @@ -2614,6 +2673,12 @@ pair readG2o(string filename, bool void writeG2o(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& estimate, string filename); +#include +template +virtual class KarcherMeanFactor : gtsam::NonlinearFactor { + KarcherMeanFactor(const gtsam::KeyVector& keys); +}; + //************************************************************************* // Navigation //************************************************************************* From 6c00ff163f235570a656e1527af35878a3207f9a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 17 Apr 2019 00:24:13 -0400 Subject: [PATCH 0016/1152] Closest --- gtsam/geometry/Pose3.cpp | 20 +++----------------- gtsam/geometry/Rot3.h | 3 +++ gtsam/geometry/tests/testRot3.cpp | 17 +++++++++++++++++ gtsam/slam/InitializePose3.cpp | 18 +++--------------- 4 files changed, 26 insertions(+), 32 deletions(-) diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index 01611d739..0acadf5bc 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -52,7 +52,6 @@ Pose3 Pose3::inverse() const { /* ************************************************************************* */ // Calculate Adjoint map // Ad_pose is 6*6 matrix that when applied to twist xi, returns Ad_pose(xi) -// Experimental - unit tests of derivatives based on it do not check out yet Matrix6 Pose3::AdjointMap() const { const Matrix3 R = R_.matrix(); Matrix3 A = skewSymmetric(t_.x(), t_.y(), t_.z()) * R; @@ -418,24 +417,11 @@ boost::optional Pose3::Align(const std::vector& abPointPairs) for(const Point3Pair& abPair: abPointPairs) { Point3 da = abPair.first - aCentroid; Point3 db = abPair.second - bCentroid; - H += db * da.transpose(); + H += da * db.transpose(); } - // Compute SVD - Eigen::JacobiSVD svd(H, Eigen::ComputeThinU | Eigen::ComputeThinV); - Matrix U = svd.matrixU(); - Vector S = svd.singularValues(); - Matrix V = svd.matrixV(); - - // Check rank - if (S[1] < 1e-10) - return boost::none; - - // Recover transform with correction from Eggert97machinevisionandapplications - Matrix3 UVtranspose = U * V.transpose(); - Matrix3 detWeighting = I_3x3; - detWeighting(2, 2) = UVtranspose.determinant(); - Rot3 aRb(Matrix(V * detWeighting * U.transpose())); + // ClosestTo finds rotation matrix closest to H in Frobenius sense + Rot3 aRb = Rot3::ClosestTo(H); Point3 aTb = Point3(aCentroid) - aRb * Point3(bCentroid); return Pose3(aRb, aTb); } diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 985c521a2..d4f1301e9 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -228,6 +228,9 @@ 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 Rot3 ClosestTo(const Matrix3& M) { return Rot3(SO3::ClosestTo(M)); } + /// @} /// @name Testable /// @{ diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index e468eaf55..0365bc659 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -645,6 +645,23 @@ TEST(Rot3 , ChartDerivatives) { } } +/* ************************************************************************* */ +TEST(Rot3, ClosestTo) { + // Example top-left of SO(4) matrix not quite on SO(3) manifold + Matrix3 M; + M << 0.79067393, 0.6051136, -0.0930814, // + 0.4155925, -0.64214347, -0.64324489, // + -0.44948549, 0.47046326, -0.75917576; + + Matrix expected(3, 3); + expected << 0.790687, 0.605096, -0.0931312, // + 0.415746, -0.642355, -0.643844, // + -0.449411, 0.47036, -0.759468; + + auto actual = Rot3::ClosestTo(3*M); + EXPECT(assert_equal(expected, actual.matrix(), 1e-6)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/slam/InitializePose3.cpp b/gtsam/slam/InitializePose3.cpp index a1baab5fa..1e398cd99 100644 --- a/gtsam/slam/InitializePose3.cpp +++ b/gtsam/slam/InitializePose3.cpp @@ -75,27 +75,15 @@ Values InitializePose3::normalizeRelaxedRotations( const VectorValues& relaxedRot3) { gttic(InitializePose3_computeOrientationsChordal); - Matrix ppm = Z_3x3; // plus plus minus - ppm(0,0) = 1; ppm(1,1) = 1; ppm(2,2) = -1; - Values validRot3; for(const auto& it: relaxedRot3) { Key key = it.first; if (key != kAnchorKey) { - Matrix3 R; - R << Eigen::Map(it.second.data()); // Recover M from vectorized + Matrix3 M; + M << Eigen::Map(it.second.data()); // Recover M from vectorized // ClosestTo finds rotation matrix closest to H in Frobenius sense - // Rot3 initRot = Rot3::ClosestTo(M.transpose()); - - Matrix U, V; Vector s; - svd(R.transpose(), U, s, V); - Matrix3 normalizedRotMat = U * V.transpose(); - - if(normalizedRotMat.determinant() < 0) - normalizedRotMat = U * ppm * V.transpose(); - - Rot3 initRot = Rot3(normalizedRotMat); + Rot3 initRot = Rot3::ClosestTo(M.transpose()); validRot3.insert(key, initRot); } } From b0e4075089bbabf76a27f950120e4f915899ebf9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 17 Apr 2019 00:39:38 -0400 Subject: [PATCH 0017/1152] Added python test for Karcher mean --- cython/gtsam/tests/test_KarcherMeanFactor.py | 80 ++++++++++++++++++++ 1 file changed, 80 insertions(+) create mode 100644 cython/gtsam/tests/test_KarcherMeanFactor.py diff --git a/cython/gtsam/tests/test_KarcherMeanFactor.py b/cython/gtsam/tests/test_KarcherMeanFactor.py new file mode 100644 index 000000000..6976decc1 --- /dev/null +++ b/cython/gtsam/tests/test_KarcherMeanFactor.py @@ -0,0 +1,80 @@ +""" +GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +KarcherMeanFactor unit tests. +Author: Frank Dellaert +""" + +# pylint: disable=invalid-name, no-name-in-module, no-member + +import unittest + +import gtsam +import numpy as np +from gtsam.utils.test_case import GtsamTestCase + +KEY = 0 +MODEL = gtsam.noiseModel_Unit.Create(3) + + +def find_Karcher_mean_Rot3(rotations): + """Find the Karcher mean of given values.""" + # Cost function C(R) = \sum PriorFactor(R_i)::error(R) + # No closed form solution. + graph = gtsam.NonlinearFactorGraph() + for R in rotations: + graph.add(gtsam.PriorFactorRot3(KEY, R, MODEL)) + initial = gtsam.Values() + initial.insert(KEY, gtsam.Rot3()) + result = gtsam.GaussNewtonOptimizer(graph, initial).optimize() + return result.atRot3(KEY) + + +# Rot3 version +R = gtsam.Rot3.Expmap(np.array([0.1, 0, 0])) + + +class TestKarcherMean(GtsamTestCase): + + def test_find(self): + # Check that optimizing for Karcher mean (which minimizes Between distance) + # gets correct result. + rotations = {R, R.inverse()} + expected = gtsam.Rot3() + actual = find_Karcher_mean_Rot3(rotations) + self.gtsamAssertEquals(expected, actual) + + def test_factor(self): + """Check that the InnerConstraint factor leaves the mean unchanged.""" + # Make a graph with two variables, one between, and one InnerConstraint + # The optimal result should satisfy the between, while moving the other + # variable to make the mean the same as before. + # Mean of R and R' is identity. Let's make a BetweenFactor making R21 = + # R*R*R, i.e. geodesic length is 3 rather than 2. + graph = gtsam.NonlinearFactorGraph() + R12 = R.compose(R.compose(R)) + graph.add(gtsam.BetweenFactorRot3(1, 2, R12, MODEL)) + keys = gtsam.KeyVector() + keys.push_back(1) + keys.push_back(2) + graph.add(gtsam.KarcherMeanFactorRot3(keys)) + + initial = gtsam.Values() + initial.insert(1, R.inverse()) + initial.insert(2, R) + expected = find_Karcher_mean_Rot3([R, R.inverse()]) + + result = gtsam.GaussNewtonOptimizer(graph, initial).optimize() + actual = find_Karcher_mean_Rot3( + [result.atRot3(1), result.atRot3(2)]) + self.gtsamAssertEquals(expected, actual) + self.gtsamAssertEquals( + R12, result.atRot3(1).between(result.atRot3(2))) + + +if __name__ == "__main__": + unittest.main() From ad0bb7953366db3552f13da2247b27974291bc27 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 20 Apr 2019 14:28:43 -0400 Subject: [PATCH 0018/1152] Fixed issues with Closest and << in SOn.h --- gtsam/geometry/SO3.cpp | 2 +- gtsam/geometry/SOn.h | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index cd321b126..a509bcf74 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -136,7 +136,7 @@ SO3 SO3::AxisAngle(const Vector3& axis, double theta) { /* ************************************************************************* */ SO3 SO3::ClosestTo(const Matrix3& M) { - Eigen::JacobiSVD svd(M, Eigen::ComputeThinU | Eigen::ComputeThinV); + Eigen::JacobiSVD svd(M, Eigen::ComputeFullU | Eigen::ComputeFullV); const auto& U = svd.matrixU(); const auto& V = svd.matrixV(); const double det = (U * V.transpose()).determinant(); diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index bc6282fe4..1b5228be0 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -75,12 +75,13 @@ class SOnBase { Matrix G(n2, d); for (size_t j = 0; j < d; j++) { // TODO(frank): this can't be right. Think about fixed vs dynamic. - G.col(j) << Derived::Hat(n, Eigen::VectorXd::Unit(d, j)); + const auto X = derived().Hat(n, Eigen::VectorXd::Unit(d, j)); + G.col(j) = Eigen::Map(X.data(), n2, 1); } // Vectorize Vector X(n2); - X << derived(); + X << Eigen::Map(derived().data(), n2, 1); // If requested, calculate H as (I \oplus Q) * P if (H) { From 3e1db48ced0c9460622411edae8dd907d5429b4d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 20 Apr 2019 16:49:20 -0400 Subject: [PATCH 0019/1152] Made constructor explicit, expose SOn in wrapper --- gtsam.h | 15 ++++++++++++++- gtsam/geometry/SO4.h | 2 +- gtsam/geometry/SOn.h | 20 +++++++++++++++----- 3 files changed, 30 insertions(+), 7 deletions(-) diff --git a/gtsam.h b/gtsam.h index d06d83a56..efe36a595 100644 --- a/gtsam.h +++ b/gtsam.h @@ -591,6 +591,17 @@ class SO4 { Matrix matrix() const; }; +#include +class SOn { + // Standard Constructors + SOn(size_t n); + SOn(Matrix R); + + // Other methods + Vector vec() const; + Matrix matrix() const; +}; + #include class Rot3 { // Standard Constructors and Named Constructors @@ -2031,6 +2042,7 @@ class Values { void insert(size_t j, const gtsam::Pose2& pose2); void insert(size_t j, const gtsam::SO3& R); void insert(size_t j, const gtsam::SO4& Q); + 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::Cal3_S2& cal3_s2); @@ -2048,6 +2060,7 @@ class Values { void update(size_t j, const gtsam::Pose2& pose2); void update(size_t j, const gtsam::SO3& R); void update(size_t j, const gtsam::SO4& Q); + 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::Cal3_S2& cal3_s2); @@ -2058,7 +2071,7 @@ class Values { void update(size_t j, Vector vector); void update(size_t j, Matrix matrix); - template + template T at(size_t j); /// version for double diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h index e270c9555..59279b558 100644 --- a/gtsam/geometry/SO4.h +++ b/gtsam/geometry/SO4.h @@ -107,7 +107,7 @@ class SO4 : public Matrix4, public LieGroup { /// Return matrix (for wrapper) const Matrix4 &matrix() const { return *this; } - /// @ + /// @} private: /** Serialization function */ diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 1b5228be0..475e71861 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -107,14 +107,17 @@ class SOn : public Eigen::MatrixXd, /// @name Constructors /// @{ + /// Default constructor: only used for serialization and wrapping + SOn() {} + /// Construct SO(n) identity - SOn(size_t n) : Eigen::MatrixXd(n, n) { + explicit SOn(size_t n) : Eigen::MatrixXd(n, n) { *this << Eigen::MatrixXd::Identity(n, n); } /// Constructor from Eigen Matrix template - SOn(const Eigen::MatrixBase& R) : Eigen::MatrixXd(R.eval()) {} + explicit SOn(const Eigen::MatrixBase& R) : Eigen::MatrixXd(R.eval()) {} /// Random SO(n) element (no big claims about uniformity) static SOn Random(boost::mt19937& rng, size_t n) { @@ -211,7 +214,7 @@ class SOn : public Eigen::MatrixXd, static SOn Retract(size_t n, const Vector& xi) { const Matrix X = Hat(n, xi / 2.0); const auto I = Eigen::MatrixXd::Identity(n, n); - return (I + X) * (I - X).inverse(); + return SOn((I + X) * (I - X).inverse()); } /** @@ -228,6 +231,13 @@ class SOn : public Eigen::MatrixXd, /// @name Lie group /// @{ + /// @} + /// @name Other methods + /// @{ + + /// Return matrix (for wrapper) + const Matrix &matrix() const { return *this; } + /// @} }; @@ -275,14 +285,14 @@ struct traits { ChartJacobian H2 = boost::none) { if (H1 || H2) throw std::runtime_error("SOn::Retract"); const size_t n = R.rows(); - return R * SOn::Retract(n, xi); + return SOn(R * SOn::Retract(n, xi)); } static TangentVector Local(const SOn& R, const SOn& other, // ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) { if (H1 || H2) throw std::runtime_error("SOn::Local"); - Matrix between = R.inverse() * other; + const SOn between = SOn(R.inverse() * other); return SOn::Local(between); } From 6b2f6349d7605db1ac5463c62730155a5f0bde12 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 30 Apr 2019 08:47:34 -0400 Subject: [PATCH 0020/1152] Derive from SOnBase --- gtsam/geometry/SO3.h | 26 +++++-------- gtsam/geometry/SO4.h | 4 +- gtsam/geometry/SOn.h | 87 +++++++++++++++++++++----------------------- 3 files changed, 53 insertions(+), 64 deletions(-) diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index fd0d6f1e1..4dcf1c861 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -20,8 +20,10 @@ #pragma once -#include +#include + #include +#include #include #include @@ -33,11 +35,8 @@ namespace gtsam { * We guarantee (all but first) constructors only generate from sub-manifold. * However, round-off errors in repeated composition could move off it... */ -class SO3: public Matrix3, public LieGroup { - -protected: - -public: +class SO3 : public SOnBase, public Matrix3, public LieGroup { + public: enum { N = 3 }; enum { dimension = 3 }; @@ -45,20 +44,14 @@ public: /// @{ /// Default constructor creates identity - SO3() : - Matrix3(I_3x3) { - } + SO3() : Matrix3(I_3x3) {} /// Constructor from Eigen Matrix - template - SO3(const MatrixBase& R) : - Matrix3(R.eval()) { - } + template + SO3(const MatrixBase& R) : Matrix3(R.eval()) {} /// Constructor from AngleAxisd - SO3(const Eigen::AngleAxisd& angleAxis) : - Matrix3(angleAxis) { - } + SO3(const Eigen::AngleAxisd& angleAxis) : Matrix3(angleAxis) {} /// Static, named constructor. TODO(dellaert): think about relation with above GTSAM_EXPORT static SO3 AxisAngle(const Vector3& axis, double theta); @@ -163,7 +156,6 @@ public: ar & boost::serialization::make_nvp("R32", (*this)(2,1)); ar & boost::serialization::make_nvp("R33", (*this)(2,2)); } - }; namespace so3 { diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h index 59279b558..28fe5513e 100644 --- a/gtsam/geometry/SO4.h +++ b/gtsam/geometry/SO4.h @@ -19,6 +19,8 @@ #pragma once +#include + #include #include #include @@ -34,7 +36,7 @@ namespace gtsam { /** * True SO(4), i.e., 4*4 matrix subgroup */ -class SO4 : public Matrix4, public LieGroup { +class SO4 : public SOnBase, public Matrix4, public LieGroup { public: enum { N = 4 }; enum { dimension = 6 }; diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 475e71861..ad25a6f92 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -21,7 +21,6 @@ #include #include - #include #include @@ -34,22 +33,17 @@ constexpr int VecSize(int N) { return (N < 0) ? Eigen::Dynamic : N * N; } /** * Base class for rotation group objects. Template arguments: - * Derived: derived class + * Derived_: derived class + * Must have: * N : dimension of ambient space, or Eigen::Dynamic, e.g. 4 for SO4 - * D : dimension of rotation manifold, or Eigen::Dynamic, e.g. 6 for SO4 + * dimension: manifold dimension, or Eigen::Dynamic, e.g. 6 for SO4 */ -template +template class SOnBase { public: - enum { N2 = internal::VecSize(N) }; - using VectorN2 = Eigen::Matrix; - /// @name Basic functionality /// @{ - /// Get access to derived class - const Derived& derived() const { return static_cast(*this); } - /// @} /// @name Manifold /// @{ @@ -62,44 +56,13 @@ class SOnBase { /// @name Other methods /// @{ - /** - * Return vectorized rotation matrix in column order. - * Will use dynamic matrices as intermediate results, but returns a fixed size - * X and fixed-size Jacobian if dimension is known at compile time. - * */ - VectorN2 vec(OptionalJacobian H = boost::none) const { - const size_t n = derived().rows(), n2 = n * n; - const size_t d = (n2 - n) / 2; // manifold dimension - - // Calculate G matrix of vectorized generators - Matrix G(n2, d); - for (size_t j = 0; j < d; j++) { - // TODO(frank): this can't be right. Think about fixed vs dynamic. - const auto X = derived().Hat(n, Eigen::VectorXd::Unit(d, j)); - G.col(j) = Eigen::Map(X.data(), n2, 1); - } - - // Vectorize - Vector X(n2); - X << Eigen::Map(derived().data(), n2, 1); - - // If requested, calculate H as (I \oplus Q) * P - if (H) { - H->resize(n2, d); - for (size_t i = 0; i < n; i++) { - H->block(i * n, 0, n, d) = derived() * G.block(i * n, 0, n, d); - } - } - return X; - } /// @} }; /** * Variable size rotations */ -class SOn : public Eigen::MatrixXd, - public SOnBase { +class SOn : public Eigen::MatrixXd, public SOnBase { public: enum { N = Eigen::Dynamic }; enum { dimension = Eigen::Dynamic }; @@ -116,8 +79,9 @@ class SOn : public Eigen::MatrixXd, } /// Constructor from Eigen Matrix - template - explicit SOn(const Eigen::MatrixBase& R) : Eigen::MatrixXd(R.eval()) {} + template + explicit SOn(const Eigen::MatrixBase& R) + : Eigen::MatrixXd(R.eval()) {} /// Random SO(n) element (no big claims about uniformity) static SOn Random(boost::mt19937& rng, size_t n) { @@ -139,7 +103,7 @@ class SOn : public Eigen::MatrixXd, * Hat operator creates Lie algebra element corresponding to d-vector, where d * is the dimensionality of the manifold. This function is implemented * recursively, and the d-vector is assumed to laid out such that the last - * element corresponds to so(2), the last 3 to so(3), the last for to so(4) + * element corresponds to so(2), the last 3 to so(3), the last 6 to so(4) * etc... For example, the vector-space isomorphic to so(5) is laid out as: * a b c d | u v w | x y | z * where the latter elements correspond to "telescoping" sub-algebras: @@ -236,7 +200,38 @@ class SOn : public Eigen::MatrixXd, /// @{ /// Return matrix (for wrapper) - const Matrix &matrix() const { return *this; } + const Matrix& matrix() const { return *this; } + + /** + * Return vectorized rotation matrix in column order. + * Will use dynamic matrices as intermediate results, but returns a fixed size + * X and fixed-size Jacobian if dimension is known at compile time. + * */ + Vector vec(OptionalJacobian<-1, -1> H = boost::none) const { + const size_t n = rows(), n2 = n * n; + const size_t d = (n2 - n) / 2; // manifold dimension + + // Calculate G matrix of vectorized generators + Matrix G(n2, d); + for (size_t j = 0; j < d; j++) { + // TODO(frank): this can't be right. Think about fixed vs dynamic. + const auto X = Hat(n, Eigen::VectorXd::Unit(d, j)); + G.col(j) = Eigen::Map(X.data(), n2, 1); + } + + // Vectorize + Vector X(n2); + X << Eigen::Map(data(), n2, 1); + + // If requested, calculate H as (I \oplus Q) * P + if (H) { + H->resize(n2, d); + for (size_t i = 0; i < n; i++) { + H->block(i * n, 0, n, d) = derived() * G.block(i * n, 0, n, d); + } + } + return X; + } /// @} }; From 37c53aa23f64ca66624e063bfcf55b9c024b2fc0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 2 May 2019 23:54:15 -0400 Subject: [PATCH 0021/1152] SO3 and SO4 both Lie groups. --- gtsam/geometry/tests/testSOn.cpp | 673 ++++++++++++++++++++++++++++--- 1 file changed, 612 insertions(+), 61 deletions(-) diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index 868833ce1..9b852a91d 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -15,13 +15,142 @@ * @author Frank Dellaert **/ +#include +#include + +#include +#include +#include + +namespace gtsam { + +namespace internal { +// Calculate dimensionality of SO manifold, or return Dynamic if so +constexpr int DimensionSO(int N) { + return (N < 0) ? Eigen::Dynamic : N * (N - 1) / 2; +} +} // namespace internal + +template +class SO : public Eigen::Matrix, + public LieGroup, internal::DimensionSO(N)> { + public: + enum { dimension = internal::DimensionSO(N) }; + using MatrixNN = Eigen::Matrix; + using VectorD = Eigen::Matrix; + using MatrixDD = Eigen::Matrix; + + /// @name Constructors + /// @{ + + /// Construct SO identity for N >= 2 + template = 2, void>> + SO() { + *this << MatrixNN::Identity(); + } + + /// Construct SO identity for N == Eigen::Dynamic + template > + explicit SO(size_t n = 0) { + if (n == 0) throw std::runtime_error("SO: Dimensionality not known."); + this->resize(n, n); + *this << Eigen::MatrixXd::Identity(n, n); + } + + /// Constructor from Eigen Matrix + template + SO(const Eigen::MatrixBase& R) : MatrixNN(R.eval()) {} + + /// @} + /// @name Testable + /// @{ + + void print(const std::string& s) const { + std::cout << s << *this << std::endl; + } + + bool equals(const SO& R, double tol) const { + return equal_with_abs_tol(*this, R, tol); + } + + /// @} + /// @name Group + /// @{ + + /// SO identity for N >= 2 + template = 2, void>> + static SO identity() { + return SO(); + } + + /// SO identity for N == Eigen::Dynamic + template > + static SO identity(size_t n = 0) { + return SO(n); + } + + /// inverse of a rotation = transpose + SO inverse() const { return this->transpose(); } + + /// @} + /// @name Manifold + /// @{ + + // Chart at origin + struct ChartAtOrigin { + static SO Retract(const VectorD& xi, + OptionalJacobian H = boost::none) { + return SO(); // TODO(frank): Expmap(xi, H); + } + static VectorD Local( + const SO& R, OptionalJacobian H = boost::none) { + return VectorD(); // TODO(frank): Logmap(R, H); + } + }; + + /// @} + /// @name Lie Group + /// @{ + + MatrixDD AdjointMap() const { return MatrixDD(); } + + /** + * Exponential map at identity - create a rotation from canonical coordinates + */ + static SO Expmap(const VectorD& omega, OptionalJacobian H = boost::none); + + /** + * Log map at identity - returns the canonical coordinates of this rotation + */ + static VectorD Logmap(const SO& R, OptionalJacobian H = boost::none); + + // inverse with optional derivative + using LieGroup, internal::DimensionSO(N)>::inverse; + + /// @} +}; + +using SOn = SO; +using SO3 = SO<3>; +using SO4 = SO<4>; + +template +struct traits> : public internal::LieGroup> {}; + +template +struct traits> : public internal::LieGroup> {}; + +} // namespace gtsam + // #include // #include // #include #include -#include -#include -#include +// #include +// #include +// #include #include #include @@ -30,76 +159,498 @@ using namespace std; using namespace gtsam; /* ************************************************************************* */ -TEST(SOn, SO5) { - const auto R = SOn(5); - EXPECT_LONGS_EQUAL(5, R.rows()); - Values values; - const Key key(0); - values.insert(key, R); - const auto B = values.at(key); - EXPECT_LONGS_EQUAL(5, B.rows()); +// TEST(SOn, SO5) { +// const auto R = SOn(5); +// EXPECT_LONGS_EQUAL(5, R.rows()); +// } + +/* ************************************************************************* */ +TEST(SOn, Concept) { + // BOOST_CONCEPT_ASSERT((IsGroup)); + // BOOST_CONCEPT_ASSERT((IsManifold)); + // BOOST_CONCEPT_ASSERT((IsLieGroup)); +} + +// /* ************************************************************************* +// */ TEST(SOn, Values) { +// const auto R = SOn(5); +// Values values; +// const Key key(0); +// values.insert(key, R); +// const auto B = values.at(key); +// EXPECT_LONGS_EQUAL(5, B.rows()); +// } + +// /* ************************************************************************* +// */ TEST(SOn, Random) { +// static boost::mt19937 rng(42); +// EXPECT_LONGS_EQUAL(3, SOn::Random(rng, 3).rows()); +// EXPECT_LONGS_EQUAL(4, SOn::Random(rng, 4).rows()); +// EXPECT_LONGS_EQUAL(5, SOn::Random(rng, 5).rows()); +// } + +// /* ************************************************************************* +// */ TEST(SOn, HatVee) { +// Vector6 v; +// v << 1, 2, 3, 4, 5, 6; + +// Matrix expected2(2, 2); +// expected2 << 0, -1, 1, 0; +// const auto actual2 = SOn::Hat(2, v.head<1>()); +// CHECK(assert_equal(expected2, actual2)); +// CHECK(assert_equal((Vector)v.head<1>(), SOn::Vee(actual2))); + +// Matrix expected3(3, 3); +// expected3 << 0, -3, 2, // +// 3, 0, -1, // +// -2, 1, 0; +// const auto actual3 = SOn::Hat(3, v.head<3>()); +// CHECK(assert_equal(expected3, actual3)); +// CHECK(assert_equal(skewSymmetric(1, 2, 3), actual3)); +// CHECK(assert_equal((Vector)v.head<3>(), SOn::Vee(actual3))); + +// Matrix expected4(4, 4); +// expected4 << 0, -6, 5, -3, // +// 6, 0, -4, 2, // +// -5, 4, 0, -1, // +// 3, -2, 1, 0; +// const auto actual4 = SOn::Hat(4, v); +// CHECK(assert_equal(expected4, actual4)); +// CHECK(assert_equal((Vector)v, SOn::Vee(actual4))); +// } + +// /* ************************************************************************* +// */ TEST(SOn, RetractLocal) { +// // If we do expmap in SO(3) subgroup, topleft should be equal to R1. +// Vector6 v1 = (Vector(6) << 0, 0, 0, 0.01, 0, 0).finished(); +// Matrix R1 = SO3::Retract(v1.tail<3>()); +// SOn Q1 = SOn::Retract(4, v1); +// CHECK(assert_equal(R1, Q1.block(0, 0, 3, 3), 1e-7)); +// CHECK(assert_equal(v1, SOn::Local(Q1), 1e-7)); +// } + +// /* ************************************************************************* +// */ TEST(SOn, vec) { +// auto x = SOn(5); +// Vector6 v; +// v << 1, 2, 3, 4, 5, 6; +// x.block(0, 0, 4, 4) = SO4::Expmap(v).matrix(); +// Matrix actualH; +// const Vector actual = x.vec(actualH); +// boost::function h = [](const SOn& x) { return x.vec(); +// }; const Matrix H = numericalDerivative11(h, x, 1e-5); +// CHECK(assert_equal(H, actualH)); +// } + +//****************************************************************************** +// SO4 +//****************************************************************************** + +TEST(SO4, Identity) { + const SO4 R; + EXPECT_LONGS_EQUAL(4, R.rows()); } /* ************************************************************************* */ -TEST(SOn, Random) { - static boost::mt19937 rng(42); - EXPECT_LONGS_EQUAL(3, SOn::Random(rng, 3).rows()); - EXPECT_LONGS_EQUAL(4, SOn::Random(rng, 4).rows()); - EXPECT_LONGS_EQUAL(5, SOn::Random(rng, 5).rows()); +TEST(SO4, Concept) { + BOOST_CONCEPT_ASSERT((IsGroup)); + BOOST_CONCEPT_ASSERT((IsManifold)); + BOOST_CONCEPT_ASSERT((IsLieGroup)); } -/* ************************************************************************* */ -TEST(SOn, HatVee) { - Vector6 v; - v << 1, 2, 3, 4, 5, 6; +// //****************************************************************************** +// SO4 id; +// Vector6 v1 = (Vector(6) << 0.1, 0, 0, 0, 0, 0).finished(); +// SO4 Q1 = SO4::Expmap(v1); +// Vector6 v2 = (Vector(6) << 0.01, 0.02, 0.03, 0.00, 0.00, 0.00).finished(); +// SO4 Q2 = SO4::Expmap(v2); +// Vector6 v3 = (Vector(6) << 1, 2, 3, 4, 5, 6).finished(); +// SO4 Q3 = SO4::Expmap(v3); - Matrix expected2(2, 2); - expected2 << 0, -1, 1, 0; - const auto actual2 = SOn::Hat(2, v.head<1>()); - CHECK(assert_equal(expected2, actual2)); - CHECK(assert_equal((Vector)v.head<1>(), SOn::Vee(actual2))); +// //****************************************************************************** +// TEST(SO4, Random) { +// boost::mt19937 rng(42); +// auto Q = SO4::Random(rng); +// EXPECT_LONGS_EQUAL(4, Q.matrix().rows()); +// } +// //****************************************************************************** +// TEST(SO4, Expmap) { +// // If we do exponential map in SO(3) subgroup, topleft should be equal to +// R1. auto R1 = SO3::Expmap(v1.head<3>()); +// EXPECT((Q1.topLeft().isApprox(R1))); - Matrix expected3(3, 3); - expected3 << 0, -3, 2, // - 3, 0, -1, // - -2, 1, 0; - const auto actual3 = SOn::Hat(3, v.head<3>()); - CHECK(assert_equal(expected3, actual3)); - CHECK(assert_equal(skewSymmetric(1, 2, 3), actual3)); - CHECK(assert_equal((Vector)v.head<3>(), SOn::Vee(actual3))); +// // Same here +// auto R2 = SO3::Expmap(v2.head<3>()); +// EXPECT((Q2.topLeft().isApprox(R2))); - Matrix expected4(4, 4); - expected4 << 0, -6, 5, -3, // - 6, 0, -4, 2, // - -5, 4, 0, -1, // - 3, -2, 1, 0; - const auto actual4 = SOn::Hat(4, v); - CHECK(assert_equal(expected4, actual4)); - CHECK(assert_equal((Vector)v, SOn::Vee(actual4))); +// // Check commutative subgroups +// for (size_t i = 0; i < 6; i++) { +// Vector6 xi = Vector6::Zero(); +// xi[i] = 2; +// SO4 Q1 = SO4::Expmap(xi); +// xi[i] = 3; +// SO4 Q2 = SO4::Expmap(xi); +// EXPECT(((Q1 * Q2).isApprox(Q2 * Q1))); +// } +// } + +// //****************************************************************************** +// TEST(SO4, Cayley) { +// CHECK(assert_equal(id.retract(v1 / 100), SO4::Expmap(v1 / 100))); +// CHECK(assert_equal(id.retract(v2 / 100), SO4::Expmap(v2 / 100))); +// } + +// //****************************************************************************** +// TEST(SO4, Retract) { +// auto v = Vector6::Zero(); +// SO4 actual = traits::Retract(id, v); +// EXPECT(actual.isApprox(id)); +// } + +// //****************************************************************************** +// TEST(SO4, Local) { +// auto v0 = Vector6::Zero(); +// Vector6 actual = traits::Local(id, id); +// EXPECT(assert_equal((Vector)v0, actual)); +// } + +// //****************************************************************************** +// TEST(SO4, Invariants) { +// EXPECT(check_group_invariants(id, id)); +// EXPECT(check_group_invariants(id, Q1)); +// EXPECT(check_group_invariants(Q2, id)); +// EXPECT(check_group_invariants(Q2, Q1)); +// EXPECT(check_group_invariants(Q1, Q2)); + +// EXPECT(check_manifold_invariants(id, id)); +// EXPECT(check_manifold_invariants(id, Q1)); +// EXPECT(check_manifold_invariants(Q2, id)); +// EXPECT(check_manifold_invariants(Q2, Q1)); +// EXPECT(check_manifold_invariants(Q1, Q2)); +// } + +// /* ************************************************************************* +// */ TEST(SO4, compose) { +// SO4 expected = Q1 * Q2; +// Matrix actualH1, actualH2; +// SO4 actual = Q1.compose(Q2, actualH1, actualH2); +// CHECK(assert_equal(expected, actual)); + +// Matrix numericalH1 = +// numericalDerivative21(testing::compose, Q1, Q2, 1e-2); +// CHECK(assert_equal(numericalH1, actualH1)); + +// Matrix numericalH2 = +// numericalDerivative22(testing::compose, Q1, Q2, 1e-2); +// CHECK(assert_equal(numericalH2, actualH2)); +// } + +// /* ************************************************************************* +// */ TEST(SO4, vec) { +// using Vector16 = SO4::Vector16; +// const Vector16 expected = Eigen::Map(Q2.data()); +// Matrix actualH; +// const Vector16 actual = Q2.vec(actualH); +// CHECK(assert_equal(expected, actual)); +// boost::function f = [](const SO4& Q) { +// return Q.vec(); +// }; +// const Matrix numericalH = numericalDerivative11(f, Q2, 1e-5); +// CHECK(assert_equal(numericalH, actualH)); +// } + +// /* ************************************************************************* +// */ TEST(SO4, topLeft) { +// const Matrix3 expected = Q3.topLeftCorner<3, 3>(); +// Matrix actualH; +// const Matrix3 actual = Q3.topLeft(actualH); +// CHECK(assert_equal(expected, actual)); +// boost::function f = [](const SO4& Q3) { +// return Q3.topLeft(); +// }; +// const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); +// CHECK(assert_equal(numericalH, actualH)); +// } + +// /* ************************************************************************* +// */ TEST(SO4, stiefel) { +// const Matrix43 expected = Q3.leftCols<3>(); +// Matrix actualH; +// const Matrix43 actual = Q3.stiefel(actualH); +// CHECK(assert_equal(expected, actual)); +// boost::function f = [](const SO4& Q3) { +// return Q3.stiefel(); +// }; +// const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); +// CHECK(assert_equal(numericalH, actualH)); +// } + +//****************************************************************************** +// SO3 +//****************************************************************************** + +TEST(SO3, Identity) { + const SO3 R; + EXPECT_LONGS_EQUAL(3, R.rows()); } -/* ************************************************************************* */ -TEST(SOn, RetractLocal) { - // If we do expmap in SO(3) subgroup, topleft should be equal to R1. - Vector6 v1 = (Vector(6) << 0, 0, 0, 0.01, 0, 0).finished(); - Matrix R1 = SO3::Retract(v1.tail<3>()); - SOn Q1 = SOn::Retract(4, v1); - CHECK(assert_equal(R1, Q1.block(0, 0, 3, 3), 1e-7)); - CHECK(assert_equal(v1, SOn::Local(Q1), 1e-7)); +//****************************************************************************** +TEST(SO3, Concept) { + BOOST_CONCEPT_ASSERT((IsGroup)); + BOOST_CONCEPT_ASSERT((IsManifold)); + BOOST_CONCEPT_ASSERT((IsLieGroup)); } -/* ************************************************************************* */ -TEST(SOn, vec) { - auto x = SOn(5); - Vector6 v; - v << 1, 2, 3, 4, 5, 6; - x.block(0, 0, 4, 4) = SO4::Expmap(v).matrix(); - Matrix actualH; - const Vector actual = x.vec(actualH); - boost::function h = [](const SOn& x) { return x.vec(); }; - const Matrix H = numericalDerivative11(h, x, 1e-5); - CHECK(assert_equal(H, actualH)); -} +// //****************************************************************************** +// TEST(SO3, Constructor) { SO3 q(Eigen::AngleAxisd(1, Vector3(0, 0, 1))); } + +// //****************************************************************************** +// SO3 id; +// Vector3 z_axis(0, 0, 1); +// SO3 R1(Eigen::AngleAxisd(0.1, z_axis)); +// SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); + +// //****************************************************************************** +// TEST(SO3, Local) { +// Vector3 expected(0, 0, 0.1); +// Vector3 actual = traits::Local(R1, R2); +// EXPECT(assert_equal((Vector)expected, actual)); +// } + +// //****************************************************************************** +// TEST(SO3, Retract) { +// Vector3 v(0, 0, 0.1); +// SO3 actual = traits::Retract(R1, v); +// EXPECT(actual.isApprox(R2)); +// } + +// //****************************************************************************** +// TEST(SO3, Invariants) { +// EXPECT(check_group_invariants(id, id)); +// EXPECT(check_group_invariants(id, R1)); +// EXPECT(check_group_invariants(R2, id)); +// EXPECT(check_group_invariants(R2, R1)); + +// EXPECT(check_manifold_invariants(id, id)); +// EXPECT(check_manifold_invariants(id, R1)); +// EXPECT(check_manifold_invariants(R2, id)); +// EXPECT(check_manifold_invariants(R2, R1)); +// } + +// //****************************************************************************** +// TEST(SO3, LieGroupDerivatives) { +// CHECK_LIE_GROUP_DERIVATIVES(id, id); +// CHECK_LIE_GROUP_DERIVATIVES(id, R2); +// CHECK_LIE_GROUP_DERIVATIVES(R2, id); +// CHECK_LIE_GROUP_DERIVATIVES(R2, R1); +// } + +// //****************************************************************************** +// TEST(SO3, ChartDerivatives) { +// CHECK_CHART_DERIVATIVES(id, id); +// CHECK_CHART_DERIVATIVES(id, R2); +// CHECK_CHART_DERIVATIVES(R2, id); +// CHECK_CHART_DERIVATIVES(R2, R1); +// } + +// /* ************************************************************************* +// */ namespace exmap_derivative { static const Vector3 w(0.1, 0.27, -0.2); +// } +// // Left trivialized Derivative of exp(w) wrpt w: +// // How does exp(w) change when w changes? +// // We find a y such that: exp(w) exp(y) = exp(w + dw) for dw --> 0 +// // => y = log (exp(-w) * exp(w+dw)) +// Vector3 testDexpL(const Vector3& dw) { +// using exmap_derivative::w; +// return SO3::Logmap(SO3::Expmap(-w) * SO3::Expmap(w + dw)); +// } + +// TEST(SO3, ExpmapDerivative) { +// using exmap_derivative::w; +// const Matrix actualDexpL = SO3::ExpmapDerivative(w); +// const Matrix expectedDexpL = +// numericalDerivative11(testDexpL, Vector3::Zero(), +// 1e-2); +// EXPECT(assert_equal(expectedDexpL, actualDexpL, 1e-7)); + +// const Matrix actualDexpInvL = SO3::LogmapDerivative(w); +// EXPECT(assert_equal(expectedDexpL.inverse(), actualDexpInvL, 1e-7)); +// } + +// /* ************************************************************************* +// */ TEST(SO3, ExpmapDerivative2) { +// const Vector3 theta(0.1, 0, 0.1); +// const Matrix Jexpected = numericalDerivative11( +// boost::bind(&SO3::Expmap, _1, boost::none), theta); + +// CHECK(assert_equal(Jexpected, SO3::ExpmapDerivative(theta))); +// CHECK(assert_equal(Matrix3(Jexpected.transpose()), +// SO3::ExpmapDerivative(-theta))); +// } + +// /* ************************************************************************* +// */ TEST(SO3, ExpmapDerivative3) { +// const Vector3 theta(10, 20, 30); +// const Matrix Jexpected = numericalDerivative11( +// boost::bind(&SO3::Expmap, _1, boost::none), theta); + +// CHECK(assert_equal(Jexpected, SO3::ExpmapDerivative(theta))); +// CHECK(assert_equal(Matrix3(Jexpected.transpose()), +// SO3::ExpmapDerivative(-theta))); +// } + +// /* ************************************************************************* +// */ TEST(SO3, ExpmapDerivative4) { +// // Iserles05an (Lie-group Methods) says: +// // scalar is easy: d exp(a(t)) / dt = exp(a(t)) a'(t) +// // matrix is hard: d exp(A(t)) / dt = exp(A(t)) dexp[-A(t)] A'(t) +// // where A(t): R -> so(3) is a trajectory in the tangent space of SO(3) +// // and dexp[A] is a linear map from 3*3 to 3*3 derivatives of se(3) +// // Hence, the above matrix equation is typed: 3*3 = SO(3) * linear_map(3*3) + +// // In GTSAM, we don't work with the skew-symmetric matrices A directly, but +// // with 3-vectors. +// // omega is easy: d Expmap(w(t)) / dt = ExmapDerivative[w(t)] * w'(t) + +// // Let's verify the above formula. + +// auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; +// auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; + +// // We define a function R +// auto R = [w](double t) { return SO3::Expmap(w(t)); }; + +// for (double t = -2.0; t < 2.0; t += 0.3) { +// const Matrix expected = numericalDerivative11(R, t); +// const Matrix actual = SO3::ExpmapDerivative(w(t)) * w_dot(t); +// CHECK(assert_equal(expected, actual, 1e-7)); +// } +// } + +// /* ************************************************************************* +// */ TEST(SO3, ExpmapDerivative5) { +// auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; +// auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; + +// // Now define R as mapping local coordinates to neighborhood around R0. +// const SO3 R0 = SO3::Expmap(Vector3(0.1, 0.4, 0.2)); +// auto R = [R0, w](double t) { return R0.expmap(w(t)); }; + +// for (double t = -2.0; t < 2.0; t += 0.3) { +// const Matrix expected = numericalDerivative11(R, t); +// const Matrix actual = SO3::ExpmapDerivative(w(t)) * w_dot(t); +// CHECK(assert_equal(expected, actual, 1e-7)); +// } +// } + +// /* ************************************************************************* +// */ TEST(SO3, ExpmapDerivative6) { +// const Vector3 thetahat(0.1, 0, 0.1); +// const Matrix Jexpected = numericalDerivative11( +// boost::bind(&SO3::Expmap, _1, boost::none), thetahat); +// Matrix3 Jactual; +// SO3::Expmap(thetahat, Jactual); +// EXPECT(assert_equal(Jexpected, Jactual)); +// } + +// /* ************************************************************************* +// */ TEST(SO3, LogmapDerivative) { +// const Vector3 thetahat(0.1, 0, 0.1); +// const SO3 R = SO3::Expmap(thetahat); // some rotation +// const Matrix Jexpected = numericalDerivative11( +// boost::bind(&SO3::Logmap, _1, boost::none), R); +// const Matrix3 Jactual = SO3::LogmapDerivative(thetahat); +// EXPECT(assert_equal(Jexpected, Jactual)); +// } + +// /* ************************************************************************* +// */ TEST(SO3, JacobianLogmap) { +// const Vector3 thetahat(0.1, 0, 0.1); +// const SO3 R = SO3::Expmap(thetahat); // some rotation +// const Matrix Jexpected = numericalDerivative11( +// boost::bind(&SO3::Logmap, _1, boost::none), R); +// Matrix3 Jactual; +// SO3::Logmap(R, Jactual); +// EXPECT(assert_equal(Jexpected, Jactual)); +// } + +// /* ************************************************************************* +// */ TEST(SO3, ApplyDexp) { +// Matrix aH1, aH2; +// for (bool nearZeroApprox : {true, false}) { +// boost::function f = +// [=](const Vector3& omega, const Vector3& v) { +// return so3::DexpFunctor(omega, nearZeroApprox).applyDexp(v); +// }; +// for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, +// 0), +// Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { +// so3::DexpFunctor local(omega, nearZeroApprox); +// for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), +// Vector3(0.4, 0.3, 0.2)}) { +// EXPECT(assert_equal(Vector3(local.dexp() * v), +// local.applyDexp(v, aH1, aH2))); +// EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); +// EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); +// EXPECT(assert_equal(local.dexp(), aH2)); +// } +// } +// } +// } + +// /* ************************************************************************* +// */ TEST(SO3, ApplyInvDexp) { +// Matrix aH1, aH2; +// for (bool nearZeroApprox : {true, false}) { +// boost::function f = +// [=](const Vector3& omega, const Vector3& v) { +// return so3::DexpFunctor(omega, nearZeroApprox).applyInvDexp(v); +// }; +// for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, +// 0), +// Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { +// so3::DexpFunctor local(omega, nearZeroApprox); +// Matrix invDexp = local.dexp().inverse(); +// for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), +// Vector3(0.4, 0.3, 0.2)}) { +// EXPECT(assert_equal(Vector3(invDexp * v), +// local.applyInvDexp(v, aH1, aH2))); +// EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); +// EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); +// EXPECT(assert_equal(invDexp, aH2)); +// } +// } +// } +// } + +// /* ************************************************************************* +// */ TEST(SO3, vec) { +// const Vector9 expected = Eigen::Map(R2.data()); +// Matrix actualH; +// const Vector9 actual = R2.vec(actualH); +// CHECK(assert_equal(expected, actual)); +// boost::function f = [](const SO3& Q) { +// return Q.vec(); +// }; +// const Matrix numericalH = numericalDerivative11(f, R2, 1e-5); +// CHECK(assert_equal(numericalH, actualH)); +// } + +// //****************************************************************************** +// TEST(Matrix, compose) { +// Matrix3 M; +// M << 1, 2, 3, 4, 5, 6, 7, 8, 9; +// SO3 R = SO3::Expmap(Vector3(1, 2, 3)); +// const Matrix3 expected = M * R.matrix(); +// Matrix actualH; +// const Matrix3 actual = so3::compose(M, R, actualH); +// CHECK(assert_equal(expected, actual)); +// boost::function f = [R](const Matrix3& M) { +// return so3::compose(M, R); +// }; +// Matrix numericalH = numericalDerivative11(f, M, 1e-2); +// CHECK(assert_equal(numericalH, actualH)); +// } //****************************************************************************** int main() { From a35709295a90b65efe1f28cca3d8e867efe72b85 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 3 May 2019 08:16:04 -0400 Subject: [PATCH 0022/1152] Made matrix a member variable --- gtsam/geometry/tests/testSOn.cpp | 41 +++++++++++++++++++++----------- 1 file changed, 27 insertions(+), 14 deletions(-) diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index 9b852a91d..5d9f5773f 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -31,53 +31,64 @@ constexpr int DimensionSO(int N) { } } // namespace internal +/** + * Space of special orthogonal rotation matrices SO + */ template -class SO : public Eigen::Matrix, - public LieGroup, internal::DimensionSO(N)> { +class SO : public LieGroup, internal::DimensionSO(N)> { public: enum { dimension = internal::DimensionSO(N) }; using MatrixNN = Eigen::Matrix; using VectorD = Eigen::Matrix; using MatrixDD = Eigen::Matrix; + MatrixNN matrix_; ///< Rotation matrix + /// @name Constructors /// @{ /// Construct SO identity for N >= 2 template = 2, void>> - SO() { - *this << MatrixNN::Identity(); - } + SO() : matrix_(MatrixNN::Identity()) {} /// Construct SO identity for N == Eigen::Dynamic template > explicit SO(size_t n = 0) { if (n == 0) throw std::runtime_error("SO: Dimensionality not known."); - this->resize(n, n); - *this << Eigen::MatrixXd::Identity(n, n); + matrix_ = Eigen::MatrixXd::Identity(n, n); } /// Constructor from Eigen Matrix template - SO(const Eigen::MatrixBase& R) : MatrixNN(R.eval()) {} + explicit SO(const Eigen::MatrixBase& R) : matrix_(R.eval()) {} + + /// @} + /// @name Standard methods + /// @{ + + size_t rows() const { return matrix_.rows(); } + size_t cols() const { return matrix_.cols(); } /// @} /// @name Testable /// @{ void print(const std::string& s) const { - std::cout << s << *this << std::endl; + std::cout << s << matrix_ << std::endl; } - bool equals(const SO& R, double tol) const { - return equal_with_abs_tol(*this, R, tol); + bool equals(const SO& other, double tol) const { + return equal_with_abs_tol(matrix_, other.matrix_, tol); } /// @} /// @name Group /// @{ + /// Multiplication + SO operator*(const SO& other) const { return SO(matrix_ * other.matrix_); } + /// SO identity for N >= 2 template = 2, void>> static SO identity() { @@ -92,7 +103,7 @@ class SO : public Eigen::Matrix, } /// inverse of a rotation = transpose - SO inverse() const { return this->transpose(); } + SO inverse() const { return SO(matrix_.transpose()); } /// @} /// @name Manifold @@ -119,12 +130,14 @@ class SO : public Eigen::Matrix, /** * Exponential map at identity - create a rotation from canonical coordinates */ - static SO Expmap(const VectorD& omega, OptionalJacobian H = boost::none); + static SO Expmap(const VectorD& omega, + OptionalJacobian H = boost::none); /** * Log map at identity - returns the canonical coordinates of this rotation */ - static VectorD Logmap(const SO& R, OptionalJacobian H = boost::none); + static VectorD Logmap(const SO& R, + OptionalJacobian H = boost::none); // inverse with optional derivative using LieGroup, internal::DimensionSO(N)>::inverse; From 676f93ebd88b4d62ab71434b2fd8d75139434d98 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 May 2019 17:18:16 -0400 Subject: [PATCH 0023/1152] Add pointer constructor for dynamic case --- gtsam/base/OptionalJacobian.h | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/gtsam/base/OptionalJacobian.h b/gtsam/base/OptionalJacobian.h index 166297d5f..82a5ae7f4 100644 --- a/gtsam/base/OptionalJacobian.h +++ b/gtsam/base/OptionalJacobian.h @@ -176,10 +176,11 @@ public: pointer_(NULL) { } - /// Constructor that will resize a dynamic matrix (unless already correct) - OptionalJacobian(Eigen::MatrixXd& dynamic) : - pointer_(&dynamic) { - } + /// Construct from pointer to dynamic matrix + OptionalJacobian(Jacobian* pointer) : pointer_(pointer) {} + + /// Construct from refrence to dynamic matrix + OptionalJacobian(Jacobian& dynamic) : pointer_(&dynamic) {} #ifndef OPTIONALJACOBIAN_NOBOOST From 6f071928bc5aefe84db80b2d9dae3caea732b97c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 May 2019 17:18:31 -0400 Subject: [PATCH 0024/1152] Allow dynamic dimension Lie groups --- gtsam/base/Lie.h | 6 ------ 1 file changed, 6 deletions(-) diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h index bb49a84d6..641597044 100644 --- a/gtsam/base/Lie.h +++ b/gtsam/base/Lie.h @@ -35,9 +35,6 @@ namespace gtsam { template struct LieGroup { - BOOST_STATIC_ASSERT_MSG(N != Eigen::Dynamic, - "LieGroup not yet specialized for dynamically sized types."); - enum { dimension = N }; typedef OptionalJacobian ChartJacobian; typedef Eigen::Matrix Jacobian; @@ -190,9 +187,6 @@ struct LieGroupTraits { typedef Eigen::Matrix TangentVector; typedef OptionalJacobian ChartJacobian; - BOOST_STATIC_ASSERT_MSG(dimension != Eigen::Dynamic, - "LieGroupTraits not yet specialized for dynamically sized types."); - static int GetDimension(const Class&) {return dimension;} static TangentVector Local(const Class& origin, const Class& other, From cc2f0f242cc16aeb11c417ca6e83366b65d41a62 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 May 2019 17:18:59 -0400 Subject: [PATCH 0025/1152] Succeeded in making SOn a Lie group --- gtsam/geometry/tests/testSOn.cpp | 40 +++++++++++++++++++++++++++++--- 1 file changed, 37 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index 5d9f5773f..74a1bb0cf 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -29,6 +29,12 @@ namespace internal { constexpr int DimensionSO(int N) { return (N < 0) ? Eigen::Dynamic : N * (N - 1) / 2; } + +// Return dynamic identity matrix for given SO(n) dimensionality d +Matrix IdentitySO(size_t n) { + const size_t d = n * (n - 1) / 2; + return Matrix::Identity(d, d); +} } // namespace internal /** @@ -149,6 +155,34 @@ using SOn = SO; using SO3 = SO<3>; using SO4 = SO<4>; +/* + * Fully specialize compose and between, because the derivative is unknowable by + * the LieGroup implementations, who return a fixed-size matrix for H2. + */ + +using DynamicJacobian = OptionalJacobian; + +template <> +SOn LieGroup::compose(const SOn& g, DynamicJacobian H1, + DynamicJacobian H2) const { + if (H1) *H1 = g.inverse().AdjointMap(); + if (H2) *H2 = internal::IdentitySO(g.rows()); + return derived() * g; +} + +template <> +SOn LieGroup::between(const SOn& g, DynamicJacobian H1, + DynamicJacobian H2) const { + SOn result = derived().inverse() * g; + if (H1) *H1 = -result.inverse().AdjointMap(); + if (H2) *H2 = internal::IdentitySO(g.rows()); + return result; +} + +/* + * Define the traits. internal::LieGroup provides both Lie group and Testable + */ + template struct traits> : public internal::LieGroup> {}; @@ -179,9 +213,9 @@ using namespace gtsam; /* ************************************************************************* */ TEST(SOn, Concept) { - // BOOST_CONCEPT_ASSERT((IsGroup)); - // BOOST_CONCEPT_ASSERT((IsManifold)); - // BOOST_CONCEPT_ASSERT((IsLieGroup)); + BOOST_CONCEPT_ASSERT((IsGroup)); + BOOST_CONCEPT_ASSERT((IsManifold)); + BOOST_CONCEPT_ASSERT((IsLieGroup)); } // /* ************************************************************************* From be83a6bad7e3fb53a7dd945b8c2f8093a580975a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 May 2019 16:59:37 -0400 Subject: [PATCH 0026/1152] Hat/Vee etc, working Random for SOn --- gtsam/geometry/tests/testSOn.cpp | 260 ++++++++++++++++++++++++------- 1 file changed, 203 insertions(+), 57 deletions(-) diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index 74a1bb0cf..df41b64da 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -17,6 +17,9 @@ #include #include +#include + +#include #include #include @@ -25,16 +28,10 @@ namespace gtsam { namespace internal { -// Calculate dimensionality of SO manifold, or return Dynamic if so +/// Calculate dimensionality of SO manifold, or return Dynamic if so constexpr int DimensionSO(int N) { return (N < 0) ? Eigen::Dynamic : N * (N - 1) / 2; } - -// Return dynamic identity matrix for given SO(n) dimensionality d -Matrix IdentitySO(size_t n) { - const size_t d = n * (n - 1) / 2; - return Matrix::Identity(d, d); -} } // namespace internal /** @@ -45,21 +42,30 @@ class SO : public LieGroup, internal::DimensionSO(N)> { public: enum { dimension = internal::DimensionSO(N) }; using MatrixNN = Eigen::Matrix; - using VectorD = Eigen::Matrix; using MatrixDD = Eigen::Matrix; + protected: MatrixNN matrix_; ///< Rotation matrix + // enable_if_t aliases, used to specialize constructors/methods, see + // https://www.fluentcpp.com/2018/05/18/make-sfinae-pretty-2-hidden-beauty-sfinae/ + template + using IsDynamic = boost::enable_if_t; + template + using IsFixed = boost::enable_if_t= 2, void>; + template + using IsSO3 = boost::enable_if_t; + + public: /// @name Constructors /// @{ /// Construct SO identity for N >= 2 - template = 2, void>> + template > SO() : matrix_(MatrixNN::Identity()) {} /// Construct SO identity for N == Eigen::Dynamic - template > + template > explicit SO(size_t n = 0) { if (n == 0) throw std::runtime_error("SO: Dimensionality not known."); matrix_ = Eigen::MatrixXd::Identity(n, n); @@ -69,6 +75,31 @@ class SO : public LieGroup, internal::DimensionSO(N)> { template explicit SO(const Eigen::MatrixBase& R) : matrix_(R.eval()) {} + /// Constructor from AngleAxisd + template > + SO(const Eigen::AngleAxisd& angleAxis) : matrix_(angleAxis) {} + + /// Random SO(n) element (no big claims about uniformity) + template > + static SO Random(boost::mt19937& rng, size_t n = 0) { + if (n == 0) throw std::runtime_error("SO: Dimensionality not known."); + // This needs to be re-thought! + static boost::uniform_real randomAngle(-M_PI, M_PI); + const size_t d = SO::Dimension(n); + Vector xi(d); + for (size_t j = 0; j < d; j++) { + xi(j) = randomAngle(rng); + } + return SO::Retract(xi); + } + + /// Random SO(N) element (no big claims about uniformity) + template > + static SO Random(boost::mt19937& rng) { + // By default, use dynamic implementation above. Specialized for SO(3). + return SO(SO::Random(rng, N).matrix_); + } + /// @} /// @name Standard methods /// @{ @@ -96,14 +127,13 @@ class SO : public LieGroup, internal::DimensionSO(N)> { SO operator*(const SO& other) const { return SO(matrix_ * other.matrix_); } /// SO identity for N >= 2 - template = 2, void>> + template > static SO identity() { return SO(); } /// SO identity for N == Eigen::Dynamic - template > + template > static SO identity(size_t n = 0) { return SO(n); } @@ -115,18 +145,127 @@ class SO : public LieGroup, internal::DimensionSO(N)> { /// @name Manifold /// @{ + using TangentVector = Eigen::Matrix; + using ChartJacobian = OptionalJacobian; + + /// Return compile-time dimensionality: fixed size N or Eigen::Dynamic + static int Dim() { return dimension; } + + // Calculate manifold dimensionality for SO(n). + // Available as dimension or Dim() for fixed N. + static size_t Dimension(size_t n) { return n * (n - 1) / 2; } + + // Calculate ambient dimension n from manifold dimensionality d. + static size_t AmbientDim(size_t d) { return (1 + std::sqrt(1 + 8 * d)) / 2; } + + // Calculate run-time dimensionality of manifold. + // Available as dimension or Dim() for fixed N. + size_t dim() const { return Dimension(matrix_.rows()); } + + /** + * Hat operator creates Lie algebra element corresponding to d-vector, where d + * is the dimensionality of the manifold. This function is implemented + * recursively, and the d-vector is assumed to laid out such that the last + * element corresponds to so(2), the last 3 to so(3), the last 6 to so(4) + * etc... For example, the vector-space isomorphic to so(5) is laid out as: + * a b c d | u v w | x y | z + * where the latter elements correspond to "telescoping" sub-algebras: + * 0 -z y -w d + * z 0 -x v -c + * -y x 0 -u b + * w -v u 0 -a + * -d c -b a 0 + * This scheme behaves exactly as expected for SO(2) and SO(3). + */ + static Matrix Hat(const Vector& xi) { + size_t n = AmbientDim(xi.size()); + if (n < 2) throw std::invalid_argument("SOn::Hat: n<2 not supported"); + + Matrix X(n, n); // allocate space for n*n skew-symmetric matrix + X.setZero(); + if (n == 2) { + // Handle SO(2) case as recursion bottom + assert(xi.size() == 1); + X << 0, -xi(0), xi(0), 0; + } else { + // Recursively call SO(n-1) call for top-left block + const size_t dmin = (n - 1) * (n - 2) / 2; + X.topLeftCorner(n - 1, n - 1) = Hat(xi.tail(dmin)); + + // Now fill last row and column + double sign = 1.0; + for (size_t i = 0; i < n - 1; i++) { + const size_t j = n - 2 - i; + X(n - 1, j) = sign * xi(i); + X(j, n - 1) = -X(n - 1, j); + sign = -sign; + } + } + return X; + } + + /** + * Inverse of Hat. See note about xi element order in Hat. + */ + static Vector Vee(const Matrix& X) { + const size_t n = X.rows(); + if (n < 2) throw std::invalid_argument("SOn::Hat: n<2 not supported"); + + if (n == 2) { + // Handle SO(2) case as recursion bottom + Vector xi(1); + xi(0) = X(1, 0); + return xi; + } else { + // Calculate dimension and allocate space + const size_t d = n * (n - 1) / 2; + Vector xi(d); + + // Fill first n-1 spots from last row of X + double sign = 1.0; + for (size_t i = 0; i < n - 1; i++) { + const size_t j = n - 2 - i; + xi(i) = sign * X(n - 1, j); + sign = -sign; + } + + // Recursively call Vee to fill remainder of x + const size_t dmin = (n - 1) * (n - 2) / 2; + xi.tail(dmin) = Vee(X.topLeftCorner(n - 1, n - 1)); + return xi; + } + } + // Chart at origin struct ChartAtOrigin { - static SO Retract(const VectorD& xi, - OptionalJacobian H = boost::none) { - return SO(); // TODO(frank): Expmap(xi, H); + /** + * Retract uses Cayley map. See note about xi element order in Hat. + * Deafault implementation has no Jacobian implemented + */ + static SO Retract(const TangentVector& xi, ChartJacobian H = boost::none) { + const Matrix X = Hat(xi / 2.0); + size_t n = AmbientDim(xi.size()); + const auto I = Eigen::MatrixXd::Identity(n, n); + return SO((I + X) * (I - X).inverse()); } - static VectorD Local( - const SO& R, OptionalJacobian H = boost::none) { - return VectorD(); // TODO(frank): Logmap(R, H); + /** + * Inverse of Retract. See note about xi element order in Hat. + */ + static TangentVector Local(const SO& R, ChartJacobian H = boost::none) { + const size_t n = R.rows(); + const auto I = Eigen::MatrixXd::Identity(n, n); + const Matrix X = (I - R.matrix_) * (I + R.matrix_).inverse(); + return -2 * Vee(X); } }; + // Return dynamic identity DxD Jacobian for given SO(n) + template > + static MatrixDD IdentityJacobian(size_t n) { + const size_t d = Dimension(n); + return MatrixDD::Identity(d, d); + } + /// @} /// @name Lie Group /// @{ @@ -136,14 +275,12 @@ class SO : public LieGroup, internal::DimensionSO(N)> { /** * Exponential map at identity - create a rotation from canonical coordinates */ - static SO Expmap(const VectorD& omega, - OptionalJacobian H = boost::none); + static SO Expmap(const TangentVector& omega, ChartJacobian H = boost::none); /** * Log map at identity - returns the canonical coordinates of this rotation */ - static VectorD Logmap(const SO& R, - OptionalJacobian H = boost::none); + static TangentVector Logmap(const SO& R, ChartJacobian H = boost::none); // inverse with optional derivative using LieGroup, internal::DimensionSO(N)>::inverse; @@ -151,22 +288,22 @@ class SO : public LieGroup, internal::DimensionSO(N)> { /// @} }; -using SOn = SO; -using SO3 = SO<3>; -using SO4 = SO<4>; - /* * Fully specialize compose and between, because the derivative is unknowable by * the LieGroup implementations, who return a fixed-size matrix for H2. */ +using SO3 = SO<3>; +using SO4 = SO<4>; +using SOn = SO; + using DynamicJacobian = OptionalJacobian; template <> SOn LieGroup::compose(const SOn& g, DynamicJacobian H1, DynamicJacobian H2) const { if (H1) *H1 = g.inverse().AdjointMap(); - if (H2) *H2 = internal::IdentitySO(g.rows()); + if (H2) *H2 = SOn::IdentityJacobian(g.rows()); return derived() * g; } @@ -175,7 +312,7 @@ SOn LieGroup::between(const SOn& g, DynamicJacobian H1, DynamicJacobian H2) const { SOn result = derived().inverse() * g; if (H1) *H1 = -result.inverse().AdjointMap(); - if (H2) *H2 = internal::IdentitySO(g.rows()); + if (H2) *H2 = SOn::IdentityJacobian(g.rows()); return result; } @@ -206,10 +343,13 @@ using namespace std; using namespace gtsam; /* ************************************************************************* */ -// TEST(SOn, SO5) { -// const auto R = SOn(5); -// EXPECT_LONGS_EQUAL(5, R.rows()); -// } +TEST(SOn, SO5) { + const auto R = SOn(5); + EXPECT_LONGS_EQUAL(5, R.rows()); + EXPECT_LONGS_EQUAL(Eigen::Dynamic, SOn::dimension); + EXPECT_LONGS_EQUAL(Eigen::Dynamic, SOn::Dim()); + EXPECT_LONGS_EQUAL(10, R.dim()); +} /* ************************************************************************* */ TEST(SOn, Concept) { @@ -218,23 +358,23 @@ TEST(SOn, Concept) { BOOST_CONCEPT_ASSERT((IsLieGroup)); } -// /* ************************************************************************* -// */ TEST(SOn, Values) { -// const auto R = SOn(5); -// Values values; -// const Key key(0); -// values.insert(key, R); -// const auto B = values.at(key); -// EXPECT_LONGS_EQUAL(5, B.rows()); -// } +/* ************************************************************************* */ +TEST(SOn, Values) { + const auto R = SOn(5); + Values values; + const Key key(0); + values.insert(key, R); + const auto B = values.at(key); + EXPECT_LONGS_EQUAL(5, B.rows()); +} -// /* ************************************************************************* -// */ TEST(SOn, Random) { -// static boost::mt19937 rng(42); -// EXPECT_LONGS_EQUAL(3, SOn::Random(rng, 3).rows()); -// EXPECT_LONGS_EQUAL(4, SOn::Random(rng, 4).rows()); -// EXPECT_LONGS_EQUAL(5, SOn::Random(rng, 5).rows()); -// } +/* ************************************************************************* */ +TEST(SOn, Random) { + static boost::mt19937 rng(42); + EXPECT_LONGS_EQUAL(3, SOn::Random(rng, 3).rows()); + EXPECT_LONGS_EQUAL(4, SOn::Random(rng, 4).rows()); + EXPECT_LONGS_EQUAL(5, SOn::Random(rng, 5).rows()); +} // /* ************************************************************************* // */ TEST(SOn, HatVee) { @@ -296,6 +436,9 @@ TEST(SOn, Concept) { TEST(SO4, Identity) { const SO4 R; EXPECT_LONGS_EQUAL(4, R.rows()); + EXPECT_LONGS_EQUAL(6, SO4::dimension); + EXPECT_LONGS_EQUAL(6, SO4::Dim()); + EXPECT_LONGS_EQUAL(6, R.dim()); } /* ************************************************************************* */ @@ -439,6 +582,9 @@ TEST(SO4, Concept) { TEST(SO3, Identity) { const SO3 R; EXPECT_LONGS_EQUAL(3, R.rows()); + EXPECT_LONGS_EQUAL(3, SO3::dimension); + EXPECT_LONGS_EQUAL(3, SO3::Dim()); + EXPECT_LONGS_EQUAL(3, R.dim()); } //****************************************************************************** @@ -448,14 +594,14 @@ TEST(SO3, Concept) { BOOST_CONCEPT_ASSERT((IsLieGroup)); } -// //****************************************************************************** -// TEST(SO3, Constructor) { SO3 q(Eigen::AngleAxisd(1, Vector3(0, 0, 1))); } +//****************************************************************************** +TEST(SO3, Constructor) { SO3 q(Eigen::AngleAxisd(1, Vector3(0, 0, 1))); } -// //****************************************************************************** -// SO3 id; -// Vector3 z_axis(0, 0, 1); -// SO3 R1(Eigen::AngleAxisd(0.1, z_axis)); -// SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); +//****************************************************************************** +SO3 id; +Vector3 z_axis(0, 0, 1); +SO3 R1(Eigen::AngleAxisd(0.1, z_axis)); +SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); // //****************************************************************************** // TEST(SO3, Local) { From 96392c74c0e0a948084c4c6612b0c5f072457b4f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 May 2019 02:08:29 -0400 Subject: [PATCH 0027/1152] Expmap and vec, specialized to SO3 and SO4 --- gtsam/geometry/tests/testSOn.cpp | 853 ++++++++++++++++++++++--------- 1 file changed, 603 insertions(+), 250 deletions(-) diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index df41b64da..9f17ce269 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -16,7 +16,9 @@ **/ #include +#include #include +#include #include #include @@ -32,6 +34,9 @@ namespace internal { constexpr int DimensionSO(int N) { return (N < 0) ? Eigen::Dynamic : N * (N - 1) / 2; } + +// Calculate N^2 at compile time, or return Dynamic if so +constexpr int NSquaredSO(int N) { return (N < 0) ? Eigen::Dynamic : N * N; } } // namespace internal /** @@ -42,6 +47,7 @@ class SO : public LieGroup, internal::DimensionSO(N)> { public: enum { dimension = internal::DimensionSO(N) }; using MatrixNN = Eigen::Matrix; + using VectorN2 = Eigen::Matrix; using MatrixDD = Eigen::Matrix; protected: @@ -97,13 +103,16 @@ class SO : public LieGroup, internal::DimensionSO(N)> { template > static SO Random(boost::mt19937& rng) { // By default, use dynamic implementation above. Specialized for SO(3). - return SO(SO::Random(rng, N).matrix_); + return SO(SO::Random(rng, N).matrix()); } /// @} /// @name Standard methods /// @{ + /// Return matrix + const MatrixNN& matrix() const { return matrix_; } + size_t rows() const { return matrix_.rows(); } size_t cols() const { return matrix_.cols(); } @@ -270,22 +279,63 @@ class SO : public LieGroup, internal::DimensionSO(N)> { /// @name Lie Group /// @{ - MatrixDD AdjointMap() const { return MatrixDD(); } + MatrixDD AdjointMap() const { + throw std::runtime_error( + "SO::AdjointMap only implemented for SO3 and SO4."); + } /** * Exponential map at identity - create a rotation from canonical coordinates */ - static SO Expmap(const TangentVector& omega, ChartJacobian H = boost::none); + static SO Expmap(const TangentVector& omega, ChartJacobian H = boost::none) { + throw std::runtime_error("SO::Expmap only implemented for SO3 and SO4."); + } /** * Log map at identity - returns the canonical coordinates of this rotation */ - static TangentVector Logmap(const SO& R, ChartJacobian H = boost::none); + static TangentVector Logmap(const SO& R, ChartJacobian H = boost::none) { + throw std::runtime_error("SO::Logmap only implemented for SO3 and SO4."); + } // inverse with optional derivative using LieGroup, internal::DimensionSO(N)>::inverse; /// @} + /// @name Other methods + /// @{ + + /** + * Return vectorized rotation matrix in column order. + * Will use dynamic matrices as intermediate results, but returns a fixed size + * X and fixed-size Jacobian if dimension is known at compile time. + * */ + VectorN2 vec(OptionalJacobian H = + boost::none) const { + const size_t n = rows(); + const size_t n2 = n * n; + + // Vectorize + VectorN2 X(n2); + X << Eigen::Map(matrix_.data(), n2, 1); + + // If requested, calculate H as (I \oplus Q) * P + if (H) { + // Calculate P matrix of vectorized generators + const size_t d = dim(); + Matrix P(n2, d); + for (size_t j = 0; j < d; j++) { + const auto X = Hat(Eigen::VectorXd::Unit(d, j)); + P.col(j) = Eigen::Map(X.data(), n2, 1); + } + H->resize(n2, d); + for (size_t i = 0; i < n; i++) { + H->block(i * n, 0, n, d) = matrix_ * P.block(i * n, 0, n, d); + } + } + return X; + } + /// @} }; /* @@ -326,12 +376,318 @@ struct traits> : public internal::LieGroup> {}; template struct traits> : public internal::LieGroup> {}; +namespace so3 { + +/** + * Compose general matrix with an SO(3) element. + * We only provide the 9*9 derivative in the first argument M. + */ +Matrix3 compose(const Matrix3& M, const SO3& R, + OptionalJacobian<9, 9> H = boost::none); + +/// (constant) Jacobian of compose wrpt M +Matrix99 Dcompose(const SO3& R); + +// Below are two functors that allow for saving computation when exponential map +// and its derivatives are needed at the same location in so<3>. The second +// functor also implements dedicated methods to apply dexp and/or inv(dexp). + +/// Functor implementing Exponential map +class GTSAM_EXPORT ExpmapFunctor { + protected: + const double theta2; + Matrix3 W, K, KK; + bool nearZero; + double theta, sin_theta, one_minus_cos; // only defined if !nearZero + + void init(bool nearZeroApprox = false); + + public: + /// Constructor with element of Lie algebra so(3) + ExpmapFunctor(const Vector3& omega, bool nearZeroApprox = false); + + /// Constructor with axis-angle + ExpmapFunctor(const Vector3& axis, double angle, bool nearZeroApprox = false); + + /// Rodrigues formula + SO3 expmap() const; +}; + +/// Functor that implements Exponential map *and* its derivatives +class GTSAM_EXPORT DexpFunctor : public ExpmapFunctor { + const Vector3 omega; + double a, b; + Matrix3 dexp_; + + public: + /// Constructor with element of Lie algebra so(3) + DexpFunctor(const Vector3& omega, bool nearZeroApprox = false); + + // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation + // (10.86) and following equations in G.S. Chirikjian, "Stochastic Models, + // Information Theory, and Lie Groups", Volume 2, 2008. + // expmap(omega + v) \approx expmap(omega) * expmap(dexp * v) + // This maps a perturbation v in the tangent space to + // a perturbation on the manifold Expmap(dexp * v) */ + const Matrix3& dexp() const { return dexp_; } + + /// Multiplies with dexp(), with optional derivatives + Vector3 applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const; + + /// Multiplies with dexp().inverse(), with optional derivatives + Vector3 applyInvDexp(const Vector3& v, + OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const; +}; +} // namespace so3 + +//****************************************************************************** +namespace so3 { + +Matrix99 Dcompose(const SO3& Q) { + Matrix99 H; + auto R = Q.matrix(); + H << I_3x3 * R(0, 0), I_3x3 * R(1, 0), I_3x3 * R(2, 0), // + I_3x3 * R(0, 1), I_3x3 * R(1, 1), I_3x3 * R(2, 1), // + I_3x3 * R(0, 2), I_3x3 * R(1, 2), I_3x3 * R(2, 2); + return H; +} + +Matrix3 compose(const Matrix3& M, const SO3& R, OptionalJacobian<9, 9> H) { + Matrix3 MR = M * R.matrix(); + if (H) *H = Dcompose(R); + return MR; +} + +void ExpmapFunctor::init(bool nearZeroApprox) { + nearZero = + nearZeroApprox || (theta2 <= std::numeric_limits::epsilon()); + if (!nearZero) { + theta = std::sqrt(theta2); // rotation angle + sin_theta = std::sin(theta); + const double s2 = std::sin(theta / 2.0); + one_minus_cos = 2.0 * s2 * s2; // numerically better than [1 - cos(theta)] + } +} + +ExpmapFunctor::ExpmapFunctor(const Vector3& omega, bool nearZeroApprox) + : theta2(omega.dot(omega)) { + const double wx = omega.x(), wy = omega.y(), wz = omega.z(); + W << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; + init(nearZeroApprox); + if (!nearZero) { + K = W / theta; + KK = K * K; + } +} + +ExpmapFunctor::ExpmapFunctor(const Vector3& axis, double angle, + bool nearZeroApprox) + : theta2(angle * angle) { + const double ax = axis.x(), ay = axis.y(), az = axis.z(); + K << 0.0, -az, +ay, +az, 0.0, -ax, -ay, +ax, 0.0; + W = K * angle; + init(nearZeroApprox); + if (!nearZero) { + KK = K * K; + } +} + +SO3 ExpmapFunctor::expmap() const { + if (nearZero) + return SO3(I_3x3 + W); + else + return SO3(I_3x3 + sin_theta * K + one_minus_cos * KK); +} + +DexpFunctor::DexpFunctor(const Vector3& omega, bool nearZeroApprox) + : ExpmapFunctor(omega, nearZeroApprox), omega(omega) { + if (nearZero) + dexp_ = I_3x3 - 0.5 * W; + else { + a = one_minus_cos / theta; + b = 1.0 - sin_theta / theta; + dexp_ = I_3x3 - a * K + b * KK; + } +} + +Vector3 DexpFunctor::applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, + OptionalJacobian<3, 3> H2) const { + if (H1) { + if (nearZero) { + *H1 = 0.5 * skewSymmetric(v); + } else { + // TODO(frank): Iserles hints that there should be a form I + c*K + d*KK + const Vector3 Kv = K * v; + const double Da = (sin_theta - 2.0 * a) / theta2; + const double Db = (one_minus_cos - 3.0 * b) / theta2; + *H1 = (Db * K - Da * I_3x3) * Kv * omega.transpose() - + skewSymmetric(Kv * b / theta) + + (a * I_3x3 - b * K) * skewSymmetric(v / theta); + } + } + if (H2) *H2 = dexp_; + return dexp_ * v; +} + +Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, + OptionalJacobian<3, 3> H2) const { + const Matrix3 invDexp = dexp_.inverse(); + const Vector3 c = invDexp * v; + if (H1) { + Matrix3 D_dexpv_omega; + applyDexp(c, D_dexpv_omega); // get derivative H of forward mapping + *H1 = -invDexp * D_dexpv_omega; + } + if (H2) *H2 = invDexp; + return c; +} + +} // namespace so3 + +//****************************************************************************** +template <> +SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { + if (H) { + so3::DexpFunctor impl(omega); + *H = impl.dexp(); + return impl.expmap(); + } else + return so3::ExpmapFunctor(omega).expmap(); +} + +// template<> +// Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { +// return so3::DexpFunctor(omega).dexp(); +// } + +//****************************************************************************** +static Vector9 vec3(const Matrix3& R) { + return Eigen::Map(R.data()); +} + +static const std::vector G3({SO3::Hat(Vector3::Unit(0)), + SO3::Hat(Vector3::Unit(1)), + SO3::Hat(Vector3::Unit(2))}); + +static const Matrix93 P3 = + (Matrix93() << vec3(G3[0]), vec3(G3[1]), vec3(G3[2])).finished(); + +//****************************************************************************** +template <> +Vector9 SO3::vec(OptionalJacobian<9, 3> H) const { + const Matrix3& R = matrix_; + if (H) { + // As Luca calculated (for SO4), this is (I3 \oplus R) * P3 + *H << R * P3.block<3, 3>(0, 0), R * P3.block<3, 3>(3, 0), + R * P3.block<3, 3>(6, 0); + } + return gtsam::vec3(R); +}; + +//****************************************************************************** +/* Exponential map, porting MATLAB implementation by Luca, which follows + * "SOME REMARKS ON THE EXPONENTIAL MAP ON THE GROUPS SO(n) AND SE(n)" by + * Ramona-Andreaa Rohan */ +template <> +SO4 SO4::Expmap(const Vector6& xi, ChartJacobian H) { + using namespace std; + if (H) throw std::runtime_error("SO4::Expmap Jacobian"); + + // skew symmetric matrix X = xi^ + const Matrix4 X = Hat(xi); + + // do eigen-decomposition + auto eig = Eigen::EigenSolver(X); + Eigen::Vector4cd e = eig.eigenvalues(); + using std::abs; + sort(e.data(), e.data() + 4, [](complex a, complex b) { + return abs(a.imag()) > abs(b.imag()); + }); + + // Get a and b from eigenvalues +/i ai and +/- bi + double a = e[0].imag(), b = e[2].imag(); + if (!e.real().isZero() || e[1].imag() != -a || e[3].imag() != -b) { + throw runtime_error("SO4::Expmap: wrong eigenvalues."); + } + + // Build expX = exp(xi^) + Matrix4 expX; + using std::cos; + using std::sin; + const auto X2 = X * X; + const auto X3 = X2 * X; + double a2 = a * a, a3 = a2 * a, b2 = b * b, b3 = b2 * b; + if (a != 0 && b == 0) { + double c2 = (1 - cos(a)) / a2, c3 = (a - sin(a)) / a3; + return SO4(I_4x4 + X + c2 * X2 + c3 * X3); + } else if (a == b && b != 0) { + double sin_a = sin(a), cos_a = cos(a); + double c0 = (a * sin_a + 2 * cos_a) / 2, + c1 = (3 * sin_a - a * cos_a) / (2 * a), c2 = sin_a / (2 * a), + c3 = (sin_a - a * cos_a) / (2 * a3); + return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); + } else if (a != b) { + double sin_a = sin(a), cos_a = cos(a); + double sin_b = sin(b), cos_b = cos(b); + double c0 = (b2 * cos_a - a2 * cos_b) / (b2 - a2), + c1 = (b3 * sin_a - a3 * sin_b) / (a * b * (b2 - a2)), + c2 = (cos_a - cos_b) / (b2 - a2), + c3 = (b * sin_a - a * sin_b) / (a * b * (b2 - a2)); + return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); + } else { + return SO4(); + } +} + +//****************************************************************************** +static SO4::VectorN2 vec4(const Matrix4& Q) { + return Eigen::Map(Q.data()); +} + +static const std::vector G4( + {SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), + SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), + SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))}); + +static const Eigen::Matrix P4 = + (Eigen::Matrix() << vec4(G4[0]), vec4(G4[1]), vec4(G4[2]), + vec4(G4[3]), vec4(G4[4]), vec4(G4[5])) + .finished(); + +//****************************************************************************** +template <> +Matrix6 SO4::AdjointMap() const { + // Elaborate way of calculating the AdjointMap + // TODO(frank): find a closed form solution. In SO(3) is just R :-/ + const Matrix4& Q = matrix_; + const Matrix4 Qt = Q.transpose(); + Matrix6 A; + for (size_t i = 0; i < 6; i++) { + // Calculate column i of linear map for coeffcient of Gi + A.col(i) = SO4::Vee(Q * G4[i] * Qt); + } + return A; +} + +//****************************************************************************** +template <> +SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const { + const Matrix& Q = matrix_; + if (H) { + // As Luca calculated, this is (I4 \oplus Q) * P4 + *H << Q * P4.block<4, 6>(0, 0), Q * P4.block<4, 6>(4, 0), + Q * P4.block<4, 6>(8, 0), Q * P4.block<4, 6>(12, 0); + } + return gtsam::vec4(Q); +} + } // namespace gtsam -// #include -// #include -// #include +#include #include +#include // #include // #include // #include @@ -342,7 +698,7 @@ struct traits> : public internal::LieGroup> {}; using namespace std; using namespace gtsam; -/* ************************************************************************* */ +//****************************************************************************** TEST(SOn, SO5) { const auto R = SOn(5); EXPECT_LONGS_EQUAL(5, R.rows()); @@ -351,14 +707,14 @@ TEST(SOn, SO5) { EXPECT_LONGS_EQUAL(10, R.dim()); } -/* ************************************************************************* */ +//****************************************************************************** TEST(SOn, Concept) { BOOST_CONCEPT_ASSERT((IsGroup)); BOOST_CONCEPT_ASSERT((IsManifold)); BOOST_CONCEPT_ASSERT((IsLieGroup)); } -/* ************************************************************************* */ +//****************************************************************************** TEST(SOn, Values) { const auto R = SOn(5); Values values; @@ -368,7 +724,7 @@ TEST(SOn, Values) { EXPECT_LONGS_EQUAL(5, B.rows()); } -/* ************************************************************************* */ +//****************************************************************************** TEST(SOn, Random) { static boost::mt19937 rng(42); EXPECT_LONGS_EQUAL(3, SOn::Random(rng, 3).rows()); @@ -376,58 +732,57 @@ TEST(SOn, Random) { EXPECT_LONGS_EQUAL(5, SOn::Random(rng, 5).rows()); } -// /* ************************************************************************* -// */ TEST(SOn, HatVee) { -// Vector6 v; -// v << 1, 2, 3, 4, 5, 6; +//****************************************************************************** +TEST(SOn, HatVee) { + Vector6 v; + v << 1, 2, 3, 4, 5, 6; -// Matrix expected2(2, 2); -// expected2 << 0, -1, 1, 0; -// const auto actual2 = SOn::Hat(2, v.head<1>()); -// CHECK(assert_equal(expected2, actual2)); -// CHECK(assert_equal((Vector)v.head<1>(), SOn::Vee(actual2))); + Matrix expected2(2, 2); + expected2 << 0, -1, 1, 0; + const auto actual2 = SOn::Hat(v.head<1>()); + CHECK(assert_equal(expected2, actual2)); + CHECK(assert_equal((Vector)v.head<1>(), SOn::Vee(actual2))); -// Matrix expected3(3, 3); -// expected3 << 0, -3, 2, // -// 3, 0, -1, // -// -2, 1, 0; -// const auto actual3 = SOn::Hat(3, v.head<3>()); -// CHECK(assert_equal(expected3, actual3)); -// CHECK(assert_equal(skewSymmetric(1, 2, 3), actual3)); -// CHECK(assert_equal((Vector)v.head<3>(), SOn::Vee(actual3))); + Matrix expected3(3, 3); + expected3 << 0, -3, 2, // + 3, 0, -1, // + -2, 1, 0; + const auto actual3 = SOn::Hat(v.head<3>()); + CHECK(assert_equal(expected3, actual3)); + CHECK(assert_equal(skewSymmetric(1, 2, 3), actual3)); + CHECK(assert_equal((Vector)v.head<3>(), SOn::Vee(actual3))); -// Matrix expected4(4, 4); -// expected4 << 0, -6, 5, -3, // -// 6, 0, -4, 2, // -// -5, 4, 0, -1, // -// 3, -2, 1, 0; -// const auto actual4 = SOn::Hat(4, v); -// CHECK(assert_equal(expected4, actual4)); -// CHECK(assert_equal((Vector)v, SOn::Vee(actual4))); -// } + Matrix expected4(4, 4); + expected4 << 0, -6, 5, -3, // + 6, 0, -4, 2, // + -5, 4, 0, -1, // + 3, -2, 1, 0; + const auto actual4 = SOn::Hat(v); + CHECK(assert_equal(expected4, actual4)); + CHECK(assert_equal((Vector)v, SOn::Vee(actual4))); +} -// /* ************************************************************************* -// */ TEST(SOn, RetractLocal) { -// // If we do expmap in SO(3) subgroup, topleft should be equal to R1. -// Vector6 v1 = (Vector(6) << 0, 0, 0, 0.01, 0, 0).finished(); -// Matrix R1 = SO3::Retract(v1.tail<3>()); -// SOn Q1 = SOn::Retract(4, v1); -// CHECK(assert_equal(R1, Q1.block(0, 0, 3, 3), 1e-7)); -// CHECK(assert_equal(v1, SOn::Local(Q1), 1e-7)); -// } +//****************************************************************************** +TEST(SOn, RetractLocal) { + // If we do expmap in SO(3) subgroup, topleft should be equal to R1. + Vector6 v1 = (Vector(6) << 0, 0, 0, 0.01, 0, 0).finished(); + Matrix R1 = SO3::Retract(v1.tail<3>()).matrix(); + SOn Q1 = SOn::Retract(v1); + CHECK(assert_equal(R1, Q1.matrix().block(0, 0, 3, 3), 1e-7)); + CHECK(assert_equal(v1, SOn::ChartAtOrigin::Local(Q1), 1e-7)); +} -// /* ************************************************************************* -// */ TEST(SOn, vec) { -// auto x = SOn(5); -// Vector6 v; -// v << 1, 2, 3, 4, 5, 6; -// x.block(0, 0, 4, 4) = SO4::Expmap(v).matrix(); -// Matrix actualH; -// const Vector actual = x.vec(actualH); -// boost::function h = [](const SOn& x) { return x.vec(); -// }; const Matrix H = numericalDerivative11(h, x, 1e-5); -// CHECK(assert_equal(H, actualH)); -// } +//****************************************************************************** +TEST(SOn, vec) { + Vector10 v; + v << 0, 0, 0, 0, 1, 2, 3, 4, 5, 6; + SOn Q = SOn::ChartAtOrigin::Retract(v); + Matrix actualH; + const Vector actual = Q.vec(actualH); + boost::function h = [](const SOn& Q) { return Q.vec(); }; + const Matrix H = numericalDerivative11(h, Q, 1e-5); + CHECK(assert_equal(H, actualH)); +} //****************************************************************************** // SO4 @@ -441,113 +796,113 @@ TEST(SO4, Identity) { EXPECT_LONGS_EQUAL(6, R.dim()); } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO4, Concept) { BOOST_CONCEPT_ASSERT((IsGroup)); BOOST_CONCEPT_ASSERT((IsManifold)); BOOST_CONCEPT_ASSERT((IsLieGroup)); } -// //****************************************************************************** -// SO4 id; -// Vector6 v1 = (Vector(6) << 0.1, 0, 0, 0, 0, 0).finished(); -// SO4 Q1 = SO4::Expmap(v1); -// Vector6 v2 = (Vector(6) << 0.01, 0.02, 0.03, 0.00, 0.00, 0.00).finished(); -// SO4 Q2 = SO4::Expmap(v2); -// Vector6 v3 = (Vector(6) << 1, 2, 3, 4, 5, 6).finished(); -// SO4 Q3 = SO4::Expmap(v3); +//****************************************************************************** +SO4 I4; +Vector6 v1 = (Vector(6) << 0, 0, 0, 0.1, 0, 0).finished(); +SO4 Q1 = SO4::Expmap(v1); +Vector6 v2 = (Vector(6) << 0.00, 0.00, 0.00, 0.01, 0.02, 0.03).finished(); +SO4 Q2 = SO4::Expmap(v2); +Vector6 v3 = (Vector(6) << 1, 2, 3, 4, 5, 6).finished(); +SO4 Q3 = SO4::Expmap(v3); -// //****************************************************************************** -// TEST(SO4, Random) { -// boost::mt19937 rng(42); -// auto Q = SO4::Random(rng); -// EXPECT_LONGS_EQUAL(4, Q.matrix().rows()); -// } -// //****************************************************************************** -// TEST(SO4, Expmap) { -// // If we do exponential map in SO(3) subgroup, topleft should be equal to -// R1. auto R1 = SO3::Expmap(v1.head<3>()); -// EXPECT((Q1.topLeft().isApprox(R1))); +//****************************************************************************** +TEST(SO4, Random) { + boost::mt19937 rng(42); + auto Q = SO4::Random(rng); + EXPECT_LONGS_EQUAL(4, Q.matrix().rows()); +} +//****************************************************************************** +TEST(SO4, Expmap) { + // If we do exponential map in SO(3) subgroup, topleft should be equal to R1. + auto R1 = SO3::Expmap(v1.tail<3>()).matrix(); + EXPECT((Q1.matrix().topLeftCorner<3, 3>().isApprox(R1))); -// // Same here -// auto R2 = SO3::Expmap(v2.head<3>()); -// EXPECT((Q2.topLeft().isApprox(R2))); + // Same here + auto R2 = SO3::Expmap(v2.tail<3>()).matrix(); + EXPECT((Q2.matrix().topLeftCorner<3, 3>().isApprox(R2))); -// // Check commutative subgroups -// for (size_t i = 0; i < 6; i++) { -// Vector6 xi = Vector6::Zero(); -// xi[i] = 2; -// SO4 Q1 = SO4::Expmap(xi); -// xi[i] = 3; -// SO4 Q2 = SO4::Expmap(xi); -// EXPECT(((Q1 * Q2).isApprox(Q2 * Q1))); -// } -// } + // Check commutative subgroups + for (size_t i = 0; i < 6; i++) { + Vector6 xi = Vector6::Zero(); + xi[i] = 2; + SO4 Q1 = SO4::Expmap(xi); + xi[i] = 3; + SO4 Q2 = SO4::Expmap(xi); + EXPECT(assert_equal(Q1 * Q2, Q2 * Q1)); + } +} -// //****************************************************************************** -// TEST(SO4, Cayley) { -// CHECK(assert_equal(id.retract(v1 / 100), SO4::Expmap(v1 / 100))); -// CHECK(assert_equal(id.retract(v2 / 100), SO4::Expmap(v2 / 100))); -// } +//****************************************************************************** +TEST(SO4, Cayley) { + CHECK(assert_equal(I4.retract(v1 / 100), SO4::Expmap(v1 / 100))); + CHECK(assert_equal(I4.retract(v2 / 100), SO4::Expmap(v2 / 100))); +} -// //****************************************************************************** -// TEST(SO4, Retract) { -// auto v = Vector6::Zero(); -// SO4 actual = traits::Retract(id, v); -// EXPECT(actual.isApprox(id)); -// } +//****************************************************************************** +TEST(SO4, Retract) { + auto v = Vector6::Zero(); + SO4 actual = traits::Retract(I4, v); + EXPECT(assert_equal(I4, actual)); +} -// //****************************************************************************** -// TEST(SO4, Local) { -// auto v0 = Vector6::Zero(); -// Vector6 actual = traits::Local(id, id); -// EXPECT(assert_equal((Vector)v0, actual)); -// } +//****************************************************************************** +TEST(SO4, Local) { + auto v0 = Vector6::Zero(); + Vector6 actual = traits::Local(I4, I4); + EXPECT(assert_equal((Vector)v0, actual)); +} -// //****************************************************************************** -// TEST(SO4, Invariants) { -// EXPECT(check_group_invariants(id, id)); -// EXPECT(check_group_invariants(id, Q1)); -// EXPECT(check_group_invariants(Q2, id)); -// EXPECT(check_group_invariants(Q2, Q1)); -// EXPECT(check_group_invariants(Q1, Q2)); +//****************************************************************************** +TEST(SO4, Invariants) { + EXPECT(check_group_invariants(I4, I4)); + EXPECT(check_group_invariants(I4, Q1)); + EXPECT(check_group_invariants(Q2, I4)); + EXPECT(check_group_invariants(Q2, Q1)); + EXPECT(check_group_invariants(Q1, Q2)); -// EXPECT(check_manifold_invariants(id, id)); -// EXPECT(check_manifold_invariants(id, Q1)); -// EXPECT(check_manifold_invariants(Q2, id)); -// EXPECT(check_manifold_invariants(Q2, Q1)); -// EXPECT(check_manifold_invariants(Q1, Q2)); -// } + EXPECT(check_manifold_invariants(I4, I4)); + EXPECT(check_manifold_invariants(I4, Q1)); + EXPECT(check_manifold_invariants(Q2, I4)); + EXPECT(check_manifold_invariants(Q2, Q1)); + EXPECT(check_manifold_invariants(Q1, Q2)); +} -// /* ************************************************************************* -// */ TEST(SO4, compose) { -// SO4 expected = Q1 * Q2; -// Matrix actualH1, actualH2; -// SO4 actual = Q1.compose(Q2, actualH1, actualH2); -// CHECK(assert_equal(expected, actual)); +//****************************************************************************** +TEST(SO4, compose) { + SO4 expected = Q1 * Q2; + Matrix actualH1, actualH2; + SO4 actual = Q1.compose(Q2, actualH1, actualH2); + CHECK(assert_equal(expected, actual)); -// Matrix numericalH1 = -// numericalDerivative21(testing::compose, Q1, Q2, 1e-2); -// CHECK(assert_equal(numericalH1, actualH1)); + Matrix numericalH1 = + numericalDerivative21(testing::compose, Q1, Q2, 1e-2); + CHECK(assert_equal(numericalH1, actualH1)); -// Matrix numericalH2 = -// numericalDerivative22(testing::compose, Q1, Q2, 1e-2); -// CHECK(assert_equal(numericalH2, actualH2)); -// } + Matrix numericalH2 = + numericalDerivative22(testing::compose, Q1, Q2, 1e-2); + CHECK(assert_equal(numericalH2, actualH2)); +} -// /* ************************************************************************* -// */ TEST(SO4, vec) { -// using Vector16 = SO4::Vector16; -// const Vector16 expected = Eigen::Map(Q2.data()); -// Matrix actualH; -// const Vector16 actual = Q2.vec(actualH); -// CHECK(assert_equal(expected, actual)); -// boost::function f = [](const SO4& Q) { -// return Q.vec(); -// }; -// const Matrix numericalH = numericalDerivative11(f, Q2, 1e-5); -// CHECK(assert_equal(numericalH, actualH)); -// } +//****************************************************************************** +TEST(SO4, vec) { + using Vector16 = SO4::VectorN2; + const Vector16 expected = Eigen::Map(Q2.matrix().data()); + Matrix actualH; + const Vector16 actual = Q2.vec(actualH); + CHECK(assert_equal(expected, actual)); + boost::function f = [](const SO4& Q) { + return Q.vec(); + }; + const Matrix numericalH = numericalDerivative11(f, Q2, 1e-5); + CHECK(assert_equal(numericalH, actualH)); +} // /* ************************************************************************* // */ TEST(SO4, topLeft) { @@ -598,56 +953,57 @@ TEST(SO3, Concept) { TEST(SO3, Constructor) { SO3 q(Eigen::AngleAxisd(1, Vector3(0, 0, 1))); } //****************************************************************************** -SO3 id; +SO3 I3; Vector3 z_axis(0, 0, 1); SO3 R1(Eigen::AngleAxisd(0.1, z_axis)); SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); -// //****************************************************************************** -// TEST(SO3, Local) { +//****************************************************************************** +// TEST(SO3, Logmap) { // Vector3 expected(0, 0, 0.1); -// Vector3 actual = traits::Local(R1, R2); +// Vector3 actual = SO3::Logmap(R1.between(R2)); // EXPECT(assert_equal((Vector)expected, actual)); // } -// //****************************************************************************** -// TEST(SO3, Retract) { -// Vector3 v(0, 0, 0.1); -// SO3 actual = traits::Retract(R1, v); -// EXPECT(actual.isApprox(R2)); -// } +//****************************************************************************** +TEST(SO3, Expmap) { + Vector3 v(0, 0, 0.1); + SO3 actual = R1 * SO3::Expmap(v); + EXPECT(assert_equal(R2, actual)); +} -// //****************************************************************************** -// TEST(SO3, Invariants) { -// EXPECT(check_group_invariants(id, id)); -// EXPECT(check_group_invariants(id, R1)); -// EXPECT(check_group_invariants(R2, id)); -// EXPECT(check_group_invariants(R2, R1)); +//****************************************************************************** +TEST(SO3, Invariants) { + EXPECT(check_group_invariants(I3, I3)); + EXPECT(check_group_invariants(I3, R1)); + EXPECT(check_group_invariants(R2, I3)); + EXPECT(check_group_invariants(R2, R1)); -// EXPECT(check_manifold_invariants(id, id)); -// EXPECT(check_manifold_invariants(id, R1)); -// EXPECT(check_manifold_invariants(R2, id)); -// EXPECT(check_manifold_invariants(R2, R1)); -// } + EXPECT(check_manifold_invariants(I3, I3)); + EXPECT(check_manifold_invariants(I3, R1)); + EXPECT(check_manifold_invariants(R2, I3)); + EXPECT(check_manifold_invariants(R2, R1)); +} -// //****************************************************************************** +//****************************************************************************** // TEST(SO3, LieGroupDerivatives) { -// CHECK_LIE_GROUP_DERIVATIVES(id, id); -// CHECK_LIE_GROUP_DERIVATIVES(id, R2); -// CHECK_LIE_GROUP_DERIVATIVES(R2, id); +// CHECK_LIE_GROUP_DERIVATIVES(I3, I3); +// CHECK_LIE_GROUP_DERIVATIVES(I3, R2); +// CHECK_LIE_GROUP_DERIVATIVES(R2, I3); // CHECK_LIE_GROUP_DERIVATIVES(R2, R1); // } -// //****************************************************************************** +//****************************************************************************** // TEST(SO3, ChartDerivatives) { -// CHECK_CHART_DERIVATIVES(id, id); -// CHECK_CHART_DERIVATIVES(id, R2); -// CHECK_CHART_DERIVATIVES(R2, id); +// CHECK_CHART_DERIVATIVES(I3, I3); +// CHECK_CHART_DERIVATIVES(I3, R2); +// CHECK_CHART_DERIVATIVES(R2, I3); // CHECK_CHART_DERIVATIVES(R2, R1); // } -// /* ************************************************************************* -// */ namespace exmap_derivative { static const Vector3 w(0.1, 0.27, -0.2); +// //****************************************************************************** +// namespace exmap_derivative { +// static const Vector3 w(0.1, 0.27, -0.2); // } // // Left trivialized Derivative of exp(w) wrpt w: // // How does exp(w) change when w changes? @@ -670,8 +1026,8 @@ SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); // EXPECT(assert_equal(expectedDexpL.inverse(), actualDexpInvL, 1e-7)); // } -// /* ************************************************************************* -// */ TEST(SO3, ExpmapDerivative2) { +// //****************************************************************************** +// TEST(SO3, ExpmapDerivative2) { // const Vector3 theta(0.1, 0, 0.1); // const Matrix Jexpected = numericalDerivative11( // boost::bind(&SO3::Expmap, _1, boost::none), theta); @@ -681,8 +1037,8 @@ SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); // SO3::ExpmapDerivative(-theta))); // } -// /* ************************************************************************* -// */ TEST(SO3, ExpmapDerivative3) { +// //****************************************************************************** +// TEST(SO3, ExpmapDerivative3) { // const Vector3 theta(10, 20, 30); // const Matrix Jexpected = numericalDerivative11( // boost::bind(&SO3::Expmap, _1, boost::none), theta); @@ -692,8 +1048,8 @@ SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); // SO3::ExpmapDerivative(-theta))); // } -// /* ************************************************************************* -// */ TEST(SO3, ExpmapDerivative4) { +// //****************************************************************************** +// TEST(SO3, ExpmapDerivative4) { // // Iserles05an (Lie-group Methods) says: // // scalar is easy: d exp(a(t)) / dt = exp(a(t)) a'(t) // // matrix is hard: d exp(A(t)) / dt = exp(A(t)) dexp[-A(t)] A'(t) @@ -720,8 +1076,8 @@ SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); // } // } -// /* ************************************************************************* -// */ TEST(SO3, ExpmapDerivative5) { +// //****************************************************************************** +// TEST(SO3, ExpmapDerivative5) { // auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; // auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; @@ -736,8 +1092,8 @@ SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); // } // } -// /* ************************************************************************* -// */ TEST(SO3, ExpmapDerivative6) { +// //****************************************************************************** +// TEST(SO3, ExpmapDerivative6) { // const Vector3 thetahat(0.1, 0, 0.1); // const Matrix Jexpected = numericalDerivative11( // boost::bind(&SO3::Expmap, _1, boost::none), thetahat); @@ -747,7 +1103,8 @@ SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); // } // /* ************************************************************************* -// */ TEST(SO3, LogmapDerivative) { +// */ +// TEST(SO3, LogmapDerivative) { // const Vector3 thetahat(0.1, 0, 0.1); // const SO3 R = SO3::Expmap(thetahat); // some rotation // const Matrix Jexpected = numericalDerivative11( @@ -756,8 +1113,8 @@ SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); // EXPECT(assert_equal(Jexpected, Jactual)); // } -// /* ************************************************************************* -// */ TEST(SO3, JacobianLogmap) { +// //****************************************************************************** +// TEST(SO3, JacobianLogmap) { // const Vector3 thetahat(0.1, 0, 0.1); // const SO3 R = SO3::Expmap(thetahat); // some rotation // const Matrix Jexpected = numericalDerivative11( @@ -767,67 +1124,63 @@ SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); // EXPECT(assert_equal(Jexpected, Jactual)); // } -// /* ************************************************************************* -// */ TEST(SO3, ApplyDexp) { -// Matrix aH1, aH2; -// for (bool nearZeroApprox : {true, false}) { -// boost::function f = -// [=](const Vector3& omega, const Vector3& v) { -// return so3::DexpFunctor(omega, nearZeroApprox).applyDexp(v); -// }; -// for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, -// 0), -// Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { -// so3::DexpFunctor local(omega, nearZeroApprox); -// for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), -// Vector3(0.4, 0.3, 0.2)}) { -// EXPECT(assert_equal(Vector3(local.dexp() * v), -// local.applyDexp(v, aH1, aH2))); -// EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); -// EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); -// EXPECT(assert_equal(local.dexp(), aH2)); -// } -// } -// } -// } +//****************************************************************************** +TEST(SO3, ApplyDexp) { + Matrix aH1, aH2; + for (bool nearZeroApprox : {true, false}) { + boost::function f = + [=](const Vector3& omega, const Vector3& v) { + return so3::DexpFunctor(omega, nearZeroApprox).applyDexp(v); + }; + for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), + Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { + so3::DexpFunctor local(omega, nearZeroApprox); + for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), + Vector3(0.4, 0.3, 0.2)}) { + EXPECT(assert_equal(Vector3(local.dexp() * v), + local.applyDexp(v, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); + EXPECT(assert_equal(local.dexp(), aH2)); + } + } + } +} -// /* ************************************************************************* -// */ TEST(SO3, ApplyInvDexp) { -// Matrix aH1, aH2; -// for (bool nearZeroApprox : {true, false}) { -// boost::function f = -// [=](const Vector3& omega, const Vector3& v) { -// return so3::DexpFunctor(omega, nearZeroApprox).applyInvDexp(v); -// }; -// for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, -// 0), -// Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { -// so3::DexpFunctor local(omega, nearZeroApprox); -// Matrix invDexp = local.dexp().inverse(); -// for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), -// Vector3(0.4, 0.3, 0.2)}) { -// EXPECT(assert_equal(Vector3(invDexp * v), -// local.applyInvDexp(v, aH1, aH2))); -// EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); -// EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); -// EXPECT(assert_equal(invDexp, aH2)); -// } -// } -// } -// } +//****************************************************************************** +TEST(SO3, ApplyInvDexp) { + Matrix aH1, aH2; + for (bool nearZeroApprox : {true, false}) { + boost::function f = + [=](const Vector3& omega, const Vector3& v) { + return so3::DexpFunctor(omega, nearZeroApprox).applyInvDexp(v); + }; + for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), + Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { + so3::DexpFunctor local(omega, nearZeroApprox); + Matrix invDexp = local.dexp().inverse(); + for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), + Vector3(0.4, 0.3, 0.2)}) { + EXPECT(assert_equal(Vector3(invDexp * v), + local.applyInvDexp(v, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); + EXPECT(assert_equal(invDexp, aH2)); + } + } + } +} -// /* ************************************************************************* -// */ TEST(SO3, vec) { -// const Vector9 expected = Eigen::Map(R2.data()); -// Matrix actualH; -// const Vector9 actual = R2.vec(actualH); -// CHECK(assert_equal(expected, actual)); -// boost::function f = [](const SO3& Q) { -// return Q.vec(); -// }; -// const Matrix numericalH = numericalDerivative11(f, R2, 1e-5); -// CHECK(assert_equal(numericalH, actualH)); -// } +//****************************************************************************** +TEST(SO3, vec) { + const Vector9 expected = Eigen::Map(R2.matrix().data()); + Matrix actualH; + const Vector9 actual = R2.vec(actualH); + CHECK(assert_equal(expected, actual)); + boost::function f = [](const SO3& Q) { return Q.vec(); }; + const Matrix numericalH = numericalDerivative11(f, R2, 1e-5); + CHECK(assert_equal(numericalH, actualH)); +} // //****************************************************************************** // TEST(Matrix, compose) { From 6cff36975ffe01da2d38166fb27501c982cd6d2d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 May 2019 11:07:09 -0400 Subject: [PATCH 0028/1152] Moved code into appropriate headers (SOt instead of SO3 for now) --- gtsam/geometry/SO3.h | 4 +- gtsam/geometry/SO4.cpp | 345 ++++++++-------- gtsam/geometry/SO4.h | 238 ++++++----- gtsam/geometry/SOn.h | 327 +++++++++------ gtsam/geometry/SOt.cpp | 281 +++++++++++++ gtsam/geometry/SOt.h | 204 ++++++++++ gtsam/geometry/tests/testSOn.cpp | 674 +------------------------------ 7 files changed, 1014 insertions(+), 1059 deletions(-) create mode 100644 gtsam/geometry/SOt.cpp create mode 100644 gtsam/geometry/SOt.h diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index 4dcf1c861..f89e2f59a 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -20,8 +20,6 @@ #pragma once -#include - #include #include @@ -35,7 +33,7 @@ namespace gtsam { * We guarantee (all but first) constructors only generate from sub-manifold. * However, round-off errors in repeated composition could move off it... */ -class SO3 : public SOnBase, public Matrix3, public LieGroup { +class SO3 : public Matrix3, public LieGroup { public: enum { N = 3 }; enum { dimension = 3 }; diff --git a/gtsam/geometry/SO4.cpp b/gtsam/geometry/SO4.cpp index ebbc91c01..1f265ecba 100644 --- a/gtsam/geometry/SO4.cpp +++ b/gtsam/geometry/SO4.cpp @@ -31,196 +31,199 @@ using namespace std; namespace gtsam { -/* ************************************************************************* */ -static Vector3 randomOmega(boost::mt19937 &rng) { - static boost::uniform_real randomAngle(-M_PI, M_PI); - return Unit3::Random(rng).unitVector() * randomAngle(rng); -} +// /* ************************************************************************* */ +// static Vector3 randomOmega(boost::mt19937 &rng) { +// static boost::uniform_real randomAngle(-M_PI, M_PI); +// return Unit3::Random(rng).unitVector() * randomAngle(rng); +// } -/* ************************************************************************* */ -// Create random SO(4) element using direct product of lie algebras. -SO4 SO4::Random(boost::mt19937 &rng) { - Vector6 delta; - delta << randomOmega(rng), randomOmega(rng); - return SO4::Expmap(delta); -} +// /* ************************************************************************* */ +// // Create random SO(4) element using direct product of lie algebras. +// SO4 SO4::Random(boost::mt19937 &rng) { +// Vector6 delta; +// delta << randomOmega(rng), randomOmega(rng); +// return SO4::Expmap(delta); +// } -/* ************************************************************************* */ -void SO4::print(const string &s) const { cout << s << *this << endl; } +// /* ************************************************************************* */ +// void SO4::print(const string &s) const { cout << s << *this << endl; } -/* ************************************************************************* */ -bool SO4::equals(const SO4 &R, double tol) const { - return equal_with_abs_tol(*this, R, tol); -} +// /* ************************************************************************* */ +// bool SO4::equals(const SO4 &R, double tol) const { +// return equal_with_abs_tol(*this, R, tol); +// } -//****************************************************************************** -Matrix4 SO4::Hat(const Vector6 &xi) { - // skew symmetric matrix X = xi^ - // Unlike Luca, makes upper-left the SO(3) subgroup. - // See also - // http://scipp.ucsc.edu/~haber/archives/physics251_13/groups13_sol4.pdf - Matrix4 Y = Z_4x4; - Y(0, 1) = -xi(2); - Y(0, 2) = +xi(1); - Y(1, 2) = -xi(0); - Y(0, 3) = -xi(3); - Y(1, 3) = -xi(4); - Y(2, 3) = -xi(5); - return Y - Y.transpose(); -} -/* ************************************************************************* */ -Vector6 SO4::Vee(const Matrix4 &X) { - Vector6 xi; - xi(2) = -X(0, 1); - xi(1) = X(0, 2); - xi(0) = -X(1, 2); - xi(3) = -X(0, 3); - xi(4) = -X(1, 3); - xi(5) = -X(2, 3); - return xi; -} +// //****************************************************************************** +// Matrix4 SO4::Hat(const Vector6 &xi) { +// // skew symmetric matrix X = xi^ +// // Unlike Luca, makes upper-left the SO(3) subgroup. +// // See also +// // http://scipp.ucsc.edu/~haber/archives/physics251_13/groups13_sol4.pdf +// Matrix4 Y = Z_4x4; +// Y(0, 1) = -xi(2); +// Y(0, 2) = +xi(1); +// Y(1, 2) = -xi(0); +// Y(0, 3) = -xi(3); +// Y(1, 3) = -xi(4); +// Y(2, 3) = -xi(5); +// return Y - Y.transpose(); +// } +// /* ************************************************************************* */ +// Vector6 SO4::Vee(const Matrix4 &X) { +// Vector6 xi; +// xi(2) = -X(0, 1); +// xi(1) = X(0, 2); +// xi(0) = -X(1, 2); +// xi(3) = -X(0, 3); +// xi(4) = -X(1, 3); +// xi(5) = -X(2, 3); +// return xi; +// } -//****************************************************************************** -/* Exponential map, porting MATLAB implementation by Luca, which follows - * "SOME REMARKS ON THE EXPONENTIAL MAP ON THE GROUPS SO(n) AND SE(n)" by - * Ramona-Andreaa Rohan */ -SO4 SO4::Expmap(const Vector6 &xi, ChartJacobian H) { - if (H) throw std::runtime_error("SO4::Expmap Jacobian"); - gttic(SO4_Expmap); +// //****************************************************************************** +// /* Exponential map, porting MATLAB implementation by Luca, which follows +// * "SOME REMARKS ON THE EXPONENTIAL MAP ON THE GROUPS SO(n) AND SE(n)" by +// * Ramona-Andreaa Rohan */ +// template <> +// SO4 SO4::Expmap(const Vector6& xi, ChartJacobian H) { +// using namespace std; +// if (H) throw std::runtime_error("SO4::Expmap Jacobian"); - // skew symmetric matrix X = xi^ - const Matrix4 X = Hat(xi); +// // skew symmetric matrix X = xi^ +// const Matrix4 X = Hat(xi); - // do eigen-decomposition - auto eig = Eigen::EigenSolver(X); - Eigen::Vector4cd e = eig.eigenvalues(); - using std::abs; - sort(e.data(), e.data() + 4, [](complex a, complex b) { - return abs(a.imag()) > abs(b.imag()); - }); +// // do eigen-decomposition +// auto eig = Eigen::EigenSolver(X); +// Eigen::Vector4cd e = eig.eigenvalues(); +// using std::abs; +// sort(e.data(), e.data() + 4, [](complex a, complex b) { +// return abs(a.imag()) > abs(b.imag()); +// }); - // Get a and b from eigenvalues +/i ai and +/- bi - double a = e[0].imag(), b = e[2].imag(); - if (!e.real().isZero() || e[1].imag() != -a || e[3].imag() != -b) { - throw runtime_error("SO4::Expmap: wrong eigenvalues."); - } +// // Get a and b from eigenvalues +/i ai and +/- bi +// double a = e[0].imag(), b = e[2].imag(); +// if (!e.real().isZero() || e[1].imag() != -a || e[3].imag() != -b) { +// throw runtime_error("SO4::Expmap: wrong eigenvalues."); +// } - // Build expX = exp(xi^) - Matrix4 expX; - using std::cos; - using std::sin; - const auto X2 = X * X; - const auto X3 = X2 * X; - double a2 = a * a, a3 = a2 * a, b2 = b * b, b3 = b2 * b; - if (a != 0 && b == 0) { - double c2 = (1 - cos(a)) / a2, c3 = (a - sin(a)) / a3; - return I_4x4 + X + c2 * X2 + c3 * X3; - } else if (a == b && b != 0) { - double sin_a = sin(a), cos_a = cos(a); - double c0 = (a * sin_a + 2 * cos_a) / 2, - c1 = (3 * sin_a - a * cos_a) / (2 * a), c2 = sin_a / (2 * a), - c3 = (sin_a - a * cos_a) / (2 * a3); - return c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3; - } else if (a != b) { - double sin_a = sin(a), cos_a = cos(a); - double sin_b = sin(b), cos_b = cos(b); - double c0 = (b2 * cos_a - a2 * cos_b) / (b2 - a2), - c1 = (b3 * sin_a - a3 * sin_b) / (a * b * (b2 - a2)), - c2 = (cos_a - cos_b) / (b2 - a2), - c3 = (b * sin_a - a * sin_b) / (a * b * (b2 - a2)); - return c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3; - } else { - return I_4x4; - } -} +// // Build expX = exp(xi^) +// Matrix4 expX; +// using std::cos; +// using std::sin; +// const auto X2 = X * X; +// const auto X3 = X2 * X; +// double a2 = a * a, a3 = a2 * a, b2 = b * b, b3 = b2 * b; +// if (a != 0 && b == 0) { +// double c2 = (1 - cos(a)) / a2, c3 = (a - sin(a)) / a3; +// return SO4(I_4x4 + X + c2 * X2 + c3 * X3); +// } else if (a == b && b != 0) { +// double sin_a = sin(a), cos_a = cos(a); +// double c0 = (a * sin_a + 2 * cos_a) / 2, +// c1 = (3 * sin_a - a * cos_a) / (2 * a), c2 = sin_a / (2 * a), +// c3 = (sin_a - a * cos_a) / (2 * a3); +// return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); +// } else if (a != b) { +// double sin_a = sin(a), cos_a = cos(a); +// double sin_b = sin(b), cos_b = cos(b); +// double c0 = (b2 * cos_a - a2 * cos_b) / (b2 - a2), +// c1 = (b3 * sin_a - a3 * sin_b) / (a * b * (b2 - a2)), +// c2 = (cos_a - cos_b) / (b2 - a2), +// c3 = (b * sin_a - a * sin_b) / (a * b * (b2 - a2)); +// return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); +// } else { +// return SO4(); +// } +// } -//****************************************************************************** -Vector6 SO4::Logmap(const SO4 &Q, ChartJacobian H) { - if (H) throw std::runtime_error("SO4::Logmap Jacobian"); - throw std::runtime_error("SO4::Logmap"); -} +// //****************************************************************************** +// static SO4::VectorN2 vec4(const Matrix4& Q) { +// return Eigen::Map(Q.data()); +// } -/* ************************************************************************* */ -SO4 SO4::ChartAtOrigin::Retract(const Vector6 &xi, ChartJacobian H) { - if (H) throw std::runtime_error("SO4::ChartAtOrigin::Retract Jacobian"); - gttic(SO4_Retract); - const Matrix4 X = Hat(xi / 2); - return (I_4x4 + X) * (I_4x4 - X).inverse(); -} +// static const std::vector G4( +// {SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), +// SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), +// SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))}); -/* ************************************************************************* */ -Vector6 SO4::ChartAtOrigin::Local(const SO4 &Q, ChartJacobian H) { - if (H) throw std::runtime_error("SO4::ChartAtOrigin::Retract Jacobian"); - const Matrix4 X = (I_4x4 - Q) * (I_4x4 + Q).inverse(); - return -2 * Vee(X); -} +// static const Eigen::Matrix P4 = +// (Eigen::Matrix() << vec4(G4[0]), vec4(G4[1]), vec4(G4[2]), +// vec4(G4[3]), vec4(G4[4]), vec4(G4[5])) +// .finished(); -/* ************************************************************************* */ -static SO4::Vector16 vec(const SO4 &Q) { - return Eigen::Map(Q.data()); -} +// //****************************************************************************** +// template <> +// Matrix6 SO4::AdjointMap() const { +// // Elaborate way of calculating the AdjointMap +// // TODO(frank): find a closed form solution. In SO(3) is just R :-/ +// const Matrix4& Q = matrix_; +// const Matrix4 Qt = Q.transpose(); +// Matrix6 A; +// for (size_t i = 0; i < 6; i++) { +// // Calculate column i of linear map for coeffcient of Gi +// A.col(i) = SO4::Vee(Q * G4[i] * Qt); +// } +// return A; +// } -static const std::vector G( - {SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), - SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), - SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))}); +// //****************************************************************************** +// template <> +// SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const { +// const Matrix& Q = matrix_; +// if (H) { +// // As Luca calculated, this is (I4 \oplus Q) * P4 +// *H << Q * P4.block<4, 6>(0, 0), Q * P4.block<4, 6>(4, 0), +// Q * P4.block<4, 6>(8, 0), Q * P4.block<4, 6>(12, 0); +// } +// return gtsam::vec4(Q); +// } -static const Eigen::Matrix P = - (Eigen::Matrix() << vec(G[0]), vec(G[1]), vec(G[2]), - vec(G[3]), vec(G[4]), vec(G[5])) - .finished(); -/* ************************************************************************* */ -Matrix6 SO4::AdjointMap() const { - gttic(SO4_AdjointMap); - // Elaborate way of calculating the AdjointMap - // TODO(frank): find a closed form solution. In SO(3) is just R :-/ - const SO4 &Q = *this; - const SO4 Qt = this->inverse(); - Matrix6 A; - for (size_t i = 0; i < 6; i++) { - // Calculate column i of linear map for coeffcient of Gi - A.col(i) = SO4::Vee(Q * G[i] * Qt); - } - return A; -} +// //****************************************************************************** +// Vector6 SO4::Logmap(const SO4 &Q, ChartJacobian H) { +// if (H) throw std::runtime_error("SO4::Logmap Jacobian"); +// throw std::runtime_error("SO4::Logmap"); +// } -/* ************************************************************************* */ -SO4::Vector16 SO4::vec(OptionalJacobian<16, 6> H) const { - const SO4 &Q = *this; - if (H) { - // As Luca calculated, this is (I4 \oplus Q) * P - *H << Q * P.block<4, 6>(0, 0), Q * P.block<4, 6>(4, 0), - Q * P.block<4, 6>(8, 0), Q * P.block<4, 6>(12, 0); - } - return gtsam::vec(Q); -}; +// /* ************************************************************************* */ +// SO4 SO4::ChartAtOrigin::Retract(const Vector6 &xi, ChartJacobian H) { +// if (H) throw std::runtime_error("SO4::ChartAtOrigin::Retract Jacobian"); +// gttic(SO4_Retract); +// const Matrix4 X = Hat(xi / 2); +// return (I_4x4 + X) * (I_4x4 - X).inverse(); +// } -/* ************************************************************************* */ -Matrix3 SO4::topLeft(OptionalJacobian<9, 6> H) const { - const Matrix3 M = this->topLeftCorner<3, 3>(); - const Vector3 m1 = M.col(0), m2 = M.col(1), m3 = M.col(2), - q = this->topRightCorner<3, 1>(); - if (H) { - *H << Z_3x1, -m3, m2, q, Z_3x1, Z_3x1, // - m3, Z_3x1, -m1, Z_3x1, q, Z_3x1, // - -m2, m1, Z_3x1, Z_3x1, Z_3x1, q; - } - return M; -} +// /* ************************************************************************* */ +// Vector6 SO4::ChartAtOrigin::Local(const SO4 &Q, ChartJacobian H) { +// if (H) throw std::runtime_error("SO4::ChartAtOrigin::Retract Jacobian"); +// const Matrix4 X = (I_4x4 - Q) * (I_4x4 + Q).inverse(); +// return -2 * Vee(X); +// } -/* ************************************************************************* */ -Matrix43 SO4::stiefel(OptionalJacobian<12, 6> H) const { - const Matrix43 M = this->leftCols<3>(); - const auto &m1 = col(0), m2 = col(1), m3 = col(2), q = col(3); - if (H) { - *H << Z_4x1, -m3, m2, q, Z_4x1, Z_4x1, // - m3, Z_4x1, -m1, Z_4x1, q, Z_4x1, // - -m2, m1, Z_4x1, Z_4x1, Z_4x1, q; - } - return M; -} +// /* ************************************************************************* */ +// Matrix3 SO4::topLeft(OptionalJacobian<9, 6> H) const { +// const Matrix3 M = this->topLeftCorner<3, 3>(); +// const Vector3 m1 = M.col(0), m2 = M.col(1), m3 = M.col(2), +// q = this->topRightCorner<3, 1>(); +// if (H) { +// *H << Z_3x1, -m3, m2, q, Z_3x1, Z_3x1, // +// m3, Z_3x1, -m1, Z_3x1, q, Z_3x1, // +// -m2, m1, Z_3x1, Z_3x1, Z_3x1, q; +// } +// return M; +// } -/* ************************************************************************* */ +// /* ************************************************************************* */ +// Matrix43 SO4::stiefel(OptionalJacobian<12, 6> H) const { +// const Matrix43 M = this->leftCols<3>(); +// const auto &m1 = col(0), m2 = col(1), m3 = col(2), q = col(3); +// if (H) { +// *H << Z_4x1, -m3, m2, q, Z_4x1, Z_4x1, // +// m3, Z_4x1, -m1, Z_4x1, q, Z_4x1, // +// -m2, m1, Z_4x1, Z_4x1, Z_4x1, q; +// } +// return M; +// } + +// /* ************************************************************************* */ } // end namespace gtsam diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h index 28fe5513e..aed0d482d 100644 --- a/gtsam/geometry/SO4.h +++ b/gtsam/geometry/SO4.h @@ -33,111 +33,155 @@ namespace gtsam { -/** - * True SO(4), i.e., 4*4 matrix subgroup - */ -class SO4 : public SOnBase, public Matrix4, public LieGroup { - public: - enum { N = 4 }; - enum { dimension = 6 }; +using SO4 = SO<4>; - typedef Eigen::Matrix Vector16; +// /// Random SO(4) element (no big claims about uniformity) +// static SO4 Random(boost::mt19937 &rng); - /// @name Constructors - /// @{ +// static Matrix4 Hat(const Vector6 &xi); ///< make skew symmetric matrix +// static Vector6 Vee(const Matrix4 &X); ///< inverse of Hat +// static SO4 Expmap(const Vector6 &xi, +// ChartJacobian H = boost::none); ///< exponential map +// static Vector6 Logmap(const SO4 &Q, +// ChartJacobian H = boost::none); ///< and its inverse +// Matrix6 AdjointMap() const; - /// Default constructor creates identity - SO4() : Matrix4(I_4x4) {} +//****************************************************************************** +/* Exponential map, porting MATLAB implementation by Luca, which follows + * "SOME REMARKS ON THE EXPONENTIAL MAP ON THE GROUPS SO(n) AND SE(n)" by + * Ramona-Andreaa Rohan */ +template <> +SO4 SO4::Expmap(const Vector6& xi, ChartJacobian H) { + using namespace std; + if (H) throw std::runtime_error("SO4::Expmap Jacobian"); - /// Constructor from Eigen Matrix - template - SO4(const MatrixBase &R) : Matrix4(R.eval()) {} + // skew symmetric matrix X = xi^ + const Matrix4 X = Hat(xi); - /// Random SO(4) element (no big claims about uniformity) - static SO4 Random(boost::mt19937 &rng); + // do eigen-decomposition + auto eig = Eigen::EigenSolver(X); + Eigen::Vector4cd e = eig.eigenvalues(); + using std::abs; + sort(e.data(), e.data() + 4, [](complex a, complex b) { + return abs(a.imag()) > abs(b.imag()); + }); - /// @} - /// @name Testable - /// @{ - - void print(const std::string &s) const; - bool equals(const SO4 &R, double tol) const; - - /// @} - /// @name Group - /// @{ - - /// identity rotation for group operation - static SO4 identity() { return I_4x4; } - - /// inverse of a rotation = transpose - SO4 inverse() const { return this->transpose(); } - - /// @} - /// @name Lie Group - /// @{ - - static Matrix4 Hat(const Vector6 &xi); ///< make skew symmetric matrix - static Vector6 Vee(const Matrix4 &X); ///< inverse of Hat - static SO4 Expmap(const Vector6 &xi, - ChartJacobian H = boost::none); ///< exponential map - static Vector6 Logmap(const SO4 &Q, - ChartJacobian H = boost::none); ///< and its inverse - Matrix6 AdjointMap() const; - - // Chart at origin - struct ChartAtOrigin { - static SO4 Retract(const Vector6 &omega, ChartJacobian H = boost::none); - static Vector6 Local(const SO4 &R, ChartJacobian H = boost::none); - }; - - using LieGroup::inverse; - - /// @} - /// @name Other methods - /// @{ - - /// Vectorize - Vector16 vec(OptionalJacobian<16, 6> H = boost::none) const; - - /// Project to top-left 3*3 matrix. Note this is *not* in general \in SO(3). - Matrix3 topLeft(OptionalJacobian<9, 6> H = boost::none) const; - - /// Project to Stiefel manifold of 4*3 orthonormal 3-frames in R^4, i.e., pi(Q) -> S \in St(3,4). - Matrix43 stiefel(OptionalJacobian<12, 6> H = boost::none) const; - - /// Return matrix (for wrapper) - const Matrix4 &matrix() const { return *this; } - - /// @} - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE &ar, const unsigned int /*version*/) { - ar &boost::serialization::make_nvp("Q11", (*this)(0, 0)); - ar &boost::serialization::make_nvp("Q12", (*this)(0, 1)); - ar &boost::serialization::make_nvp("Q13", (*this)(0, 2)); - ar &boost::serialization::make_nvp("Q14", (*this)(0, 3)); - - ar &boost::serialization::make_nvp("Q21", (*this)(1, 0)); - ar &boost::serialization::make_nvp("Q22", (*this)(1, 1)); - ar &boost::serialization::make_nvp("Q23", (*this)(1, 2)); - ar &boost::serialization::make_nvp("Q24", (*this)(1, 3)); - - ar &boost::serialization::make_nvp("Q31", (*this)(2, 0)); - ar &boost::serialization::make_nvp("Q32", (*this)(2, 1)); - ar &boost::serialization::make_nvp("Q33", (*this)(2, 2)); - ar &boost::serialization::make_nvp("Q34", (*this)(2, 3)); - - ar &boost::serialization::make_nvp("Q41", (*this)(3, 0)); - ar &boost::serialization::make_nvp("Q42", (*this)(3, 1)); - ar &boost::serialization::make_nvp("Q43", (*this)(3, 2)); - ar &boost::serialization::make_nvp("Q44", (*this)(3, 3)); + // Get a and b from eigenvalues +/i ai and +/- bi + double a = e[0].imag(), b = e[2].imag(); + if (!e.real().isZero() || e[1].imag() != -a || e[3].imag() != -b) { + throw runtime_error("SO4::Expmap: wrong eigenvalues."); } -}; // SO4 + // Build expX = exp(xi^) + Matrix4 expX; + using std::cos; + using std::sin; + const auto X2 = X * X; + const auto X3 = X2 * X; + double a2 = a * a, a3 = a2 * a, b2 = b * b, b3 = b2 * b; + if (a != 0 && b == 0) { + double c2 = (1 - cos(a)) / a2, c3 = (a - sin(a)) / a3; + return SO4(I_4x4 + X + c2 * X2 + c3 * X3); + } else if (a == b && b != 0) { + double sin_a = sin(a), cos_a = cos(a); + double c0 = (a * sin_a + 2 * cos_a) / 2, + c1 = (3 * sin_a - a * cos_a) / (2 * a), c2 = sin_a / (2 * a), + c3 = (sin_a - a * cos_a) / (2 * a3); + return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); + } else if (a != b) { + double sin_a = sin(a), cos_a = cos(a); + double sin_b = sin(b), cos_b = cos(b); + double c0 = (b2 * cos_a - a2 * cos_b) / (b2 - a2), + c1 = (b3 * sin_a - a3 * sin_b) / (a * b * (b2 - a2)), + c2 = (cos_a - cos_b) / (b2 - a2), + c3 = (b * sin_a - a * sin_b) / (a * b * (b2 - a2)); + return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); + } else { + return SO4(); + } +} + +//****************************************************************************** +static SO4::VectorN2 vec4(const Matrix4& Q) { + return Eigen::Map(Q.data()); +} + +static const std::vector G4( + {SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), + SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), + SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))}); + +static const Eigen::Matrix P4 = + (Eigen::Matrix() << vec4(G4[0]), vec4(G4[1]), vec4(G4[2]), + vec4(G4[3]), vec4(G4[4]), vec4(G4[5])) + .finished(); + +//****************************************************************************** +template <> +Matrix6 SO4::AdjointMap() const { + // Elaborate way of calculating the AdjointMap + // TODO(frank): find a closed form solution. In SO(3) is just R :-/ + const Matrix4& Q = matrix_; + const Matrix4 Qt = Q.transpose(); + Matrix6 A; + for (size_t i = 0; i < 6; i++) { + // Calculate column i of linear map for coeffcient of Gi + A.col(i) = SO4::Vee(Q * G4[i] * Qt); + } + return A; +} + +//****************************************************************************** +template <> +SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const { + const Matrix& Q = matrix_; + if (H) { + // As Luca calculated, this is (I4 \oplus Q) * P4 + *H << Q * P4.block<4, 6>(0, 0), Q * P4.block<4, 6>(4, 0), + Q * P4.block<4, 6>(8, 0), Q * P4.block<4, 6>(12, 0); + } + return gtsam::vec4(Q); +} + +// /// Vectorize +// Vector16 vec(OptionalJacobian<16, 6> H = boost::none) const; + +// /// Project to top-left 3*3 matrix. Note this is *not* in general \in SO(3). +// Matrix3 topLeft(OptionalJacobian<9, 6> H = boost::none) const; + +// /// Project to Stiefel manifold of 4*3 orthonormal 3-frames in R^4, i.e., +// pi(Q) -> S \in St(3,4). Matrix43 stiefel(OptionalJacobian<12, 6> H = +// boost::none) const; + +// private: +// /** Serialization function */ +// friend class boost::serialization::access; +// template +// void serialize(ARCHIVE &ar, const unsigned int /*version*/) { +// ar &boost::serialization::make_nvp("Q11", (*this)(0, 0)); +// ar &boost::serialization::make_nvp("Q12", (*this)(0, 1)); +// ar &boost::serialization::make_nvp("Q13", (*this)(0, 2)); +// ar &boost::serialization::make_nvp("Q14", (*this)(0, 3)); + +// ar &boost::serialization::make_nvp("Q21", (*this)(1, 0)); +// ar &boost::serialization::make_nvp("Q22", (*this)(1, 1)); +// ar &boost::serialization::make_nvp("Q23", (*this)(1, 2)); +// ar &boost::serialization::make_nvp("Q24", (*this)(1, 3)); + +// ar &boost::serialization::make_nvp("Q31", (*this)(2, 0)); +// ar &boost::serialization::make_nvp("Q32", (*this)(2, 1)); +// ar &boost::serialization::make_nvp("Q33", (*this)(2, 2)); +// ar &boost::serialization::make_nvp("Q34", (*this)(2, 3)); + +// ar &boost::serialization::make_nvp("Q41", (*this)(3, 0)); +// ar &boost::serialization::make_nvp("Q42", (*this)(3, 1)); +// ar &boost::serialization::make_nvp("Q43", (*this)(3, 2)); +// ar &boost::serialization::make_nvp("Q44", (*this)(3, 3)); +// } + +/* + * Define the traits. internal::LieGroup provides both Lie group and Testable + */ template <> struct traits : Testable, internal::LieGroupTraits {}; diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index ad25a6f92..4f4fcd157 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -11,94 +11,168 @@ /** * @file SOn.h - * @brief n*n matrix representation of SO(n) + * @brief n*n matrix representation of SO(n), template on N, which can be + * Eigen::Dynamic * @author Frank Dellaert * @date March 2019 */ #pragma once +#include #include #include #include #include +#include namespace gtsam { + namespace internal { +/// Calculate dimensionality of SO manifold, or return Dynamic if so +constexpr int DimensionSO(int N) { + return (N < 0) ? Eigen::Dynamic : N * (N - 1) / 2; +} + // Calculate N^2 at compile time, or return Dynamic if so -constexpr int VecSize(int N) { return (N < 0) ? Eigen::Dynamic : N * N; } +constexpr int NSquaredSO(int N) { return (N < 0) ? Eigen::Dynamic : N * N; } } // namespace internal /** - * Base class for rotation group objects. Template arguments: - * Derived_: derived class - * Must have: - * N : dimension of ambient space, or Eigen::Dynamic, e.g. 4 for SO4 - * dimension: manifold dimension, or Eigen::Dynamic, e.g. 6 for SO4 + * Manifold of special orthogonal rotation matrices SO. + * Template paramater N can be a fizxed integer or can be Eigen::Dynamic */ -template -class SOnBase { +template +class SO : public LieGroup, internal::DimensionSO(N)> { public: - /// @name Basic functionality - /// @{ + enum { dimension = internal::DimensionSO(N) }; + using MatrixNN = Eigen::Matrix; + using VectorN2 = Eigen::Matrix; + using MatrixDD = Eigen::Matrix; - /// @} - /// @name Manifold - /// @{ + protected: + MatrixNN matrix_; ///< Rotation matrix - /// @} - /// @name Lie Group - /// @{ + // enable_if_t aliases, used to specialize constructors/methods, see + // https://www.fluentcpp.com/2018/05/18/make-sfinae-pretty-2-hidden-beauty-sfinae/ + template + using IsDynamic = boost::enable_if_t; + template + using IsFixed = boost::enable_if_t= 2, void>; + template + using IsSO3 = boost::enable_if_t; - /// @} - /// @name Other methods - /// @{ - - /// @} -}; - -/** - * Variable size rotations - */ -class SOn : public Eigen::MatrixXd, public SOnBase { public: - enum { N = Eigen::Dynamic }; - enum { dimension = Eigen::Dynamic }; - /// @name Constructors /// @{ - /// Default constructor: only used for serialization and wrapping - SOn() {} + /// Construct SO identity for N >= 2 + template > + SO() : matrix_(MatrixNN::Identity()) {} - /// Construct SO(n) identity - explicit SOn(size_t n) : Eigen::MatrixXd(n, n) { - *this << Eigen::MatrixXd::Identity(n, n); + /// Construct SO identity for N == Eigen::Dynamic + template > + explicit SO(size_t n = 0) { + if (n == 0) throw std::runtime_error("SO: Dimensionality not known."); + matrix_ = Eigen::MatrixXd::Identity(n, n); } /// Constructor from Eigen Matrix - template - explicit SOn(const Eigen::MatrixBase& R) - : Eigen::MatrixXd(R.eval()) {} + template + explicit SO(const Eigen::MatrixBase& R) : matrix_(R.eval()) {} + + /// Constructor from AngleAxisd + template > + SO(const Eigen::AngleAxisd& angleAxis) : matrix_(angleAxis) {} /// Random SO(n) element (no big claims about uniformity) - static SOn Random(boost::mt19937& rng, size_t n) { + template > + static SO Random(boost::mt19937& rng, size_t n = 0) { + if (n == 0) throw std::runtime_error("SO: Dimensionality not known."); // This needs to be re-thought! static boost::uniform_real randomAngle(-M_PI, M_PI); - const size_t d = n * (n - 1) / 2; + const size_t d = SO::Dimension(n); Vector xi(d); for (size_t j = 0; j < d; j++) { xi(j) = randomAngle(rng); } - return SOn::Retract(n, xi); + return SO::Retract(xi); } + /// Random SO(N) element (no big claims about uniformity) + template > + static SO Random(boost::mt19937& rng) { + // By default, use dynamic implementation above. Specialized for SO(3). + return SO(SO::Random(rng, N).matrix()); + } + + /// @} + /// @name Standard methods + /// @{ + + /// Return matrix + const MatrixNN& matrix() const { return matrix_; } + + size_t rows() const { return matrix_.rows(); } + size_t cols() const { return matrix_.cols(); } + + /// @} + /// @name Testable + /// @{ + + void print(const std::string& s) const { + std::cout << s << matrix_ << std::endl; + } + + bool equals(const SO& other, double tol) const { + return equal_with_abs_tol(matrix_, other.matrix_, tol); + } + + /// @} + /// @name Group + /// @{ + + /// Multiplication + SO operator*(const SO& other) const { return SO(matrix_ * other.matrix_); } + + /// SO identity for N >= 2 + template > + static SO identity() { + return SO(); + } + + /// SO identity for N == Eigen::Dynamic + template > + static SO identity(size_t n = 0) { + return SO(n); + } + + /// inverse of a rotation = transpose + SO inverse() const { return SO(matrix_.transpose()); } + /// @} /// @name Manifold /// @{ + using TangentVector = Eigen::Matrix; + using ChartJacobian = OptionalJacobian; + + /// Return compile-time dimensionality: fixed size N or Eigen::Dynamic + static int Dim() { return dimension; } + + // Calculate manifold dimensionality for SO(n). + // Available as dimension or Dim() for fixed N. + static size_t Dimension(size_t n) { return n * (n - 1) / 2; } + + // Calculate ambient dimension n from manifold dimensionality d. + static size_t AmbientDim(size_t d) { return (1 + std::sqrt(1 + 8 * d)) / 2; } + + // Calculate run-time dimensionality of manifold. + // Available as dimension or Dim() for fixed N. + size_t dim() const { return Dimension(matrix_.rows()); } + /** * Hat operator creates Lie algebra element corresponding to d-vector, where d * is the dimensionality of the manifold. This function is implemented @@ -114,7 +188,8 @@ class SOn : public Eigen::MatrixXd, public SOnBase { * -d c -b a 0 * This scheme behaves exactly as expected for SO(2) and SO(3). */ - static Matrix Hat(size_t n, const Vector& xi) { + static Matrix Hat(const Vector& xi) { + size_t n = AmbientDim(xi.size()); if (n < 2) throw std::invalid_argument("SOn::Hat: n<2 not supported"); Matrix X(n, n); // allocate space for n*n skew-symmetric matrix @@ -126,7 +201,7 @@ class SOn : public Eigen::MatrixXd, public SOnBase { } else { // Recursively call SO(n-1) call for top-left block const size_t dmin = (n - 1) * (n - 2) / 2; - X.topLeftCorner(n - 1, n - 1) = Hat(n - 1, xi.tail(dmin)); + X.topLeftCorner(n - 1, n - 1) = Hat(xi.tail(dmin)); // Now fill last row and column double sign = 1.0; @@ -172,126 +247,114 @@ class SOn : public Eigen::MatrixXd, public SOnBase { } } - /** - * Retract uses Cayley map. See note about xi element order in Hat. - */ - static SOn Retract(size_t n, const Vector& xi) { - const Matrix X = Hat(n, xi / 2.0); - const auto I = Eigen::MatrixXd::Identity(n, n); - return SOn((I + X) * (I - X).inverse()); - } + // Chart at origin + struct ChartAtOrigin { + /** + * Retract uses Cayley map. See note about xi element order in Hat. + * Deafault implementation has no Jacobian implemented + */ + static SO Retract(const TangentVector& xi, ChartJacobian H = boost::none) { + const Matrix X = Hat(xi / 2.0); + size_t n = AmbientDim(xi.size()); + const auto I = Eigen::MatrixXd::Identity(n, n); + return SO((I + X) * (I - X).inverse()); + } + /** + * Inverse of Retract. See note about xi element order in Hat. + */ + static TangentVector Local(const SO& R, ChartJacobian H = boost::none) { + const size_t n = R.rows(); + const auto I = Eigen::MatrixXd::Identity(n, n); + const Matrix X = (I - R.matrix_) * (I + R.matrix_).inverse(); + return -2 * Vee(X); + } + }; - /** - * Inverse of Retract. See note about xi element order in Hat. - */ - static Vector Local(const SOn& R) { - const size_t n = R.rows(); - const auto I = Eigen::MatrixXd::Identity(n, n); - const Matrix X = (I - R) * (I + R).inverse(); - return -2 * Vee(X); + // Return dynamic identity DxD Jacobian for given SO(n) + template > + static MatrixDD IdentityJacobian(size_t n) { + const size_t d = Dimension(n); + return MatrixDD::Identity(d, d); } /// @} - /// @name Lie group + /// @name Lie Group /// @{ + MatrixDD AdjointMap() const { + throw std::runtime_error( + "SO::AdjointMap only implemented for SO3 and SO4."); + } + + /** + * Exponential map at identity - create a rotation from canonical coordinates + */ + static SO Expmap(const TangentVector& omega, ChartJacobian H = boost::none) { + throw std::runtime_error("SO::Expmap only implemented for SO3 and SO4."); + } + + /** + * Log map at identity - returns the canonical coordinates of this rotation + */ + static TangentVector Logmap(const SO& R, ChartJacobian H = boost::none) { + throw std::runtime_error("SO::Logmap only implemented for SO3 and SO4."); + } + + // inverse with optional derivative + using LieGroup, internal::DimensionSO(N)>::inverse; + /// @} /// @name Other methods /// @{ - /// Return matrix (for wrapper) - const Matrix& matrix() const { return *this; } - /** * Return vectorized rotation matrix in column order. * Will use dynamic matrices as intermediate results, but returns a fixed size * X and fixed-size Jacobian if dimension is known at compile time. * */ - Vector vec(OptionalJacobian<-1, -1> H = boost::none) const { - const size_t n = rows(), n2 = n * n; - const size_t d = (n2 - n) / 2; // manifold dimension - - // Calculate G matrix of vectorized generators - Matrix G(n2, d); - for (size_t j = 0; j < d; j++) { - // TODO(frank): this can't be right. Think about fixed vs dynamic. - const auto X = Hat(n, Eigen::VectorXd::Unit(d, j)); - G.col(j) = Eigen::Map(X.data(), n2, 1); - } + VectorN2 vec(OptionalJacobian H = + boost::none) const { + const size_t n = rows(); + const size_t n2 = n * n; // Vectorize - Vector X(n2); - X << Eigen::Map(data(), n2, 1); + VectorN2 X(n2); + X << Eigen::Map(matrix_.data(), n2, 1); // If requested, calculate H as (I \oplus Q) * P if (H) { + // Calculate P matrix of vectorized generators + const size_t d = dim(); + Matrix P(n2, d); + for (size_t j = 0; j < d; j++) { + const auto X = Hat(Eigen::VectorXd::Unit(d, j)); + P.col(j) = Eigen::Map(X.data(), n2, 1); + } H->resize(n2, d); for (size_t i = 0; i < n; i++) { - H->block(i * n, 0, n, d) = derived() * G.block(i * n, 0, n, d); + H->block(i * n, 0, n, d) = matrix_ * P.block(i * n, 0, n, d); } } return X; } - /// @} }; -template <> -struct traits { - typedef manifold_tag structure_category; +/* + * Fully specialize compose and between, because the derivative is unknowable by + * the LieGroup implementations, who return a fixed-size matrix for H2. + */ - /// @name Testable - /// @{ - static void Print(SOn R, const std::string& str = "") { - gtsam::print(R, str); - } - static bool Equals(SOn R1, SOn R2, double tol = 1e-8) { - return equal_with_abs_tol(R1, R2, tol); - } - /// @} +using SOn = SO; - /// @name Manifold - /// @{ - enum { dimension = Eigen::Dynamic }; - typedef Eigen::VectorXd TangentVector; - // typedef Eigen::MatrixXd Jacobian; - typedef OptionalJacobian ChartJacobian; - // typedef SOn ManifoldType; +/* + * Define the traits. internal::LieGroup provides both Lie group and Testable + */ - /** - * Calculate manifold dimension, e.g., - * n = 3 -> 3*2/2 = 3 - * n = 4 -> 4*3/2 = 6 - * n = 5 -> 5*4/2 = 10 - */ - static int GetDimension(const SOn& R) { - const size_t n = R.rows(); - return n * (n - 1) / 2; - } +template +struct traits> : public internal::LieGroup> {}; - // static Jacobian Eye(const SOn& R) { - // int dim = GetDimension(R); - // return Eigen::Matrix::Identity(dim, - // dim); - // } - - static SOn Retract(const SOn& R, const TangentVector& xi, // - ChartJacobian H1 = boost::none, - ChartJacobian H2 = boost::none) { - if (H1 || H2) throw std::runtime_error("SOn::Retract"); - const size_t n = R.rows(); - return SOn(R * SOn::Retract(n, xi)); - } - - static TangentVector Local(const SOn& R, const SOn& other, // - ChartJacobian H1 = boost::none, - ChartJacobian H2 = boost::none) { - if (H1 || H2) throw std::runtime_error("SOn::Local"); - const SOn between = SOn(R.inverse() * other); - return SOn::Local(between); - } - - /// @} -}; +template +struct traits> : public internal::LieGroup> {}; } // namespace gtsam diff --git a/gtsam/geometry/SOt.cpp b/gtsam/geometry/SOt.cpp new file mode 100644 index 000000000..64be9acbc --- /dev/null +++ b/gtsam/geometry/SOt.cpp @@ -0,0 +1,281 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file SO3.cpp + * @brief 3*3 matrix representation of SO(3) + * @author Frank Dellaert + * @author Luca Carlone + * @author Duy Nguyen Ta + * @date December 2014 + */ + +#include +#include + +#include + +#include +#include +#include + +namespace gtsam { + +//****************************************************************************** +namespace sot { + +Matrix99 Dcompose(const SO3& Q) { + Matrix99 H; + auto R = Q.matrix(); + H << I_3x3 * R(0, 0), I_3x3 * R(1, 0), I_3x3 * R(2, 0), // + I_3x3 * R(0, 1), I_3x3 * R(1, 1), I_3x3 * R(2, 1), // + I_3x3 * R(0, 2), I_3x3 * R(1, 2), I_3x3 * R(2, 2); + return H; +} + +Matrix3 compose(const Matrix3& M, const SO3& R, OptionalJacobian<9, 9> H) { + Matrix3 MR = M * R.matrix(); + if (H) *H = Dcompose(R); + return MR; +} + +void ExpmapFunctor::init(bool nearZeroApprox) { + nearZero = + nearZeroApprox || (theta2 <= std::numeric_limits::epsilon()); + if (!nearZero) { + theta = std::sqrt(theta2); // rotation angle + sin_theta = std::sin(theta); + const double s2 = std::sin(theta / 2.0); + one_minus_cos = 2.0 * s2 * s2; // numerically better than [1 - cos(theta)] + } +} + +ExpmapFunctor::ExpmapFunctor(const Vector3& omega, bool nearZeroApprox) + : theta2(omega.dot(omega)) { + const double wx = omega.x(), wy = omega.y(), wz = omega.z(); + W << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; + init(nearZeroApprox); + if (!nearZero) { + K = W / theta; + KK = K * K; + } +} + +ExpmapFunctor::ExpmapFunctor(const Vector3& axis, double angle, + bool nearZeroApprox) + : theta2(angle * angle) { + const double ax = axis.x(), ay = axis.y(), az = axis.z(); + K << 0.0, -az, +ay, +az, 0.0, -ax, -ay, +ax, 0.0; + W = K * angle; + init(nearZeroApprox); + if (!nearZero) { + KK = K * K; + } +} + +SO3 ExpmapFunctor::expmap() const { + if (nearZero) + return SO3(I_3x3 + W); + else + return SO3(I_3x3 + sin_theta * K + one_minus_cos * KK); +} + +DexpFunctor::DexpFunctor(const Vector3& omega, bool nearZeroApprox) + : ExpmapFunctor(omega, nearZeroApprox), omega(omega) { + if (nearZero) + dexp_ = I_3x3 - 0.5 * W; + else { + a = one_minus_cos / theta; + b = 1.0 - sin_theta / theta; + dexp_ = I_3x3 - a * K + b * KK; + } +} + +Vector3 DexpFunctor::applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, + OptionalJacobian<3, 3> H2) const { + if (H1) { + if (nearZero) { + *H1 = 0.5 * skewSymmetric(v); + } else { + // TODO(frank): Iserles hints that there should be a form I + c*K + d*KK + const Vector3 Kv = K * v; + const double Da = (sin_theta - 2.0 * a) / theta2; + const double Db = (one_minus_cos - 3.0 * b) / theta2; + *H1 = (Db * K - Da * I_3x3) * Kv * omega.transpose() - + skewSymmetric(Kv * b / theta) + + (a * I_3x3 - b * K) * skewSymmetric(v / theta); + } + } + if (H2) *H2 = dexp_; + return dexp_ * v; +} + +Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, + OptionalJacobian<3, 3> H2) const { + const Matrix3 invDexp = dexp_.inverse(); + const Vector3 c = invDexp * v; + if (H1) { + Matrix3 D_dexpv_omega; + applyDexp(c, D_dexpv_omega); // get derivative H of forward mapping + *H1 = -invDexp * D_dexpv_omega; + } + if (H2) *H2 = invDexp; + return c; +} + +} // namespace sot + +/* ************************************************************************* */ +// SO3 SO3::AxisAngle(const Vector3& axis, double theta) { +// return sot::ExpmapFunctor(axis, theta).expmap(); +// } + +/* ************************************************************************* */ +// SO3 SO3::ClosestTo(const Matrix3& M) { +// Eigen::JacobiSVD svd(M, Eigen::ComputeFullU | +// Eigen::ComputeFullV); const auto& U = svd.matrixU(); const auto& V = +// svd.matrixV(); const double det = (U * V.transpose()).determinant(); return +// U * Vector3(1, 1, det).asDiagonal() * V.transpose(); +// } + +/* ************************************************************************* */ +// SO3 SO3::ChordalMean(const std::vector& rotations) { +// // See Hartley13ijcv: +// // Cost function C(R) = \sum sqr(|R-R_i|_F) +// // Closed form solution = ClosestTo(C_e), where C_e = \sum R_i !!!! +// Matrix3 C_e{Z_3x3}; +// for (const auto& R_i : rotations) { +// C_e += R_i; +// } +// return ClosestTo(C_e); +// } + +//****************************************************************************** +// Matrix3 SO3::Hat(const Vector3& xi) { return skewSymmetric(xi); } + +// /* ************************************************************************* +// */ Vector3 SO3::Vee(const Matrix3& X) { +// Vector3 xi; +// xi(0) = -X(1, 2); +// xi(1) = X(0, 2); +// xi(2) = -X(0, 1); +// return xi; +// } + +template <> +SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { + if (H) { + sot::DexpFunctor impl(omega); + *H = impl.dexp(); + return impl.expmap(); + } else { + return sot::ExpmapFunctor(omega).expmap(); + } +} + +// Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { +// return sot::DexpFunctor(omega).dexp(); +// } + +/* ************************************************************************* */ +// Vector3 SO3::Logmap(const SO3& R, ChartJacobian H) { +// using std::sin; +// using std::sqrt; + +// // note switch to base 1 +// const double &R11 = R(0, 0), R12 = R(0, 1), R13 = R(0, 2); +// const double &R21 = R(1, 0), R22 = R(1, 1), R23 = R(1, 2); +// const double &R31 = R(2, 0), R32 = R(2, 1), R33 = R(2, 2); + +// // Get trace(R) +// const double tr = R.trace(); + +// Vector3 omega; + +// // when trace == -1, i.e., when theta = +-pi, +-3pi, +-5pi, etc. +// // we do something special +// if (std::abs(tr + 1.0) < 1e-10) { +// if (std::abs(R33 + 1.0) > 1e-10) +// omega = (M_PI / sqrt(2.0 + 2.0 * R33)) * Vector3(R13, R23, 1.0 + R33); +// else if (std::abs(R22 + 1.0) > 1e-10) +// omega = (M_PI / sqrt(2.0 + 2.0 * R22)) * Vector3(R12, 1.0 + R22, R32); +// else +// // if(std::abs(R.r1_.x()+1.0) > 1e-10) This is implicit +// omega = (M_PI / sqrt(2.0 + 2.0 * R11)) * Vector3(1.0 + R11, R21, R31); +// } else { +// double magnitude; +// const double tr_3 = tr - 3.0; // always negative +// if (tr_3 < -1e-7) { +// double theta = acos((tr - 1.0) / 2.0); +// magnitude = theta / (2.0 * sin(theta)); +// } else { +// // when theta near 0, +-2pi, +-4pi, etc. (trace near 3.0) +// // use Taylor expansion: theta \approx 1/2-(t-3)/12 + O((t-3)^2) +// magnitude = 0.5 - tr_3 * tr_3 / 12.0; +// } +// omega = magnitude * Vector3(R32 - R23, R13 - R31, R21 - R12); +// } + +// if (H) *H = LogmapDerivative(omega); +// return omega; +// } + +/* ************************************************************************* */ +// Matrix3 SO3::LogmapDerivative(const Vector3& omega) { +// using std::cos; +// using std::sin; + +// double theta2 = omega.dot(omega); +// if (theta2 <= std::numeric_limits::epsilon()) return I_3x3; +// double theta = std::sqrt(theta2); // rotation angle +// /** Right Jacobian for Log map in SO(3) - equation (10.86) and following +// * equations in G.S. Chirikjian, "Stochastic Models, Information Theory, +// and +// * Lie Groups", Volume 2, 2008. logmap( Rhat * expmap(omega) ) \approx +// logmap( +// * Rhat ) + Jrinv * omega where Jrinv = LogmapDerivative(omega); This maps +// a +// * perturbation on the manifold (expmap(omega)) to a perturbation in the +// * tangent space (Jrinv * omega) +// */ +// const Matrix3 W = +// skewSymmetric(omega); // element of Lie algebra so(3): W = omega^ +// return I_3x3 + 0.5 * W + +// (1 / (theta * theta) - (1 + cos(theta)) / (2 * theta * sin(theta))) +// * +// W * W; +// } + +/* ************************************************************************* */ +// static Vector9 vec(const SO3& R) { return Eigen::Map(R.data()); } + +// static const std::vector G({SO3::Hat(Vector3::Unit(0)), +// SO3::Hat(Vector3::Unit(1)), +// SO3::Hat(Vector3::Unit(2))}); + +// static const Matrix93 P = +// (Matrix93() << vec(G[0]), vec(G[1]), vec(G[2])).finished(); + +/* ************************************************************************* */ +// Vector9 SO3::vec(OptionalJacobian<9, 3> H) const { +// const SO3& R = *this; +// if (H) { +// // As Luca calculated (for SO4), this is (I3 \oplus R) * P +// *H << R * P.block<3, 3>(0, 0), R * P.block<3, 3>(3, 0), +// R * P.block<3, 3>(6, 0); +// } +// return gtsam::vec(R); +// }; + +/* ************************************************************************* */ + +} // end namespace gtsam diff --git a/gtsam/geometry/SOt.h b/gtsam/geometry/SOt.h new file mode 100644 index 000000000..0fa8f5776 --- /dev/null +++ b/gtsam/geometry/SOt.h @@ -0,0 +1,204 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file SO3.h + * @brief 3*3 matrix representation of SO(3) + * @author Frank Dellaert + * @author Luca Carlone + * @author Duy Nguyen Ta + * @date December 2014 + */ + +#pragma once + +#include + +#include +#include + +#include +#include +#include + +namespace gtsam { + +using SO3 = SO<3>; + +// /// Static, named constructor that finds SO(3) matrix closest to M in +// Frobenius norm. static SO3 ClosestTo(const Matrix3& M); + +// /// Static, named constructor that finds chordal mean = argmin_R \sum +// sqr(|R-R_i|_F). static SO3 ChordalMean(const std::vector& rotations); + +// static Matrix3 Hat(const Vector3 &xi); ///< make skew symmetric matrix +// static Vector3 Vee(const Matrix3 &X); ///< inverse of Hat + +//****************************************************************************** +template <> +SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H); + +// template<> +// Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { +// return sot::DexpFunctor(omega).dexp(); +// } + +/** + * Exponential map at identity - create a rotation from canonical coordinates + * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula + */ +// static SO3 Expmap(const Vector3& omega, ChartJacobian H = boost::none); + +/// Derivative of Expmap +// static Matrix3 ExpmapDerivative(const Vector3& omega); + +/** + * Log map at identity - returns the canonical coordinates + * \f$ [R_x,R_y,R_z] \f$ of this rotation + */ +// static Vector3 Logmap(const SO3& R, ChartJacobian H = boost::none); + +/// Derivative of Logmap +// static Matrix3 LogmapDerivative(const Vector3& omega); + +// Matrix3 AdjointMap() const { +// return *this; +// } + +// // Chart at origin +// struct ChartAtOrigin { +// static SO3 Retract(const Vector3& omega, ChartJacobian H = boost::none) { +// return Expmap(omega, H); +// } +// static Vector3 Local(const SO3& R, ChartJacobian H = boost::none) { +// return Logmap(R, H); +// } +// }; + +//****************************************************************************** +static Vector9 vec3(const Matrix3& R) { + return Eigen::Map(R.data()); +} + +static const std::vector G3({SO3::Hat(Vector3::Unit(0)), + SO3::Hat(Vector3::Unit(1)), + SO3::Hat(Vector3::Unit(2))}); + +static const Matrix93 P3 = + (Matrix93() << vec3(G3[0]), vec3(G3[1]), vec3(G3[2])).finished(); + +//****************************************************************************** +template <> +Vector9 SO3::vec(OptionalJacobian<9, 3> H) const { + const Matrix3& R = matrix_; + if (H) { + // As Luca calculated (for SO4), this is (I3 \oplus R) * P3 + *H << R * P3.block<3, 3>(0, 0), R * P3.block<3, 3>(3, 0), + R * P3.block<3, 3>(6, 0); + } + return gtsam::vec3(R); +} + +// private: + +// /** Serialization function */ +// friend class boost::serialization::access; +// template +// void serialize(ARCHIVE & ar, const unsigned int /*version*/) +// { +// ar & boost::serialization::make_nvp("R11", (*this)(0,0)); +// ar & boost::serialization::make_nvp("R12", (*this)(0,1)); +// ar & boost::serialization::make_nvp("R13", (*this)(0,2)); +// ar & boost::serialization::make_nvp("R21", (*this)(1,0)); +// ar & boost::serialization::make_nvp("R22", (*this)(1,1)); +// ar & boost::serialization::make_nvp("R23", (*this)(1,2)); +// ar & boost::serialization::make_nvp("R31", (*this)(2,0)); +// ar & boost::serialization::make_nvp("R32", (*this)(2,1)); +// ar & boost::serialization::make_nvp("R33", (*this)(2,2)); +// } + +namespace sot { + +/** + * Compose general matrix with an SO(3) element. + * We only provide the 9*9 derivative in the first argument M. + */ +Matrix3 compose(const Matrix3& M, const SO3& R, + OptionalJacobian<9, 9> H = boost::none); + +/// (constant) Jacobian of compose wrpt M +Matrix99 Dcompose(const SO3& R); + +// Below are two functors that allow for saving computation when exponential map +// and its derivatives are needed at the same location in so<3>. The second +// functor also implements dedicated methods to apply dexp and/or inv(dexp). + +/// Functor implementing Exponential map +class GTSAM_EXPORT ExpmapFunctor { + protected: + const double theta2; + Matrix3 W, K, KK; + bool nearZero; + double theta, sin_theta, one_minus_cos; // only defined if !nearZero + + void init(bool nearZeroApprox = false); + + public: + /// Constructor with element of Lie algebra so(3) + explicit ExpmapFunctor(const Vector3& omega, bool nearZeroApprox = false); + + /// Constructor with axis-angle + ExpmapFunctor(const Vector3& axis, double angle, bool nearZeroApprox = false); + + /// Rodrigues formula + SO3 expmap() const; +}; + +/// Functor that implements Exponential map *and* its derivatives +class GTSAM_EXPORT DexpFunctor : public ExpmapFunctor { + const Vector3 omega; + double a, b; + Matrix3 dexp_; + + public: + /// Constructor with element of Lie algebra so(3) + explicit DexpFunctor(const Vector3& omega, bool nearZeroApprox = false); + + // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation + // (10.86) and following equations in G.S. Chirikjian, "Stochastic Models, + // Information Theory, and Lie Groups", Volume 2, 2008. + // expmap(omega + v) \approx expmap(omega) * expmap(dexp * v) + // This maps a perturbation v in the tangent space to + // a perturbation on the manifold Expmap(dexp * v) */ + const Matrix3& dexp() const { return dexp_; } + + /// Multiplies with dexp(), with optional derivatives + Vector3 applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const; + + /// Multiplies with dexp().inverse(), with optional derivatives + Vector3 applyInvDexp(const Vector3& v, + OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const; +}; +} // namespace sot + +/* + * Define the traits. internal::LieGroup provides both Lie group and Testable + */ + +template <> +struct traits : public internal::LieGroup {}; + +template <> +struct traits : public internal::LieGroup {}; + +} // end namespace gtsam diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index 9f17ce269..30f20b495 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -10,16 +10,25 @@ * -------------------------------------------------------------------------- */ /** - * @file testSOnBase.cpp - * @brief Unit tests for Base class of SO(n) classes. + * @file testSOn.cpp + * @brief Unit tests for dynamic SO(n) classes. * @author Frank Dellaert **/ +#include +#include +#include + #include #include #include #include -#include +#include +#include +#include +#include + +#include #include @@ -28,325 +37,6 @@ #include namespace gtsam { - -namespace internal { -/// Calculate dimensionality of SO manifold, or return Dynamic if so -constexpr int DimensionSO(int N) { - return (N < 0) ? Eigen::Dynamic : N * (N - 1) / 2; -} - -// Calculate N^2 at compile time, or return Dynamic if so -constexpr int NSquaredSO(int N) { return (N < 0) ? Eigen::Dynamic : N * N; } -} // namespace internal - -/** - * Space of special orthogonal rotation matrices SO - */ -template -class SO : public LieGroup, internal::DimensionSO(N)> { - public: - enum { dimension = internal::DimensionSO(N) }; - using MatrixNN = Eigen::Matrix; - using VectorN2 = Eigen::Matrix; - using MatrixDD = Eigen::Matrix; - - protected: - MatrixNN matrix_; ///< Rotation matrix - - // enable_if_t aliases, used to specialize constructors/methods, see - // https://www.fluentcpp.com/2018/05/18/make-sfinae-pretty-2-hidden-beauty-sfinae/ - template - using IsDynamic = boost::enable_if_t; - template - using IsFixed = boost::enable_if_t= 2, void>; - template - using IsSO3 = boost::enable_if_t; - - public: - /// @name Constructors - /// @{ - - /// Construct SO identity for N >= 2 - template > - SO() : matrix_(MatrixNN::Identity()) {} - - /// Construct SO identity for N == Eigen::Dynamic - template > - explicit SO(size_t n = 0) { - if (n == 0) throw std::runtime_error("SO: Dimensionality not known."); - matrix_ = Eigen::MatrixXd::Identity(n, n); - } - - /// Constructor from Eigen Matrix - template - explicit SO(const Eigen::MatrixBase& R) : matrix_(R.eval()) {} - - /// Constructor from AngleAxisd - template > - SO(const Eigen::AngleAxisd& angleAxis) : matrix_(angleAxis) {} - - /// Random SO(n) element (no big claims about uniformity) - template > - static SO Random(boost::mt19937& rng, size_t n = 0) { - if (n == 0) throw std::runtime_error("SO: Dimensionality not known."); - // This needs to be re-thought! - static boost::uniform_real randomAngle(-M_PI, M_PI); - const size_t d = SO::Dimension(n); - Vector xi(d); - for (size_t j = 0; j < d; j++) { - xi(j) = randomAngle(rng); - } - return SO::Retract(xi); - } - - /// Random SO(N) element (no big claims about uniformity) - template > - static SO Random(boost::mt19937& rng) { - // By default, use dynamic implementation above. Specialized for SO(3). - return SO(SO::Random(rng, N).matrix()); - } - - /// @} - /// @name Standard methods - /// @{ - - /// Return matrix - const MatrixNN& matrix() const { return matrix_; } - - size_t rows() const { return matrix_.rows(); } - size_t cols() const { return matrix_.cols(); } - - /// @} - /// @name Testable - /// @{ - - void print(const std::string& s) const { - std::cout << s << matrix_ << std::endl; - } - - bool equals(const SO& other, double tol) const { - return equal_with_abs_tol(matrix_, other.matrix_, tol); - } - - /// @} - /// @name Group - /// @{ - - /// Multiplication - SO operator*(const SO& other) const { return SO(matrix_ * other.matrix_); } - - /// SO identity for N >= 2 - template > - static SO identity() { - return SO(); - } - - /// SO identity for N == Eigen::Dynamic - template > - static SO identity(size_t n = 0) { - return SO(n); - } - - /// inverse of a rotation = transpose - SO inverse() const { return SO(matrix_.transpose()); } - - /// @} - /// @name Manifold - /// @{ - - using TangentVector = Eigen::Matrix; - using ChartJacobian = OptionalJacobian; - - /// Return compile-time dimensionality: fixed size N or Eigen::Dynamic - static int Dim() { return dimension; } - - // Calculate manifold dimensionality for SO(n). - // Available as dimension or Dim() for fixed N. - static size_t Dimension(size_t n) { return n * (n - 1) / 2; } - - // Calculate ambient dimension n from manifold dimensionality d. - static size_t AmbientDim(size_t d) { return (1 + std::sqrt(1 + 8 * d)) / 2; } - - // Calculate run-time dimensionality of manifold. - // Available as dimension or Dim() for fixed N. - size_t dim() const { return Dimension(matrix_.rows()); } - - /** - * Hat operator creates Lie algebra element corresponding to d-vector, where d - * is the dimensionality of the manifold. This function is implemented - * recursively, and the d-vector is assumed to laid out such that the last - * element corresponds to so(2), the last 3 to so(3), the last 6 to so(4) - * etc... For example, the vector-space isomorphic to so(5) is laid out as: - * a b c d | u v w | x y | z - * where the latter elements correspond to "telescoping" sub-algebras: - * 0 -z y -w d - * z 0 -x v -c - * -y x 0 -u b - * w -v u 0 -a - * -d c -b a 0 - * This scheme behaves exactly as expected for SO(2) and SO(3). - */ - static Matrix Hat(const Vector& xi) { - size_t n = AmbientDim(xi.size()); - if (n < 2) throw std::invalid_argument("SOn::Hat: n<2 not supported"); - - Matrix X(n, n); // allocate space for n*n skew-symmetric matrix - X.setZero(); - if (n == 2) { - // Handle SO(2) case as recursion bottom - assert(xi.size() == 1); - X << 0, -xi(0), xi(0), 0; - } else { - // Recursively call SO(n-1) call for top-left block - const size_t dmin = (n - 1) * (n - 2) / 2; - X.topLeftCorner(n - 1, n - 1) = Hat(xi.tail(dmin)); - - // Now fill last row and column - double sign = 1.0; - for (size_t i = 0; i < n - 1; i++) { - const size_t j = n - 2 - i; - X(n - 1, j) = sign * xi(i); - X(j, n - 1) = -X(n - 1, j); - sign = -sign; - } - } - return X; - } - - /** - * Inverse of Hat. See note about xi element order in Hat. - */ - static Vector Vee(const Matrix& X) { - const size_t n = X.rows(); - if (n < 2) throw std::invalid_argument("SOn::Hat: n<2 not supported"); - - if (n == 2) { - // Handle SO(2) case as recursion bottom - Vector xi(1); - xi(0) = X(1, 0); - return xi; - } else { - // Calculate dimension and allocate space - const size_t d = n * (n - 1) / 2; - Vector xi(d); - - // Fill first n-1 spots from last row of X - double sign = 1.0; - for (size_t i = 0; i < n - 1; i++) { - const size_t j = n - 2 - i; - xi(i) = sign * X(n - 1, j); - sign = -sign; - } - - // Recursively call Vee to fill remainder of x - const size_t dmin = (n - 1) * (n - 2) / 2; - xi.tail(dmin) = Vee(X.topLeftCorner(n - 1, n - 1)); - return xi; - } - } - - // Chart at origin - struct ChartAtOrigin { - /** - * Retract uses Cayley map. See note about xi element order in Hat. - * Deafault implementation has no Jacobian implemented - */ - static SO Retract(const TangentVector& xi, ChartJacobian H = boost::none) { - const Matrix X = Hat(xi / 2.0); - size_t n = AmbientDim(xi.size()); - const auto I = Eigen::MatrixXd::Identity(n, n); - return SO((I + X) * (I - X).inverse()); - } - /** - * Inverse of Retract. See note about xi element order in Hat. - */ - static TangentVector Local(const SO& R, ChartJacobian H = boost::none) { - const size_t n = R.rows(); - const auto I = Eigen::MatrixXd::Identity(n, n); - const Matrix X = (I - R.matrix_) * (I + R.matrix_).inverse(); - return -2 * Vee(X); - } - }; - - // Return dynamic identity DxD Jacobian for given SO(n) - template > - static MatrixDD IdentityJacobian(size_t n) { - const size_t d = Dimension(n); - return MatrixDD::Identity(d, d); - } - - /// @} - /// @name Lie Group - /// @{ - - MatrixDD AdjointMap() const { - throw std::runtime_error( - "SO::AdjointMap only implemented for SO3 and SO4."); - } - - /** - * Exponential map at identity - create a rotation from canonical coordinates - */ - static SO Expmap(const TangentVector& omega, ChartJacobian H = boost::none) { - throw std::runtime_error("SO::Expmap only implemented for SO3 and SO4."); - } - - /** - * Log map at identity - returns the canonical coordinates of this rotation - */ - static TangentVector Logmap(const SO& R, ChartJacobian H = boost::none) { - throw std::runtime_error("SO::Logmap only implemented for SO3 and SO4."); - } - - // inverse with optional derivative - using LieGroup, internal::DimensionSO(N)>::inverse; - - /// @} - /// @name Other methods - /// @{ - - /** - * Return vectorized rotation matrix in column order. - * Will use dynamic matrices as intermediate results, but returns a fixed size - * X and fixed-size Jacobian if dimension is known at compile time. - * */ - VectorN2 vec(OptionalJacobian H = - boost::none) const { - const size_t n = rows(); - const size_t n2 = n * n; - - // Vectorize - VectorN2 X(n2); - X << Eigen::Map(matrix_.data(), n2, 1); - - // If requested, calculate H as (I \oplus Q) * P - if (H) { - // Calculate P matrix of vectorized generators - const size_t d = dim(); - Matrix P(n2, d); - for (size_t j = 0; j < d; j++) { - const auto X = Hat(Eigen::VectorXd::Unit(d, j)); - P.col(j) = Eigen::Map(X.data(), n2, 1); - } - H->resize(n2, d); - for (size_t i = 0; i < n; i++) { - H->block(i * n, 0, n, d) = matrix_ * P.block(i * n, 0, n, d); - } - } - return X; - } - /// @} -}; - -/* - * Fully specialize compose and between, because the derivative is unknowable by - * the LieGroup implementations, who return a fixed-size matrix for H2. - */ - -using SO3 = SO<3>; -using SO4 = SO<4>; -using SOn = SO; - using DynamicJacobian = OptionalJacobian; template <> @@ -365,336 +55,8 @@ SOn LieGroup::between(const SOn& g, DynamicJacobian H1, if (H2) *H2 = SOn::IdentityJacobian(g.rows()); return result; } - -/* - * Define the traits. internal::LieGroup provides both Lie group and Testable - */ - -template -struct traits> : public internal::LieGroup> {}; - -template -struct traits> : public internal::LieGroup> {}; - -namespace so3 { - -/** - * Compose general matrix with an SO(3) element. - * We only provide the 9*9 derivative in the first argument M. - */ -Matrix3 compose(const Matrix3& M, const SO3& R, - OptionalJacobian<9, 9> H = boost::none); - -/// (constant) Jacobian of compose wrpt M -Matrix99 Dcompose(const SO3& R); - -// Below are two functors that allow for saving computation when exponential map -// and its derivatives are needed at the same location in so<3>. The second -// functor also implements dedicated methods to apply dexp and/or inv(dexp). - -/// Functor implementing Exponential map -class GTSAM_EXPORT ExpmapFunctor { - protected: - const double theta2; - Matrix3 W, K, KK; - bool nearZero; - double theta, sin_theta, one_minus_cos; // only defined if !nearZero - - void init(bool nearZeroApprox = false); - - public: - /// Constructor with element of Lie algebra so(3) - ExpmapFunctor(const Vector3& omega, bool nearZeroApprox = false); - - /// Constructor with axis-angle - ExpmapFunctor(const Vector3& axis, double angle, bool nearZeroApprox = false); - - /// Rodrigues formula - SO3 expmap() const; -}; - -/// Functor that implements Exponential map *and* its derivatives -class GTSAM_EXPORT DexpFunctor : public ExpmapFunctor { - const Vector3 omega; - double a, b; - Matrix3 dexp_; - - public: - /// Constructor with element of Lie algebra so(3) - DexpFunctor(const Vector3& omega, bool nearZeroApprox = false); - - // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation - // (10.86) and following equations in G.S. Chirikjian, "Stochastic Models, - // Information Theory, and Lie Groups", Volume 2, 2008. - // expmap(omega + v) \approx expmap(omega) * expmap(dexp * v) - // This maps a perturbation v in the tangent space to - // a perturbation on the manifold Expmap(dexp * v) */ - const Matrix3& dexp() const { return dexp_; } - - /// Multiplies with dexp(), with optional derivatives - Vector3 applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, - OptionalJacobian<3, 3> H2 = boost::none) const; - - /// Multiplies with dexp().inverse(), with optional derivatives - Vector3 applyInvDexp(const Vector3& v, - OptionalJacobian<3, 3> H1 = boost::none, - OptionalJacobian<3, 3> H2 = boost::none) const; -}; -} // namespace so3 - -//****************************************************************************** -namespace so3 { - -Matrix99 Dcompose(const SO3& Q) { - Matrix99 H; - auto R = Q.matrix(); - H << I_3x3 * R(0, 0), I_3x3 * R(1, 0), I_3x3 * R(2, 0), // - I_3x3 * R(0, 1), I_3x3 * R(1, 1), I_3x3 * R(2, 1), // - I_3x3 * R(0, 2), I_3x3 * R(1, 2), I_3x3 * R(2, 2); - return H; -} - -Matrix3 compose(const Matrix3& M, const SO3& R, OptionalJacobian<9, 9> H) { - Matrix3 MR = M * R.matrix(); - if (H) *H = Dcompose(R); - return MR; -} - -void ExpmapFunctor::init(bool nearZeroApprox) { - nearZero = - nearZeroApprox || (theta2 <= std::numeric_limits::epsilon()); - if (!nearZero) { - theta = std::sqrt(theta2); // rotation angle - sin_theta = std::sin(theta); - const double s2 = std::sin(theta / 2.0); - one_minus_cos = 2.0 * s2 * s2; // numerically better than [1 - cos(theta)] - } -} - -ExpmapFunctor::ExpmapFunctor(const Vector3& omega, bool nearZeroApprox) - : theta2(omega.dot(omega)) { - const double wx = omega.x(), wy = omega.y(), wz = omega.z(); - W << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; - init(nearZeroApprox); - if (!nearZero) { - K = W / theta; - KK = K * K; - } -} - -ExpmapFunctor::ExpmapFunctor(const Vector3& axis, double angle, - bool nearZeroApprox) - : theta2(angle * angle) { - const double ax = axis.x(), ay = axis.y(), az = axis.z(); - K << 0.0, -az, +ay, +az, 0.0, -ax, -ay, +ax, 0.0; - W = K * angle; - init(nearZeroApprox); - if (!nearZero) { - KK = K * K; - } -} - -SO3 ExpmapFunctor::expmap() const { - if (nearZero) - return SO3(I_3x3 + W); - else - return SO3(I_3x3 + sin_theta * K + one_minus_cos * KK); -} - -DexpFunctor::DexpFunctor(const Vector3& omega, bool nearZeroApprox) - : ExpmapFunctor(omega, nearZeroApprox), omega(omega) { - if (nearZero) - dexp_ = I_3x3 - 0.5 * W; - else { - a = one_minus_cos / theta; - b = 1.0 - sin_theta / theta; - dexp_ = I_3x3 - a * K + b * KK; - } -} - -Vector3 DexpFunctor::applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, - OptionalJacobian<3, 3> H2) const { - if (H1) { - if (nearZero) { - *H1 = 0.5 * skewSymmetric(v); - } else { - // TODO(frank): Iserles hints that there should be a form I + c*K + d*KK - const Vector3 Kv = K * v; - const double Da = (sin_theta - 2.0 * a) / theta2; - const double Db = (one_minus_cos - 3.0 * b) / theta2; - *H1 = (Db * K - Da * I_3x3) * Kv * omega.transpose() - - skewSymmetric(Kv * b / theta) + - (a * I_3x3 - b * K) * skewSymmetric(v / theta); - } - } - if (H2) *H2 = dexp_; - return dexp_ * v; -} - -Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, - OptionalJacobian<3, 3> H2) const { - const Matrix3 invDexp = dexp_.inverse(); - const Vector3 c = invDexp * v; - if (H1) { - Matrix3 D_dexpv_omega; - applyDexp(c, D_dexpv_omega); // get derivative H of forward mapping - *H1 = -invDexp * D_dexpv_omega; - } - if (H2) *H2 = invDexp; - return c; -} - -} // namespace so3 - -//****************************************************************************** -template <> -SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { - if (H) { - so3::DexpFunctor impl(omega); - *H = impl.dexp(); - return impl.expmap(); - } else - return so3::ExpmapFunctor(omega).expmap(); -} - -// template<> -// Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { -// return so3::DexpFunctor(omega).dexp(); -// } - -//****************************************************************************** -static Vector9 vec3(const Matrix3& R) { - return Eigen::Map(R.data()); -} - -static const std::vector G3({SO3::Hat(Vector3::Unit(0)), - SO3::Hat(Vector3::Unit(1)), - SO3::Hat(Vector3::Unit(2))}); - -static const Matrix93 P3 = - (Matrix93() << vec3(G3[0]), vec3(G3[1]), vec3(G3[2])).finished(); - -//****************************************************************************** -template <> -Vector9 SO3::vec(OptionalJacobian<9, 3> H) const { - const Matrix3& R = matrix_; - if (H) { - // As Luca calculated (for SO4), this is (I3 \oplus R) * P3 - *H << R * P3.block<3, 3>(0, 0), R * P3.block<3, 3>(3, 0), - R * P3.block<3, 3>(6, 0); - } - return gtsam::vec3(R); -}; - -//****************************************************************************** -/* Exponential map, porting MATLAB implementation by Luca, which follows - * "SOME REMARKS ON THE EXPONENTIAL MAP ON THE GROUPS SO(n) AND SE(n)" by - * Ramona-Andreaa Rohan */ -template <> -SO4 SO4::Expmap(const Vector6& xi, ChartJacobian H) { - using namespace std; - if (H) throw std::runtime_error("SO4::Expmap Jacobian"); - - // skew symmetric matrix X = xi^ - const Matrix4 X = Hat(xi); - - // do eigen-decomposition - auto eig = Eigen::EigenSolver(X); - Eigen::Vector4cd e = eig.eigenvalues(); - using std::abs; - sort(e.data(), e.data() + 4, [](complex a, complex b) { - return abs(a.imag()) > abs(b.imag()); - }); - - // Get a and b from eigenvalues +/i ai and +/- bi - double a = e[0].imag(), b = e[2].imag(); - if (!e.real().isZero() || e[1].imag() != -a || e[3].imag() != -b) { - throw runtime_error("SO4::Expmap: wrong eigenvalues."); - } - - // Build expX = exp(xi^) - Matrix4 expX; - using std::cos; - using std::sin; - const auto X2 = X * X; - const auto X3 = X2 * X; - double a2 = a * a, a3 = a2 * a, b2 = b * b, b3 = b2 * b; - if (a != 0 && b == 0) { - double c2 = (1 - cos(a)) / a2, c3 = (a - sin(a)) / a3; - return SO4(I_4x4 + X + c2 * X2 + c3 * X3); - } else if (a == b && b != 0) { - double sin_a = sin(a), cos_a = cos(a); - double c0 = (a * sin_a + 2 * cos_a) / 2, - c1 = (3 * sin_a - a * cos_a) / (2 * a), c2 = sin_a / (2 * a), - c3 = (sin_a - a * cos_a) / (2 * a3); - return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); - } else if (a != b) { - double sin_a = sin(a), cos_a = cos(a); - double sin_b = sin(b), cos_b = cos(b); - double c0 = (b2 * cos_a - a2 * cos_b) / (b2 - a2), - c1 = (b3 * sin_a - a3 * sin_b) / (a * b * (b2 - a2)), - c2 = (cos_a - cos_b) / (b2 - a2), - c3 = (b * sin_a - a * sin_b) / (a * b * (b2 - a2)); - return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); - } else { - return SO4(); - } -} - -//****************************************************************************** -static SO4::VectorN2 vec4(const Matrix4& Q) { - return Eigen::Map(Q.data()); -} - -static const std::vector G4( - {SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), - SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), - SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))}); - -static const Eigen::Matrix P4 = - (Eigen::Matrix() << vec4(G4[0]), vec4(G4[1]), vec4(G4[2]), - vec4(G4[3]), vec4(G4[4]), vec4(G4[5])) - .finished(); - -//****************************************************************************** -template <> -Matrix6 SO4::AdjointMap() const { - // Elaborate way of calculating the AdjointMap - // TODO(frank): find a closed form solution. In SO(3) is just R :-/ - const Matrix4& Q = matrix_; - const Matrix4 Qt = Q.transpose(); - Matrix6 A; - for (size_t i = 0; i < 6; i++) { - // Calculate column i of linear map for coeffcient of Gi - A.col(i) = SO4::Vee(Q * G4[i] * Qt); - } - return A; -} - -//****************************************************************************** -template <> -SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const { - const Matrix& Q = matrix_; - if (H) { - // As Luca calculated, this is (I4 \oplus Q) * P4 - *H << Q * P4.block<4, 6>(0, 0), Q * P4.block<4, 6>(4, 0), - Q * P4.block<4, 6>(8, 0), Q * P4.block<4, 6>(12, 0); - } - return gtsam::vec4(Q); -} - } // namespace gtsam -#include -#include -#include -// #include -// #include -// #include -#include - -#include - using namespace std; using namespace gtsam; @@ -1130,11 +492,11 @@ TEST(SO3, ApplyDexp) { for (bool nearZeroApprox : {true, false}) { boost::function f = [=](const Vector3& omega, const Vector3& v) { - return so3::DexpFunctor(omega, nearZeroApprox).applyDexp(v); + return sot::DexpFunctor(omega, nearZeroApprox).applyDexp(v); }; for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { - so3::DexpFunctor local(omega, nearZeroApprox); + sot::DexpFunctor local(omega, nearZeroApprox); for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), Vector3(0.4, 0.3, 0.2)}) { EXPECT(assert_equal(Vector3(local.dexp() * v), @@ -1153,11 +515,11 @@ TEST(SO3, ApplyInvDexp) { for (bool nearZeroApprox : {true, false}) { boost::function f = [=](const Vector3& omega, const Vector3& v) { - return so3::DexpFunctor(omega, nearZeroApprox).applyInvDexp(v); + return sot::DexpFunctor(omega, nearZeroApprox).applyInvDexp(v); }; for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { - so3::DexpFunctor local(omega, nearZeroApprox); + sot::DexpFunctor local(omega, nearZeroApprox); Matrix invDexp = local.dexp().inverse(); for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), Vector3(0.4, 0.3, 0.2)}) { @@ -1189,10 +551,10 @@ TEST(SO3, vec) { // SO3 R = SO3::Expmap(Vector3(1, 2, 3)); // const Matrix3 expected = M * R.matrix(); // Matrix actualH; -// const Matrix3 actual = so3::compose(M, R, actualH); +// const Matrix3 actual = sot::compose(M, R, actualH); // CHECK(assert_equal(expected, actual)); // boost::function f = [R](const Matrix3& M) { -// return so3::compose(M, R); +// return sot::compose(M, R); // }; // Matrix numericalH = numericalDerivative11(f, M, 1e-2); // CHECK(assert_equal(numericalH, actualH)); From 7213fd2c62b3a8f2b9402c2c20c32a364714846f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 May 2019 15:37:04 -0400 Subject: [PATCH 0029/1152] Distributed SOn functionality over three files --- gtsam/geometry/SOn-inl.h | 127 +++++++++ gtsam/geometry/SOn.cpp | 40 +++ gtsam/geometry/SOn.h | 113 ++------ gtsam/geometry/tests/testSOn.cpp | 436 ------------------------------- 4 files changed, 189 insertions(+), 527 deletions(-) create mode 100644 gtsam/geometry/SOn-inl.h create mode 100644 gtsam/geometry/SOn.cpp diff --git a/gtsam/geometry/SOn-inl.h b/gtsam/geometry/SOn-inl.h new file mode 100644 index 000000000..26dc2229b --- /dev/null +++ b/gtsam/geometry/SOn-inl.h @@ -0,0 +1,127 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010-2019, 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 + + * -------------------------------------------------------------------------- */ + +#pragma once + +/** + * @file SOn-inl.h + * @brief Template implementations for SO(n) + * @author Frank Dellaert + * @date March 2019 + */ + +#include + +namespace gtsam { + +template +Matrix SO::Hat(const Vector& xi) { + size_t n = AmbientDim(xi.size()); + if (n < 2) throw std::invalid_argument("SO::Hat: n<2 not supported"); + + Matrix X(n, n); // allocate space for n*n skew-symmetric matrix + X.setZero(); + if (n == 2) { + // Handle SO(2) case as recursion bottom + assert(xi.size() == 1); + X << 0, -xi(0), xi(0), 0; + } else { + // Recursively call SO(n-1) call for top-left block + const size_t dmin = (n - 1) * (n - 2) / 2; + X.topLeftCorner(n - 1, n - 1) = Hat(xi.tail(dmin)); + + // Now fill last row and column + double sign = 1.0; + for (size_t i = 0; i < n - 1; i++) { + const size_t j = n - 2 - i; + X(n - 1, j) = sign * xi(i); + X(j, n - 1) = -X(n - 1, j); + sign = -sign; + } + } + return X; +} + +template +Vector SO::Vee(const Matrix& X) { + const size_t n = X.rows(); + if (n < 2) throw std::invalid_argument("SO::Hat: n<2 not supported"); + + if (n == 2) { + // Handle SO(2) case as recursion bottom + Vector xi(1); + xi(0) = X(1, 0); + return xi; + } else { + // Calculate dimension and allocate space + const size_t d = n * (n - 1) / 2; + Vector xi(d); + + // Fill first n-1 spots from last row of X + double sign = 1.0; + for (size_t i = 0; i < n - 1; i++) { + const size_t j = n - 2 - i; + xi(i) = sign * X(n - 1, j); + sign = -sign; + } + + // Recursively call Vee to fill remainder of x + const size_t dmin = (n - 1) * (n - 2) / 2; + xi.tail(dmin) = Vee(X.topLeftCorner(n - 1, n - 1)); + return xi; + } +} + +template +SO SO::ChartAtOrigin::Retract(const TangentVector& xi, ChartJacobian H) { + const Matrix X = Hat(xi / 2.0); + size_t n = AmbientDim(xi.size()); + const auto I = Eigen::MatrixXd::Identity(n, n); + return SO((I + X) * (I - X).inverse()); +} + +template +typename SO::TangentVector SO::ChartAtOrigin::Local(const SO& R, + ChartJacobian H) { + const size_t n = R.rows(); + const auto I = Eigen::MatrixXd::Identity(n, n); + const Matrix X = (I - R.matrix_) * (I + R.matrix_).inverse(); + return -2 * Vee(X); +} + +template +typename SO::VectorN2 SO::vec( + OptionalJacobian H) const { + const size_t n = rows(); + const size_t n2 = n * n; + + // Vectorize + VectorN2 X(n2); + X << Eigen::Map(matrix_.data(), n2, 1); + + // If requested, calculate H as (I \oplus Q) * P + if (H) { + // Calculate P matrix of vectorized generators + const size_t d = dim(); + Matrix P(n2, d); + for (size_t j = 0; j < d; j++) { + const auto X = Hat(Eigen::VectorXd::Unit(d, j)); + P.col(j) = Eigen::Map(X.data(), n2, 1); + } + H->resize(n2, d); + for (size_t i = 0; i < n; i++) { + H->block(i * n, 0, n, d) = matrix_ * P.block(i * n, 0, n, d); + } + } + return X; +} + +} // namespace gtsam diff --git a/gtsam/geometry/SOn.cpp b/gtsam/geometry/SOn.cpp new file mode 100644 index 000000000..67b780db8 --- /dev/null +++ b/gtsam/geometry/SOn.cpp @@ -0,0 +1,40 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file SOn.cpp + * @brief Definitions of dynamic specializations of SO(n) + * @author Frank Dellaert + * @date March 2019 + */ + +#include + +namespace gtsam { + +template <> +SOn LieGroup::compose(const SOn& g, DynamicJacobian H1, + DynamicJacobian H2) const { + if (H1) *H1 = g.inverse().AdjointMap(); + if (H2) *H2 = SOn::IdentityJacobian(g.rows()); + return derived() * g; +} + +template <> +SOn LieGroup::between(const SOn& g, DynamicJacobian H1, + DynamicJacobian H2) const { + SOn result = derived().inverse() * g; + if (H1) *H1 = -result.inverse().AdjointMap(); + if (H2) *H2 = SOn::IdentityJacobian(g.rows()); + return result; +} + +} // namespace gtsam diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 4f4fcd157..64718ed5f 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -188,64 +188,12 @@ class SO : public LieGroup, internal::DimensionSO(N)> { * -d c -b a 0 * This scheme behaves exactly as expected for SO(2) and SO(3). */ - static Matrix Hat(const Vector& xi) { - size_t n = AmbientDim(xi.size()); - if (n < 2) throw std::invalid_argument("SOn::Hat: n<2 not supported"); - - Matrix X(n, n); // allocate space for n*n skew-symmetric matrix - X.setZero(); - if (n == 2) { - // Handle SO(2) case as recursion bottom - assert(xi.size() == 1); - X << 0, -xi(0), xi(0), 0; - } else { - // Recursively call SO(n-1) call for top-left block - const size_t dmin = (n - 1) * (n - 2) / 2; - X.topLeftCorner(n - 1, n - 1) = Hat(xi.tail(dmin)); - - // Now fill last row and column - double sign = 1.0; - for (size_t i = 0; i < n - 1; i++) { - const size_t j = n - 2 - i; - X(n - 1, j) = sign * xi(i); - X(j, n - 1) = -X(n - 1, j); - sign = -sign; - } - } - return X; - } + static Matrix Hat(const Vector& xi); /** * Inverse of Hat. See note about xi element order in Hat. */ - static Vector Vee(const Matrix& X) { - const size_t n = X.rows(); - if (n < 2) throw std::invalid_argument("SOn::Hat: n<2 not supported"); - - if (n == 2) { - // Handle SO(2) case as recursion bottom - Vector xi(1); - xi(0) = X(1, 0); - return xi; - } else { - // Calculate dimension and allocate space - const size_t d = n * (n - 1) / 2; - Vector xi(d); - - // Fill first n-1 spots from last row of X - double sign = 1.0; - for (size_t i = 0; i < n - 1; i++) { - const size_t j = n - 2 - i; - xi(i) = sign * X(n - 1, j); - sign = -sign; - } - - // Recursively call Vee to fill remainder of x - const size_t dmin = (n - 1) * (n - 2) / 2; - xi.tail(dmin) = Vee(X.topLeftCorner(n - 1, n - 1)); - return xi; - } - } + static Vector Vee(const Matrix& X); // Chart at origin struct ChartAtOrigin { @@ -253,21 +201,12 @@ class SO : public LieGroup, internal::DimensionSO(N)> { * Retract uses Cayley map. See note about xi element order in Hat. * Deafault implementation has no Jacobian implemented */ - static SO Retract(const TangentVector& xi, ChartJacobian H = boost::none) { - const Matrix X = Hat(xi / 2.0); - size_t n = AmbientDim(xi.size()); - const auto I = Eigen::MatrixXd::Identity(n, n); - return SO((I + X) * (I - X).inverse()); - } + static SO Retract(const TangentVector& xi, ChartJacobian H = boost::none); + /** * Inverse of Retract. See note about xi element order in Hat. */ - static TangentVector Local(const SO& R, ChartJacobian H = boost::none) { - const size_t n = R.rows(); - const auto I = Eigen::MatrixXd::Identity(n, n); - const Matrix X = (I - R.matrix_) * (I + R.matrix_).inverse(); - return -2 * Vee(X); - } + static TangentVector Local(const SO& R, ChartJacobian H = boost::none); }; // Return dynamic identity DxD Jacobian for given SO(n) @@ -300,6 +239,9 @@ class SO : public LieGroup, internal::DimensionSO(N)> { throw std::runtime_error("SO::Logmap only implemented for SO3 and SO4."); } + // template > + static Matrix3 LogmapDerivative(const Vector3& omega); + // inverse with optional derivative using LieGroup, internal::DimensionSO(N)>::inverse; @@ -313,39 +255,26 @@ class SO : public LieGroup, internal::DimensionSO(N)> { * X and fixed-size Jacobian if dimension is known at compile time. * */ VectorN2 vec(OptionalJacobian H = - boost::none) const { - const size_t n = rows(); - const size_t n2 = n * n; - - // Vectorize - VectorN2 X(n2); - X << Eigen::Map(matrix_.data(), n2, 1); - - // If requested, calculate H as (I \oplus Q) * P - if (H) { - // Calculate P matrix of vectorized generators - const size_t d = dim(); - Matrix P(n2, d); - for (size_t j = 0; j < d; j++) { - const auto X = Hat(Eigen::VectorXd::Unit(d, j)); - P.col(j) = Eigen::Map(X.data(), n2, 1); - } - H->resize(n2, d); - for (size_t i = 0; i < n; i++) { - H->block(i * n, 0, n, d) = matrix_ * P.block(i * n, 0, n, d); - } - } - return X; - } + boost::none) const; /// @} }; +using SOn = SO; + /* * Fully specialize compose and between, because the derivative is unknowable by * the LieGroup implementations, who return a fixed-size matrix for H2. */ -using SOn = SO; +using DynamicJacobian = OptionalJacobian; + +template <> +SOn LieGroup::compose(const SOn& g, DynamicJacobian H1, + DynamicJacobian H2) const; + +template <> +SOn LieGroup::between(const SOn& g, DynamicJacobian H1, + DynamicJacobian H2) const; /* * Define the traits. internal::LieGroup provides both Lie group and Testable @@ -358,3 +287,5 @@ template struct traits> : public internal::LieGroup> {}; } // namespace gtsam + +#include "SOn-inl.h" \ No newline at end of file diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index 30f20b495..1e4aee927 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -15,7 +15,6 @@ * @author Frank Dellaert **/ -#include #include #include @@ -36,27 +35,6 @@ #include #include -namespace gtsam { -using DynamicJacobian = OptionalJacobian; - -template <> -SOn LieGroup::compose(const SOn& g, DynamicJacobian H1, - DynamicJacobian H2) const { - if (H1) *H1 = g.inverse().AdjointMap(); - if (H2) *H2 = SOn::IdentityJacobian(g.rows()); - return derived() * g; -} - -template <> -SOn LieGroup::between(const SOn& g, DynamicJacobian H1, - DynamicJacobian H2) const { - SOn result = derived().inverse() * g; - if (H1) *H1 = -result.inverse().AdjointMap(); - if (H2) *H2 = SOn::IdentityJacobian(g.rows()); - return result; -} -} // namespace gtsam - using namespace std; using namespace gtsam; @@ -146,420 +124,6 @@ TEST(SOn, vec) { CHECK(assert_equal(H, actualH)); } -//****************************************************************************** -// SO4 -//****************************************************************************** - -TEST(SO4, Identity) { - const SO4 R; - EXPECT_LONGS_EQUAL(4, R.rows()); - EXPECT_LONGS_EQUAL(6, SO4::dimension); - EXPECT_LONGS_EQUAL(6, SO4::Dim()); - EXPECT_LONGS_EQUAL(6, R.dim()); -} - -//****************************************************************************** -TEST(SO4, Concept) { - BOOST_CONCEPT_ASSERT((IsGroup)); - BOOST_CONCEPT_ASSERT((IsManifold)); - BOOST_CONCEPT_ASSERT((IsLieGroup)); -} - -//****************************************************************************** -SO4 I4; -Vector6 v1 = (Vector(6) << 0, 0, 0, 0.1, 0, 0).finished(); -SO4 Q1 = SO4::Expmap(v1); -Vector6 v2 = (Vector(6) << 0.00, 0.00, 0.00, 0.01, 0.02, 0.03).finished(); -SO4 Q2 = SO4::Expmap(v2); -Vector6 v3 = (Vector(6) << 1, 2, 3, 4, 5, 6).finished(); -SO4 Q3 = SO4::Expmap(v3); - -//****************************************************************************** -TEST(SO4, Random) { - boost::mt19937 rng(42); - auto Q = SO4::Random(rng); - EXPECT_LONGS_EQUAL(4, Q.matrix().rows()); -} -//****************************************************************************** -TEST(SO4, Expmap) { - // If we do exponential map in SO(3) subgroup, topleft should be equal to R1. - auto R1 = SO3::Expmap(v1.tail<3>()).matrix(); - EXPECT((Q1.matrix().topLeftCorner<3, 3>().isApprox(R1))); - - // Same here - auto R2 = SO3::Expmap(v2.tail<3>()).matrix(); - EXPECT((Q2.matrix().topLeftCorner<3, 3>().isApprox(R2))); - - // Check commutative subgroups - for (size_t i = 0; i < 6; i++) { - Vector6 xi = Vector6::Zero(); - xi[i] = 2; - SO4 Q1 = SO4::Expmap(xi); - xi[i] = 3; - SO4 Q2 = SO4::Expmap(xi); - EXPECT(assert_equal(Q1 * Q2, Q2 * Q1)); - } -} - -//****************************************************************************** -TEST(SO4, Cayley) { - CHECK(assert_equal(I4.retract(v1 / 100), SO4::Expmap(v1 / 100))); - CHECK(assert_equal(I4.retract(v2 / 100), SO4::Expmap(v2 / 100))); -} - -//****************************************************************************** -TEST(SO4, Retract) { - auto v = Vector6::Zero(); - SO4 actual = traits::Retract(I4, v); - EXPECT(assert_equal(I4, actual)); -} - -//****************************************************************************** -TEST(SO4, Local) { - auto v0 = Vector6::Zero(); - Vector6 actual = traits::Local(I4, I4); - EXPECT(assert_equal((Vector)v0, actual)); -} - -//****************************************************************************** -TEST(SO4, Invariants) { - EXPECT(check_group_invariants(I4, I4)); - EXPECT(check_group_invariants(I4, Q1)); - EXPECT(check_group_invariants(Q2, I4)); - EXPECT(check_group_invariants(Q2, Q1)); - EXPECT(check_group_invariants(Q1, Q2)); - - EXPECT(check_manifold_invariants(I4, I4)); - EXPECT(check_manifold_invariants(I4, Q1)); - EXPECT(check_manifold_invariants(Q2, I4)); - EXPECT(check_manifold_invariants(Q2, Q1)); - EXPECT(check_manifold_invariants(Q1, Q2)); -} - -//****************************************************************************** -TEST(SO4, compose) { - SO4 expected = Q1 * Q2; - Matrix actualH1, actualH2; - SO4 actual = Q1.compose(Q2, actualH1, actualH2); - CHECK(assert_equal(expected, actual)); - - Matrix numericalH1 = - numericalDerivative21(testing::compose, Q1, Q2, 1e-2); - CHECK(assert_equal(numericalH1, actualH1)); - - Matrix numericalH2 = - numericalDerivative22(testing::compose, Q1, Q2, 1e-2); - CHECK(assert_equal(numericalH2, actualH2)); -} - -//****************************************************************************** -TEST(SO4, vec) { - using Vector16 = SO4::VectorN2; - const Vector16 expected = Eigen::Map(Q2.matrix().data()); - Matrix actualH; - const Vector16 actual = Q2.vec(actualH); - CHECK(assert_equal(expected, actual)); - boost::function f = [](const SO4& Q) { - return Q.vec(); - }; - const Matrix numericalH = numericalDerivative11(f, Q2, 1e-5); - CHECK(assert_equal(numericalH, actualH)); -} - -// /* ************************************************************************* -// */ TEST(SO4, topLeft) { -// const Matrix3 expected = Q3.topLeftCorner<3, 3>(); -// Matrix actualH; -// const Matrix3 actual = Q3.topLeft(actualH); -// CHECK(assert_equal(expected, actual)); -// boost::function f = [](const SO4& Q3) { -// return Q3.topLeft(); -// }; -// const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); -// CHECK(assert_equal(numericalH, actualH)); -// } - -// /* ************************************************************************* -// */ TEST(SO4, stiefel) { -// const Matrix43 expected = Q3.leftCols<3>(); -// Matrix actualH; -// const Matrix43 actual = Q3.stiefel(actualH); -// CHECK(assert_equal(expected, actual)); -// boost::function f = [](const SO4& Q3) { -// return Q3.stiefel(); -// }; -// const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); -// CHECK(assert_equal(numericalH, actualH)); -// } - -//****************************************************************************** -// SO3 -//****************************************************************************** - -TEST(SO3, Identity) { - const SO3 R; - EXPECT_LONGS_EQUAL(3, R.rows()); - EXPECT_LONGS_EQUAL(3, SO3::dimension); - EXPECT_LONGS_EQUAL(3, SO3::Dim()); - EXPECT_LONGS_EQUAL(3, R.dim()); -} - -//****************************************************************************** -TEST(SO3, Concept) { - BOOST_CONCEPT_ASSERT((IsGroup)); - BOOST_CONCEPT_ASSERT((IsManifold)); - BOOST_CONCEPT_ASSERT((IsLieGroup)); -} - -//****************************************************************************** -TEST(SO3, Constructor) { SO3 q(Eigen::AngleAxisd(1, Vector3(0, 0, 1))); } - -//****************************************************************************** -SO3 I3; -Vector3 z_axis(0, 0, 1); -SO3 R1(Eigen::AngleAxisd(0.1, z_axis)); -SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); - -//****************************************************************************** -// TEST(SO3, Logmap) { -// Vector3 expected(0, 0, 0.1); -// Vector3 actual = SO3::Logmap(R1.between(R2)); -// EXPECT(assert_equal((Vector)expected, actual)); -// } - -//****************************************************************************** -TEST(SO3, Expmap) { - Vector3 v(0, 0, 0.1); - SO3 actual = R1 * SO3::Expmap(v); - EXPECT(assert_equal(R2, actual)); -} - -//****************************************************************************** -TEST(SO3, Invariants) { - EXPECT(check_group_invariants(I3, I3)); - EXPECT(check_group_invariants(I3, R1)); - EXPECT(check_group_invariants(R2, I3)); - EXPECT(check_group_invariants(R2, R1)); - - EXPECT(check_manifold_invariants(I3, I3)); - EXPECT(check_manifold_invariants(I3, R1)); - EXPECT(check_manifold_invariants(R2, I3)); - EXPECT(check_manifold_invariants(R2, R1)); -} - -//****************************************************************************** -// TEST(SO3, LieGroupDerivatives) { -// CHECK_LIE_GROUP_DERIVATIVES(I3, I3); -// CHECK_LIE_GROUP_DERIVATIVES(I3, R2); -// CHECK_LIE_GROUP_DERIVATIVES(R2, I3); -// CHECK_LIE_GROUP_DERIVATIVES(R2, R1); -// } - -//****************************************************************************** -// TEST(SO3, ChartDerivatives) { -// CHECK_CHART_DERIVATIVES(I3, I3); -// CHECK_CHART_DERIVATIVES(I3, R2); -// CHECK_CHART_DERIVATIVES(R2, I3); -// CHECK_CHART_DERIVATIVES(R2, R1); -// } - -// //****************************************************************************** -// namespace exmap_derivative { -// static const Vector3 w(0.1, 0.27, -0.2); -// } -// // Left trivialized Derivative of exp(w) wrpt w: -// // How does exp(w) change when w changes? -// // We find a y such that: exp(w) exp(y) = exp(w + dw) for dw --> 0 -// // => y = log (exp(-w) * exp(w+dw)) -// Vector3 testDexpL(const Vector3& dw) { -// using exmap_derivative::w; -// return SO3::Logmap(SO3::Expmap(-w) * SO3::Expmap(w + dw)); -// } - -// TEST(SO3, ExpmapDerivative) { -// using exmap_derivative::w; -// const Matrix actualDexpL = SO3::ExpmapDerivative(w); -// const Matrix expectedDexpL = -// numericalDerivative11(testDexpL, Vector3::Zero(), -// 1e-2); -// EXPECT(assert_equal(expectedDexpL, actualDexpL, 1e-7)); - -// const Matrix actualDexpInvL = SO3::LogmapDerivative(w); -// EXPECT(assert_equal(expectedDexpL.inverse(), actualDexpInvL, 1e-7)); -// } - -// //****************************************************************************** -// TEST(SO3, ExpmapDerivative2) { -// const Vector3 theta(0.1, 0, 0.1); -// const Matrix Jexpected = numericalDerivative11( -// boost::bind(&SO3::Expmap, _1, boost::none), theta); - -// CHECK(assert_equal(Jexpected, SO3::ExpmapDerivative(theta))); -// CHECK(assert_equal(Matrix3(Jexpected.transpose()), -// SO3::ExpmapDerivative(-theta))); -// } - -// //****************************************************************************** -// TEST(SO3, ExpmapDerivative3) { -// const Vector3 theta(10, 20, 30); -// const Matrix Jexpected = numericalDerivative11( -// boost::bind(&SO3::Expmap, _1, boost::none), theta); - -// CHECK(assert_equal(Jexpected, SO3::ExpmapDerivative(theta))); -// CHECK(assert_equal(Matrix3(Jexpected.transpose()), -// SO3::ExpmapDerivative(-theta))); -// } - -// //****************************************************************************** -// TEST(SO3, ExpmapDerivative4) { -// // Iserles05an (Lie-group Methods) says: -// // scalar is easy: d exp(a(t)) / dt = exp(a(t)) a'(t) -// // matrix is hard: d exp(A(t)) / dt = exp(A(t)) dexp[-A(t)] A'(t) -// // where A(t): R -> so(3) is a trajectory in the tangent space of SO(3) -// // and dexp[A] is a linear map from 3*3 to 3*3 derivatives of se(3) -// // Hence, the above matrix equation is typed: 3*3 = SO(3) * linear_map(3*3) - -// // In GTSAM, we don't work with the skew-symmetric matrices A directly, but -// // with 3-vectors. -// // omega is easy: d Expmap(w(t)) / dt = ExmapDerivative[w(t)] * w'(t) - -// // Let's verify the above formula. - -// auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; -// auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; - -// // We define a function R -// auto R = [w](double t) { return SO3::Expmap(w(t)); }; - -// for (double t = -2.0; t < 2.0; t += 0.3) { -// const Matrix expected = numericalDerivative11(R, t); -// const Matrix actual = SO3::ExpmapDerivative(w(t)) * w_dot(t); -// CHECK(assert_equal(expected, actual, 1e-7)); -// } -// } - -// //****************************************************************************** -// TEST(SO3, ExpmapDerivative5) { -// auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; -// auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; - -// // Now define R as mapping local coordinates to neighborhood around R0. -// const SO3 R0 = SO3::Expmap(Vector3(0.1, 0.4, 0.2)); -// auto R = [R0, w](double t) { return R0.expmap(w(t)); }; - -// for (double t = -2.0; t < 2.0; t += 0.3) { -// const Matrix expected = numericalDerivative11(R, t); -// const Matrix actual = SO3::ExpmapDerivative(w(t)) * w_dot(t); -// CHECK(assert_equal(expected, actual, 1e-7)); -// } -// } - -// //****************************************************************************** -// TEST(SO3, ExpmapDerivative6) { -// const Vector3 thetahat(0.1, 0, 0.1); -// const Matrix Jexpected = numericalDerivative11( -// boost::bind(&SO3::Expmap, _1, boost::none), thetahat); -// Matrix3 Jactual; -// SO3::Expmap(thetahat, Jactual); -// EXPECT(assert_equal(Jexpected, Jactual)); -// } - -// /* ************************************************************************* -// */ -// TEST(SO3, LogmapDerivative) { -// const Vector3 thetahat(0.1, 0, 0.1); -// const SO3 R = SO3::Expmap(thetahat); // some rotation -// const Matrix Jexpected = numericalDerivative11( -// boost::bind(&SO3::Logmap, _1, boost::none), R); -// const Matrix3 Jactual = SO3::LogmapDerivative(thetahat); -// EXPECT(assert_equal(Jexpected, Jactual)); -// } - -// //****************************************************************************** -// TEST(SO3, JacobianLogmap) { -// const Vector3 thetahat(0.1, 0, 0.1); -// const SO3 R = SO3::Expmap(thetahat); // some rotation -// const Matrix Jexpected = numericalDerivative11( -// boost::bind(&SO3::Logmap, _1, boost::none), R); -// Matrix3 Jactual; -// SO3::Logmap(R, Jactual); -// EXPECT(assert_equal(Jexpected, Jactual)); -// } - -//****************************************************************************** -TEST(SO3, ApplyDexp) { - Matrix aH1, aH2; - for (bool nearZeroApprox : {true, false}) { - boost::function f = - [=](const Vector3& omega, const Vector3& v) { - return sot::DexpFunctor(omega, nearZeroApprox).applyDexp(v); - }; - for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), - Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { - sot::DexpFunctor local(omega, nearZeroApprox); - for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), - Vector3(0.4, 0.3, 0.2)}) { - EXPECT(assert_equal(Vector3(local.dexp() * v), - local.applyDexp(v, aH1, aH2))); - EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); - EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); - EXPECT(assert_equal(local.dexp(), aH2)); - } - } - } -} - -//****************************************************************************** -TEST(SO3, ApplyInvDexp) { - Matrix aH1, aH2; - for (bool nearZeroApprox : {true, false}) { - boost::function f = - [=](const Vector3& omega, const Vector3& v) { - return sot::DexpFunctor(omega, nearZeroApprox).applyInvDexp(v); - }; - for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), - Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { - sot::DexpFunctor local(omega, nearZeroApprox); - Matrix invDexp = local.dexp().inverse(); - for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), - Vector3(0.4, 0.3, 0.2)}) { - EXPECT(assert_equal(Vector3(invDexp * v), - local.applyInvDexp(v, aH1, aH2))); - EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); - EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); - EXPECT(assert_equal(invDexp, aH2)); - } - } - } -} - -//****************************************************************************** -TEST(SO3, vec) { - const Vector9 expected = Eigen::Map(R2.matrix().data()); - Matrix actualH; - const Vector9 actual = R2.vec(actualH); - CHECK(assert_equal(expected, actual)); - boost::function f = [](const SO3& Q) { return Q.vec(); }; - const Matrix numericalH = numericalDerivative11(f, R2, 1e-5); - CHECK(assert_equal(numericalH, actualH)); -} - -// //****************************************************************************** -// TEST(Matrix, compose) { -// Matrix3 M; -// M << 1, 2, 3, 4, 5, 6, 7, 8, 9; -// SO3 R = SO3::Expmap(Vector3(1, 2, 3)); -// const Matrix3 expected = M * R.matrix(); -// Matrix actualH; -// const Matrix3 actual = sot::compose(M, R, actualH); -// CHECK(assert_equal(expected, actual)); -// boost::function f = [R](const Matrix3& M) { -// return sot::compose(M, R); -// }; -// Matrix numericalH = numericalDerivative11(f, M, 1e-2); -// CHECK(assert_equal(numericalH, actualH)); -// } - //****************************************************************************** int main() { TestResult tr; From 095071cf36ea99b8c897ef7bbf3093c6aee2835c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 May 2019 15:37:38 -0400 Subject: [PATCH 0030/1152] Rescued some specializations for SO3 --- gtsam/geometry/SOt.cpp | 171 +++++++++++++++++++++-------------------- gtsam/geometry/SOt.h | 70 ++++++----------- 2 files changed, 111 insertions(+), 130 deletions(-) diff --git a/gtsam/geometry/SOt.cpp b/gtsam/geometry/SOt.cpp index 64be9acbc..9249715e8 100644 --- a/gtsam/geometry/SOt.cpp +++ b/gtsam/geometry/SOt.cpp @@ -133,12 +133,12 @@ Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, } // namespace sot -/* ************************************************************************* */ +//****************************************************************************** // SO3 SO3::AxisAngle(const Vector3& axis, double theta) { // return sot::ExpmapFunctor(axis, theta).expmap(); // } -/* ************************************************************************* */ +//****************************************************************************** // SO3 SO3::ClosestTo(const Matrix3& M) { // Eigen::JacobiSVD svd(M, Eigen::ComputeFullU | // Eigen::ComputeFullV); const auto& U = svd.matrixU(); const auto& V = @@ -146,7 +146,7 @@ Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, // U * Vector3(1, 1, det).asDiagonal() * V.transpose(); // } -/* ************************************************************************* */ +//****************************************************************************** // SO3 SO3::ChordalMean(const std::vector& rotations) { // // See Hartley13ijcv: // // Cost function C(R) = \sum sqr(|R-R_i|_F) @@ -170,6 +170,7 @@ Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, // return xi; // } +//****************************************************************************** template <> SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { if (H) { @@ -185,97 +186,101 @@ SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { // return sot::DexpFunctor(omega).dexp(); // } -/* ************************************************************************* */ -// Vector3 SO3::Logmap(const SO3& R, ChartJacobian H) { -// using std::sin; -// using std::sqrt; +//****************************************************************************** +/* Right Jacobian for Log map in SO(3) - equation (10.86) and following + equations in G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie + Groups", Volume 2, 2008. -// // note switch to base 1 -// const double &R11 = R(0, 0), R12 = R(0, 1), R13 = R(0, 2); -// const double &R21 = R(1, 0), R22 = R(1, 1), R23 = R(1, 2); -// const double &R31 = R(2, 0), R32 = R(2, 1), R33 = R(2, 2); + logmap( Rhat * expmap(omega) ) \approx logmap(Rhat) + Jrinv * omega -// // Get trace(R) -// const double tr = R.trace(); + where Jrinv = LogmapDerivative(omega). This maps a perturbation on the + manifold (expmap(omega)) to a perturbation in the tangent space (Jrinv * + omega) + */ +template <> +Matrix3 SO3::LogmapDerivative(const Vector3& omega) { + using std::cos; + using std::sin; -// Vector3 omega; + double theta2 = omega.dot(omega); + if (theta2 <= std::numeric_limits::epsilon()) return I_3x3; + double theta = std::sqrt(theta2); // rotation angle -// // when trace == -1, i.e., when theta = +-pi, +-3pi, +-5pi, etc. -// // we do something special -// if (std::abs(tr + 1.0) < 1e-10) { -// if (std::abs(R33 + 1.0) > 1e-10) -// omega = (M_PI / sqrt(2.0 + 2.0 * R33)) * Vector3(R13, R23, 1.0 + R33); -// else if (std::abs(R22 + 1.0) > 1e-10) -// omega = (M_PI / sqrt(2.0 + 2.0 * R22)) * Vector3(R12, 1.0 + R22, R32); -// else -// // if(std::abs(R.r1_.x()+1.0) > 1e-10) This is implicit -// omega = (M_PI / sqrt(2.0 + 2.0 * R11)) * Vector3(1.0 + R11, R21, R31); -// } else { -// double magnitude; -// const double tr_3 = tr - 3.0; // always negative -// if (tr_3 < -1e-7) { -// double theta = acos((tr - 1.0) / 2.0); -// magnitude = theta / (2.0 * sin(theta)); -// } else { -// // when theta near 0, +-2pi, +-4pi, etc. (trace near 3.0) -// // use Taylor expansion: theta \approx 1/2-(t-3)/12 + O((t-3)^2) -// magnitude = 0.5 - tr_3 * tr_3 / 12.0; -// } -// omega = magnitude * Vector3(R32 - R23, R13 - R31, R21 - R12); -// } + // element of Lie algebra so(3): W = omega^ + const Matrix3 W = Hat(omega); + return I_3x3 + 0.5 * W + + (1 / (theta * theta) - (1 + cos(theta)) / (2 * theta * sin(theta))) * + W * W; +} -// if (H) *H = LogmapDerivative(omega); -// return omega; -// } +//****************************************************************************** +template <> +Vector3 SO3::Logmap(const SO3& Q, ChartJacobian H) { + using std::sin; + using std::sqrt; -/* ************************************************************************* */ -// Matrix3 SO3::LogmapDerivative(const Vector3& omega) { -// using std::cos; -// using std::sin; + // note switch to base 1 + const Matrix3& R = Q.matrix(); + const double &R11 = R(0, 0), R12 = R(0, 1), R13 = R(0, 2); + const double &R21 = R(1, 0), R22 = R(1, 1), R23 = R(1, 2); + const double &R31 = R(2, 0), R32 = R(2, 1), R33 = R(2, 2); -// double theta2 = omega.dot(omega); -// if (theta2 <= std::numeric_limits::epsilon()) return I_3x3; -// double theta = std::sqrt(theta2); // rotation angle -// /** Right Jacobian for Log map in SO(3) - equation (10.86) and following -// * equations in G.S. Chirikjian, "Stochastic Models, Information Theory, -// and -// * Lie Groups", Volume 2, 2008. logmap( Rhat * expmap(omega) ) \approx -// logmap( -// * Rhat ) + Jrinv * omega where Jrinv = LogmapDerivative(omega); This maps -// a -// * perturbation on the manifold (expmap(omega)) to a perturbation in the -// * tangent space (Jrinv * omega) -// */ -// const Matrix3 W = -// skewSymmetric(omega); // element of Lie algebra so(3): W = omega^ -// return I_3x3 + 0.5 * W + -// (1 / (theta * theta) - (1 + cos(theta)) / (2 * theta * sin(theta))) -// * -// W * W; -// } + // Get trace(R) + const double tr = R.trace(); -/* ************************************************************************* */ -// static Vector9 vec(const SO3& R) { return Eigen::Map(R.data()); } + Vector3 omega; -// static const std::vector G({SO3::Hat(Vector3::Unit(0)), -// SO3::Hat(Vector3::Unit(1)), -// SO3::Hat(Vector3::Unit(2))}); + // when trace == -1, i.e., when theta = +-pi, +-3pi, +-5pi, etc. + // we do something special + if (std::abs(tr + 1.0) < 1e-10) { + if (std::abs(R33 + 1.0) > 1e-10) + omega = (M_PI / sqrt(2.0 + 2.0 * R33)) * Vector3(R13, R23, 1.0 + R33); + else if (std::abs(R22 + 1.0) > 1e-10) + omega = (M_PI / sqrt(2.0 + 2.0 * R22)) * Vector3(R12, 1.0 + R22, R32); + else + // if(std::abs(R.r1_.x()+1.0) > 1e-10) This is implicit + omega = (M_PI / sqrt(2.0 + 2.0 * R11)) * Vector3(1.0 + R11, R21, R31); + } else { + double magnitude; + const double tr_3 = tr - 3.0; // always negative + if (tr_3 < -1e-7) { + double theta = acos((tr - 1.0) / 2.0); + magnitude = theta / (2.0 * sin(theta)); + } else { + // when theta near 0, +-2pi, +-4pi, etc. (trace near 3.0) + // use Taylor expansion: theta \approx 1/2-(t-3)/12 + O((t-3)^2) + magnitude = 0.5 - tr_3 * tr_3 / 12.0; + } + omega = magnitude * Vector3(R32 - R23, R13 - R31, R21 - R12); + } -// static const Matrix93 P = -// (Matrix93() << vec(G[0]), vec(G[1]), vec(G[2])).finished(); + if (H) *H = SO3::LogmapDerivative(omega); + return omega; +} -/* ************************************************************************* */ -// Vector9 SO3::vec(OptionalJacobian<9, 3> H) const { -// const SO3& R = *this; -// if (H) { -// // As Luca calculated (for SO4), this is (I3 \oplus R) * P -// *H << R * P.block<3, 3>(0, 0), R * P.block<3, 3>(3, 0), -// R * P.block<3, 3>(6, 0); -// } -// return gtsam::vec(R); -// }; +//****************************************************************************** +static Vector9 vec3(const Matrix3& R) { + return Eigen::Map(R.data()); +} -/* ************************************************************************* */ +static const std::vector G3({SO3::Hat(Vector3::Unit(0)), + SO3::Hat(Vector3::Unit(1)), + SO3::Hat(Vector3::Unit(2))}); + +static const Matrix93 P3 = + (Matrix93() << vec3(G3[0]), vec3(G3[1]), vec3(G3[2])).finished(); + +//****************************************************************************** +template <> +Vector9 SO3::vec(OptionalJacobian<9, 3> H) const { + const Matrix3& R = matrix_; + if (H) { + // As Luca calculated (for SO4), this is (I3 \oplus R) * P3 + *H << R * P3.block<3, 3>(0, 0), R * P3.block<3, 3>(3, 0), + R * P3.block<3, 3>(6, 0); + } + return gtsam::vec3(R); +} +//****************************************************************************** } // end namespace gtsam diff --git a/gtsam/geometry/SOt.h b/gtsam/geometry/SOt.h index 0fa8f5776..8d7632497 100644 --- a/gtsam/geometry/SOt.h +++ b/gtsam/geometry/SOt.h @@ -42,7 +42,10 @@ using SO3 = SO<3>; // static Matrix3 Hat(const Vector3 &xi); ///< make skew symmetric matrix // static Vector3 Vee(const Matrix3 &X); ///< inverse of Hat -//****************************************************************************** +/** + * Exponential map at identity - create a rotation from canonical coordinates + * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula + */ template <> SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H); @@ -51,12 +54,6 @@ SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H); // return sot::DexpFunctor(omega).dexp(); // } -/** - * Exponential map at identity - create a rotation from canonical coordinates - * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula - */ -// static SO3 Expmap(const Vector3& omega, ChartJacobian H = boost::none); - /// Derivative of Expmap // static Matrix3 ExpmapDerivative(const Vector3& omega); @@ -64,49 +61,28 @@ SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H); * Log map at identity - returns the canonical coordinates * \f$ [R_x,R_y,R_z] \f$ of this rotation */ -// static Vector3 Logmap(const SO3& R, ChartJacobian H = boost::none); - -/// Derivative of Logmap -// static Matrix3 LogmapDerivative(const Vector3& omega); - -// Matrix3 AdjointMap() const { -// return *this; -// } - -// // Chart at origin -// struct ChartAtOrigin { -// static SO3 Retract(const Vector3& omega, ChartJacobian H = boost::none) { -// return Expmap(omega, H); -// } -// static Vector3 Local(const SO3& R, ChartJacobian H = boost::none) { -// return Logmap(R, H); -// } -// }; - -//****************************************************************************** -static Vector9 vec3(const Matrix3& R) { - return Eigen::Map(R.data()); -} - -static const std::vector G3({SO3::Hat(Vector3::Unit(0)), - SO3::Hat(Vector3::Unit(1)), - SO3::Hat(Vector3::Unit(2))}); - -static const Matrix93 P3 = - (Matrix93() << vec3(G3[0]), vec3(G3[1]), vec3(G3[2])).finished(); - -//****************************************************************************** template <> -Vector9 SO3::vec(OptionalJacobian<9, 3> H) const { - const Matrix3& R = matrix_; - if (H) { - // As Luca calculated (for SO4), this is (I3 \oplus R) * P3 - *H << R * P3.block<3, 3>(0, 0), R * P3.block<3, 3>(3, 0), - R * P3.block<3, 3>(6, 0); - } - return gtsam::vec3(R); +Vector3 SO3::Logmap(const SO3& R, ChartJacobian H); + +template <> +Matrix3 SO3::AdjointMap() const { + return matrix_; } +// Chart at origin for SO3 is *not* Cayley but actual Expmap/Logmap +template <> +SO3 SO3::ChartAtOrigin::Retract(const Vector3& omega, ChartJacobian H) { + return Expmap(omega, H); +} + +template <> +Vector3 SO3::ChartAtOrigin::Local(const SO3& R, ChartJacobian H) { + return Logmap(R, H); +} + +template <> +Vector9 SO3::vec(OptionalJacobian<9, 3> H) const; + // private: // /** Serialization function */ From e93149babb163d7dfa919223392ab24557778c17 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 May 2019 15:37:54 -0400 Subject: [PATCH 0031/1152] Moved all tests to their own test files --- gtsam/geometry/tests/testSO3.cpp | 51 +++++++++++++------ gtsam/geometry/tests/testSO4.cpp | 85 ++++++++++++++++++-------------- 2 files changed, 83 insertions(+), 53 deletions(-) diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp index 94c130f9f..83916bd1b 100644 --- a/gtsam/geometry/tests/testSO3.cpp +++ b/gtsam/geometry/tests/testSO3.cpp @@ -15,14 +15,23 @@ * @author Frank Dellaert **/ -#include -#include -#include #include +#include +#include +#include using namespace std; using namespace gtsam; +//****************************************************************************** +TEST(SO3, Identity) { + const SO3 R; + EXPECT_LONGS_EQUAL(3, R.rows()); + EXPECT_LONGS_EQUAL(3, SO3::dimension); + EXPECT_LONGS_EQUAL(3, SO3::Dim()); + EXPECT_LONGS_EQUAL(3, R.dim()); +} + //****************************************************************************** TEST(SO3, Concept) { BOOST_CONCEPT_ASSERT((IsGroup)); @@ -50,7 +59,21 @@ TEST(SO3, Local) { TEST(SO3, Retract) { Vector3 v(0, 0, 0.1); SO3 actual = traits::Retract(R1, v); - EXPECT(actual.isApprox(R2)); + EXPECT(assert_equal(R2, actual)); +} + +//****************************************************************************** +TEST(SO3, Logmap) { + Vector3 expected(0, 0, 0.1); + Vector3 actual = SO3::Logmap(R1.between(R2)); + EXPECT(assert_equal((Vector)expected, actual)); +} + +//****************************************************************************** +TEST(SO3, Expmap) { + Vector3 v(0, 0, 0.1); + SO3 actual = R1 * SO3::Expmap(v); + EXPECT(assert_equal(R2, actual)); } //****************************************************************************** @@ -231,17 +254,17 @@ TEST(SO3, JacobianLogmap) { EXPECT(assert_equal(Jexpected, Jactual)); } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO3, ApplyDexp) { Matrix aH1, aH2; for (bool nearZeroApprox : {true, false}) { boost::function f = [=](const Vector3& omega, const Vector3& v) { - return so3::DexpFunctor(omega, nearZeroApprox).applyDexp(v); + return sot::DexpFunctor(omega, nearZeroApprox).applyDexp(v); }; for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { - so3::DexpFunctor local(omega, nearZeroApprox); + sot::DexpFunctor local(omega, nearZeroApprox); for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), Vector3(0.4, 0.3, 0.2)}) { EXPECT(assert_equal(Vector3(local.dexp() * v), @@ -254,17 +277,17 @@ TEST(SO3, ApplyDexp) { } } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO3, ApplyInvDexp) { Matrix aH1, aH2; for (bool nearZeroApprox : {true, false}) { boost::function f = [=](const Vector3& omega, const Vector3& v) { - return so3::DexpFunctor(omega, nearZeroApprox).applyInvDexp(v); + return sot::DexpFunctor(omega, nearZeroApprox).applyInvDexp(v); }; for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { - so3::DexpFunctor local(omega, nearZeroApprox); + sot::DexpFunctor local(omega, nearZeroApprox); Matrix invDexp = local.dexp().inverse(); for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), Vector3(0.4, 0.3, 0.2)}) { @@ -278,15 +301,13 @@ TEST(SO3, ApplyInvDexp) { } } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO3, vec) { - const Vector9 expected = Eigen::Map(R2.data()); + const Vector9 expected = Eigen::Map(R2.matrix().data()); Matrix actualH; const Vector9 actual = R2.vec(actualH); CHECK(assert_equal(expected, actual)); - boost::function f = [](const SO3& Q) { - return Q.vec(); - }; + boost::function f = [](const SO3& Q) { return Q.vec(); }; const Matrix numericalH = numericalDerivative11(f, R2, 1e-5); CHECK(assert_equal(numericalH, actualH)); } diff --git a/gtsam/geometry/tests/testSO4.cpp b/gtsam/geometry/tests/testSO4.cpp index 037280136..29ae2d50f 100644 --- a/gtsam/geometry/tests/testSO4.cpp +++ b/gtsam/geometry/tests/testSO4.cpp @@ -19,10 +19,9 @@ #include #include #include -#include +#include #include - #include #include @@ -30,6 +29,16 @@ using namespace std; using namespace gtsam; +//****************************************************************************** + +TEST(SO4, Identity) { + const SO4 R; + EXPECT_LONGS_EQUAL(4, R.rows()); + EXPECT_LONGS_EQUAL(6, SO4::dimension); + EXPECT_LONGS_EQUAL(6, SO4::Dim()); + EXPECT_LONGS_EQUAL(6, R.dim()); +} + //****************************************************************************** TEST(SO4, Concept) { BOOST_CONCEPT_ASSERT((IsGroup)); @@ -39,9 +48,9 @@ TEST(SO4, Concept) { //****************************************************************************** SO4 id; -Vector6 v1 = (Vector(6) << 0.1, 0, 0, 0, 0, 0).finished(); +Vector6 v1 = (Vector(6) << 0, 0, 0, 0.1, 0, 0).finished(); SO4 Q1 = SO4::Expmap(v1); -Vector6 v2 = (Vector(6) << 0.01, 0.02, 0.03, 0.00, 0.00, 0.00).finished(); +Vector6 v2 = (Vector(6) << 0.00, 0.00, 0.00, 0.01, 0.02, 0.03).finished(); SO4 Q2 = SO4::Expmap(v2); Vector6 v3 = (Vector(6) << 1, 2, 3, 4, 5, 6).finished(); SO4 Q3 = SO4::Expmap(v3); @@ -55,12 +64,12 @@ TEST(SO4, Random) { //****************************************************************************** TEST(SO4, Expmap) { // If we do exponential map in SO(3) subgroup, topleft should be equal to R1. - auto R1 = SO3::Expmap(v1.head<3>()); - EXPECT((Q1.topLeft().isApprox(R1))); + auto R1 = SO3::Expmap(v1.tail<3>()).matrix(); + EXPECT((Q1.matrix().topLeftCorner<3, 3>().isApprox(R1))); // Same here - auto R2 = SO3::Expmap(v2.head<3>()); - EXPECT((Q2.topLeft().isApprox(R2))); + auto R2 = SO3::Expmap(v2.tail<3>()).matrix(); + EXPECT((Q2.matrix().topLeftCorner<3, 3>().isApprox(R2))); // Check commutative subgroups for (size_t i = 0; i < 6; i++) { @@ -69,7 +78,7 @@ TEST(SO4, Expmap) { SO4 Q1 = SO4::Expmap(xi); xi[i] = 3; SO4 Q2 = SO4::Expmap(xi); - EXPECT(((Q1 * Q2).isApprox(Q2 * Q1))); + EXPECT(assert_equal(Q1 * Q2, Q2 * Q1)); } } @@ -83,7 +92,7 @@ TEST(SO4, Cayley) { TEST(SO4, Retract) { auto v = Vector6::Zero(); SO4 actual = traits::Retract(id, v); - EXPECT(actual.isApprox(id)); + EXPECT(assert_equal(id, actual)); } //****************************************************************************** @@ -108,7 +117,7 @@ TEST(SO4, Invariants) { EXPECT(check_manifold_invariants(Q1, Q2)); } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO4, compose) { SO4 expected = Q1 * Q2; Matrix actualH1, actualH2; @@ -124,10 +133,10 @@ TEST(SO4, compose) { CHECK(assert_equal(numericalH2, actualH2)); } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO4, vec) { - using Vector16 = SO4::Vector16; - const Vector16 expected = Eigen::Map(Q2.data()); + using Vector16 = SO4::VectorN2; + const Vector16 expected = Eigen::Map(Q2.matrix().data()); Matrix actualH; const Vector16 actual = Q2.vec(actualH); CHECK(assert_equal(expected, actual)); @@ -138,31 +147,31 @@ TEST(SO4, vec) { CHECK(assert_equal(numericalH, actualH)); } -/* ************************************************************************* */ -TEST(SO4, topLeft) { - const Matrix3 expected = Q3.topLeftCorner<3, 3>(); - Matrix actualH; - const Matrix3 actual = Q3.topLeft(actualH); - CHECK(assert_equal(expected, actual)); - boost::function f = [](const SO4& Q3) { - return Q3.topLeft(); - }; - const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); - CHECK(assert_equal(numericalH, actualH)); -} +// /* ************************************************************************* +// */ TEST(SO4, topLeft) { +// const Matrix3 expected = Q3.topLeftCorner<3, 3>(); +// Matrix actualH; +// const Matrix3 actual = Q3.topLeft(actualH); +// CHECK(assert_equal(expected, actual)); +// boost::function f = [](const SO4& Q3) { +// return Q3.topLeft(); +// }; +// const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); +// CHECK(assert_equal(numericalH, actualH)); +// } -/* ************************************************************************* */ -TEST(SO4, stiefel) { - const Matrix43 expected = Q3.leftCols<3>(); - Matrix actualH; - const Matrix43 actual = Q3.stiefel(actualH); - CHECK(assert_equal(expected, actual)); - boost::function f = [](const SO4& Q3) { - return Q3.stiefel(); - }; - const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); - CHECK(assert_equal(numericalH, actualH)); -} +// /* ************************************************************************* +// */ TEST(SO4, stiefel) { +// const Matrix43 expected = Q3.leftCols<3>(); +// Matrix actualH; +// const Matrix43 actual = Q3.stiefel(actualH); +// CHECK(assert_equal(expected, actual)); +// boost::function f = [](const SO4& Q3) { +// return Q3.stiefel(); +// }; +// const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); +// CHECK(assert_equal(numericalH, actualH)); +// } //****************************************************************************** int main() { From f7ad80673c0a2263812aa2f47ae8509269f3b583 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 May 2019 16:37:34 -0400 Subject: [PATCH 0032/1152] Moved things to inl --- gtsam/geometry/SOn-inl.h | 26 ++++++++++++++++++++++++++ gtsam/geometry/SOn.h | 23 ++++++++++------------- 2 files changed, 36 insertions(+), 13 deletions(-) diff --git a/gtsam/geometry/SOn-inl.h b/gtsam/geometry/SOn-inl.h index 26dc2229b..826efe1ee 100644 --- a/gtsam/geometry/SOn-inl.h +++ b/gtsam/geometry/SOn-inl.h @@ -97,6 +97,32 @@ typename SO::TangentVector SO::ChartAtOrigin::Local(const SO& R, return -2 * Vee(X); } +template +typename SO::MatrixDD SO::AdjointMap() const { + throw std::runtime_error( + "SO::AdjointMap only implemented for SO3 and SO4."); +} + +template +SO SO::Expmap(const TangentVector& omega, ChartJacobian H) { + throw std::runtime_error("SO::Expmap only implemented for SO3 and SO4."); +} + +template +typename SO::MatrixDD SO::ExpmapDerivative(const TangentVector& omega) { + throw std::runtime_error("SO::ExpmapDerivative only implemented for SO3."); +} + +template +typename SO::TangentVector SO::Logmap(const SO& R, ChartJacobian H) { + throw std::runtime_error("SO::Logmap only implemented for SO3 and SO4."); +} + +template +typename SO::MatrixDD SO::LogmapDerivative(const TangentVector& omega) { + throw std::runtime_error("O::LogmapDerivative only implemented for SO3."); +} + template typename SO::VectorN2 SO::vec( OptionalJacobian H) const { diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 64718ed5f..45fe43519 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -220,27 +220,24 @@ class SO : public LieGroup, internal::DimensionSO(N)> { /// @name Lie Group /// @{ - MatrixDD AdjointMap() const { - throw std::runtime_error( - "SO::AdjointMap only implemented for SO3 and SO4."); - } + /// Adjoint map + MatrixDD AdjointMap() const; /** * Exponential map at identity - create a rotation from canonical coordinates */ - static SO Expmap(const TangentVector& omega, ChartJacobian H = boost::none) { - throw std::runtime_error("SO::Expmap only implemented for SO3 and SO4."); - } + static SO Expmap(const TangentVector& omega, ChartJacobian H = boost::none); + + /// Derivative of Expmap, currently only defined for SO3 + static MatrixDD ExpmapDerivative(const TangentVector& omega); /** * Log map at identity - returns the canonical coordinates of this rotation */ - static TangentVector Logmap(const SO& R, ChartJacobian H = boost::none) { - throw std::runtime_error("SO::Logmap only implemented for SO3 and SO4."); - } + static TangentVector Logmap(const SO& R, ChartJacobian H = boost::none); - // template > - static Matrix3 LogmapDerivative(const Vector3& omega); + /// Derivative of Logmap, currently only defined for SO3 + static MatrixDD LogmapDerivative(const TangentVector& omega); // inverse with optional derivative using LieGroup, internal::DimensionSO(N)>::inverse; @@ -288,4 +285,4 @@ struct traits> : public internal::LieGroup> {}; } // namespace gtsam -#include "SOn-inl.h" \ No newline at end of file +#include "SOn-inl.h" From d376d0158d87cb5159963f21e536fbc4dbb9217f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 May 2019 16:38:05 -0400 Subject: [PATCH 0033/1152] All tests for SO3 now uncommented --- gtsam/geometry/SOn-inl.h | 2 +- gtsam/geometry/SOt.cpp | 12 ++++++++---- gtsam/geometry/SOt.h | 22 +++++++++++++--------- gtsam/geometry/tests/testSO3.cpp | 14 +++++++------- 4 files changed, 29 insertions(+), 21 deletions(-) diff --git a/gtsam/geometry/SOn-inl.h b/gtsam/geometry/SOn-inl.h index 826efe1ee..d1c9efe29 100644 --- a/gtsam/geometry/SOn-inl.h +++ b/gtsam/geometry/SOn-inl.h @@ -115,7 +115,7 @@ typename SO::MatrixDD SO::ExpmapDerivative(const TangentVector& omega) { template typename SO::TangentVector SO::Logmap(const SO& R, ChartJacobian H) { - throw std::runtime_error("SO::Logmap only implemented for SO3 and SO4."); + throw std::runtime_error("SO::Logmap only implemented for SO3."); } template diff --git a/gtsam/geometry/SOt.cpp b/gtsam/geometry/SOt.cpp index 9249715e8..bf259041d 100644 --- a/gtsam/geometry/SOt.cpp +++ b/gtsam/geometry/SOt.cpp @@ -182,9 +182,10 @@ SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { } } -// Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { -// return sot::DexpFunctor(omega).dexp(); -// } +template <> +Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { + return sot::DexpFunctor(omega).dexp(); +} //****************************************************************************** /* Right Jacobian for Log map in SO(3) - equation (10.86) and following @@ -254,19 +255,22 @@ Vector3 SO3::Logmap(const SO3& Q, ChartJacobian H) { omega = magnitude * Vector3(R32 - R23, R13 - R31, R21 - R12); } - if (H) *H = SO3::LogmapDerivative(omega); + if (H) *H = LogmapDerivative(omega); return omega; } //****************************************************************************** +// local vectorize static Vector9 vec3(const Matrix3& R) { return Eigen::Map(R.data()); } +// so<3> generators static const std::vector G3({SO3::Hat(Vector3::Unit(0)), SO3::Hat(Vector3::Unit(1)), SO3::Hat(Vector3::Unit(2))}); +// vectorized generators static const Matrix93 P3 = (Matrix93() << vec3(G3[0]), vec3(G3[1]), vec3(G3[2])).finished(); diff --git a/gtsam/geometry/SOt.h b/gtsam/geometry/SOt.h index 8d7632497..4b62d92e3 100644 --- a/gtsam/geometry/SOt.h +++ b/gtsam/geometry/SOt.h @@ -42,6 +42,15 @@ using SO3 = SO<3>; // static Matrix3 Hat(const Vector3 &xi); ///< make skew symmetric matrix // static Vector3 Vee(const Matrix3 &X); ///< inverse of Hat +// Below are all declarations of SO<3> specializations. +// They are *defined* in SO3.cpp. + +/// Adjoint map +template <> +Matrix3 SO3::AdjointMap() const { + return matrix_; +} + /** * Exponential map at identity - create a rotation from canonical coordinates * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula @@ -49,13 +58,9 @@ using SO3 = SO<3>; template <> SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H); -// template<> -// Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { -// return sot::DexpFunctor(omega).dexp(); -// } - /// Derivative of Expmap -// static Matrix3 ExpmapDerivative(const Vector3& omega); +template <> +Matrix3 SO3::ExpmapDerivative(const Vector3& omega); /** * Log map at identity - returns the canonical coordinates @@ -64,10 +69,9 @@ SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H); template <> Vector3 SO3::Logmap(const SO3& R, ChartJacobian H); +/// Derivative of Logmap template <> -Matrix3 SO3::AdjointMap() const { - return matrix_; -} +Matrix3 SO3::LogmapDerivative(const Vector3& omega); // Chart at origin for SO3 is *not* Cayley but actual Expmap/Logmap template <> diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp index 83916bd1b..d6ca68ccf 100644 --- a/gtsam/geometry/tests/testSO3.cpp +++ b/gtsam/geometry/tests/testSO3.cpp @@ -157,7 +157,7 @@ TEST(SO3, ExpmapDerivative) { EXPECT(assert_equal(expectedDexpL.inverse(), actualDexpInvL, 1e-7)); } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO3, ExpmapDerivative2) { const Vector3 theta(0.1, 0, 0.1); const Matrix Jexpected = numericalDerivative11( @@ -168,7 +168,7 @@ TEST(SO3, ExpmapDerivative2) { SO3::ExpmapDerivative(-theta))); } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO3, ExpmapDerivative3) { const Vector3 theta(10, 20, 30); const Matrix Jexpected = numericalDerivative11( @@ -179,7 +179,7 @@ TEST(SO3, ExpmapDerivative3) { SO3::ExpmapDerivative(-theta))); } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO3, ExpmapDerivative4) { // Iserles05an (Lie-group Methods) says: // scalar is easy: d exp(a(t)) / dt = exp(a(t)) a'(t) @@ -207,7 +207,7 @@ TEST(SO3, ExpmapDerivative4) { } } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO3, ExpmapDerivative5) { auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; @@ -223,7 +223,7 @@ TEST(SO3, ExpmapDerivative5) { } } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO3, ExpmapDerivative6) { const Vector3 thetahat(0.1, 0, 0.1); const Matrix Jexpected = numericalDerivative11( @@ -233,7 +233,7 @@ TEST(SO3, ExpmapDerivative6) { EXPECT(assert_equal(Jexpected, Jactual)); } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO3, LogmapDerivative) { const Vector3 thetahat(0.1, 0, 0.1); const SO3 R = SO3::Expmap(thetahat); // some rotation @@ -243,7 +243,7 @@ TEST(SO3, LogmapDerivative) { EXPECT(assert_equal(Jexpected, Jactual)); } -/* ************************************************************************* */ +//****************************************************************************** TEST(SO3, JacobianLogmap) { const Vector3 thetahat(0.1, 0, 0.1); const SO3 R = SO3::Expmap(thetahat); // some rotation From ab1be9c4decb3138e9aeee46815c55a66e706b41 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 May 2019 18:45:16 -0400 Subject: [PATCH 0034/1152] Specialized Hat/Vee --- gtsam/geometry/SOn-inl.h | 58 +++++----------------------------------- gtsam/geometry/SOn.cpp | 58 ++++++++++++++++++++++++++++++++++++++++ gtsam/geometry/SOn.h | 24 ++++++++++++++--- 3 files changed, 84 insertions(+), 56 deletions(-) diff --git a/gtsam/geometry/SOn-inl.h b/gtsam/geometry/SOn-inl.h index d1c9efe29..1c05eac47 100644 --- a/gtsam/geometry/SOn-inl.h +++ b/gtsam/geometry/SOn-inl.h @@ -22,62 +22,16 @@ namespace gtsam { +// Implementation for N>5 just uses dynamic version template -Matrix SO::Hat(const Vector& xi) { - size_t n = AmbientDim(xi.size()); - if (n < 2) throw std::invalid_argument("SO::Hat: n<2 not supported"); - - Matrix X(n, n); // allocate space for n*n skew-symmetric matrix - X.setZero(); - if (n == 2) { - // Handle SO(2) case as recursion bottom - assert(xi.size() == 1); - X << 0, -xi(0), xi(0), 0; - } else { - // Recursively call SO(n-1) call for top-left block - const size_t dmin = (n - 1) * (n - 2) / 2; - X.topLeftCorner(n - 1, n - 1) = Hat(xi.tail(dmin)); - - // Now fill last row and column - double sign = 1.0; - for (size_t i = 0; i < n - 1; i++) { - const size_t j = n - 2 - i; - X(n - 1, j) = sign * xi(i); - X(j, n - 1) = -X(n - 1, j); - sign = -sign; - } - } - return X; +typename SO::MatrixNN SO::Hat(const TangentVector& xi) { + return SOn::Hat(xi); } +// Implementation for N>5 just uses dynamic version template -Vector SO::Vee(const Matrix& X) { - const size_t n = X.rows(); - if (n < 2) throw std::invalid_argument("SO::Hat: n<2 not supported"); - - if (n == 2) { - // Handle SO(2) case as recursion bottom - Vector xi(1); - xi(0) = X(1, 0); - return xi; - } else { - // Calculate dimension and allocate space - const size_t d = n * (n - 1) / 2; - Vector xi(d); - - // Fill first n-1 spots from last row of X - double sign = 1.0; - for (size_t i = 0; i < n - 1; i++) { - const size_t j = n - 2 - i; - xi(i) = sign * X(n - 1, j); - sign = -sign; - } - - // Recursively call Vee to fill remainder of x - const size_t dmin = (n - 1) * (n - 2) / 2; - xi.tail(dmin) = Vee(X.topLeftCorner(n - 1, n - 1)); - return xi; - } +typename SO::TangentVector SO::Vee(const MatrixNN& X) { + return SOn::Vee(X); } template diff --git a/gtsam/geometry/SOn.cpp b/gtsam/geometry/SOn.cpp index 67b780db8..06d24472e 100644 --- a/gtsam/geometry/SOn.cpp +++ b/gtsam/geometry/SOn.cpp @@ -20,6 +20,64 @@ namespace gtsam { +template <> +Matrix SOn::Hat(const Vector& xi) { + size_t n = AmbientDim(xi.size()); + if (n < 2) throw std::invalid_argument("SO::Hat: n<2 not supported"); + + Matrix X(n, n); // allocate space for n*n skew-symmetric matrix + X.setZero(); + if (n == 2) { + // Handle SO(2) case as recursion bottom + assert(xi.size() == 1); + X << 0, -xi(0), xi(0), 0; + } else { + // Recursively call SO(n-1) call for top-left block + const size_t dmin = (n - 1) * (n - 2) / 2; + X.topLeftCorner(n - 1, n - 1) = Hat(xi.tail(dmin)); + + // Now fill last row and column + double sign = 1.0; + for (size_t i = 0; i < n - 1; i++) { + const size_t j = n - 2 - i; + X(n - 1, j) = sign * xi(i); + X(j, n - 1) = -X(n - 1, j); + sign = -sign; + } + } + return X; +} + +template <> +Vector SOn::Vee(const Matrix& X) { + const size_t n = X.rows(); + if (n < 2) throw std::invalid_argument("SO::Hat: n<2 not supported"); + + if (n == 2) { + // Handle SO(2) case as recursion bottom + Vector xi(1); + xi(0) = X(1, 0); + return xi; + } else { + // Calculate dimension and allocate space + const size_t d = n * (n - 1) / 2; + Vector xi(d); + + // Fill first n-1 spots from last row of X + double sign = 1.0; + for (size_t i = 0; i < n - 1; i++) { + const size_t j = n - 2 - i; + xi(i) = sign * X(n - 1, j); + sign = -sign; + } + + // Recursively call Vee to fill remainder of x + const size_t dmin = (n - 1) * (n - 2) / 2; + xi.tail(dmin) = Vee(X.topLeftCorner(n - 1, n - 1)); + return xi; + } +} + template <> SOn LieGroup::compose(const SOn& g, DynamicJacobian H1, DynamicJacobian H2) const { diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 45fe43519..56cdeb3fe 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -83,6 +83,10 @@ class SO : public LieGroup, internal::DimensionSO(N)> { template explicit SO(const Eigen::MatrixBase& R) : matrix_(R.eval()) {} + /// Construct dynamic SO(n) from Fixed SO + template > + explicit SO(const SO& R) : matrix_(R.matrix()) {} + /// Constructor from AngleAxisd template > SO(const Eigen::AngleAxisd& angleAxis) : matrix_(angleAxis) {} @@ -188,12 +192,12 @@ class SO : public LieGroup, internal::DimensionSO(N)> { * -d c -b a 0 * This scheme behaves exactly as expected for SO(2) and SO(3). */ - static Matrix Hat(const Vector& xi); + static MatrixNN Hat(const TangentVector& xi); /** * Inverse of Hat. See note about xi element order in Hat. */ - static Vector Vee(const Matrix& X); + static TangentVector Vee(const MatrixNN& X); // Chart at origin struct ChartAtOrigin { @@ -259,8 +263,20 @@ class SO : public LieGroup, internal::DimensionSO(N)> { using SOn = SO; /* - * Fully specialize compose and between, because the derivative is unknowable by - * the LieGroup implementations, who return a fixed-size matrix for H2. + * Specialize dynamic Hat and Vee, because recursion depends on dynamic nature. + * The definition is in SOn.cpp. Fixed-size SO3 and SO4 have their own version, + * and implementation for other fixed N is in SOn-inl.h. + */ + +template <> +Matrix SOn::Hat(const Vector& xi); + +template <> +Vector SOn::Vee(const Matrix& X); + +/* + * Specialize dynamic compose and between, because the derivative is unknowable + * by the LieGroup implementations, who return a fixed-size matrix for H2. */ using DynamicJacobian = OptionalJacobian; From a765886e5aca67815c0d0ed22aa82a94fea265d6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 May 2019 18:45:41 -0400 Subject: [PATCH 0035/1152] Hat and Vee for SO4 --- gtsam/geometry/SO4.cpp | 331 +++++++++++++++---------------- gtsam/geometry/SO4.h | 130 +++--------- gtsam/geometry/tests/testSO4.cpp | 92 +++++---- 3 files changed, 247 insertions(+), 306 deletions(-) diff --git a/gtsam/geometry/SO4.cpp b/gtsam/geometry/SO4.cpp index 1f265ecba..93c5f7f8e 100644 --- a/gtsam/geometry/SO4.cpp +++ b/gtsam/geometry/SO4.cpp @@ -24,20 +24,23 @@ #include #include +#include #include #include +#include using namespace std; namespace gtsam { -// /* ************************************************************************* */ -// static Vector3 randomOmega(boost::mt19937 &rng) { +// /* ************************************************************************* +// */ static Vector3 randomOmega(boost::mt19937 &rng) { // static boost::uniform_real randomAngle(-M_PI, M_PI); // return Unit3::Random(rng).unitVector() * randomAngle(rng); // } -// /* ************************************************************************* */ +// /* ************************************************************************* +// */ // // Create random SO(4) element using direct product of lie algebras. // SO4 SO4::Random(boost::mt19937 &rng) { // Vector6 delta; @@ -45,185 +48,179 @@ namespace gtsam { // return SO4::Expmap(delta); // } -// /* ************************************************************************* */ -// void SO4::print(const string &s) const { cout << s << *this << endl; } +//****************************************************************************** +template <> +Matrix4 SO4::Hat(const Vector6& xi) { + // skew symmetric matrix X = xi^ + // Unlike Luca, makes upper-left the SO(3) subgroup. + Matrix4 Y = Z_4x4; + Y(0, 1) = -xi(5); + Y(0, 2) = +xi(4); + Y(1, 2) = -xi(3); + Y(0, 3) = -xi(2); + Y(1, 3) = +xi(1); + Y(2, 3) = -xi(0); + return Y - Y.transpose(); +} -// /* ************************************************************************* */ -// bool SO4::equals(const SO4 &R, double tol) const { -// return equal_with_abs_tol(*this, R, tol); -// } +//****************************************************************************** +template <> +Vector6 SO4::Vee(const Matrix4& X) { + Vector6 xi; + xi(5) = -X(0, 1); + xi(4) = +X(0, 2); + xi(3) = -X(1, 2); + xi(2) = -X(0, 3); + xi(1) = +X(1, 3); + xi(0) = -X(2, 3); + return xi; +} -// //****************************************************************************** -// Matrix4 SO4::Hat(const Vector6 &xi) { -// // skew symmetric matrix X = xi^ -// // Unlike Luca, makes upper-left the SO(3) subgroup. -// // See also -// // http://scipp.ucsc.edu/~haber/archives/physics251_13/groups13_sol4.pdf -// Matrix4 Y = Z_4x4; -// Y(0, 1) = -xi(2); -// Y(0, 2) = +xi(1); -// Y(1, 2) = -xi(0); -// Y(0, 3) = -xi(3); -// Y(1, 3) = -xi(4); -// Y(2, 3) = -xi(5); -// return Y - Y.transpose(); -// } -// /* ************************************************************************* */ -// Vector6 SO4::Vee(const Matrix4 &X) { -// Vector6 xi; -// xi(2) = -X(0, 1); -// xi(1) = X(0, 2); -// xi(0) = -X(1, 2); -// xi(3) = -X(0, 3); -// xi(4) = -X(1, 3); -// xi(5) = -X(2, 3); -// return xi; -// } +//****************************************************************************** +/* Exponential map, porting MATLAB implementation by Luca, which follows + * "SOME REMARKS ON THE EXPONENTIAL MAP ON THE GROUPS SO(n) AND SE(n)" by + * Ramona-Andreaa Rohan */ +template <> +SO4 SO4::Expmap(const Vector6& xi, ChartJacobian H) { + using namespace std; + if (H) throw std::runtime_error("SO4::Expmap Jacobian"); -// //****************************************************************************** -// /* Exponential map, porting MATLAB implementation by Luca, which follows -// * "SOME REMARKS ON THE EXPONENTIAL MAP ON THE GROUPS SO(n) AND SE(n)" by -// * Ramona-Andreaa Rohan */ -// template <> -// SO4 SO4::Expmap(const Vector6& xi, ChartJacobian H) { -// using namespace std; -// if (H) throw std::runtime_error("SO4::Expmap Jacobian"); + // skew symmetric matrix X = xi^ + const Matrix4 X = Hat(xi); -// // skew symmetric matrix X = xi^ -// const Matrix4 X = Hat(xi); + // do eigen-decomposition + auto eig = Eigen::EigenSolver(X); + Eigen::Vector4cd e = eig.eigenvalues(); + using std::abs; + sort(e.data(), e.data() + 4, [](complex a, complex b) { + return abs(a.imag()) > abs(b.imag()); + }); -// // do eigen-decomposition -// auto eig = Eigen::EigenSolver(X); -// Eigen::Vector4cd e = eig.eigenvalues(); -// using std::abs; -// sort(e.data(), e.data() + 4, [](complex a, complex b) { -// return abs(a.imag()) > abs(b.imag()); -// }); + // Get a and b from eigenvalues +/i ai and +/- bi + double a = e[0].imag(), b = e[2].imag(); + if (!e.real().isZero() || e[1].imag() != -a || e[3].imag() != -b) { + throw runtime_error("SO4::Expmap: wrong eigenvalues."); + } -// // Get a and b from eigenvalues +/i ai and +/- bi -// double a = e[0].imag(), b = e[2].imag(); -// if (!e.real().isZero() || e[1].imag() != -a || e[3].imag() != -b) { -// throw runtime_error("SO4::Expmap: wrong eigenvalues."); -// } + // Build expX = exp(xi^) + Matrix4 expX; + using std::cos; + using std::sin; + const auto X2 = X * X; + const auto X3 = X2 * X; + double a2 = a * a, a3 = a2 * a, b2 = b * b, b3 = b2 * b; + if (a != 0 && b == 0) { + double c2 = (1 - cos(a)) / a2, c3 = (a - sin(a)) / a3; + return SO4(I_4x4 + X + c2 * X2 + c3 * X3); + } else if (a == b && b != 0) { + double sin_a = sin(a), cos_a = cos(a); + double c0 = (a * sin_a + 2 * cos_a) / 2, + c1 = (3 * sin_a - a * cos_a) / (2 * a), c2 = sin_a / (2 * a), + c3 = (sin_a - a * cos_a) / (2 * a3); + return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); + } else if (a != b) { + double sin_a = sin(a), cos_a = cos(a); + double sin_b = sin(b), cos_b = cos(b); + double c0 = (b2 * cos_a - a2 * cos_b) / (b2 - a2), + c1 = (b3 * sin_a - a3 * sin_b) / (a * b * (b2 - a2)), + c2 = (cos_a - cos_b) / (b2 - a2), + c3 = (b * sin_a - a * sin_b) / (a * b * (b2 - a2)); + return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); + } else { + return SO4(); + } +} -// // Build expX = exp(xi^) -// Matrix4 expX; -// using std::cos; -// using std::sin; -// const auto X2 = X * X; -// const auto X3 = X2 * X; -// double a2 = a * a, a3 = a2 * a, b2 = b * b, b3 = b2 * b; -// if (a != 0 && b == 0) { -// double c2 = (1 - cos(a)) / a2, c3 = (a - sin(a)) / a3; -// return SO4(I_4x4 + X + c2 * X2 + c3 * X3); -// } else if (a == b && b != 0) { -// double sin_a = sin(a), cos_a = cos(a); -// double c0 = (a * sin_a + 2 * cos_a) / 2, -// c1 = (3 * sin_a - a * cos_a) / (2 * a), c2 = sin_a / (2 * a), -// c3 = (sin_a - a * cos_a) / (2 * a3); -// return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); -// } else if (a != b) { -// double sin_a = sin(a), cos_a = cos(a); -// double sin_b = sin(b), cos_b = cos(b); -// double c0 = (b2 * cos_a - a2 * cos_b) / (b2 - a2), -// c1 = (b3 * sin_a - a3 * sin_b) / (a * b * (b2 - a2)), -// c2 = (cos_a - cos_b) / (b2 - a2), -// c3 = (b * sin_a - a * sin_b) / (a * b * (b2 - a2)); -// return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); -// } else { -// return SO4(); -// } -// } +//****************************************************************************** +// local vectorize +static SO4::VectorN2 vec4(const Matrix4& Q) { + return Eigen::Map(Q.data()); +} -// //****************************************************************************** -// static SO4::VectorN2 vec4(const Matrix4& Q) { -// return Eigen::Map(Q.data()); -// } +// so<4> generators +static const std::vector G4( + {SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), + SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), + SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))}); -// static const std::vector G4( -// {SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), -// SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), -// SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))}); +// vectorized generators +static const Eigen::Matrix P4 = + (Eigen::Matrix() << vec4(G4[0]), vec4(G4[1]), vec4(G4[2]), + vec4(G4[3]), vec4(G4[4]), vec4(G4[5])) + .finished(); -// static const Eigen::Matrix P4 = -// (Eigen::Matrix() << vec4(G4[0]), vec4(G4[1]), vec4(G4[2]), -// vec4(G4[3]), vec4(G4[4]), vec4(G4[5])) -// .finished(); +//****************************************************************************** +template <> +Matrix6 SO4::AdjointMap() const { + // Elaborate way of calculating the AdjointMap + // TODO(frank): find a closed form solution. In SO(3) is just R :-/ + const Matrix4& Q = matrix_; + const Matrix4 Qt = Q.transpose(); + Matrix6 A; + for (size_t i = 0; i < 6; i++) { + // Calculate column i of linear map for coeffcient of Gi + A.col(i) = SO4::Vee(Q * G4[i] * Qt); + } + return A; +} -// //****************************************************************************** -// template <> -// Matrix6 SO4::AdjointMap() const { -// // Elaborate way of calculating the AdjointMap -// // TODO(frank): find a closed form solution. In SO(3) is just R :-/ -// const Matrix4& Q = matrix_; -// const Matrix4 Qt = Q.transpose(); -// Matrix6 A; -// for (size_t i = 0; i < 6; i++) { -// // Calculate column i of linear map for coeffcient of Gi -// A.col(i) = SO4::Vee(Q * G4[i] * Qt); -// } -// return A; -// } +//****************************************************************************** +template <> +SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const { + const Matrix& Q = matrix_; + if (H) { + // As Luca calculated, this is (I4 \oplus Q) * P4 + *H << Q * P4.block<4, 6>(0, 0), Q * P4.block<4, 6>(4, 0), + Q * P4.block<4, 6>(8, 0), Q * P4.block<4, 6>(12, 0); + } + return gtsam::vec4(Q); +} -// //****************************************************************************** -// template <> -// SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const { -// const Matrix& Q = matrix_; -// if (H) { -// // As Luca calculated, this is (I4 \oplus Q) * P4 -// *H << Q * P4.block<4, 6>(0, 0), Q * P4.block<4, 6>(4, 0), -// Q * P4.block<4, 6>(8, 0), Q * P4.block<4, 6>(12, 0); -// } -// return gtsam::vec4(Q); -// } +///****************************************************************************** +template <> +SO4 SO4::ChartAtOrigin::Retract(const Vector6& xi, ChartJacobian H) { + if (H) throw std::runtime_error("SO4::ChartAtOrigin::Retract Jacobian"); + gttic(SO4_Retract); + const Matrix4 X = Hat(xi / 2); + return SO4((I_4x4 + X) * (I_4x4 - X).inverse()); +} +//****************************************************************************** +template <> +Vector6 SO4::ChartAtOrigin::Local(const SO4& Q, ChartJacobian H) { + if (H) throw std::runtime_error("SO4::ChartAtOrigin::Retract Jacobian"); + const Matrix4& R = Q.matrix(); + const Matrix4 X = (I_4x4 - R) * (I_4x4 + R).inverse(); + return -2 * Vee(X); +} -// //****************************************************************************** -// Vector6 SO4::Logmap(const SO4 &Q, ChartJacobian H) { -// if (H) throw std::runtime_error("SO4::Logmap Jacobian"); -// throw std::runtime_error("SO4::Logmap"); -// } +//****************************************************************************** +Matrix3 topLeft(const SO4& Q, OptionalJacobian<9, 6> H) { + const Matrix4& R = Q.matrix(); + const Matrix3 M = R.topLeftCorner<3, 3>(); + if (H) { + const Vector3 m1 = M.col(0), m2 = M.col(1), m3 = M.col(2), + q = R.topRightCorner<3, 1>(); + *H << Z_3x1, Z_3x1, q, Z_3x1, -m3, m2, // + Z_3x1, -q, Z_3x1, m3, Z_3x1, -m1, // + q, Z_3x1, Z_3x1, -m2, m1, Z_3x1; + } + return M; +} -// /* ************************************************************************* */ -// SO4 SO4::ChartAtOrigin::Retract(const Vector6 &xi, ChartJacobian H) { -// if (H) throw std::runtime_error("SO4::ChartAtOrigin::Retract Jacobian"); -// gttic(SO4_Retract); -// const Matrix4 X = Hat(xi / 2); -// return (I_4x4 + X) * (I_4x4 - X).inverse(); -// } +//****************************************************************************** +Matrix43 stiefel(const SO4& Q, OptionalJacobian<12, 6> H) { + const Matrix4& R = Q.matrix(); + const Matrix43 M = R.leftCols<3>(); + if (H) { + const auto &m1 = R.col(0), m2 = R.col(1), m3 = R.col(2), q = R.col(3); + *H << Z_4x1, Z_4x1, q, Z_4x1, -m3, m2, // + Z_4x1, -q, Z_4x1, m3, Z_4x1, -m1, // + q, Z_4x1, Z_4x1, -m2, m1, Z_4x1; + } + return M; +} -// /* ************************************************************************* */ -// Vector6 SO4::ChartAtOrigin::Local(const SO4 &Q, ChartJacobian H) { -// if (H) throw std::runtime_error("SO4::ChartAtOrigin::Retract Jacobian"); -// const Matrix4 X = (I_4x4 - Q) * (I_4x4 + Q).inverse(); -// return -2 * Vee(X); -// } - -// /* ************************************************************************* */ -// Matrix3 SO4::topLeft(OptionalJacobian<9, 6> H) const { -// const Matrix3 M = this->topLeftCorner<3, 3>(); -// const Vector3 m1 = M.col(0), m2 = M.col(1), m3 = M.col(2), -// q = this->topRightCorner<3, 1>(); -// if (H) { -// *H << Z_3x1, -m3, m2, q, Z_3x1, Z_3x1, // -// m3, Z_3x1, -m1, Z_3x1, q, Z_3x1, // -// -m2, m1, Z_3x1, Z_3x1, Z_3x1, q; -// } -// return M; -// } - -// /* ************************************************************************* */ -// Matrix43 SO4::stiefel(OptionalJacobian<12, 6> H) const { -// const Matrix43 M = this->leftCols<3>(); -// const auto &m1 = col(0), m2 = col(1), m3 = col(2), q = col(3); -// if (H) { -// *H << Z_4x1, -m3, m2, q, Z_4x1, Z_4x1, // -// m3, Z_4x1, -m1, Z_4x1, q, Z_4x1, // -// -m2, m1, Z_4x1, Z_4x1, Z_4x1, q; -// } -// return M; -// } - -// /* ************************************************************************* */ +//****************************************************************************** } // end namespace gtsam diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h index aed0d482d..a92cdfc5c 100644 --- a/gtsam/geometry/SO4.h +++ b/gtsam/geometry/SO4.h @@ -38,120 +38,40 @@ using SO4 = SO<4>; // /// Random SO(4) element (no big claims about uniformity) // static SO4 Random(boost::mt19937 &rng); -// static Matrix4 Hat(const Vector6 &xi); ///< make skew symmetric matrix -// static Vector6 Vee(const Matrix4 &X); ///< inverse of Hat -// static SO4 Expmap(const Vector6 &xi, -// ChartJacobian H = boost::none); ///< exponential map -// static Vector6 Logmap(const SO4 &Q, -// ChartJacobian H = boost::none); ///< and its inverse -// Matrix6 AdjointMap() const; +// Below are all declarations of SO<4> specializations. +// They are *defined* in SO4.cpp. -//****************************************************************************** -/* Exponential map, porting MATLAB implementation by Luca, which follows - * "SOME REMARKS ON THE EXPONENTIAL MAP ON THE GROUPS SO(n) AND SE(n)" by - * Ramona-Andreaa Rohan */ template <> -SO4 SO4::Expmap(const Vector6& xi, ChartJacobian H) { - using namespace std; - if (H) throw std::runtime_error("SO4::Expmap Jacobian"); +Matrix4 SO4::Hat(const TangentVector& xi); - // skew symmetric matrix X = xi^ - const Matrix4 X = Hat(xi); - - // do eigen-decomposition - auto eig = Eigen::EigenSolver(X); - Eigen::Vector4cd e = eig.eigenvalues(); - using std::abs; - sort(e.data(), e.data() + 4, [](complex a, complex b) { - return abs(a.imag()) > abs(b.imag()); - }); - - // Get a and b from eigenvalues +/i ai and +/- bi - double a = e[0].imag(), b = e[2].imag(); - if (!e.real().isZero() || e[1].imag() != -a || e[3].imag() != -b) { - throw runtime_error("SO4::Expmap: wrong eigenvalues."); - } - - // Build expX = exp(xi^) - Matrix4 expX; - using std::cos; - using std::sin; - const auto X2 = X * X; - const auto X3 = X2 * X; - double a2 = a * a, a3 = a2 * a, b2 = b * b, b3 = b2 * b; - if (a != 0 && b == 0) { - double c2 = (1 - cos(a)) / a2, c3 = (a - sin(a)) / a3; - return SO4(I_4x4 + X + c2 * X2 + c3 * X3); - } else if (a == b && b != 0) { - double sin_a = sin(a), cos_a = cos(a); - double c0 = (a * sin_a + 2 * cos_a) / 2, - c1 = (3 * sin_a - a * cos_a) / (2 * a), c2 = sin_a / (2 * a), - c3 = (sin_a - a * cos_a) / (2 * a3); - return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); - } else if (a != b) { - double sin_a = sin(a), cos_a = cos(a); - double sin_b = sin(b), cos_b = cos(b); - double c0 = (b2 * cos_a - a2 * cos_b) / (b2 - a2), - c1 = (b3 * sin_a - a3 * sin_b) / (a * b * (b2 - a2)), - c2 = (cos_a - cos_b) / (b2 - a2), - c3 = (b * sin_a - a * sin_b) / (a * b * (b2 - a2)); - return SO4(c0 * I_4x4 + c1 * X + c2 * X2 + c3 * X3); - } else { - return SO4(); - } -} - -//****************************************************************************** -static SO4::VectorN2 vec4(const Matrix4& Q) { - return Eigen::Map(Q.data()); -} - -static const std::vector G4( - {SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), - SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), - SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))}); - -static const Eigen::Matrix P4 = - (Eigen::Matrix() << vec4(G4[0]), vec4(G4[1]), vec4(G4[2]), - vec4(G4[3]), vec4(G4[4]), vec4(G4[5])) - .finished(); - -//****************************************************************************** template <> -Matrix6 SO4::AdjointMap() const { - // Elaborate way of calculating the AdjointMap - // TODO(frank): find a closed form solution. In SO(3) is just R :-/ - const Matrix4& Q = matrix_; - const Matrix4 Qt = Q.transpose(); - Matrix6 A; - for (size_t i = 0; i < 6; i++) { - // Calculate column i of linear map for coeffcient of Gi - A.col(i) = SO4::Vee(Q * G4[i] * Qt); - } - return A; -} +Vector6 SO4::Vee(const Matrix4& X); -//****************************************************************************** template <> -SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const { - const Matrix& Q = matrix_; - if (H) { - // As Luca calculated, this is (I4 \oplus Q) * P4 - *H << Q * P4.block<4, 6>(0, 0), Q * P4.block<4, 6>(4, 0), - Q * P4.block<4, 6>(8, 0), Q * P4.block<4, 6>(12, 0); - } - return gtsam::vec4(Q); -} +SO4 SO4::Expmap(const Vector6& xi, ChartJacobian H); -// /// Vectorize -// Vector16 vec(OptionalJacobian<16, 6> H = boost::none) const; +template <> +Matrix6 SO4::AdjointMap() const; -// /// Project to top-left 3*3 matrix. Note this is *not* in general \in SO(3). -// Matrix3 topLeft(OptionalJacobian<9, 6> H = boost::none) const; +template <> +SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const; -// /// Project to Stiefel manifold of 4*3 orthonormal 3-frames in R^4, i.e., -// pi(Q) -> S \in St(3,4). Matrix43 stiefel(OptionalJacobian<12, 6> H = -// boost::none) const; +template <> +SO4 SO4::ChartAtOrigin::Retract(const Vector6& omega, ChartJacobian H); + +template <> +Vector6 SO4::ChartAtOrigin::Local(const SO4& R, ChartJacobian H); + +/** + * Project to top-left 3*3 matrix. Note this is *not* in general \in SO(3). + */ +Matrix3 topLeft(const SO4& Q, OptionalJacobian<9, 6> H = boost::none); + +/** + * Project to Stiefel manifold of 4*3 orthonormal 3-frames in R^4, i.e., pi(Q) + * -> S \in St(3,4). + */ +Matrix43 stiefel(const SO4& Q, OptionalJacobian<12, 6> H = boost::none); // private: // /** Serialization function */ diff --git a/gtsam/geometry/tests/testSO4.cpp b/gtsam/geometry/tests/testSO4.cpp index 29ae2d50f..d343e9397 100644 --- a/gtsam/geometry/tests/testSO4.cpp +++ b/gtsam/geometry/tests/testSO4.cpp @@ -19,8 +19,8 @@ #include #include #include -#include #include +#include #include @@ -30,7 +30,6 @@ using namespace std; using namespace gtsam; //****************************************************************************** - TEST(SO4, Identity) { const SO4 R; EXPECT_LONGS_EQUAL(4, R.rows()); @@ -83,13 +82,32 @@ TEST(SO4, Expmap) { } //****************************************************************************** -TEST(SO4, Cayley) { - CHECK(assert_equal(id.retract(v1 / 100), SO4::Expmap(v1 / 100))); - CHECK(assert_equal(id.retract(v2 / 100), SO4::Expmap(v2 / 100))); +TEST(SO4, Hat) { + // Check that Hat specialization is equal to dynamic version + EXPECT(assert_equal(SO4::Hat(v1), SOn::Hat(v1))); + EXPECT(assert_equal(SO4::Hat(v2), SOn::Hat(v2))); + EXPECT(assert_equal(SO4::Hat(v3), SOn::Hat(v3))); +} + +//****************************************************************************** +TEST(SO4, Vee) { + // Check that Hat specialization is equal to dynamic version + auto X1 = SOn::Hat(v1), X2 = SOn::Hat(v2), X3 = SOn::Hat(v3); + EXPECT(assert_equal(SO4::Vee(X1), SOn::Vee(X1))); + EXPECT(assert_equal(SO4::Vee(X2), SOn::Vee(X2))); + EXPECT(assert_equal(SO4::Vee(X3), SOn::Vee(X3))); } //****************************************************************************** TEST(SO4, Retract) { + // Check that Cayley yields the same as Expmap for small values + EXPECT(assert_equal(id.retract(v1 / 100), SO4::Expmap(v1 / 100))); + EXPECT(assert_equal(id.retract(v2 / 100), SO4::Expmap(v2 / 100))); + + // Check that Cayley is identical to dynamic version + EXPECT(assert_equal(SOn(id.retract(v1 / 100)), SOn(4).retract(v1 / 100))); + EXPECT(assert_equal(SOn(id.retract(v2 / 100)), SOn(4).retract(v2 / 100))); + auto v = Vector6::Zero(); SO4 actual = traits::Retract(id, v); EXPECT(assert_equal(id, actual)); @@ -97,6 +115,12 @@ TEST(SO4, Retract) { //****************************************************************************** TEST(SO4, Local) { + // Check that Cayley is identical to dynamic version + EXPECT( + assert_equal(id.localCoordinates(Q1), SOn(4).localCoordinates(SOn(Q1)))); + EXPECT( + assert_equal(id.localCoordinates(Q2), SOn(4).localCoordinates(SOn(Q2)))); + auto v0 = Vector6::Zero(); Vector6 actual = traits::Local(id, id); EXPECT(assert_equal((Vector)v0, actual)); @@ -122,15 +146,15 @@ TEST(SO4, compose) { SO4 expected = Q1 * Q2; Matrix actualH1, actualH2; SO4 actual = Q1.compose(Q2, actualH1, actualH2); - CHECK(assert_equal(expected, actual)); + EXPECT(assert_equal(expected, actual)); Matrix numericalH1 = numericalDerivative21(testing::compose, Q1, Q2, 1e-2); - CHECK(assert_equal(numericalH1, actualH1)); + EXPECT(assert_equal(numericalH1, actualH1)); Matrix numericalH2 = numericalDerivative22(testing::compose, Q1, Q2, 1e-2); - CHECK(assert_equal(numericalH2, actualH2)); + EXPECT(assert_equal(numericalH2, actualH2)); } //****************************************************************************** @@ -139,39 +163,39 @@ TEST(SO4, vec) { const Vector16 expected = Eigen::Map(Q2.matrix().data()); Matrix actualH; const Vector16 actual = Q2.vec(actualH); - CHECK(assert_equal(expected, actual)); + EXPECT(assert_equal(expected, actual)); boost::function f = [](const SO4& Q) { return Q.vec(); }; const Matrix numericalH = numericalDerivative11(f, Q2, 1e-5); - CHECK(assert_equal(numericalH, actualH)); + EXPECT(assert_equal(numericalH, actualH)); } -// /* ************************************************************************* -// */ TEST(SO4, topLeft) { -// const Matrix3 expected = Q3.topLeftCorner<3, 3>(); -// Matrix actualH; -// const Matrix3 actual = Q3.topLeft(actualH); -// CHECK(assert_equal(expected, actual)); -// boost::function f = [](const SO4& Q3) { -// return Q3.topLeft(); -// }; -// const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); -// CHECK(assert_equal(numericalH, actualH)); -// } +//****************************************************************************** +TEST(SO4, topLeft) { + const Matrix3 expected = Q3.matrix().topLeftCorner<3, 3>(); + Matrix actualH; + const Matrix3 actual = topLeft(Q3, actualH); + EXPECT(assert_equal(expected, actual)); + boost::function f = [](const SO4& Q3) { + return topLeft(Q3); + }; + const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); + EXPECT(assert_equal(numericalH, actualH)); +} -// /* ************************************************************************* -// */ TEST(SO4, stiefel) { -// const Matrix43 expected = Q3.leftCols<3>(); -// Matrix actualH; -// const Matrix43 actual = Q3.stiefel(actualH); -// CHECK(assert_equal(expected, actual)); -// boost::function f = [](const SO4& Q3) { -// return Q3.stiefel(); -// }; -// const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); -// CHECK(assert_equal(numericalH, actualH)); -// } +//****************************************************************************** +TEST(SO4, stiefel) { + const Matrix43 expected = Q3.matrix().leftCols<3>(); + Matrix actualH; + const Matrix43 actual = stiefel(Q3, actualH); + EXPECT(assert_equal(expected, actual)); + boost::function f = [](const SO4& Q3) { + return stiefel(Q3); + }; + const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); + EXPECT(assert_equal(numericalH, actualH)); +} //****************************************************************************** int main() { From dea6b995e53980fbb0066fdb4fc2ac7a274dee1a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 May 2019 18:51:32 -0400 Subject: [PATCH 0036/1152] Hat and Vee for SO3 --- gtsam/geometry/SOt.cpp | 27 ++++++++++++++++++--------- gtsam/geometry/SOt.h | 9 ++++++--- gtsam/geometry/tests/testSO3.cpp | 19 ++++++++++++++++++- 3 files changed, 42 insertions(+), 13 deletions(-) diff --git a/gtsam/geometry/SOt.cpp b/gtsam/geometry/SOt.cpp index bf259041d..a5e8f457d 100644 --- a/gtsam/geometry/SOt.cpp +++ b/gtsam/geometry/SOt.cpp @@ -159,16 +159,25 @@ Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, // } //****************************************************************************** -// Matrix3 SO3::Hat(const Vector3& xi) { return skewSymmetric(xi); } +template <> +Matrix3 SO3::Hat(const Vector3& xi) { + // skew symmetric matrix X = xi^ + Matrix3 Y = Z_3x3; + Y(0, 1) = -xi(2); + Y(0, 2) = +xi(1); + Y(1, 2) = -xi(0); + return Y - Y.transpose(); +} -// /* ************************************************************************* -// */ Vector3 SO3::Vee(const Matrix3& X) { -// Vector3 xi; -// xi(0) = -X(1, 2); -// xi(1) = X(0, 2); -// xi(2) = -X(0, 1); -// return xi; -// } +//****************************************************************************** +template <> +Vector3 SO3::Vee(const Matrix3& X) { + Vector3 xi; + xi(0) = -X(1, 2); + xi(1) = +X(0, 2); + xi(2) = -X(0, 1); + return xi; +} //****************************************************************************** template <> diff --git a/gtsam/geometry/SOt.h b/gtsam/geometry/SOt.h index 4b62d92e3..52d000c93 100644 --- a/gtsam/geometry/SOt.h +++ b/gtsam/geometry/SOt.h @@ -39,12 +39,15 @@ using SO3 = SO<3>; // /// Static, named constructor that finds chordal mean = argmin_R \sum // sqr(|R-R_i|_F). static SO3 ChordalMean(const std::vector& rotations); -// static Matrix3 Hat(const Vector3 &xi); ///< make skew symmetric matrix -// static Vector3 Vee(const Matrix3 &X); ///< inverse of Hat - // Below are all declarations of SO<3> specializations. // They are *defined* in SO3.cpp. +template <> +Matrix3 SO3::Hat(const Vector3& xi); ///< make skew symmetric matrix + +template <> +Vector3 SO3::Vee(const Matrix3& X); ///< inverse of Hat + /// Adjoint map template <> Matrix3 SO3::AdjointMap() const { diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp index d6ca68ccf..f7a936a74 100644 --- a/gtsam/geometry/tests/testSO3.cpp +++ b/gtsam/geometry/tests/testSO3.cpp @@ -44,10 +44,27 @@ TEST(SO3, Constructor) { SO3 q(Eigen::AngleAxisd(1, Vector3(0, 0, 1))); } //****************************************************************************** SO3 id; -Vector3 z_axis(0, 0, 1); +Vector3 z_axis(0, 0, 1), v2(1, 2, 0), v3(1, 2, 3); SO3 R1(Eigen::AngleAxisd(0.1, z_axis)); SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); +//****************************************************************************** +TEST(SO3, Hat) { + // Check that Hat specialization is equal to dynamic version + EXPECT(assert_equal(SO3::Hat(z_axis), SOn::Hat(z_axis))); + EXPECT(assert_equal(SO3::Hat(v2), SOn::Hat(v2))); + EXPECT(assert_equal(SO3::Hat(v3), SOn::Hat(v3))); +} + +//****************************************************************************** +TEST(SO3, Vee) { + // Check that Hat specialization is equal to dynamic version + auto X1 = SOn::Hat(z_axis), X2 = SOn::Hat(v2), X3 = SOn::Hat(v3); + EXPECT(assert_equal(SO3::Vee(X1), SOn::Vee(X1))); + EXPECT(assert_equal(SO3::Vee(X2), SOn::Vee(X2))); + EXPECT(assert_equal(SO3::Vee(X3), SOn::Vee(X3))); +} + //****************************************************************************** TEST(SO3, Local) { Vector3 expected(0, 0, 0.1); From 3193af9698c7c6007a732718489abb507a02aa62 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 May 2019 19:13:26 -0400 Subject: [PATCH 0037/1152] Three more constructors for SO3 --- gtsam/geometry/SO4.h | 4 +-- gtsam/geometry/SOn.h | 12 +++++++++ gtsam/geometry/SOt.cpp | 42 +++++++++++++++++--------------- gtsam/geometry/SOt.h | 15 +++++++----- gtsam/geometry/tests/testSO3.cpp | 31 ++++++++++++++++++++++- 5 files changed, 76 insertions(+), 28 deletions(-) diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h index a92cdfc5c..49b8b5183 100644 --- a/gtsam/geometry/SO4.h +++ b/gtsam/geometry/SO4.h @@ -104,9 +104,9 @@ Matrix43 stiefel(const SO4& Q, OptionalJacobian<12, 6> H = boost::none); */ template <> -struct traits : Testable, internal::LieGroupTraits {}; +struct traits : public internal::LieGroup {}; template <> -struct traits : Testable, internal::LieGroupTraits {}; +struct traits : public internal::LieGroup {}; } // end namespace gtsam diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 56cdeb3fe..f5696d765 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -27,6 +27,7 @@ #include #include +#include namespace gtsam { @@ -91,6 +92,17 @@ class SO : public LieGroup, internal::DimensionSO(N)> { template > SO(const Eigen::AngleAxisd& angleAxis) : matrix_(angleAxis) {} + /// Constructor from axis and angle. Only defined for SO3 + static SO AxisAngle(const Vector3& axis, double theta); + + /// Named constructor that finds SO(n) matrix closest to M in Frobenius norm, + /// currently only defined for SO3. + static SO ClosestTo(const MatrixNN& M); + + /// Named constructor that finds chordal mean = argmin_R \sum sqr(|R-R_i|_F), + /// currently only defined for SO3. + static SO ChordalMean(const std::vector& rotations); + /// Random SO(n) element (no big claims about uniformity) template > static SO Random(boost::mt19937& rng, size_t n = 0) { diff --git a/gtsam/geometry/SOt.cpp b/gtsam/geometry/SOt.cpp index a5e8f457d..9fc3aac42 100644 --- a/gtsam/geometry/SOt.cpp +++ b/gtsam/geometry/SOt.cpp @@ -134,29 +134,33 @@ Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, } // namespace sot //****************************************************************************** -// SO3 SO3::AxisAngle(const Vector3& axis, double theta) { -// return sot::ExpmapFunctor(axis, theta).expmap(); -// } +template <> +SO3 SO3::AxisAngle(const Vector3& axis, double theta) { + return sot::ExpmapFunctor(axis, theta).expmap(); +} //****************************************************************************** -// SO3 SO3::ClosestTo(const Matrix3& M) { -// Eigen::JacobiSVD svd(M, Eigen::ComputeFullU | -// Eigen::ComputeFullV); const auto& U = svd.matrixU(); const auto& V = -// svd.matrixV(); const double det = (U * V.transpose()).determinant(); return -// U * Vector3(1, 1, det).asDiagonal() * V.transpose(); -// } +template <> +SO3 SO3::ClosestTo(const Matrix3& M) { + Eigen::JacobiSVD svd(M, Eigen::ComputeFullU | Eigen::ComputeFullV); + const auto& U = svd.matrixU(); + const auto& V = svd.matrixV(); + const double det = (U * V.transpose()).determinant(); + return SO3(U * Vector3(1, 1, det).asDiagonal() * V.transpose()); +} //****************************************************************************** -// SO3 SO3::ChordalMean(const std::vector& rotations) { -// // See Hartley13ijcv: -// // Cost function C(R) = \sum sqr(|R-R_i|_F) -// // Closed form solution = ClosestTo(C_e), where C_e = \sum R_i !!!! -// Matrix3 C_e{Z_3x3}; -// for (const auto& R_i : rotations) { -// C_e += R_i; -// } -// return ClosestTo(C_e); -// } +template <> +SO3 SO3::ChordalMean(const std::vector& rotations) { + // See Hartley13ijcv: + // Cost function C(R) = \sum sqr(|R-R_i|_F) + // Closed form solution = ClosestTo(C_e), where C_e = \sum R_i !!!! + Matrix3 C_e{Z_3x3}; + for (const auto& R_i : rotations) { + C_e += R_i.matrix(); + } + return ClosestTo(C_e); +} //****************************************************************************** template <> diff --git a/gtsam/geometry/SOt.h b/gtsam/geometry/SOt.h index 52d000c93..f94d5cc98 100644 --- a/gtsam/geometry/SOt.h +++ b/gtsam/geometry/SOt.h @@ -33,15 +33,18 @@ namespace gtsam { using SO3 = SO<3>; -// /// Static, named constructor that finds SO(3) matrix closest to M in -// Frobenius norm. static SO3 ClosestTo(const Matrix3& M); - -// /// Static, named constructor that finds chordal mean = argmin_R \sum -// sqr(|R-R_i|_F). static SO3 ChordalMean(const std::vector& rotations); - // Below are all declarations of SO<3> specializations. // They are *defined* in SO3.cpp. +template <> +SO3 SO3::AxisAngle(const Vector3& axis, double theta); + +template <> +SO3 SO3::ClosestTo(const Matrix3& M); + +template <> +SO3 SO3::ChordalMean(const std::vector& rotations); + template <> Matrix3 SO3::Hat(const Vector3& xi); ///< make skew symmetric matrix diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp index f7a936a74..3d68fda7f 100644 --- a/gtsam/geometry/tests/testSO3.cpp +++ b/gtsam/geometry/tests/testSO3.cpp @@ -40,7 +40,30 @@ TEST(SO3, Concept) { } //****************************************************************************** -TEST(SO3, Constructor) { SO3 q(Eigen::AngleAxisd(1, Vector3(0, 0, 1))); } +TEST(SO3, Constructors) { + const Vector3 axis(0, 0, 1); + const double angle = 2.5; + SO3 Q(Eigen::AngleAxisd(angle, axis)); + SO3 R = SO3::AxisAngle(axis, angle); + EXPECT(assert_equal(Q, R)); +} + +/* ************************************************************************* */ +TEST(SO3, ClosestTo) { + // Example top-left of SO(4) matrix not quite on SO(3) manifold + Matrix3 M; + M << 0.79067393, 0.6051136, -0.0930814, // + 0.4155925, -0.64214347, -0.64324489, // + -0.44948549, 0.47046326, -0.75917576; + + Matrix expected(3, 3); + expected << 0.790687, 0.605096, -0.0931312, // + 0.415746, -0.642355, -0.643844, // + -0.449411, 0.47036, -0.759468; + + auto actual = SO3::ClosestTo(3 * M); + EXPECT(assert_equal(expected, actual.matrix(), 1e-6)); +} //****************************************************************************** SO3 id; @@ -48,6 +71,12 @@ Vector3 z_axis(0, 0, 1), v2(1, 2, 0), v3(1, 2, 3); SO3 R1(Eigen::AngleAxisd(0.1, z_axis)); SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); +/* ************************************************************************* */ +TEST(SO3, ChordalMean) { + std::vector rotations = {R1, R1.inverse()}; + EXPECT(assert_equal(SO3(), SO3::ChordalMean(rotations))); +} + //****************************************************************************** TEST(SO3, Hat) { // Check that Hat specialization is equal to dynamic version From 8eacdcbe586abfcc4244d21b80b6171ef02b1f42 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 May 2019 19:27:06 -0400 Subject: [PATCH 0038/1152] Serialization --- gtsam/geometry/SO4.h | 57 ++++++++++++++++++++++---------------------- gtsam/geometry/SOn.h | 4 ++++ gtsam/geometry/SOt.h | 31 +++++++++++------------- 3 files changed, 46 insertions(+), 46 deletions(-) diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h index 49b8b5183..0cc3bb9fe 100644 --- a/gtsam/geometry/SO4.h +++ b/gtsam/geometry/SO4.h @@ -42,13 +42,13 @@ using SO4 = SO<4>; // They are *defined* in SO4.cpp. template <> -Matrix4 SO4::Hat(const TangentVector& xi); +Matrix4 SO4::Hat(const TangentVector &xi); template <> -Vector6 SO4::Vee(const Matrix4& X); +Vector6 SO4::Vee(const Matrix4 &X); template <> -SO4 SO4::Expmap(const Vector6& xi, ChartJacobian H); +SO4 SO4::Expmap(const Vector6 &xi, ChartJacobian H); template <> Matrix6 SO4::AdjointMap() const; @@ -57,47 +57,46 @@ template <> SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const; template <> -SO4 SO4::ChartAtOrigin::Retract(const Vector6& omega, ChartJacobian H); +SO4 SO4::ChartAtOrigin::Retract(const Vector6 &omega, ChartJacobian H); template <> -Vector6 SO4::ChartAtOrigin::Local(const SO4& R, ChartJacobian H); +Vector6 SO4::ChartAtOrigin::Local(const SO4 &Q, ChartJacobian H); /** * Project to top-left 3*3 matrix. Note this is *not* in general \in SO(3). */ -Matrix3 topLeft(const SO4& Q, OptionalJacobian<9, 6> H = boost::none); +Matrix3 topLeft(const SO4 &Q, OptionalJacobian<9, 6> H = boost::none); /** * Project to Stiefel manifold of 4*3 orthonormal 3-frames in R^4, i.e., pi(Q) * -> S \in St(3,4). */ -Matrix43 stiefel(const SO4& Q, OptionalJacobian<12, 6> H = boost::none); +Matrix43 stiefel(const SO4 &Q, OptionalJacobian<12, 6> H = boost::none); -// private: -// /** Serialization function */ -// friend class boost::serialization::access; -// template -// void serialize(ARCHIVE &ar, const unsigned int /*version*/) { -// ar &boost::serialization::make_nvp("Q11", (*this)(0, 0)); -// ar &boost::serialization::make_nvp("Q12", (*this)(0, 1)); -// ar &boost::serialization::make_nvp("Q13", (*this)(0, 2)); -// ar &boost::serialization::make_nvp("Q14", (*this)(0, 3)); +/** Serialization function */ +template +void serialize(Archive &ar, SO4 &Q, const unsigned int /*version*/) { + Matrix4 &M = Q.matrix_; + ar &boost::serialization::make_nvp("Q11", M(0, 0)); + ar &boost::serialization::make_nvp("Q12", M(0, 1)); + ar &boost::serialization::make_nvp("Q13", M(0, 2)); + ar &boost::serialization::make_nvp("Q14", M(0, 3)); -// ar &boost::serialization::make_nvp("Q21", (*this)(1, 0)); -// ar &boost::serialization::make_nvp("Q22", (*this)(1, 1)); -// ar &boost::serialization::make_nvp("Q23", (*this)(1, 2)); -// ar &boost::serialization::make_nvp("Q24", (*this)(1, 3)); + ar &boost::serialization::make_nvp("Q21", M(1, 0)); + ar &boost::serialization::make_nvp("Q22", M(1, 1)); + ar &boost::serialization::make_nvp("Q23", M(1, 2)); + ar &boost::serialization::make_nvp("Q24", M(1, 3)); -// ar &boost::serialization::make_nvp("Q31", (*this)(2, 0)); -// ar &boost::serialization::make_nvp("Q32", (*this)(2, 1)); -// ar &boost::serialization::make_nvp("Q33", (*this)(2, 2)); -// ar &boost::serialization::make_nvp("Q34", (*this)(2, 3)); + ar &boost::serialization::make_nvp("Q31", M(2, 0)); + ar &boost::serialization::make_nvp("Q32", M(2, 1)); + ar &boost::serialization::make_nvp("Q33", M(2, 2)); + ar &boost::serialization::make_nvp("Q34", M(2, 3)); -// ar &boost::serialization::make_nvp("Q41", (*this)(3, 0)); -// ar &boost::serialization::make_nvp("Q42", (*this)(3, 1)); -// ar &boost::serialization::make_nvp("Q43", (*this)(3, 2)); -// ar &boost::serialization::make_nvp("Q44", (*this)(3, 3)); -// } + ar &boost::serialization::make_nvp("Q41", M(3, 0)); + ar &boost::serialization::make_nvp("Q42", M(3, 1)); + ar &boost::serialization::make_nvp("Q43", M(3, 2)); + ar &boost::serialization::make_nvp("Q44", M(3, 3)); +} /* * Define the traits. internal::LieGroup provides both Lie group and Testable diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index f5696d765..c42107afa 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -270,6 +270,10 @@ class SO : public LieGroup, internal::DimensionSO(N)> { VectorN2 vec(OptionalJacobian H = boost::none) const; /// @} + + template + friend void serialize(Archive& ar, SO& R, const unsigned int /*version*/); + friend class boost::serialization::access; }; using SOn = SO; diff --git a/gtsam/geometry/SOt.h b/gtsam/geometry/SOt.h index f94d5cc98..9eedbcc67 100644 --- a/gtsam/geometry/SOt.h +++ b/gtsam/geometry/SOt.h @@ -93,23 +93,20 @@ Vector3 SO3::ChartAtOrigin::Local(const SO3& R, ChartJacobian H) { template <> Vector9 SO3::vec(OptionalJacobian<9, 3> H) const; -// private: - -// /** Serialization function */ -// friend class boost::serialization::access; -// template -// void serialize(ARCHIVE & ar, const unsigned int /*version*/) -// { -// ar & boost::serialization::make_nvp("R11", (*this)(0,0)); -// ar & boost::serialization::make_nvp("R12", (*this)(0,1)); -// ar & boost::serialization::make_nvp("R13", (*this)(0,2)); -// ar & boost::serialization::make_nvp("R21", (*this)(1,0)); -// ar & boost::serialization::make_nvp("R22", (*this)(1,1)); -// ar & boost::serialization::make_nvp("R23", (*this)(1,2)); -// ar & boost::serialization::make_nvp("R31", (*this)(2,0)); -// ar & boost::serialization::make_nvp("R32", (*this)(2,1)); -// ar & boost::serialization::make_nvp("R33", (*this)(2,2)); -// } +/** Serialization function */ +template +void serialize(Archive& ar, SO3& R, const unsigned int /*version*/) { + Matrix3& M = R.matrix_; + ar& boost::serialization::make_nvp("R11", M(0, 0)); + ar& boost::serialization::make_nvp("R12", M(0, 1)); + ar& boost::serialization::make_nvp("R13", M(0, 2)); + ar& boost::serialization::make_nvp("R21", M(1, 0)); + ar& boost::serialization::make_nvp("R22", M(1, 1)); + ar& boost::serialization::make_nvp("R23", M(1, 2)); + ar& boost::serialization::make_nvp("R31", M(2, 0)); + ar& boost::serialization::make_nvp("R32", M(2, 1)); + ar& boost::serialization::make_nvp("R33", M(2, 2)); +} namespace sot { From 06952cd83ba05cdfc729e3007504decd45a647d9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 7 May 2019 10:48:55 -0400 Subject: [PATCH 0039/1152] Full enchilada: SO3 is now SO<3> --- gtsam/geometry/Rot3.h | 72 ++--- gtsam/geometry/Rot3M.cpp | 37 ++- gtsam/geometry/SO3.cpp | 195 +++++++------ gtsam/geometry/SO3.h | 206 ++++++-------- gtsam/geometry/SOn.h | 3 +- gtsam/geometry/SOt.cpp | 303 --------------------- gtsam/geometry/SOt.h | 187 ------------- gtsam/geometry/tests/testSO3.cpp | 12 +- gtsam/geometry/tests/testSO4.cpp | 2 +- gtsam/geometry/tests/testSOn.cpp | 2 +- gtsam/navigation/TangentPreintegration.cpp | 24 +- gtsam/slam/tests/testKarcherMeanFactor.cpp | 2 +- 12 files changed, 276 insertions(+), 769 deletions(-) delete mode 100644 gtsam/geometry/SOt.cpp delete mode 100644 gtsam/geometry/SOt.h diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index d4f1301e9..f3a6f08cd 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -61,7 +61,7 @@ namespace gtsam { /** Internal Eigen Quaternion */ gtsam::Quaternion quaternion_; #else - Matrix3 rot_; + SO3 rot_; #endif public: @@ -92,26 +92,33 @@ namespace gtsam { * allow assignment/construction from a generic matrix. * See: http://stackoverflow.com/questions/27094132/cannot-understand-if-this-is-circular-dependency-or-clang#tab-top */ - template - inline explicit Rot3(const Eigen::MatrixBase& R) { - #ifdef GTSAM_USE_QUATERNIONS - quaternion_=Matrix3(R); - #else - rot_ = R; - #endif + template +#ifdef GTSAM_USE_QUATERNIONS + explicit Rot3(const Eigen::MatrixBase& R) : quaternion_(R) { } +#else + explicit Rot3(const Eigen::MatrixBase& R) : rot_(R) { + } +#endif /** * Constructor from a rotation matrix * Overload version for Matrix3 to avoid casting in quaternion mode. */ - inline explicit Rot3(const Matrix3& R) { - #ifdef GTSAM_USE_QUATERNIONS - quaternion_=R; - #else - rot_ = R; - #endif - } +#ifdef GTSAM_USE_QUATERNIONS + explicit Rot3(const Matrix3& R) : quaternion_(R) {} +#else + explicit Rot3(const Matrix3& R) : rot_(R) {} +#endif + + /** + * Constructor from an SO3 instance + */ +#ifdef GTSAM_USE_QUATERNIONS + explicit Rot3(const SO3& R) : quaternion_(R.matrix()) {} +#else + explicit Rot3(const SO3& R) : rot_(R) {} +#endif /** Constructor from a quaternion. This can also be called using a plain * Vector, due to implicit conversion from Vector to Quaternion @@ -486,28 +493,27 @@ namespace gtsam { /// @} #endif - private: - + private: /** Serialization function */ friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) - { + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { #ifndef GTSAM_USE_QUATERNIONS - ar & boost::serialization::make_nvp("rot11", rot_(0,0)); - ar & boost::serialization::make_nvp("rot12", rot_(0,1)); - ar & boost::serialization::make_nvp("rot13", rot_(0,2)); - ar & boost::serialization::make_nvp("rot21", rot_(1,0)); - ar & boost::serialization::make_nvp("rot22", rot_(1,1)); - ar & boost::serialization::make_nvp("rot23", rot_(1,2)); - ar & boost::serialization::make_nvp("rot31", rot_(2,0)); - ar & boost::serialization::make_nvp("rot32", rot_(2,1)); - ar & boost::serialization::make_nvp("rot33", rot_(2,2)); + Matrix3& M = rot_.matrix_; + ar& boost::serialization::make_nvp("rot11", M(0, 0)); + ar& boost::serialization::make_nvp("rot12", M(0, 1)); + ar& boost::serialization::make_nvp("rot13", M(0, 2)); + ar& boost::serialization::make_nvp("rot21", M(1, 0)); + ar& boost::serialization::make_nvp("rot22", M(1, 1)); + ar& boost::serialization::make_nvp("rot23", M(1, 2)); + ar& boost::serialization::make_nvp("rot31", M(2, 0)); + ar& boost::serialization::make_nvp("rot32", M(2, 1)); + ar& boost::serialization::make_nvp("rot33", M(2, 2)); #else - ar & boost::serialization::make_nvp("w", quaternion_.w()); - ar & boost::serialization::make_nvp("x", quaternion_.x()); - ar & boost::serialization::make_nvp("y", quaternion_.y()); - ar & boost::serialization::make_nvp("z", quaternion_.z()); + ar& boost::serialization::make_nvp("w", quaternion_.w()); + ar& boost::serialization::make_nvp("x", quaternion_.x()); + ar& boost::serialization::make_nvp("y", quaternion_.y()); + ar& boost::serialization::make_nvp("z", quaternion_.z()); #endif } diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index 529c64973..d38d33bf1 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -36,18 +36,17 @@ Rot3::Rot3() : rot_(I_3x3) {} /* ************************************************************************* */ Rot3::Rot3(const Point3& col1, const Point3& col2, const Point3& col3) { - rot_.col(0) = col1; - rot_.col(1) = col2; - rot_.col(2) = col3; + Matrix3 R; + R << col1, col2, col3; + rot_ = SO3(R); } /* ************************************************************************* */ -Rot3::Rot3(double R11, double R12, double R13, - double R21, double R22, double R23, - double R31, double R32, double R33) { - rot_ << R11, R12, R13, - R21, R22, R23, - R31, R32, R33; +Rot3::Rot3(double R11, double R12, double R13, double R21, double R22, + double R23, double R31, double R32, double R33) { + Matrix3 R; + R << R11, R12, R13, R21, R22, R23, R31, R32, R33; + rot_ = SO3(R); } /* ************************************************************************* */ @@ -107,21 +106,21 @@ Rot3 Rot3::RzRyRx(double x, double y, double z) { /* ************************************************************************* */ Rot3 Rot3::operator*(const Rot3& R2) const { - return Rot3(Matrix3(rot_*R2.rot_)); + return Rot3(rot_*R2.rot_); } /* ************************************************************************* */ // TODO const Eigen::Transpose Rot3::transpose() const { Matrix3 Rot3::transpose() const { - return rot_.transpose(); + return rot_.matrix().transpose(); } /* ************************************************************************* */ Point3 Rot3::rotate(const Point3& p, OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const { - if (H1) *H1 = rot_ * skewSymmetric(-p.x(), -p.y(), -p.z()); - if (H2) *H2 = rot_; - return rot_ * p; + if (H1) *H1 = rot_.matrix() * skewSymmetric(-p.x(), -p.y(), -p.z()); + if (H2) *H2 = rot_.matrix(); + return rot_.matrix() * p; } /* ************************************************************************* */ @@ -178,21 +177,21 @@ Vector3 Rot3::ChartAtOrigin::Local(const Rot3& R, ChartJacobian H) { /* ************************************************************************* */ Matrix3 Rot3::matrix() const { - return rot_; + return rot_.matrix(); } /* ************************************************************************* */ -Point3 Rot3::r1() const { return Point3(rot_.col(0)); } +Point3 Rot3::r1() const { return Point3(rot_.matrix().col(0)); } /* ************************************************************************* */ -Point3 Rot3::r2() const { return Point3(rot_.col(1)); } +Point3 Rot3::r2() const { return Point3(rot_.matrix().col(1)); } /* ************************************************************************* */ -Point3 Rot3::r3() const { return Point3(rot_.col(2)); } +Point3 Rot3::r3() const { return Point3(rot_.matrix().col(2)); } /* ************************************************************************* */ gtsam::Quaternion Rot3::toQuaternion() const { - return gtsam::Quaternion(rot_); + return gtsam::Quaternion(rot_.matrix()); } /* ************************************************************************* */ diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index a509bcf74..31d63d312 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -18,22 +18,23 @@ * @date December 2014 */ -#include #include +#include #include #include -#include #include +#include namespace gtsam { -/* ************************************************************************* */ +//****************************************************************************** namespace so3 { -Matrix99 Dcompose(const SO3& R) { +Matrix99 Dcompose(const SO3& Q) { Matrix99 H; + auto R = Q.matrix(); H << I_3x3 * R(0, 0), I_3x3 * R(1, 0), I_3x3 * R(2, 0), // I_3x3 * R(0, 1), I_3x3 * R(1, 1), I_3x3 * R(2, 1), // I_3x3 * R(0, 2), I_3x3 * R(1, 2), I_3x3 * R(2, 2); @@ -47,7 +48,8 @@ Matrix3 compose(const Matrix3& M, const SO3& R, OptionalJacobian<9, 9> H) { } void ExpmapFunctor::init(bool nearZeroApprox) { - nearZero = nearZeroApprox || (theta2 <= std::numeric_limits::epsilon()); + nearZero = + nearZeroApprox || (theta2 <= std::numeric_limits::epsilon()); if (!nearZero) { sin_theta = std::sin(theta); const double s2 = std::sin(theta / 2.0); @@ -79,9 +81,9 @@ ExpmapFunctor::ExpmapFunctor(const Vector3& axis, double angle, bool nearZeroApp SO3 ExpmapFunctor::expmap() const { if (nearZero) - return I_3x3 + W; + return SO3(I_3x3 + W); else - return I_3x3 + sin_theta * K + one_minus_cos * KK; + return SO3(I_3x3 + sin_theta * K + one_minus_cos * KK); } DexpFunctor::DexpFunctor(const Vector3& omega, bool nearZeroApprox) @@ -121,7 +123,7 @@ Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, if (H1) { Matrix3 D_dexpv_omega; applyDexp(c, D_dexpv_omega); // get derivative H of forward mapping - *H1 = -invDexp* D_dexpv_omega; + *H1 = -invDexp * D_dexpv_omega; } if (H2) *H2 = invDexp; return c; @@ -129,72 +131,117 @@ Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, } // namespace so3 -/* ************************************************************************* */ +//****************************************************************************** +template <> SO3 SO3::AxisAngle(const Vector3& axis, double theta) { return so3::ExpmapFunctor(axis, theta).expmap(); } -/* ************************************************************************* */ +//****************************************************************************** +template <> SO3 SO3::ClosestTo(const Matrix3& M) { Eigen::JacobiSVD svd(M, Eigen::ComputeFullU | Eigen::ComputeFullV); const auto& U = svd.matrixU(); const auto& V = svd.matrixV(); const double det = (U * V.transpose()).determinant(); - return U * Vector3(1, 1, det).asDiagonal() * V.transpose(); + return SO3(U * Vector3(1, 1, det).asDiagonal() * V.transpose()); } -/* ************************************************************************* */ +//****************************************************************************** +template <> SO3 SO3::ChordalMean(const std::vector& rotations) { - // See Hartley13ijcv: - // Cost function C(R) = \sum sqr(|R-R_i|_F) + // See Hartley13ijcv: + // Cost function C(R) = \sum sqr(|R-R_i|_F) // Closed form solution = ClosestTo(C_e), where C_e = \sum R_i !!!! - Matrix3 C_e {Z_3x3}; + Matrix3 C_e{Z_3x3}; for (const auto& R_i : rotations) { - C_e += R_i; + C_e += R_i.matrix(); } return ClosestTo(C_e); } -/* ************************************************************************* */ -void SO3::print(const std::string& s) const { - std::cout << s << *this << std::endl; - } - //****************************************************************************** - Matrix3 SO3::Hat(const Vector3& xi) { return skewSymmetric(xi); } - - /* ************************************************************************* */ - Vector3 SO3::Vee(const Matrix3& X) { - Vector3 xi; - xi(0) = -X(1, 2); - xi(1) = X(0, 2); - xi(2) = -X(0, 1); - return xi; +template <> +Matrix3 SO3::Hat(const Vector3& xi) { + // skew symmetric matrix X = xi^ + Matrix3 Y = Z_3x3; + Y(0, 1) = -xi(2); + Y(0, 2) = +xi(1); + Y(1, 2) = -xi(0); + return Y - Y.transpose(); } -/* ************************************************************************* */ +//****************************************************************************** +template <> +Vector3 SO3::Vee(const Matrix3& X) { + Vector3 xi; + xi(0) = -X(1, 2); + xi(1) = +X(0, 2); + xi(2) = -X(0, 1); + return xi; +} + +//****************************************************************************** +template <> +Matrix3 SO3::AdjointMap() const { + return matrix_; +} + +//****************************************************************************** +template <> SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { if (H) { so3::DexpFunctor impl(omega); *H = impl.dexp(); return impl.expmap(); - } else + } else { return so3::ExpmapFunctor(omega).expmap(); + } } +template <> Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { return so3::DexpFunctor(omega).dexp(); } -/* ************************************************************************* */ -Vector3 SO3::Logmap(const SO3& R, ChartJacobian H) { - using std::sqrt; +//****************************************************************************** +/* Right Jacobian for Log map in SO(3) - equation (10.86) and following + equations in G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie + Groups", Volume 2, 2008. + + logmap( Rhat * expmap(omega) ) \approx logmap(Rhat) + Jrinv * omega + + where Jrinv = LogmapDerivative(omega). This maps a perturbation on the + manifold (expmap(omega)) to a perturbation in the tangent space (Jrinv * + omega) + */ +template <> +Matrix3 SO3::LogmapDerivative(const Vector3& omega) { + using std::cos; using std::sin; + double theta2 = omega.dot(omega); + if (theta2 <= std::numeric_limits::epsilon()) return I_3x3; + double theta = std::sqrt(theta2); // rotation angle + + // element of Lie algebra so(3): W = omega^ + const Matrix3 W = Hat(omega); + return I_3x3 + 0.5 * W + + (1 / (theta * theta) - (1 + cos(theta)) / (2 * theta * sin(theta))) * + W * W; +} + +//****************************************************************************** +template <> +Vector3 SO3::Logmap(const SO3& Q, ChartJacobian H) { + using std::sin; + using std::sqrt; + // note switch to base 1 - const double& R11 = R(0, 0), R12 = R(0, 1), R13 = R(0, 2); - const double& R21 = R(1, 0), R22 = R(1, 1), R23 = R(1, 2); - const double& R31 = R(2, 0), R32 = R(2, 1), R33 = R(2, 2); + const Matrix3& R = Q.matrix(); + const double &R11 = R(0, 0), R12 = R(0, 1), R13 = R(0, 2); + const double &R21 = R(1, 0), R22 = R(1, 1), R23 = R(1, 2); + const double &R31 = R(2, 0), R32 = R(2, 1), R33 = R(2, 2); // Get trace(R) const double tr = R.trace(); @@ -213,7 +260,7 @@ Vector3 SO3::Logmap(const SO3& R, ChartJacobian H) { omega = (M_PI / sqrt(2.0 + 2.0 * R11)) * Vector3(1.0 + R11, R21, R31); } else { double magnitude; - const double tr_3 = tr - 3.0; // always negative + const double tr_3 = tr - 3.0; // always negative if (tr_3 < -1e-7) { double theta = acos((tr - 1.0) / 2.0); magnitude = theta / (2.0 * sin(theta)); @@ -225,53 +272,49 @@ Vector3 SO3::Logmap(const SO3& R, ChartJacobian H) { omega = magnitude * Vector3(R32 - R23, R13 - R31, R21 - R12); } - if(H) *H = LogmapDerivative(omega); + if (H) *H = LogmapDerivative(omega); return omega; } -/* ************************************************************************* */ -Matrix3 SO3::LogmapDerivative(const Vector3& omega) { - using std::cos; - using std::sin; +//****************************************************************************** +// Chart at origin for SO3 is *not* Cayley but actual Expmap/Logmap - double theta2 = omega.dot(omega); - if (theta2 <= std::numeric_limits::epsilon()) return I_3x3; - double theta = std::sqrt(theta2); // rotation angle - /** Right Jacobian for Log map in SO(3) - equation (10.86) and following equations in - * G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008. - * logmap( Rhat * expmap(omega) ) \approx logmap( Rhat ) + Jrinv * omega - * where Jrinv = LogmapDerivative(omega); - * This maps a perturbation on the manifold (expmap(omega)) - * to a perturbation in the tangent space (Jrinv * omega) - */ - const Matrix3 W = skewSymmetric(omega); // element of Lie algebra so(3): W = omega^ - return I_3x3 + 0.5 * W + - (1 / (theta * theta) - (1 + cos(theta)) / (2 * theta * sin(theta))) * - W * W; +template <> +SO3 SO3::ChartAtOrigin::Retract(const Vector3& omega, ChartJacobian H) { + return Expmap(omega, H); } -/* ************************************************************************* */ -static Vector9 vec(const SO3& R) { return Eigen::Map(R.data()); } +template <> +Vector3 SO3::ChartAtOrigin::Local(const SO3& R, ChartJacobian H) { + return Logmap(R, H); +} -static const std::vector G({SO3::Hat(Vector3::Unit(0)), - SO3::Hat(Vector3::Unit(1)), - SO3::Hat(Vector3::Unit(2))}); +//****************************************************************************** +// local vectorize +static Vector9 vec3(const Matrix3& R) { + return Eigen::Map(R.data()); +} -static const Matrix93 P = - (Matrix93() << vec(G[0]), vec(G[1]), vec(G[2])).finished(); +// so<3> generators +static const std::vector G3({SO3::Hat(Vector3::Unit(0)), + SO3::Hat(Vector3::Unit(1)), + SO3::Hat(Vector3::Unit(2))}); -/* ************************************************************************* */ +// vectorized generators +static const Matrix93 P3 = + (Matrix93() << vec3(G3[0]), vec3(G3[1]), vec3(G3[2])).finished(); + +//****************************************************************************** +template <> Vector9 SO3::vec(OptionalJacobian<9, 3> H) const { - const SO3& R = *this; + const Matrix3& R = matrix_; if (H) { - // As Luca calculated (for SO4), this is (I3 \oplus R) * P - *H << R * P.block<3, 3>(0, 0), R * P.block<3, 3>(3, 0), - R * P.block<3, 3>(6, 0); + // As Luca calculated (for SO4), this is (I3 \oplus R) * P3 + *H << R * P3.block<3, 3>(0, 0), R * P3.block<3, 3>(3, 0), + R * P3.block<3, 3>(6, 0); } - return gtsam::vec(R); -}; - -/* ************************************************************************* */ - -} // end namespace gtsam + return gtsam::vec3(R); +} +//****************************************************************************** +} // end namespace gtsam diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index f89e2f59a..2b84dafba 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -20,146 +20,92 @@ #pragma once +#include + #include #include #include #include +#include namespace gtsam { +using SO3 = SO<3>; + +// Below are all declarations of SO<3> specializations. +// They are *defined* in SO3.cpp. + +template <> +SO3 SO3::AxisAngle(const Vector3& axis, double theta); + +template <> +SO3 SO3::ClosestTo(const Matrix3& M); + +template <> +SO3 SO3::ChordalMean(const std::vector& rotations); + +template <> +Matrix3 SO3::Hat(const Vector3& xi); ///< make skew symmetric matrix + +template <> +Vector3 SO3::Vee(const Matrix3& X); ///< inverse of Hat + +/// Adjoint map +template <> +Matrix3 SO3::AdjointMap() const; + /** - * True SO(3), i.e., 3*3 matrix subgroup - * We guarantee (all but first) constructors only generate from sub-manifold. - * However, round-off errors in repeated composition could move off it... + * Exponential map at identity - create a rotation from canonical coordinates + * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula */ -class SO3 : public Matrix3, public LieGroup { - public: - enum { N = 3 }; - enum { dimension = 3 }; +template <> +SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H); - /// @name Constructors - /// @{ +/// Derivative of Expmap +template <> +Matrix3 SO3::ExpmapDerivative(const Vector3& omega); - /// Default constructor creates identity - SO3() : Matrix3(I_3x3) {} +/** + * Log map at identity - returns the canonical coordinates + * \f$ [R_x,R_y,R_z] \f$ of this rotation + */ +template <> +Vector3 SO3::Logmap(const SO3& R, ChartJacobian H); - /// Constructor from Eigen Matrix - template - SO3(const MatrixBase& R) : Matrix3(R.eval()) {} +/// Derivative of Logmap +template <> +Matrix3 SO3::LogmapDerivative(const Vector3& omega); - /// Constructor from AngleAxisd - SO3(const Eigen::AngleAxisd& angleAxis) : Matrix3(angleAxis) {} +// Chart at origin for SO3 is *not* Cayley but actual Expmap/Logmap +template <> +SO3 SO3::ChartAtOrigin::Retract(const Vector3& omega, ChartJacobian H); - /// Static, named constructor. TODO(dellaert): think about relation with above - GTSAM_EXPORT static SO3 AxisAngle(const Vector3& axis, double theta); +template <> +Vector3 SO3::ChartAtOrigin::Local(const SO3& R, ChartJacobian H); - /// Static, named constructor that finds SO(3) matrix closest to M in Frobenius norm. - static SO3 ClosestTo(const Matrix3& M); +template <> +Vector9 SO3::vec(OptionalJacobian<9, 3> H) const; - /// Static, named constructor that finds chordal mean = argmin_R \sum sqr(|R-R_i|_F). - static SO3 ChordalMean(const std::vector& rotations); - - /// @} - /// @name Testable - /// @{ - - GTSAM_EXPORT void print(const std::string& s) const; - - bool equals(const SO3 & R, double tol) const { - return equal_with_abs_tol(*this, R, tol); - } - - /// @} - /// @name Group - /// @{ - - /// identity rotation for group operation - static SO3 identity() { - return I_3x3; - } - - /// inverse of a rotation = transpose - SO3 inverse() const { - return this->transpose(); - } - - /// @} - /// @name Lie Group - /// @{ - - static Matrix3 Hat(const Vector3 &xi); ///< make skew symmetric matrix - static Vector3 Vee(const Matrix3 &X); ///< inverse of Hat - - /** - * Exponential map at identity - create a rotation from canonical coordinates - * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula - */ - GTSAM_EXPORT static SO3 Expmap(const Vector3& omega, ChartJacobian H = boost::none); - - /// Derivative of Expmap - GTSAM_EXPORT static Matrix3 ExpmapDerivative(const Vector3& omega); - - /** - * Log map at identity - returns the canonical coordinates - * \f$ [R_x,R_y,R_z] \f$ of this rotation - */ - GTSAM_EXPORT static Vector3 Logmap(const SO3& R, ChartJacobian H = boost::none); - - /// Derivative of Logmap - GTSAM_EXPORT static Matrix3 LogmapDerivative(const Vector3& omega); - - Matrix3 AdjointMap() const { - return *this; - } - - // Chart at origin - struct ChartAtOrigin { - static SO3 Retract(const Vector3& omega, ChartJacobian H = boost::none) { - return Expmap(omega, H); - } - static Vector3 Local(const SO3& R, ChartJacobian H = boost::none) { - return Logmap(R, H); - } - }; - - using LieGroup::inverse; - - /// @} - /// @name Other methods - /// @{ - - /// Vectorize - Vector9 vec(OptionalJacobian<9, 3> H = boost::none) const; - - /// Return matrix (for wrapper) - const Matrix3& matrix() const { return *this;} - - /// @ - - private: - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) - { - ar & boost::serialization::make_nvp("R11", (*this)(0,0)); - ar & boost::serialization::make_nvp("R12", (*this)(0,1)); - ar & boost::serialization::make_nvp("R13", (*this)(0,2)); - ar & boost::serialization::make_nvp("R21", (*this)(1,0)); - ar & boost::serialization::make_nvp("R22", (*this)(1,1)); - ar & boost::serialization::make_nvp("R23", (*this)(1,2)); - ar & boost::serialization::make_nvp("R31", (*this)(2,0)); - ar & boost::serialization::make_nvp("R32", (*this)(2,1)); - ar & boost::serialization::make_nvp("R33", (*this)(2,2)); - } -}; +/** Serialization function */ +template +void serialize(Archive& ar, SO3& R, const unsigned int /*version*/) { + Matrix3& M = R.matrix_; + ar& boost::serialization::make_nvp("R11", M(0, 0)); + ar& boost::serialization::make_nvp("R12", M(0, 1)); + ar& boost::serialization::make_nvp("R13", M(0, 2)); + ar& boost::serialization::make_nvp("R21", M(1, 0)); + ar& boost::serialization::make_nvp("R22", M(1, 1)); + ar& boost::serialization::make_nvp("R23", M(1, 2)); + ar& boost::serialization::make_nvp("R31", M(2, 0)); + ar& boost::serialization::make_nvp("R32", M(2, 1)); + ar& boost::serialization::make_nvp("R33", M(2, 2)); +} namespace so3 { -/** - * Compose general matrix with an SO(3) element. +/** + * Compose general matrix with an SO(3) element. * We only provide the 9*9 derivative in the first argument M. */ Matrix3 compose(const Matrix3& M, const SO3& R, @@ -184,7 +130,7 @@ class GTSAM_EXPORT ExpmapFunctor { public: /// Constructor with element of Lie algebra so(3) - ExpmapFunctor(const Vector3& omega, bool nearZeroApprox = false); + explicit ExpmapFunctor(const Vector3& omega, bool nearZeroApprox = false); /// Constructor with axis-angle ExpmapFunctor(const Vector3& axis, double angle, bool nearZeroApprox = false); @@ -201,7 +147,7 @@ class DexpFunctor : public ExpmapFunctor { public: /// Constructor with element of Lie algebra so(3) - GTSAM_EXPORT DexpFunctor(const Vector3& omega, bool nearZeroApprox = false); + GTSAM_EXPORT explicit DexpFunctor(const Vector3& omega, bool nearZeroApprox = false); // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation // (10.86) and following equations in G.S. Chirikjian, "Stochastic Models, @@ -222,12 +168,14 @@ class DexpFunctor : public ExpmapFunctor { }; } // namespace so3 -template<> -struct traits : public internal::LieGroup { -}; +/* + * Define the traits. internal::LieGroup provides both Lie group and Testable + */ -template<> -struct traits : public internal::LieGroup { -}; -} // end namespace gtsam +template <> +struct traits : public internal::LieGroup {}; +template <> +struct traits : public internal::LieGroup {}; + +} // end namespace gtsam diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index c42107afa..511a03a6f 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -272,8 +272,9 @@ class SO : public LieGroup, internal::DimensionSO(N)> { /// @} template - friend void serialize(Archive& ar, SO& R, const unsigned int /*version*/); + friend void serialize(Archive&, SO&, const unsigned int); friend class boost::serialization::access; + friend class Rot3; // for serialize }; using SOn = SO; diff --git a/gtsam/geometry/SOt.cpp b/gtsam/geometry/SOt.cpp deleted file mode 100644 index 9fc3aac42..000000000 --- a/gtsam/geometry/SOt.cpp +++ /dev/null @@ -1,303 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file SO3.cpp - * @brief 3*3 matrix representation of SO(3) - * @author Frank Dellaert - * @author Luca Carlone - * @author Duy Nguyen Ta - * @date December 2014 - */ - -#include -#include - -#include - -#include -#include -#include - -namespace gtsam { - -//****************************************************************************** -namespace sot { - -Matrix99 Dcompose(const SO3& Q) { - Matrix99 H; - auto R = Q.matrix(); - H << I_3x3 * R(0, 0), I_3x3 * R(1, 0), I_3x3 * R(2, 0), // - I_3x3 * R(0, 1), I_3x3 * R(1, 1), I_3x3 * R(2, 1), // - I_3x3 * R(0, 2), I_3x3 * R(1, 2), I_3x3 * R(2, 2); - return H; -} - -Matrix3 compose(const Matrix3& M, const SO3& R, OptionalJacobian<9, 9> H) { - Matrix3 MR = M * R.matrix(); - if (H) *H = Dcompose(R); - return MR; -} - -void ExpmapFunctor::init(bool nearZeroApprox) { - nearZero = - nearZeroApprox || (theta2 <= std::numeric_limits::epsilon()); - if (!nearZero) { - theta = std::sqrt(theta2); // rotation angle - sin_theta = std::sin(theta); - const double s2 = std::sin(theta / 2.0); - one_minus_cos = 2.0 * s2 * s2; // numerically better than [1 - cos(theta)] - } -} - -ExpmapFunctor::ExpmapFunctor(const Vector3& omega, bool nearZeroApprox) - : theta2(omega.dot(omega)) { - const double wx = omega.x(), wy = omega.y(), wz = omega.z(); - W << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; - init(nearZeroApprox); - if (!nearZero) { - K = W / theta; - KK = K * K; - } -} - -ExpmapFunctor::ExpmapFunctor(const Vector3& axis, double angle, - bool nearZeroApprox) - : theta2(angle * angle) { - const double ax = axis.x(), ay = axis.y(), az = axis.z(); - K << 0.0, -az, +ay, +az, 0.0, -ax, -ay, +ax, 0.0; - W = K * angle; - init(nearZeroApprox); - if (!nearZero) { - KK = K * K; - } -} - -SO3 ExpmapFunctor::expmap() const { - if (nearZero) - return SO3(I_3x3 + W); - else - return SO3(I_3x3 + sin_theta * K + one_minus_cos * KK); -} - -DexpFunctor::DexpFunctor(const Vector3& omega, bool nearZeroApprox) - : ExpmapFunctor(omega, nearZeroApprox), omega(omega) { - if (nearZero) - dexp_ = I_3x3 - 0.5 * W; - else { - a = one_minus_cos / theta; - b = 1.0 - sin_theta / theta; - dexp_ = I_3x3 - a * K + b * KK; - } -} - -Vector3 DexpFunctor::applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, - OptionalJacobian<3, 3> H2) const { - if (H1) { - if (nearZero) { - *H1 = 0.5 * skewSymmetric(v); - } else { - // TODO(frank): Iserles hints that there should be a form I + c*K + d*KK - const Vector3 Kv = K * v; - const double Da = (sin_theta - 2.0 * a) / theta2; - const double Db = (one_minus_cos - 3.0 * b) / theta2; - *H1 = (Db * K - Da * I_3x3) * Kv * omega.transpose() - - skewSymmetric(Kv * b / theta) + - (a * I_3x3 - b * K) * skewSymmetric(v / theta); - } - } - if (H2) *H2 = dexp_; - return dexp_ * v; -} - -Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, - OptionalJacobian<3, 3> H2) const { - const Matrix3 invDexp = dexp_.inverse(); - const Vector3 c = invDexp * v; - if (H1) { - Matrix3 D_dexpv_omega; - applyDexp(c, D_dexpv_omega); // get derivative H of forward mapping - *H1 = -invDexp * D_dexpv_omega; - } - if (H2) *H2 = invDexp; - return c; -} - -} // namespace sot - -//****************************************************************************** -template <> -SO3 SO3::AxisAngle(const Vector3& axis, double theta) { - return sot::ExpmapFunctor(axis, theta).expmap(); -} - -//****************************************************************************** -template <> -SO3 SO3::ClosestTo(const Matrix3& M) { - Eigen::JacobiSVD svd(M, Eigen::ComputeFullU | Eigen::ComputeFullV); - const auto& U = svd.matrixU(); - const auto& V = svd.matrixV(); - const double det = (U * V.transpose()).determinant(); - return SO3(U * Vector3(1, 1, det).asDiagonal() * V.transpose()); -} - -//****************************************************************************** -template <> -SO3 SO3::ChordalMean(const std::vector& rotations) { - // See Hartley13ijcv: - // Cost function C(R) = \sum sqr(|R-R_i|_F) - // Closed form solution = ClosestTo(C_e), where C_e = \sum R_i !!!! - Matrix3 C_e{Z_3x3}; - for (const auto& R_i : rotations) { - C_e += R_i.matrix(); - } - return ClosestTo(C_e); -} - -//****************************************************************************** -template <> -Matrix3 SO3::Hat(const Vector3& xi) { - // skew symmetric matrix X = xi^ - Matrix3 Y = Z_3x3; - Y(0, 1) = -xi(2); - Y(0, 2) = +xi(1); - Y(1, 2) = -xi(0); - return Y - Y.transpose(); -} - -//****************************************************************************** -template <> -Vector3 SO3::Vee(const Matrix3& X) { - Vector3 xi; - xi(0) = -X(1, 2); - xi(1) = +X(0, 2); - xi(2) = -X(0, 1); - return xi; -} - -//****************************************************************************** -template <> -SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { - if (H) { - sot::DexpFunctor impl(omega); - *H = impl.dexp(); - return impl.expmap(); - } else { - return sot::ExpmapFunctor(omega).expmap(); - } -} - -template <> -Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { - return sot::DexpFunctor(omega).dexp(); -} - -//****************************************************************************** -/* Right Jacobian for Log map in SO(3) - equation (10.86) and following - equations in G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie - Groups", Volume 2, 2008. - - logmap( Rhat * expmap(omega) ) \approx logmap(Rhat) + Jrinv * omega - - where Jrinv = LogmapDerivative(omega). This maps a perturbation on the - manifold (expmap(omega)) to a perturbation in the tangent space (Jrinv * - omega) - */ -template <> -Matrix3 SO3::LogmapDerivative(const Vector3& omega) { - using std::cos; - using std::sin; - - double theta2 = omega.dot(omega); - if (theta2 <= std::numeric_limits::epsilon()) return I_3x3; - double theta = std::sqrt(theta2); // rotation angle - - // element of Lie algebra so(3): W = omega^ - const Matrix3 W = Hat(omega); - return I_3x3 + 0.5 * W + - (1 / (theta * theta) - (1 + cos(theta)) / (2 * theta * sin(theta))) * - W * W; -} - -//****************************************************************************** -template <> -Vector3 SO3::Logmap(const SO3& Q, ChartJacobian H) { - using std::sin; - using std::sqrt; - - // note switch to base 1 - const Matrix3& R = Q.matrix(); - const double &R11 = R(0, 0), R12 = R(0, 1), R13 = R(0, 2); - const double &R21 = R(1, 0), R22 = R(1, 1), R23 = R(1, 2); - const double &R31 = R(2, 0), R32 = R(2, 1), R33 = R(2, 2); - - // Get trace(R) - const double tr = R.trace(); - - Vector3 omega; - - // when trace == -1, i.e., when theta = +-pi, +-3pi, +-5pi, etc. - // we do something special - if (std::abs(tr + 1.0) < 1e-10) { - if (std::abs(R33 + 1.0) > 1e-10) - omega = (M_PI / sqrt(2.0 + 2.0 * R33)) * Vector3(R13, R23, 1.0 + R33); - else if (std::abs(R22 + 1.0) > 1e-10) - omega = (M_PI / sqrt(2.0 + 2.0 * R22)) * Vector3(R12, 1.0 + R22, R32); - else - // if(std::abs(R.r1_.x()+1.0) > 1e-10) This is implicit - omega = (M_PI / sqrt(2.0 + 2.0 * R11)) * Vector3(1.0 + R11, R21, R31); - } else { - double magnitude; - const double tr_3 = tr - 3.0; // always negative - if (tr_3 < -1e-7) { - double theta = acos((tr - 1.0) / 2.0); - magnitude = theta / (2.0 * sin(theta)); - } else { - // when theta near 0, +-2pi, +-4pi, etc. (trace near 3.0) - // use Taylor expansion: theta \approx 1/2-(t-3)/12 + O((t-3)^2) - magnitude = 0.5 - tr_3 * tr_3 / 12.0; - } - omega = magnitude * Vector3(R32 - R23, R13 - R31, R21 - R12); - } - - if (H) *H = LogmapDerivative(omega); - return omega; -} - -//****************************************************************************** -// local vectorize -static Vector9 vec3(const Matrix3& R) { - return Eigen::Map(R.data()); -} - -// so<3> generators -static const std::vector G3({SO3::Hat(Vector3::Unit(0)), - SO3::Hat(Vector3::Unit(1)), - SO3::Hat(Vector3::Unit(2))}); - -// vectorized generators -static const Matrix93 P3 = - (Matrix93() << vec3(G3[0]), vec3(G3[1]), vec3(G3[2])).finished(); - -//****************************************************************************** -template <> -Vector9 SO3::vec(OptionalJacobian<9, 3> H) const { - const Matrix3& R = matrix_; - if (H) { - // As Luca calculated (for SO4), this is (I3 \oplus R) * P3 - *H << R * P3.block<3, 3>(0, 0), R * P3.block<3, 3>(3, 0), - R * P3.block<3, 3>(6, 0); - } - return gtsam::vec3(R); -} -//****************************************************************************** - -} // end namespace gtsam diff --git a/gtsam/geometry/SOt.h b/gtsam/geometry/SOt.h deleted file mode 100644 index 9eedbcc67..000000000 --- a/gtsam/geometry/SOt.h +++ /dev/null @@ -1,187 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file SO3.h - * @brief 3*3 matrix representation of SO(3) - * @author Frank Dellaert - * @author Luca Carlone - * @author Duy Nguyen Ta - * @date December 2014 - */ - -#pragma once - -#include - -#include -#include - -#include -#include -#include - -namespace gtsam { - -using SO3 = SO<3>; - -// Below are all declarations of SO<3> specializations. -// They are *defined* in SO3.cpp. - -template <> -SO3 SO3::AxisAngle(const Vector3& axis, double theta); - -template <> -SO3 SO3::ClosestTo(const Matrix3& M); - -template <> -SO3 SO3::ChordalMean(const std::vector& rotations); - -template <> -Matrix3 SO3::Hat(const Vector3& xi); ///< make skew symmetric matrix - -template <> -Vector3 SO3::Vee(const Matrix3& X); ///< inverse of Hat - -/// Adjoint map -template <> -Matrix3 SO3::AdjointMap() const { - return matrix_; -} - -/** - * Exponential map at identity - create a rotation from canonical coordinates - * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula - */ -template <> -SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H); - -/// Derivative of Expmap -template <> -Matrix3 SO3::ExpmapDerivative(const Vector3& omega); - -/** - * Log map at identity - returns the canonical coordinates - * \f$ [R_x,R_y,R_z] \f$ of this rotation - */ -template <> -Vector3 SO3::Logmap(const SO3& R, ChartJacobian H); - -/// Derivative of Logmap -template <> -Matrix3 SO3::LogmapDerivative(const Vector3& omega); - -// Chart at origin for SO3 is *not* Cayley but actual Expmap/Logmap -template <> -SO3 SO3::ChartAtOrigin::Retract(const Vector3& omega, ChartJacobian H) { - return Expmap(omega, H); -} - -template <> -Vector3 SO3::ChartAtOrigin::Local(const SO3& R, ChartJacobian H) { - return Logmap(R, H); -} - -template <> -Vector9 SO3::vec(OptionalJacobian<9, 3> H) const; - -/** Serialization function */ -template -void serialize(Archive& ar, SO3& R, const unsigned int /*version*/) { - Matrix3& M = R.matrix_; - ar& boost::serialization::make_nvp("R11", M(0, 0)); - ar& boost::serialization::make_nvp("R12", M(0, 1)); - ar& boost::serialization::make_nvp("R13", M(0, 2)); - ar& boost::serialization::make_nvp("R21", M(1, 0)); - ar& boost::serialization::make_nvp("R22", M(1, 1)); - ar& boost::serialization::make_nvp("R23", M(1, 2)); - ar& boost::serialization::make_nvp("R31", M(2, 0)); - ar& boost::serialization::make_nvp("R32", M(2, 1)); - ar& boost::serialization::make_nvp("R33", M(2, 2)); -} - -namespace sot { - -/** - * Compose general matrix with an SO(3) element. - * We only provide the 9*9 derivative in the first argument M. - */ -Matrix3 compose(const Matrix3& M, const SO3& R, - OptionalJacobian<9, 9> H = boost::none); - -/// (constant) Jacobian of compose wrpt M -Matrix99 Dcompose(const SO3& R); - -// Below are two functors that allow for saving computation when exponential map -// and its derivatives are needed at the same location in so<3>. The second -// functor also implements dedicated methods to apply dexp and/or inv(dexp). - -/// Functor implementing Exponential map -class GTSAM_EXPORT ExpmapFunctor { - protected: - const double theta2; - Matrix3 W, K, KK; - bool nearZero; - double theta, sin_theta, one_minus_cos; // only defined if !nearZero - - void init(bool nearZeroApprox = false); - - public: - /// Constructor with element of Lie algebra so(3) - explicit ExpmapFunctor(const Vector3& omega, bool nearZeroApprox = false); - - /// Constructor with axis-angle - ExpmapFunctor(const Vector3& axis, double angle, bool nearZeroApprox = false); - - /// Rodrigues formula - SO3 expmap() const; -}; - -/// Functor that implements Exponential map *and* its derivatives -class GTSAM_EXPORT DexpFunctor : public ExpmapFunctor { - const Vector3 omega; - double a, b; - Matrix3 dexp_; - - public: - /// Constructor with element of Lie algebra so(3) - explicit DexpFunctor(const Vector3& omega, bool nearZeroApprox = false); - - // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation - // (10.86) and following equations in G.S. Chirikjian, "Stochastic Models, - // Information Theory, and Lie Groups", Volume 2, 2008. - // expmap(omega + v) \approx expmap(omega) * expmap(dexp * v) - // This maps a perturbation v in the tangent space to - // a perturbation on the manifold Expmap(dexp * v) */ - const Matrix3& dexp() const { return dexp_; } - - /// Multiplies with dexp(), with optional derivatives - Vector3 applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, - OptionalJacobian<3, 3> H2 = boost::none) const; - - /// Multiplies with dexp().inverse(), with optional derivatives - Vector3 applyInvDexp(const Vector3& v, - OptionalJacobian<3, 3> H1 = boost::none, - OptionalJacobian<3, 3> H2 = boost::none) const; -}; -} // namespace sot - -/* - * Define the traits. internal::LieGroup provides both Lie group and Testable - */ - -template <> -struct traits : public internal::LieGroup {}; - -template <> -struct traits : public internal::LieGroup {}; - -} // end namespace gtsam diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp index 3d68fda7f..e3dd5cff1 100644 --- a/gtsam/geometry/tests/testSO3.cpp +++ b/gtsam/geometry/tests/testSO3.cpp @@ -18,7 +18,7 @@ #include #include #include -#include +#include using namespace std; using namespace gtsam; @@ -152,7 +152,7 @@ TEST(SO3, ChartDerivatives) { } /* ************************************************************************* */ -TEST(SO3, Expmap) { +TEST(SO3, ExpmapFunctor) { Vector axis = Vector3(0., 1., 0.); // rotation around Y double angle = 3.14 / 4.0; Matrix expected(3,3); @@ -306,11 +306,11 @@ TEST(SO3, ApplyDexp) { for (bool nearZeroApprox : {true, false}) { boost::function f = [=](const Vector3& omega, const Vector3& v) { - return sot::DexpFunctor(omega, nearZeroApprox).applyDexp(v); + return so3::DexpFunctor(omega, nearZeroApprox).applyDexp(v); }; for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { - sot::DexpFunctor local(omega, nearZeroApprox); + so3::DexpFunctor local(omega, nearZeroApprox); for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), Vector3(0.4, 0.3, 0.2)}) { EXPECT(assert_equal(Vector3(local.dexp() * v), @@ -329,11 +329,11 @@ TEST(SO3, ApplyInvDexp) { for (bool nearZeroApprox : {true, false}) { boost::function f = [=](const Vector3& omega, const Vector3& v) { - return sot::DexpFunctor(omega, nearZeroApprox).applyInvDexp(v); + return so3::DexpFunctor(omega, nearZeroApprox).applyInvDexp(v); }; for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { - sot::DexpFunctor local(omega, nearZeroApprox); + so3::DexpFunctor local(omega, nearZeroApprox); Matrix invDexp = local.dexp().inverse(); for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), Vector3(0.4, 0.3, 0.2)}) { diff --git a/gtsam/geometry/tests/testSO4.cpp b/gtsam/geometry/tests/testSO4.cpp index d343e9397..2c6342c38 100644 --- a/gtsam/geometry/tests/testSO4.cpp +++ b/gtsam/geometry/tests/testSO4.cpp @@ -20,7 +20,7 @@ #include #include #include -#include +#include #include diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index 1e4aee927..603caa4b4 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -16,7 +16,7 @@ **/ #include -#include +#include #include #include diff --git a/gtsam/navigation/TangentPreintegration.cpp b/gtsam/navigation/TangentPreintegration.cpp index 4229d4f0c..55efdb151 100644 --- a/gtsam/navigation/TangentPreintegration.cpp +++ b/gtsam/navigation/TangentPreintegration.cpp @@ -68,30 +68,30 @@ Vector9 TangentPreintegration::UpdatePreintegrated(const Vector3& a_body, Matrix3 w_tangent_H_theta, invH; const Vector3 w_tangent = // angular velocity mapped back to tangent space local.applyInvDexp(w_body, A ? &w_tangent_H_theta : 0, C ? &invH : 0); - const SO3 R = local.expmap(); + const Rot3 R(local.expmap()); const Vector3 a_nav = R * a_body; const double dt22 = 0.5 * dt * dt; Vector9 preintegratedPlus; - preintegratedPlus << // new preintegrated vector: - theta + w_tangent * dt, // theta - position + velocity * dt + a_nav * dt22, // position - velocity + a_nav * dt; // velocity + preintegratedPlus << // new preintegrated vector: + theta + w_tangent * dt, // theta + position + velocity * dt + a_nav * dt22, // position + velocity + a_nav * dt; // velocity if (A) { // Exact derivative of R*a with respect to theta: - const Matrix3 a_nav_H_theta = R * skewSymmetric(-a_body) * local.dexp(); + const Matrix3 a_nav_H_theta = R.matrix() * skewSymmetric(-a_body) * local.dexp(); A->setIdentity(); - A->block<3, 3>(0, 0).noalias() += w_tangent_H_theta * dt; // theta - A->block<3, 3>(3, 0) = a_nav_H_theta * dt22; // position wrpt theta... - A->block<3, 3>(3, 6) = I_3x3 * dt; // .. and velocity - A->block<3, 3>(6, 0) = a_nav_H_theta * dt; // velocity wrpt theta + A->block<3, 3>(0, 0).noalias() += w_tangent_H_theta * dt; // theta + A->block<3, 3>(3, 0) = a_nav_H_theta * dt22; // position wrpt theta... + A->block<3, 3>(3, 6) = I_3x3 * dt; // .. and velocity + A->block<3, 3>(6, 0) = a_nav_H_theta * dt; // velocity wrpt theta } if (B) { B->block<3, 3>(0, 0) = Z_3x3; - B->block<3, 3>(3, 0) = R * dt22; - B->block<3, 3>(6, 0) = R * dt; + B->block<3, 3>(3, 0) = R.matrix() * dt22; + B->block<3, 3>(6, 0) = R.matrix() * dt; } if (C) { C->block<3, 3>(0, 0) = invH * dt; diff --git a/gtsam/slam/tests/testKarcherMeanFactor.cpp b/gtsam/slam/tests/testKarcherMeanFactor.cpp index bcc20c62a..a3e52e64d 100644 --- a/gtsam/slam/tests/testKarcherMeanFactor.cpp +++ b/gtsam/slam/tests/testKarcherMeanFactor.cpp @@ -98,7 +98,7 @@ TEST(KarcherMean, FactorSO4) { FindKarcherMean({result.at(1), result.at(2)}); EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal((Matrix)(Q * Q * Q).matrix(), - result.at(1).between(result.at(2)))); + result.at(1).between(result.at(2)).matrix())); } /* ************************************************************************* */ From 39d1f58eaeadcce21b7011eb3cb515c85f43fe4e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 8 May 2019 18:41:53 -0400 Subject: [PATCH 0040/1152] More asserts/tests --- gtsam/geometry/SOn.h | 5 ++++- gtsam/geometry/tests/testSO3.cpp | 1 + gtsam/geometry/tests/testSO4.cpp | 1 + gtsam/geometry/tests/testSOn.cpp | 33 +++++++++++++++++++++++++++++--- 4 files changed, 36 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 511a03a6f..fca229682 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -151,7 +151,10 @@ class SO : public LieGroup, internal::DimensionSO(N)> { /// @{ /// Multiplication - SO operator*(const SO& other) const { return SO(matrix_ * other.matrix_); } + SO operator*(const SO& other) const { + assert(dim() == other.dim()); + return SO(matrix_ * other.matrix_); + } /// SO identity for N >= 2 template > diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp index e3dd5cff1..3c5b947ba 100644 --- a/gtsam/geometry/tests/testSO3.cpp +++ b/gtsam/geometry/tests/testSO3.cpp @@ -30,6 +30,7 @@ TEST(SO3, Identity) { EXPECT_LONGS_EQUAL(3, SO3::dimension); EXPECT_LONGS_EQUAL(3, SO3::Dim()); EXPECT_LONGS_EQUAL(3, R.dim()); + EXPECT_LONGS_EQUAL(3, traits::GetDimension(R)); } //****************************************************************************** diff --git a/gtsam/geometry/tests/testSO4.cpp b/gtsam/geometry/tests/testSO4.cpp index 2c6342c38..594da01f6 100644 --- a/gtsam/geometry/tests/testSO4.cpp +++ b/gtsam/geometry/tests/testSO4.cpp @@ -36,6 +36,7 @@ TEST(SO4, Identity) { EXPECT_LONGS_EQUAL(6, SO4::dimension); EXPECT_LONGS_EQUAL(6, SO4::Dim()); EXPECT_LONGS_EQUAL(6, R.dim()); + EXPECT_LONGS_EQUAL(6, traits::GetDimension(R)); } //****************************************************************************** diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index 603caa4b4..cc89f76fe 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -15,8 +15,9 @@ * @author Frank Dellaert **/ -#include #include +#include +#include #include #include @@ -45,6 +46,7 @@ TEST(SOn, SO5) { EXPECT_LONGS_EQUAL(Eigen::Dynamic, SOn::dimension); EXPECT_LONGS_EQUAL(Eigen::Dynamic, SOn::Dim()); EXPECT_LONGS_EQUAL(10, R.dim()); + EXPECT_LONGS_EQUAL(10, traits::GetDimension(R)); } //****************************************************************************** @@ -54,6 +56,14 @@ TEST(SOn, Concept) { BOOST_CONCEPT_ASSERT((IsLieGroup)); } +//****************************************************************************** +TEST(SOn, CopyConstructor) { + const auto R = SOn(5); + const auto B(R); + EXPECT_LONGS_EQUAL(5, B.rows()); + EXPECT_LONGS_EQUAL(10, B.dim()); +} + //****************************************************************************** TEST(SOn, Values) { const auto R = SOn(5); @@ -62,6 +72,7 @@ TEST(SOn, Values) { values.insert(key, R); const auto B = values.at(key); EXPECT_LONGS_EQUAL(5, B.rows()); + EXPECT_LONGS_EQUAL(10, B.dim()); } //****************************************************************************** @@ -104,9 +115,25 @@ TEST(SOn, HatVee) { //****************************************************************************** TEST(SOn, RetractLocal) { + Vector6 v1 = (Vector(6) << 0, 0, 0, 1, 0, 0).finished() / 10000; + Vector6 v2 = (Vector(6) << 0, 0, 0, 1, 2, 3).finished() / 10000; + Vector6 v3 = (Vector(6) << 3, 2, 1, 1, 2, 3).finished() / 10000; + + // Check that Cayley yields the same as Expmap for small values + SOn id(4); + EXPECT(assert_equal(id.retract(v1), SOn(SO4::Expmap(v1)))); + EXPECT(assert_equal(id.retract(v2), SOn(SO4::Expmap(v2)))); + EXPECT(assert_equal(id.retract(v3), SOn(SO4::Expmap(v3)))); + + // Same for SO3: + SOn I3(3); + EXPECT( + assert_equal(I3.retract(v1.tail<3>()), SOn(SO3::Expmap(v1.tail<3>())))); + EXPECT( + assert_equal(I3.retract(v2.tail<3>()), SOn(SO3::Expmap(v2.tail<3>())))); + // If we do expmap in SO(3) subgroup, topleft should be equal to R1. - Vector6 v1 = (Vector(6) << 0, 0, 0, 0.01, 0, 0).finished(); - Matrix R1 = SO3::Retract(v1.tail<3>()).matrix(); + Matrix R1 = SO3().retract(v1.tail<3>()).matrix(); SOn Q1 = SOn::Retract(v1); CHECK(assert_equal(R1, Q1.matrix().block(0, 0, 3, 3), 1e-7)); CHECK(assert_equal(v1, SOn::ChartAtOrigin::Local(Q1), 1e-7)); From f5b57ce59f6520980282c9fc2b0660957eb4d096 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 14 May 2019 20:43:44 -0400 Subject: [PATCH 0041/1152] Python tests --- cython/gtsam/tests/test_SO4.py | 14 ++++---- cython/gtsam/tests/test_SOn.py | 59 ++++++++++++++++++++++++++++++++++ gtsam.h | 19 ++++++++++- gtsam/geometry/SOn.h | 11 +++++-- 4 files changed, 93 insertions(+), 10 deletions(-) create mode 100644 cython/gtsam/tests/test_SOn.py diff --git a/cython/gtsam/tests/test_SO4.py b/cython/gtsam/tests/test_SO4.py index 3b30a8e89..648bd1710 100644 --- a/cython/gtsam/tests/test_SO4.py +++ b/cython/gtsam/tests/test_SO4.py @@ -14,10 +14,10 @@ import unittest import numpy as np from gtsam import SO4 -id = SO4() -v1 = np.array([0.1, 0, 0, 0, 0, 0]) +I4 = SO4() +v1 = np.array([0, 0, 0, .1, 0, 0]) +v2 = np.array([0, 0, 0, 0.01, 0.02, 0.03]) Q1 = SO4.Expmap(v1) -v2 = np.array([0.01, 0.02, 0.03, 0, 0, 0]) Q2 = SO4.Expmap(v2) @@ -33,13 +33,13 @@ class TestSO4(unittest.TestCase): def test_retract(self): """Test retraction to manifold.""" v = np.zeros((6,), np.float) - actual = id.retract(v) - self.assertTrue(actual.equals(id, 1e-9)) + actual = I4.retract(v) + self.assertTrue(actual.equals(I4, 1e-9)) def test_local(self): """Check localCoordinates for trivial case.""" v0 = np.zeros((6,), np.float) - actual = id.localCoordinates(id) + actual = I4.localCoordinates(I4) np.testing.assert_array_almost_equal(actual, v0) def test_compose(self): @@ -51,7 +51,7 @@ class TestSO4(unittest.TestCase): def test_vec(self): """Check wrapping of vec.""" expected = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]) - actual = id.vec() + actual = I4.vec() np.testing.assert_array_equal(actual, expected) diff --git a/cython/gtsam/tests/test_SOn.py b/cython/gtsam/tests/test_SOn.py new file mode 100644 index 000000000..7599363e2 --- /dev/null +++ b/cython/gtsam/tests/test_SOn.py @@ -0,0 +1,59 @@ +""" +GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Dynamic SO(n) unit tests. +Author: Frank Dellaert +""" +# pylint: disable=no-name-in-module, import-error +import unittest + +import numpy as np +from gtsam import SOn + +I4 = SOn(4) +v1 = np.array([0, 0, 0, .1, 0, 0]) +v2 = np.array([0, 0, 0, 0.01, 0.02, 0.03]) +Q1 = I4.retract(v1) +Q2 = I4.retract(v2) + + +class TestSO4(unittest.TestCase): + """Test selected SOn methods.""" + + def test_constructor(self): + """Construct from matrix.""" + matrix = np.eye(4) + so4 = SOn.FromMatrix(matrix) + self.assertIsInstance(so4, SOn) + + def test_retract(self): + """Test retraction to manifold.""" + v = np.zeros((6,), np.float) + actual = I4.retract(v) + self.assertTrue(actual.equals(I4, 1e-9)) + + def test_local(self): + """Check localCoordinates for trivial case.""" + v0 = np.zeros((6,), np.float) + actual = I4.localCoordinates(I4) + np.testing.assert_array_almost_equal(actual, v0) + + def test_compose(self): + """Check compose works in subgroup.""" + expected = I4.retract(2*v1) + actual = Q1.compose(Q1) + self.assertTrue(actual.equals(expected, 1e-3)) # not exmap so only approximate + + def test_vec(self): + """Check wrapping of vec.""" + expected = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]) + actual = I4.vec() + np.testing.assert_array_equal(actual, expected) + + +if __name__ == "__main__": + unittest.main() diff --git a/gtsam.h b/gtsam.h index efe36a595..e3f682187 100644 --- a/gtsam.h +++ b/gtsam.h @@ -542,6 +542,7 @@ class SO3 { // Standard Constructors SO3(); SO3(Matrix R); + static gtsam::SO3 FromMatrix(Matrix R); static gtsam::SO3 AxisAngle(const Vector axis, double theta); static gtsam::SO3 ClosestTo(const Matrix M); @@ -570,6 +571,7 @@ class SO4 { // Standard Constructors SO4(); SO4(Matrix R); + static gtsam::SO4 FromMatrix(Matrix R); // Testable void print(string s) const; @@ -595,7 +597,22 @@ class SO4 { class SOn { // Standard Constructors SOn(size_t n); - SOn(Matrix R); + static gtsam::SOn FromMatrix(Matrix R); + + // Testable + void print(string s) const; + bool equals(const gtsam::SOn& other, double tol) const; + + // Group + static gtsam::SOn identity(); + gtsam::SOn inverse() const; + gtsam::SOn between(const gtsam::SOn& Q) const; + gtsam::SOn compose(const gtsam::SOn& Q) const; + + // Manifold + gtsam::SOn retract(Vector v) const; + Vector localCoordinates(const gtsam::SOn& Q) const; + static gtsam::SOn Expmap(Vector v); // Other methods Vector vec() const; diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index fca229682..eea24f1a8 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -76,14 +76,21 @@ class SO : public LieGroup, internal::DimensionSO(N)> { /// Construct SO identity for N == Eigen::Dynamic template > explicit SO(size_t n = 0) { - if (n == 0) throw std::runtime_error("SO: Dimensionality not known."); + // We allow for n=0 as the default constructor, needed for serialization, + // wrappers etc. matrix_ = Eigen::MatrixXd::Identity(n, n); } - /// Constructor from Eigen Matrix + /// Constructor from Eigen Matrix, dynamic version template explicit SO(const Eigen::MatrixBase& R) : matrix_(R.eval()) {} + /// Named constructor from Eigen Matrix + template + static SO FromMatrix(const Eigen::MatrixBase& R) { + return SO(R); + } + /// Construct dynamic SO(n) from Fixed SO template > explicit SO(const SO& R) : matrix_(R.matrix()) {} From a573658ba479551450da4fca3bf6fe2565e98bb2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 14:45:10 -0400 Subject: [PATCH 0042/1152] Updated timing script --- timing/timeRot3.cpp | 36 ++++++++++++++++++------------------ 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/timing/timeRot3.cpp b/timing/timeRot3.cpp index 00c02c250..3a6a156d5 100644 --- a/timing/timeRot3.cpp +++ b/timing/timeRot3.cpp @@ -23,33 +23,33 @@ using namespace std; using namespace gtsam; -#define TEST(TITLE,STATEMENT) \ - cout << endl << TITLE << endl;\ - timeLog = clock();\ - for(int i = 0; i < n; i++)\ - STATEMENT;\ - timeLog2 = clock();\ - seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;\ - cout << seconds << " seconds" << endl;\ - cout << ((double)n/seconds) << " calls/second" << endl; +#define TEST(TITLE, STATEMENT) \ + cout << endl << TITLE << endl; \ + timeLog = clock(); \ + for (int i = 0; i < n; i++) STATEMENT; \ + timeLog2 = clock(); \ + seconds = static_cast(timeLog2 - timeLog) / CLOCKS_PER_SEC; \ + cout << 1000 * seconds << " milliseconds" << endl; \ + cout << (1e9 * seconds / static_cast(n)) << " nanosecs/call" << endl; -int main() -{ - int n = 100000; long timeLog, timeLog2; double seconds; +int main() { + int n = 100000; + clock_t timeLog, timeLog2; + double seconds; // create a random direction: - double norm=sqrt(1.0+16.0+4.0); - double x=1.0/norm, y=4.0/norm, z=2.0/norm; + double norm = sqrt(1.0 + 16.0 + 4.0); + double x = 1.0 / norm, y = 4.0 / norm, z = 2.0 / norm; Vector v = (Vector(3) << x, y, z).finished(); Rot3 R = Rot3::Rodrigues(0.1, 0.4, 0.2), R2 = R.retract(v); - TEST("Rodriguez formula given axis angle", Rot3::AxisAngle(v,0.001)) + TEST("Rodriguez formula given axis angle", Rot3::AxisAngle(v, 0.001)) TEST("Rodriguez formula given canonical coordinates", Rot3::Rodrigues(v)) - TEST("Expmap", R*Rot3::Expmap(v)) + TEST("Expmap", R * Rot3::Expmap(v)) TEST("Retract", R.retract(v)) TEST("Logmap", Rot3::Logmap(R.between(R2))) TEST("localCoordinates", R.localCoordinates(R2)) - TEST("Slow rotation matrix",Rot3::Rz(z)*Rot3::Ry(y)*Rot3::Rx(x)) - TEST("Fast Rotation matrix", Rot3::RzRyRx(x,y,z)) + TEST("Slow rotation matrix", Rot3::Rz(z) * Rot3::Ry(y) * Rot3::Rx(x)) + TEST("Fast Rotation matrix", Rot3::RzRyRx(x, y, z)) return 0; } From 9d23fe52e010d566e581b2e56e2ed97bd0ccf103 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 15:24:37 -0400 Subject: [PATCH 0043/1152] Fixed issue with quaternions and added "special" travis stage that checks quaternions path. --- .travis.yml | 15 +++++++++++---- gtsam/geometry/Rot3.h | 3 ++- 2 files changed, 13 insertions(+), 5 deletions(-) diff --git a/.travis.yml b/.travis.yml index 1e2d6760a..d7863cfdd 100644 --- a/.travis.yml +++ b/.travis.yml @@ -27,6 +27,7 @@ install: stages: - compile - test + - special # Compile stage without building examples/tests to populate the caches. jobs: @@ -75,12 +76,18 @@ jobs: compiler: clang env: CMAKE_BUILD_TYPE=Release script: bash .travis.sh -b -# on Linux, with deprecated ON to make sure that path still compiles - - stage: compile +# on Linux, with deprecated ON to make sure that path still compiles/tests + - stage: special os: linux compiler: clang - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON - script: bash .travis.sh -b + env: CMAKE_BUILD_TYPE=Release GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON + script: bash .travis.sh -t +# on Linux, with quaternions ON to make sure that path still compiles/tests + - stage: special + os: linux + compiler: clang + env: CMAKE_BUILD_TYPE=Release GTSAM_BUILD_UNSTABLE=OFF GTSAM_USE_QUATERNIONS=ON + script: bash .travis.sh -t # Matrix configuration: os: diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index f3a6f08cd..ab43b2d42 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -94,7 +94,8 @@ namespace gtsam { */ template #ifdef GTSAM_USE_QUATERNIONS - explicit Rot3(const Eigen::MatrixBase& R) : quaternion_(R) { + explicit Rot3(const Eigen::MatrixBase& R) { + quaternion_ = Matrix3(R); } #else explicit Rot3(const Eigen::MatrixBase& R) : rot_(R) { From f1e8a20a5a9798f68083d1f9e06bb46cebb015a0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 15:34:41 -0400 Subject: [PATCH 0044/1152] Cleaned up some unused headers --- gtsam/geometry/SO3.h | 1 - gtsam/geometry/SO4.h | 1 - gtsam/geometry/SOn.h | 1 - gtsam/linear/tests/testGaussianBayesTree.cpp | 1 - 4 files changed, 4 deletions(-) diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index 2b84dafba..eb6129ac8 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -26,7 +26,6 @@ #include #include -#include #include namespace gtsam { diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h index 0cc3bb9fe..c8e85b63f 100644 --- a/gtsam/geometry/SO4.h +++ b/gtsam/geometry/SO4.h @@ -28,7 +28,6 @@ #include -#include #include namespace gtsam { diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index eea24f1a8..529bcc1bd 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -25,7 +25,6 @@ #include #include -#include #include #include diff --git a/gtsam/linear/tests/testGaussianBayesTree.cpp b/gtsam/linear/tests/testGaussianBayesTree.cpp index ca3ebf91c..17dc6a425 100644 --- a/gtsam/linear/tests/testGaussianBayesTree.cpp +++ b/gtsam/linear/tests/testGaussianBayesTree.cpp @@ -25,7 +25,6 @@ using namespace boost::assign; #include #include -#include #include #include #include From 158b99f030d92eef71cc7d264b660f31da44880d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 15:39:44 -0400 Subject: [PATCH 0045/1152] Made sure GTSAM_USE_QUATERNIONS flag is set and used --- .travis.sh | 2 ++ .travis.yml | 1 + 2 files changed, 3 insertions(+) diff --git a/.travis.sh b/.travis.sh index 3cec20f53..1d71f263b 100755 --- a/.travis.sh +++ b/.travis.sh @@ -47,6 +47,7 @@ function build () -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \ -DGTSAM_BUILD_TESTS=OFF \ -DGTSAM_BUILD_UNSTABLE=$GTSAM_BUILD_UNSTABLE \ + -DGTSAM_USE_QUATERNIONS=$GTSAM_USE_QUATERNIONS \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=ON \ -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=$GTSAM_ALLOW_DEPRECATED_SINCE_V4 @@ -65,6 +66,7 @@ function test () -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \ -DGTSAM_BUILD_TESTS=ON \ -DGTSAM_BUILD_UNSTABLE=$GTSAM_BUILD_UNSTABLE \ + -DGTSAM_USE_QUATERNIONS=$GTSAM_USE_QUATERNIONS \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF diff --git a/.travis.yml b/.travis.yml index d7863cfdd..50553e081 100644 --- a/.travis.yml +++ b/.travis.yml @@ -101,6 +101,7 @@ env: - MAKEFLAGS="-j2" - CCACHE_SLOPPINESS=pch_defines,time_macros - GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF + - GTSAM_USE_QUATERNIONS=OFF - GTSAM_BUILD_UNSTABLE=ON matrix: - CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF From 1e5973628e05ec849184b2cf32b960677f6ecaf6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 16:03:47 -0400 Subject: [PATCH 0046/1152] Worked around build snafu on Travis with enable_if_t (not in all boost versions, and only in std as of c++14) --- gtsam/geometry/SOn.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 529bcc1bd..a827b3a63 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -26,6 +26,7 @@ #include #include +#include #include namespace gtsam { @@ -58,11 +59,11 @@ class SO : public LieGroup, internal::DimensionSO(N)> { // enable_if_t aliases, used to specialize constructors/methods, see // https://www.fluentcpp.com/2018/05/18/make-sfinae-pretty-2-hidden-beauty-sfinae/ template - using IsDynamic = boost::enable_if_t; + using IsDynamic = typename std::enable_if::type; template - using IsFixed = boost::enable_if_t= 2, void>; + using IsFixed = typename std::enable_if= 2, void>::type; template - using IsSO3 = boost::enable_if_t; + using IsSO3 = typename std::enable_if::type; public: /// @name Constructors From e758089f13ece3412e386817ef47fd0a6eb33fd3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 16:25:53 -0400 Subject: [PATCH 0047/1152] Fixed test --- gtsam/geometry/tests/testSOn.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index cc89f76fe..384150c52 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -46,7 +46,7 @@ TEST(SOn, SO5) { EXPECT_LONGS_EQUAL(Eigen::Dynamic, SOn::dimension); EXPECT_LONGS_EQUAL(Eigen::Dynamic, SOn::Dim()); EXPECT_LONGS_EQUAL(10, R.dim()); - EXPECT_LONGS_EQUAL(10, traits::GetDimension(R)); + EXPECT_LONGS_EQUAL(-1, traits::GetDimension(R)); } //****************************************************************************** From 40af21914bac071a06004cb19ceaefabdef27503 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 19:32:45 -0400 Subject: [PATCH 0048/1152] Fixed issue with static vector being const --- gtsam/geometry/SO3.cpp | 13 +++++++------ gtsam/geometry/SO4.cpp | 2 +- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index 31d63d312..de595239a 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -68,7 +68,8 @@ ExpmapFunctor::ExpmapFunctor(const Vector3& omega, bool nearZeroApprox) } } -ExpmapFunctor::ExpmapFunctor(const Vector3& axis, double angle, bool nearZeroApprox) +ExpmapFunctor::ExpmapFunctor(const Vector3& axis, double angle, + bool nearZeroApprox) : theta2(angle * angle), theta(angle) { const double ax = axis.x(), ay = axis.y(), az = axis.z(); K << 0.0, -az, +ay, +az, 0.0, -ax, -ay, +ax, 0.0; @@ -88,9 +89,9 @@ SO3 ExpmapFunctor::expmap() const { DexpFunctor::DexpFunctor(const Vector3& omega, bool nearZeroApprox) : ExpmapFunctor(omega, nearZeroApprox), omega(omega) { - if (nearZero) + if (nearZero) { dexp_ = I_3x3 - 0.5 * W; - else { + } else { a = one_minus_cos / theta; b = 1.0 - sin_theta / theta; dexp_ = I_3x3 - a * K + b * KK; @@ -296,9 +297,9 @@ static Vector9 vec3(const Matrix3& R) { } // so<3> generators -static const std::vector G3({SO3::Hat(Vector3::Unit(0)), - SO3::Hat(Vector3::Unit(1)), - SO3::Hat(Vector3::Unit(2))}); +static std::vector G3({SO3::Hat(Vector3::Unit(0)), + SO3::Hat(Vector3::Unit(1)), + SO3::Hat(Vector3::Unit(2))}); // vectorized generators static const Matrix93 P3 = diff --git a/gtsam/geometry/SO4.cpp b/gtsam/geometry/SO4.cpp index 93c5f7f8e..5660e85d5 100644 --- a/gtsam/geometry/SO4.cpp +++ b/gtsam/geometry/SO4.cpp @@ -138,7 +138,7 @@ static SO4::VectorN2 vec4(const Matrix4& Q) { } // so<4> generators -static const std::vector G4( +static std::vector G4( {SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))}); From 41902efc79a8337a58d8e52d1eec04a2f2040387 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 21:12:55 -0400 Subject: [PATCH 0049/1152] Another attempt at getting past Linux compiler --- gtsam/geometry/SO3.cpp | 6 +++--- gtsam/geometry/SO4.cpp | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index de595239a..7ea9dfb07 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -297,9 +297,9 @@ static Vector9 vec3(const Matrix3& R) { } // so<3> generators -static std::vector G3({SO3::Hat(Vector3::Unit(0)), - SO3::Hat(Vector3::Unit(1)), - SO3::Hat(Vector3::Unit(2))}); +static std::vector G3({SO3::Hat(Vector3::Unit(0)), + SO3::Hat(Vector3::Unit(1)), + SO3::Hat(Vector3::Unit(2))}); // vectorized generators static const Matrix93 P3 = diff --git a/gtsam/geometry/SO4.cpp b/gtsam/geometry/SO4.cpp index 5660e85d5..93fb05386 100644 --- a/gtsam/geometry/SO4.cpp +++ b/gtsam/geometry/SO4.cpp @@ -138,7 +138,7 @@ static SO4::VectorN2 vec4(const Matrix4& Q) { } // so<4> generators -static std::vector G4( +static std::vector G4( {SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))}); From 8280a082bd25f21b2144c79f5ed583fb6d41c93a Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 2 Oct 2019 04:04:34 -0400 Subject: [PATCH 0050/1152] implemented residual functions for common M-estimators and added corresponding tests --- gtsam.h | 6 ++ gtsam/linear/NoiseModel.cpp | 6 ++ gtsam/linear/NoiseModel.h | 40 +++++++++++++ gtsam/linear/tests/testNoiseModel.cpp | 84 +++++++++++++++++++++++++-- 4 files changed, 131 insertions(+), 5 deletions(-) diff --git a/gtsam.h b/gtsam.h index 23590f5f8..35256e92c 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1364,6 +1364,7 @@ virtual class Null: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; + double residual(double error) const; }; virtual class Fair: gtsam::noiseModel::mEstimator::Base { @@ -1384,6 +1385,7 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; + double residual(double error) const; }; virtual class Cauchy: gtsam::noiseModel::mEstimator::Base { @@ -1394,6 +1396,7 @@ virtual class Cauchy: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; + double residual(double error) const; }; virtual class Tukey: gtsam::noiseModel::mEstimator::Base { @@ -1404,6 +1407,7 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; + double residual(double error) const; }; virtual class Welsch: gtsam::noiseModel::mEstimator::Base { @@ -1414,6 +1418,7 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; + double residual(double error) const; }; virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { @@ -1424,6 +1429,7 @@ virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; + double residual(double error) const; }; //TODO DCS and L2WithDeadZone mEstimators diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index a01233fad..d4cf2a5c2 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -858,6 +858,12 @@ double GemanMcClure::weight(double error) const { return c4/(c2error*c2error); } +double GemanMcClure::residual(double error) const { + const double c2 = c_*c_; + const double error2 = error*error; + return 0.5 * (c2 * error2) / (c2 + error2); +} + void GemanMcClure::print(const std::string &s="") const { std::cout << s << ": Geman-McClure (" << c_ << ")" << std::endl; } diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 464bb38ed..2ef830c81 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -18,6 +18,7 @@ #pragma once +#include #include #include #include @@ -727,6 +728,7 @@ namespace gtsam { Null(const ReweightScheme reweight = Block) : Base(reweight) {} virtual ~Null() {} virtual double weight(double /*error*/) const { return 1.0; } + virtual double residual(double error) const { return error; } virtual void print(const std::string &s) const; virtual bool equals(const Base& /*expected*/, double /*tol*/) const { return true; } static shared_ptr Create() ; @@ -752,6 +754,12 @@ namespace gtsam { double weight(double error) const { return 1.0 / (1.0 + std::abs(error) / c_); } + double residual(double error) const { + double absError = std::abs(error); + double normalizedError = absError / c_; + double val = normalizedError - std::log(1 + normalizedError); + return c_ * c_ * val; + } void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double c, const ReweightScheme reweight = Block) ; @@ -779,6 +787,14 @@ namespace gtsam { double absError = std::abs(error); return (absError < k_) ? (1.0) : (k_ / absError); } + double residual(double error) const { + double absError = std::abs(error); + if (absError <= k_) { // |x| <= k + return error*error / 2; + } else { // |x| > k + return k_ * (absError - (k_/2)); + } + } void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -809,6 +825,11 @@ namespace gtsam { double weight(double error) const { return ksquared_ / (ksquared_ + error*error); } + double residual(double error) const { + double normalizedError = error / k_; + double val = std::log(1 + (normalizedError*normalizedError)); + return ksquared_ * val * 0.5; + } void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -839,6 +860,16 @@ namespace gtsam { } return 0.0; } + double residual(double error) const { + double absError = std::abs(error); + if (absError <= c_) { + double t = csquared_ - (error*error); + double val = t * t * t; + return ((csquared_*csquared_*csquared_) - val) / (6.0 * csquared_ * csquared_); + } else { + return csquared_ / 6.0; + } + } void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -866,6 +897,10 @@ namespace gtsam { double xc2 = (error*error)/csquared_; return std::exp(-xc2); } + double residual(double error) const { + double xc2 = (error*error)/csquared_; + return csquared_ * 0.5 * (1 - std::exp(-xc2) ); + } void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -897,6 +932,10 @@ namespace gtsam { double xc2 = (error*error)/csquared_; return std::exp(-xc2); } + double residual(double error) const { + double xc2 = (error*error)/csquared_; + return csquared_ * 0.5 * (1 - std::exp(-xc2) ); + } void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -925,6 +964,7 @@ namespace gtsam { GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block); virtual ~GemanMcClure() {} virtual double weight(double error) const; + virtual double residual(double error) const; virtual void print(const std::string &s) const; virtual bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 85dc4735d..6419f2b9d 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -457,6 +457,22 @@ TEST(NoiseModel, WhitenInPlace) * penalties using iteratively re-weighted least squares. */ +TEST(NoiseModel, robustFunctionFair) +{ + const double k = 5.0, error1 = 1.0, error2 = 10.0, error3 = -10.0, error4 = -1.0; + const mEstimator::Fair::shared_ptr fair = mEstimator::Fair::Create(k); + DOUBLES_EQUAL(0.8333333333333333, fair->weight(error1), 1e-8); + DOUBLES_EQUAL(0.3333333333333333, fair->weight(error2), 1e-8); + // Test negative value to ensure we take absolute value of error. + DOUBLES_EQUAL(0.3333333333333333, fair->weight(error3), 1e-8); + DOUBLES_EQUAL(0.8333333333333333, fair->weight(error4), 1e-8); + + DOUBLES_EQUAL(0.441961080151135, fair->residual(error1), 1e-8); + DOUBLES_EQUAL(22.534692783297260, fair->residual(error2), 1e-8); + DOUBLES_EQUAL(22.534692783297260, fair->residual(error3), 1e-8); + DOUBLES_EQUAL(0.441961080151135, fair->residual(error4), 1e-8); +} + TEST(NoiseModel, robustFunctionHuber) { const double k = 5.0, error1 = 1.0, error2 = 10.0, error3 = -10.0, error4 = -1.0; @@ -466,16 +482,74 @@ TEST(NoiseModel, robustFunctionHuber) // Test negative value to ensure we take absolute value of error. DOUBLES_EQUAL(0.5, huber->weight(error3), 1e-8); DOUBLES_EQUAL(1.0, huber->weight(error4), 1e-8); + + DOUBLES_EQUAL(0.5000, huber->residual(error1), 1e-8); + DOUBLES_EQUAL(37.5000, huber->residual(error2), 1e-8); + DOUBLES_EQUAL(37.5000, huber->residual(error3), 1e-8); + DOUBLES_EQUAL(0.5000, huber->residual(error4), 1e-8); +} + +TEST(NoiseModel, robustFunctionCauchy) +{ + const double k = 5.0, error1 = 1.0, error2 = 10.0, error3 = -10.0, error4 = -1.0; + const mEstimator::Cauchy::shared_ptr cauchy = mEstimator::Cauchy::Create(k); + DOUBLES_EQUAL(0.961538461538461, cauchy->weight(error1), 1e-8); + DOUBLES_EQUAL(0.2000, cauchy->weight(error2), 1e-8); + // Test negative value to ensure we take absolute value of error. + DOUBLES_EQUAL(0.2000, cauchy->weight(error3), 1e-8); + DOUBLES_EQUAL(0.961538461538461, cauchy->weight(error4), 1e-8); + + DOUBLES_EQUAL(0.490258914416017, cauchy->residual(error1), 1e-8); + DOUBLES_EQUAL(20.117973905426254, cauchy->residual(error2), 1e-8); + DOUBLES_EQUAL(20.117973905426254, cauchy->residual(error3), 1e-8); + DOUBLES_EQUAL(0.490258914416017, cauchy->residual(error4), 1e-8); } TEST(NoiseModel, robustFunctionGemanMcClure) { - const double k = 1.0, error1 = 1.0, error2 = 10.0; + const double k = 1.0, error1 = 1.0, error2 = 10.0, error3 = -10.0, error4 = -1.0; const mEstimator::GemanMcClure::shared_ptr gmc = mEstimator::GemanMcClure::Create(k); - const double weight1 = gmc->weight(error1), - weight2 = gmc->weight(error2); - DOUBLES_EQUAL(0.25 , weight1, 1e-8); - DOUBLES_EQUAL(9.80296e-5, weight2, 1e-8); + DOUBLES_EQUAL(0.25 , gmc->weight(error1), 1e-8); + DOUBLES_EQUAL(9.80296e-5, gmc->weight(error2), 1e-8); + DOUBLES_EQUAL(9.80296e-5, gmc->weight(error3), 1e-8); + DOUBLES_EQUAL(0.25 , gmc->weight(error4), 1e-8); + + DOUBLES_EQUAL(0.2500, gmc->residual(error1), 1e-8); + DOUBLES_EQUAL(0.495049504950495, gmc->residual(error2), 1e-8); + DOUBLES_EQUAL(0.495049504950495, gmc->residual(error3), 1e-8); + DOUBLES_EQUAL(0.2500, gmc->residual(error4), 1e-8); +} + +TEST(NoiseModel, robustFunctionWelsch) +{ + const double k = 5.0, error1 = 1.0, error2 = 10.0, error3 = -10.0, error4 = -1.0; + const mEstimator::Welsch::shared_ptr welsch = mEstimator::Welsch::Create(k); + DOUBLES_EQUAL(0.960789439152323, welsch->weight(error1), 1e-8); + DOUBLES_EQUAL(0.018315638888734, welsch->weight(error2), 1e-8); + // Test negative value to ensure we take absolute value of error. + DOUBLES_EQUAL(0.018315638888734, welsch->weight(error3), 1e-8); + DOUBLES_EQUAL(0.960789439152323, welsch->weight(error4), 1e-8); + + DOUBLES_EQUAL(0.490132010595960, welsch->residual(error1), 1e-8); + DOUBLES_EQUAL(12.271054513890823, welsch->residual(error2), 1e-8); + DOUBLES_EQUAL(12.271054513890823, welsch->residual(error3), 1e-8); + DOUBLES_EQUAL(0.490132010595960, welsch->residual(error4), 1e-8); +} + +TEST(NoiseModel, robustFunctionTukey) +{ + const double k = 5.0, error1 = 1.0, error2 = 10.0, error3 = -10.0, error4 = -1.0; + const mEstimator::Tukey::shared_ptr tukey = mEstimator::Tukey::Create(k); + DOUBLES_EQUAL(0.9216, tukey->weight(error1), 1e-8); + DOUBLES_EQUAL(0.0, tukey->weight(error2), 1e-8); + // Test negative value to ensure we take absolute value of error. + DOUBLES_EQUAL(0.0, tukey->weight(error3), 1e-8); + DOUBLES_EQUAL(0.9216, tukey->weight(error4), 1e-8); + + DOUBLES_EQUAL(0.480266666666667, tukey->residual(error1), 1e-8); + DOUBLES_EQUAL(4.166666666666667, tukey->residual(error2), 1e-8); + DOUBLES_EQUAL(4.166666666666667, tukey->residual(error3), 1e-8); + DOUBLES_EQUAL(0.480266666666667, tukey->residual(error4), 1e-8); } TEST(NoiseModel, robustFunctionDCS) From 3fad1fa81bda4cf847d6729f6646fa4efbd595af Mon Sep 17 00:00:00 2001 From: Ellon Paiva Mendes Date: Thu, 3 Oct 2019 17:45:58 +0200 Subject: [PATCH 0051/1152] Install GTSAMConfigVersion.cmake --- cmake/GtsamMakeConfigFile.cmake | 28 ++++++++++++++++++++++++++-- gtsam_extra.cmake.in | 5 ++--- 2 files changed, 28 insertions(+), 5 deletions(-) diff --git a/cmake/GtsamMakeConfigFile.cmake b/cmake/GtsamMakeConfigFile.cmake index 74081b58a..2fff888ef 100644 --- a/cmake/GtsamMakeConfigFile.cmake +++ b/cmake/GtsamMakeConfigFile.cmake @@ -20,13 +20,37 @@ function(GtsamMakeConfigFile PACKAGE_NAME) set(EXTRA_FILE "_does_not_exist_") endif() + # GTSAM defines its version variable as GTSAM_VERSION_STRING while other + # projects may define it as _VERSION. Since this file is + # installed on the system as part of GTSAMCMakeTools and may be useful in + # external projects, we need to handle both cases of version variable naming + # here. + if(NOT DEFINED ${PACKAGE_NAME}_VERSION AND DEFINED ${PACKAGE_NAME}_VERSION_STRING) + set(${PACKAGE_NAME}_VERSION ${${PACKAGE_NAME}_VERSION_STRING}) + endif() + + # Version file + include(CMakePackageConfigHelpers) + write_basic_package_version_file( + "${PROJECT_BINARY_DIR}/${PACKAGE_NAME}ConfigVersion.cmake" + VERSION ${${PACKAGE_NAME}_VERSION} + COMPATIBILITY SameMajorVersion + ) + + # Config file file(RELATIVE_PATH CONF_REL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/include") file(RELATIVE_PATH CONF_REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/lib") configure_file(${GTSAM_CONFIG_TEMPLATE_PATH}/Config.cmake.in "${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake" @ONLY) message(STATUS "Wrote ${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake") - # Install config and exports files (for find scripts) - install(FILES "${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake" DESTINATION "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}") + # Install config, version and exports files (for find scripts) + install( + FILES + "${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake" + "${PROJECT_BINARY_DIR}/${PACKAGE_NAME}ConfigVersion.cmake" + DESTINATION + "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}" + ) install(EXPORT ${PACKAGE_NAME}-exports DESTINATION ${DEF_INSTALL_CMAKE_DIR}) endfunction() diff --git a/gtsam_extra.cmake.in b/gtsam_extra.cmake.in index b7990b3cc..8a9a13648 100644 --- a/gtsam_extra.cmake.in +++ b/gtsam_extra.cmake.in @@ -1,8 +1,7 @@ # Extra CMake definitions for GTSAM -set (GTSAM_VERSION_MAJOR @GTSAM_VERSION_MAJOR@) -set (GTSAM_VERSION_MINOR @GTSAM_VERSION_MINOR@) -set (GTSAM_VERSION_PATCH @GTSAM_VERSION_PATCH@) +# All version variables are handled by GTSAMConfigVersion.cmake, except these +# two below. We continue to set them here in case someone uses them set (GTSAM_VERSION_NUMERIC @GTSAM_VERSION_NUMERIC@) set (GTSAM_VERSION_STRING "@GTSAM_VERSION_STRING@") From bbf007e4e4e6db048604f879bce22255b5f480ac Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Mon, 7 Oct 2019 11:15:31 +0200 Subject: [PATCH 0052/1152] Remove obsolete cmake FindXX modules. Exported config files are preferred over modules, and easier to maintain. --- cmake/obsolete/FindGTSAM.cmake | 88 ------------------------- cmake/obsolete/FindGTSAM_UNSTABLE.cmake | 88 ------------------------- 2 files changed, 176 deletions(-) delete mode 100644 cmake/obsolete/FindGTSAM.cmake delete mode 100644 cmake/obsolete/FindGTSAM_UNSTABLE.cmake diff --git a/cmake/obsolete/FindGTSAM.cmake b/cmake/obsolete/FindGTSAM.cmake deleted file mode 100644 index 895eb853b..000000000 --- a/cmake/obsolete/FindGTSAM.cmake +++ /dev/null @@ -1,88 +0,0 @@ -# This is FindGTSAM.cmake -# DEPRECIATED: Use config file approach to pull in targets from gtsam -# CMake module to locate the GTSAM package -# -# The following cache variables may be set before calling this script: -# -# GTSAM_DIR (or GTSAM_ROOT): (Optional) The install prefix OR source tree of gtsam (e.g. /usr/local or src/gtsam) -# GTSAM_BUILD_NAME: (Optional) If compiling against a source tree, the name of the build directory -# within it (e.g build-debug). Without this defined, this script tries to -# intelligently find the build directory based on the project's build directory name -# or based on the build type (Debug/Release/etc). -# -# The following variables will be defined: -# -# GTSAM_FOUND : TRUE if the package has been successfully found -# GTSAM_INCLUDE_DIR : paths to GTSAM's INCLUDE directories -# GTSAM_LIBS : paths to GTSAM's libraries -# -# NOTES on compiling against an uninstalled GTSAM build tree: -# - A GTSAM source tree will be automatically searched for in the directory -# 'gtsam' next to your project directory, after searching -# CMAKE_INSTALL_PREFIX and $HOME, but before searching /usr/local and /usr. -# - The build directory will be searched first with the same name as your -# project's build directory, e.g. if you build from 'MyProject/build-optimized', -# 'gtsam/build-optimized' will be searched first. Next, a build directory for -# your project's build type, e.g. if CMAKE_BUILD_TYPE in your project is -# 'Release', then 'gtsam/build-release' will be searched next. Finally, plain -# 'gtsam/build' will be searched. -# - You can control the gtsam build directory name directly by defining the CMake -# cache variable 'GTSAM_BUILD_NAME', then only 'gtsam/${GTSAM_BUILD_NAME} will -# be searched. -# - Use the standard CMAKE_PREFIX_PATH, or GTSAM_DIR, to find a specific gtsam -# directory. - -# Get path suffixes to help look for gtsam -if(GTSAM_BUILD_NAME) - set(gtsam_build_names "${GTSAM_BUILD_NAME}/gtsam") -else() - # lowercase build type - string(TOLOWER "${CMAKE_BUILD_TYPE}" build_type_suffix) - # build suffix of this project - get_filename_component(my_build_name "${CMAKE_BINARY_DIR}" NAME) - - set(gtsam_build_names "${my_build_name}/gtsam" "build-${build_type_suffix}/gtsam" "build/gtsam") -endif() - -# Use GTSAM_ROOT or GTSAM_DIR equivalently -if(GTSAM_ROOT AND NOT GTSAM_DIR) - set(GTSAM_DIR "${GTSAM_ROOT}") -endif() - -if(GTSAM_DIR) - # Find include dirs - find_path(GTSAM_INCLUDE_DIR gtsam/inference/FactorGraph.h - PATHS "${GTSAM_DIR}/include" "${GTSAM_DIR}" NO_DEFAULT_PATH - DOC "GTSAM include directories") - - # Find libraries - find_library(GTSAM_LIBS NAMES gtsam - HINTS "${GTSAM_DIR}/lib" "${GTSAM_DIR}" NO_DEFAULT_PATH - PATH_SUFFIXES ${gtsam_build_names} - DOC "GTSAM libraries") -else() - # Find include dirs - set(extra_include_paths ${CMAKE_INSTALL_PREFIX}/include "$ENV{HOME}/include" "${PROJECT_SOURCE_DIR}/../gtsam" /usr/local/include /usr/include) - find_path(GTSAM_INCLUDE_DIR gtsam/inference/FactorGraph.h - PATHS ${extra_include_paths} - DOC "GTSAM include directories") - if(NOT GTSAM_INCLUDE_DIR) - message(STATUS "Searched for gtsam headers in default paths plus ${extra_include_paths}") - endif() - - # Find libraries - find_library(GTSAM_LIBS NAMES gtsam - HINTS ${CMAKE_INSTALL_PREFIX}/lib "$ENV{HOME}/lib" "${PROJECT_SOURCE_DIR}/../gtsam" /usr/local/lib /usr/lib - PATH_SUFFIXES ${gtsam_build_names} - DOC "GTSAM libraries") -endif() - -# handle the QUIETLY and REQUIRED arguments and set GTSAM_FOUND to TRUE -# if all listed variables are TRUE -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(GTSAM DEFAULT_MSG - GTSAM_LIBS GTSAM_INCLUDE_DIR) - - - - diff --git a/cmake/obsolete/FindGTSAM_UNSTABLE.cmake b/cmake/obsolete/FindGTSAM_UNSTABLE.cmake deleted file mode 100644 index 42cc9c8b0..000000000 --- a/cmake/obsolete/FindGTSAM_UNSTABLE.cmake +++ /dev/null @@ -1,88 +0,0 @@ -# This is FindGTSAM_UNSTABLE.cmake -# DEPRECIATED: Use config file approach to pull in targets from gtsam -# CMake module to locate the GTSAM_UNSTABLE package -# -# The following cache variables may be set before calling this script: -# -# GTSAM_UNSTABLE_DIR (or GTSAM_UNSTABLE_ROOT): (Optional) The install prefix OR source tree of gtsam_unstable (e.g. /usr/local or src/gtsam_unstable) -# GTSAM_UNSTABLE_BUILD_NAME: (Optional) If compiling against a source tree, the name of the build directory -# within it (e.g build-debug). Without this defined, this script tries to -# intelligently find the build directory based on the project's build directory name -# or based on the build type (Debug/Release/etc). -# -# The following variables will be defined: -# -# GTSAM_UNSTABLE_FOUND : TRUE if the package has been successfully found -# GTSAM_UNSTABLE_INCLUDE_DIR : paths to GTSAM_UNSTABLE's INCLUDE directories -# GTSAM_UNSTABLE_LIBS : paths to GTSAM_UNSTABLE's libraries -# -# NOTES on compiling against an uninstalled GTSAM_UNSTABLE build tree: -# - A GTSAM_UNSTABLE source tree will be automatically searched for in the directory -# 'gtsam_unstable' next to your project directory, after searching -# CMAKE_INSTALL_PREFIX and $HOME, but before searching /usr/local and /usr. -# - The build directory will be searched first with the same name as your -# project's build directory, e.g. if you build from 'MyProject/build-optimized', -# 'gtsam_unstable/build-optimized' will be searched first. Next, a build directory for -# your project's build type, e.g. if CMAKE_BUILD_TYPE in your project is -# 'Release', then 'gtsam_unstable/build-release' will be searched next. Finally, plain -# 'gtsam_unstable/build' will be searched. -# - You can control the gtsam build directory name directly by defining the CMake -# cache variable 'GTSAM_UNSTABLE_BUILD_NAME', then only 'gtsam/${GTSAM_UNSTABLE_BUILD_NAME} will -# be searched. -# - Use the standard CMAKE_PREFIX_PATH, or GTSAM_UNSTABLE_DIR, to find a specific gtsam -# directory. - -# Get path suffixes to help look for gtsam_unstable -if(GTSAM_UNSTABLE_BUILD_NAME) - set(gtsam_unstable_build_names "${GTSAM_UNSTABLE_BUILD_NAME}/gtsam_unstable") -else() - # lowercase build type - string(TOLOWER "${CMAKE_BUILD_TYPE}" build_type_suffix) - # build suffix of this project - get_filename_component(my_build_name "${CMAKE_BINARY_DIR}" NAME) - - set(gtsam_unstable_build_names "${my_build_name}/gtsam_unstable" "build-${build_type_suffix}/gtsam_unstable" "build/gtsam_unstable") -endif() - -# Use GTSAM_UNSTABLE_ROOT or GTSAM_UNSTABLE_DIR equivalently -if(GTSAM_UNSTABLE_ROOT AND NOT GTSAM_UNSTABLE_DIR) - set(GTSAM_UNSTABLE_DIR "${GTSAM_UNSTABLE_ROOT}") -endif() - -if(GTSAM_UNSTABLE_DIR) - # Find include dirs - find_path(GTSAM_UNSTABLE_INCLUDE_DIR gtsam_unstable/base/DSF.h - PATHS "${GTSAM_UNSTABLE_DIR}/include" "${GTSAM_UNSTABLE_DIR}" NO_DEFAULT_PATH - DOC "GTSAM_UNSTABLE include directories") - - # Find libraries - find_library(GTSAM_UNSTABLE_LIBS NAMES gtsam_unstable - HINTS "${GTSAM_UNSTABLE_DIR}/lib" "${GTSAM_UNSTABLE_DIR}" NO_DEFAULT_PATH - PATH_SUFFIXES ${gtsam_unstable_build_names} - DOC "GTSAM_UNSTABLE libraries") -else() - # Find include dirs - set(extra_include_paths ${CMAKE_INSTALL_PREFIX}/include "$ENV{HOME}/include" "${PROJECT_SOURCE_DIR}/../gtsam" /usr/local/include /usr/include) - find_path(GTSAM_UNSTABLE_INCLUDE_DIR gtsam_unstable/base/DSF.h - PATHS ${extra_include_paths} - DOC "GTSAM_UNSTABLE include directories") - if(NOT GTSAM_UNSTABLE_INCLUDE_DIR) - message(STATUS "Searched for gtsam_unstable headers in default paths plus ${extra_include_paths}") - endif() - - # Find libraries - find_library(GTSAM_UNSTABLE_LIBS NAMES gtsam_unstable - HINTS ${CMAKE_INSTALL_PREFIX}/lib "$ENV{HOME}/lib" "${PROJECT_SOURCE_DIR}/../gtsam" /usr/local/lib /usr/lib - PATH_SUFFIXES ${gtsam_unstable_build_names} - DOC "GTSAM_UNSTABLE libraries") -endif() - -# handle the QUIETLY and REQUIRED arguments and set GTSAM_UNSTABLE_FOUND to TRUE -# if all listed variables are TRUE -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(GTSAM_UNSTABLE DEFAULT_MSG - GTSAM_UNSTABLE_LIBS GTSAM_UNSTABLE_INCLUDE_DIR) - - - - From b10963802c13893611d5a88894879bed47adf9e0 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Mon, 7 Oct 2019 11:21:22 +0200 Subject: [PATCH 0053/1152] Revert "Fix cmake handling newer boost versions (Closes: #442)" This reverts commit a0fce4257fe4e5fe483ec9d048ee62bac803df8f. --- CMakeLists.txt | 33 ++++++++------------------------- CppUnitLite/CMakeLists.txt | 2 +- gtsam/CMakeLists.txt | 4 ---- wrap/CMakeLists.txt | 13 +++---------- 4 files changed, 12 insertions(+), 40 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index b0457cb1c..7e8df35e9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -171,39 +171,22 @@ if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILE message(FATAL_ERROR "Missing required Boost components >= v1.43, please install/upgrade Boost or configure your search paths.") endif() -# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library) option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF) - -# JLBC: This was once updated to target-based names (Boost::xxx), but it caused -# problems with Boost versions newer than FindBoost.cmake was prepared to handle, -# so we downgraded this to classic filenames-based variables, and manually adding -# the target_include_directories(xxx ${Boost_INCLUDE_DIR}) +# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library) set(GTSAM_BOOST_LIBRARIES - optimized ${Boost_SERIALIZATION_LIBRARY_RELEASE} - optimized ${Boost_SYSTEM_LIBRARY_RELEASE} - optimized ${Boost_FILESYSTEM_LIBRARY_RELEASE} - optimized ${Boost_THREAD_LIBRARY_RELEASE} - optimized ${Boost_DATE_TIME_LIBRARY_RELEASE} - optimized ${Boost_REGEX_LIBRARY_RELEASE} - debug ${Boost_SERIALIZATION_LIBRARY_DEBUG} - debug ${Boost_SYSTEM_LIBRARY_DEBUG} - debug ${Boost_FILESYSTEM_LIBRARY_DEBUG} - debug ${Boost_THREAD_LIBRARY_DEBUG} - debug ${Boost_DATE_TIME_LIBRARY_DEBUG} - debug ${Boost_REGEX_LIBRARY_DEBUG} + Boost::serialization + Boost::system + Boost::filesystem + Boost::thread + Boost::date_time + Boost::regex ) -message(STATUS "GTSAM_BOOST_LIBRARIES: ${GTSAM_BOOST_LIBRARIES}") 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 - optimized ${Boost_TIMER_LIBRARY_RELEASE} - optimized ${Boost_CHRONO_LIBRARY_RELEASE} - debug ${Boost_TIMER_LIBRARY_DEBUG} - debug ${Boost_CHRONO_LIBRARY_DEBUG} - ) + 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.") diff --git a/CppUnitLite/CMakeLists.txt b/CppUnitLite/CMakeLists.txt index 72651aca9..f52841274 100644 --- a/CppUnitLite/CMakeLists.txt +++ b/CppUnitLite/CMakeLists.txt @@ -6,7 +6,7 @@ file(GLOB cppunitlite_src "*.cpp") add_library(CppUnitLite STATIC ${cppunitlite_src} ${cppunitlite_headers}) list(APPEND GTSAM_EXPORTED_TARGETS CppUnitLite) set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) -target_include_directories(CppUnitLite PUBLIC ${Boost_INCLUDE_DIR}) # boost/lexical_cast.h +target_link_libraries(CppUnitLite PUBLIC Boost::boost) # boost/lexical_cast.h gtsam_assign_source_folders("${cppunitlite_headers};${cppunitlite_src}") # MSVC project structure diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index b4a33943e..97f7a2c41 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -103,11 +103,7 @@ message(STATUS "Building GTSAM - shared: ${BUILD_SHARED_LIBS}") # BUILD_SHARED_LIBS automatically defines static/shared libs: add_library(gtsam ${gtsam_srcs}) - -# Boost: target_link_libraries(gtsam PUBLIC ${GTSAM_BOOST_LIBRARIES}) -target_include_directories(gtsam PUBLIC ${Boost_INCLUDE_DIR}) -# Other deps: target_link_libraries(gtsam PUBLIC ${GTSAM_ADDITIONAL_LIBRARIES}) # Apply build flags: diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 6e046e3ab..ac7a35fcd 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -1,14 +1,9 @@ # Build/install Wrap set(WRAP_BOOST_LIBRARIES - optimized - ${Boost_FILESYSTEM_LIBRARY_RELEASE} - ${Boost_SYSTEM_LIBRARY_RELEASE} - ${Boost_THREAD_LIBRARY_RELEASE} - debug - ${Boost_FILESYSTEM_LIBRARY_DEBUG} - ${Boost_SYSTEM_LIBRARY_DEBUG} - ${Boost_THREAD_LIBRARY_DEBUG} + Boost::system + Boost::filesystem + Boost::thread ) # Allow for disabling serialization to handle errors related to Clang's linker @@ -30,8 +25,6 @@ endif() gtsam_apply_build_flags(wrap_lib) target_link_libraries(wrap_lib ${WRAP_BOOST_LIBRARIES}) -target_include_directories(wrap_lib PUBLIC ${Boost_INCLUDE_DIR}) - gtsam_assign_source_folders(${wrap_srcs} ${wrap_headers}) add_executable(wrap wrap.cpp) target_link_libraries(wrap PRIVATE wrap_lib) From 3e01411010babc96b0d1d755dea932991c08396b Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Mon, 7 Oct 2019 11:36:06 +0200 Subject: [PATCH 0054/1152] Import FindBoost from CMake v3.15.4 --- cmake/FindBoost.cmake | 2337 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 2337 insertions(+) create mode 100644 cmake/FindBoost.cmake diff --git a/cmake/FindBoost.cmake b/cmake/FindBoost.cmake new file mode 100644 index 000000000..078000f22 --- /dev/null +++ b/cmake/FindBoost.cmake @@ -0,0 +1,2337 @@ +# Distributed under the OSI-approved BSD 3-Clause License. See accompanying +# file Copyright.txt or https://cmake.org/licensing for details. + +#[=======================================================================[.rst: +FindBoost +--------- + +Find Boost include dirs and libraries + +Use this module by invoking find_package with the form:: + + find_package(Boost + [version] [EXACT] # Minimum or EXACT version e.g. 1.67.0 + [REQUIRED] # Fail with error if Boost is not found + [COMPONENTS ...] # Boost libraries by their canonical name + # e.g. "date_time" for "libboost_date_time" + [OPTIONAL_COMPONENTS ...] + # Optional Boost libraries by their canonical name) + ) # e.g. "date_time" for "libboost_date_time" + +This module finds headers and requested component libraries OR a CMake +package configuration file provided by a "Boost CMake" build. For the +latter case skip to the "Boost CMake" section below. For the former +case results are reported in variables:: + + Boost_FOUND - True if headers and requested libraries were found + Boost_INCLUDE_DIRS - Boost include directories + Boost_LIBRARY_DIRS - Link directories for Boost libraries + Boost_LIBRARIES - Boost component libraries to be linked + Boost__FOUND - True if component was found ( is upper-case) + Boost__LIBRARY - Libraries to link for component (may include + target_link_libraries debug/optimized keywords) + Boost_VERSION_MACRO - BOOST_VERSION value from boost/version.hpp + Boost_VERSION_STRING - Boost version number in x.y.z format + Boost_VERSION - if CMP0093 NEW => same as Boost_VERSION_STRING + if CMP0093 OLD or unset => same as Boost_VERSION_MACRO + Boost_LIB_VERSION - Version string appended to library filenames + Boost_VERSION_MAJOR - Boost major version number (X in X.y.z) + alias: Boost_MAJOR_VERSION + Boost_VERSION_MINOR - Boost minor version number (Y in x.Y.z) + alias: Boost_MINOR_VERSION + Boost_VERSION_PATCH - Boost subminor version number (Z in x.y.Z) + alias: Boost_SUBMINOR_VERSION + Boost_VERSION_COUNT - Amount of version components (3) + Boost_LIB_DIAGNOSTIC_DEFINITIONS (Windows) + - Pass to add_definitions() to have diagnostic + information about Boost's automatic linking + displayed during compilation + +Note that Boost Python components require a Python version suffix +(Boost 1.67 and later), e.g. ``python36`` or ``python27`` for the +versions built against Python 3.6 and 2.7, respectively. This also +applies to additional components using Python including +``mpi_python`` and ``numpy``. Earlier Boost releases may use +distribution-specific suffixes such as ``2``, ``3`` or ``2.7``. +These may also be used as suffixes, but note that they are not +portable. + +This module reads hints about search locations from variables:: + + BOOST_ROOT - Preferred installation prefix + (or BOOSTROOT) + BOOST_INCLUDEDIR - Preferred include directory e.g. /include + BOOST_LIBRARYDIR - Preferred library directory e.g. /lib + Boost_NO_SYSTEM_PATHS - Set to ON to disable searching in locations not + specified by these hint variables. Default is OFF. + Boost_ADDITIONAL_VERSIONS + - List of Boost versions not known to this module + (Boost install locations may contain the version) + +and saves search results persistently in CMake cache entries:: + + Boost_INCLUDE_DIR - Directory containing Boost headers + Boost_LIBRARY_DIR_RELEASE - Directory containing release Boost libraries + Boost_LIBRARY_DIR_DEBUG - Directory containing debug Boost libraries + Boost__LIBRARY_DEBUG - Component library debug variant + Boost__LIBRARY_RELEASE - Component library release variant + +The following :prop_tgt:`IMPORTED` targets are also defined:: + + Boost::headers - Target for header-only dependencies + (Boost include directory) + alias: Boost::boost + Boost:: - Target for specific component dependency + (shared or static library); is lower- + case + Boost::diagnostic_definitions - interface target to enable diagnostic + information about Boost's automatic linking + during compilation (adds BOOST_LIB_DIAGNOSTIC) + Boost::disable_autolinking - interface target to disable automatic + linking with MSVC (adds BOOST_ALL_NO_LIB) + Boost::dynamic_linking - interface target to enable dynamic linking + linking with MSVC (adds BOOST_ALL_DYN_LINK) + +Implicit dependencies such as ``Boost::filesystem`` requiring +``Boost::system`` will be automatically detected and satisfied, even +if system is not specified when using :command:`find_package` and if +``Boost::system`` is not added to :command:`target_link_libraries`. If using +``Boost::thread``, then ``Threads::Threads`` will also be added automatically. + +It is important to note that the imported targets behave differently +than variables created by this module: multiple calls to +:command:`find_package(Boost)` in the same directory or sub-directories with +different options (e.g. static or shared) will not override the +values of the targets created by the first call. + +Users may set these hints or results as ``CACHE`` entries. Projects +should not read these entries directly but instead use the above +result variables. Note that some hint names start in upper-case +"BOOST". One may specify these as environment variables if they are +not specified as CMake variables or cache entries. + +This module first searches for the ``Boost`` header files using the above +hint variables (excluding ``BOOST_LIBRARYDIR``) and saves the result in +``Boost_INCLUDE_DIR``. Then it searches for requested component libraries +using the above hints (excluding ``BOOST_INCLUDEDIR`` and +``Boost_ADDITIONAL_VERSIONS``), "lib" directories near ``Boost_INCLUDE_DIR``, +and the library name configuration settings below. It saves the +library directories in ``Boost_LIBRARY_DIR_DEBUG`` and +``Boost_LIBRARY_DIR_RELEASE`` and individual library +locations in ``Boost__LIBRARY_DEBUG`` and ``Boost__LIBRARY_RELEASE``. +When one changes settings used by previous searches in the same build +tree (excluding environment variables) this module discards previous +search results affected by the changes and searches again. + +Boost libraries come in many variants encoded in their file name. +Users or projects may tell this module which variant to find by +setting variables:: + + Boost_USE_DEBUG_LIBS - Set to ON or OFF to specify whether to search + and use the debug libraries. Default is ON. + Boost_USE_RELEASE_LIBS - Set to ON or OFF to specify whether to search + and use the release libraries. Default is ON. + Boost_USE_MULTITHREADED - Set to OFF to use the non-multithreaded + libraries ('mt' tag). Default is ON. + Boost_USE_STATIC_LIBS - Set to ON to force the use of the static + libraries. Default is OFF. + Boost_USE_STATIC_RUNTIME - Set to ON or OFF to specify whether to use + libraries linked statically to the C++ runtime + ('s' tag). Default is platform dependent. + Boost_USE_DEBUG_RUNTIME - Set to ON or OFF to specify whether to use + libraries linked to the MS debug C++ runtime + ('g' tag). Default is ON. + Boost_USE_DEBUG_PYTHON - Set to ON to use libraries compiled with a + debug Python build ('y' tag). Default is OFF. + Boost_USE_STLPORT - Set to ON to use libraries compiled with + STLPort ('p' tag). Default is OFF. + Boost_USE_STLPORT_DEPRECATED_NATIVE_IOSTREAMS + - Set to ON to use libraries compiled with + STLPort deprecated "native iostreams" + ('n' tag). Default is OFF. + Boost_COMPILER - Set to the compiler-specific library suffix + (e.g. "-gcc43"). Default is auto-computed + for the C++ compiler in use. A list may be + used if multiple compatible suffixes should + be tested for, in decreasing order of + preference. + Boost_ARCHITECTURE - Set to the architecture-specific library suffix + (e.g. "-x64"). Default is auto-computed for the + C++ compiler in use. + Boost_THREADAPI - Suffix for "thread" component library name, + such as "pthread" or "win32". Names with + and without this suffix will both be tried. + Boost_NAMESPACE - Alternate namespace used to build boost with + e.g. if set to "myboost", will search for + myboost_thread instead of boost_thread. + +Other variables one may set to control this module are:: + + Boost_DEBUG - Set to ON to enable debug output from FindBoost. + Please enable this before filing any bug report. + Boost_REALPATH - Set to ON to resolve symlinks for discovered + libraries to assist with packaging. For example, + the "system" component library may be resolved to + "/usr/lib/libboost_system.so.1.67.0" instead of + "/usr/lib/libboost_system.so". This does not + affect linking and should not be enabled unless + the user needs this information. + Boost_LIBRARY_DIR - Default value for Boost_LIBRARY_DIR_RELEASE and + Boost_LIBRARY_DIR_DEBUG. + +On Visual Studio and Borland compilers Boost headers request automatic +linking to corresponding libraries. This requires matching libraries +to be linked explicitly or available in the link library search path. +In this case setting ``Boost_USE_STATIC_LIBS`` to ``OFF`` may not achieve +dynamic linking. Boost automatic linking typically requests static +libraries with a few exceptions (such as ``Boost.Python``). Use:: + + add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS}) + +to ask Boost to report information about automatic linking requests. + +Example to find Boost headers only:: + + find_package(Boost 1.36.0) + if(Boost_FOUND) + include_directories(${Boost_INCLUDE_DIRS}) + add_executable(foo foo.cc) + endif() + +Example to find Boost libraries and use imported targets:: + + find_package(Boost 1.56 REQUIRED COMPONENTS + date_time filesystem iostreams) + add_executable(foo foo.cc) + target_link_libraries(foo Boost::date_time Boost::filesystem + Boost::iostreams) + +Example to find Boost Python 3.6 libraries and use imported targets:: + + find_package(Boost 1.67 REQUIRED COMPONENTS + python36 numpy36) + add_executable(foo foo.cc) + target_link_libraries(foo Boost::python36 Boost::numpy36) + +Example to find Boost headers and some *static* (release only) libraries:: + + set(Boost_USE_STATIC_LIBS ON) # only find static libs + set(Boost_USE_DEBUG_LIBS OFF) # ignore debug libs and + set(Boost_USE_RELEASE_LIBS ON) # only find release libs + set(Boost_USE_MULTITHREADED ON) + set(Boost_USE_STATIC_RUNTIME OFF) + find_package(Boost 1.66.0 COMPONENTS date_time filesystem system ...) + if(Boost_FOUND) + include_directories(${Boost_INCLUDE_DIRS}) + add_executable(foo foo.cc) + target_link_libraries(foo ${Boost_LIBRARIES}) + endif() + +Boost CMake +^^^^^^^^^^^ + +If Boost was built using the boost-cmake project or from Boost 1.70.0 on +it provides a package configuration file for use with find_package's config mode. +This module looks for the package configuration file called +``BoostConfig.cmake`` or ``boost-config.cmake`` and stores the result in +``CACHE`` entry "Boost_DIR". If found, the package configuration file is loaded +and this module returns with no further action. See documentation of +the Boost CMake package configuration for details on what it provides. + +Set ``Boost_NO_BOOST_CMAKE`` to ``ON``, to disable the search for boost-cmake. +#]=======================================================================] + +# The FPHSA helper provides standard way of reporting final search results to +# the user including the version and component checks. +include(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake) + +# Save project's policies +cmake_policy(PUSH) +cmake_policy(SET CMP0057 NEW) # if IN_LIST + +function(_boost_get_existing_target component target_var) + set(names "${component}") + if(component MATCHES "^([a-z_]*)(python|numpy)([1-9])\\.?([0-9])?$") + # handle pythonXY and numpyXY versioned components and also python X.Y, mpi_python etc. + list(APPEND names + "${CMAKE_MATCH_1}${CMAKE_MATCH_2}" # python + "${CMAKE_MATCH_1}${CMAKE_MATCH_2}${CMAKE_MATCH_3}" # pythonX + "${CMAKE_MATCH_1}${CMAKE_MATCH_2}${CMAKE_MATCH_3}${CMAKE_MATCH_4}" #pythonXY + ) + endif() + # https://github.com/boost-cmake/boost-cmake uses boost::file_system etc. + # So handle similar constructions of target names + string(TOLOWER "${component}" lower_component) + list(APPEND names "${lower_component}") + foreach(prefix Boost boost) + foreach(name IN LISTS names) + if(TARGET "${prefix}::${name}") + # The target may be an INTERFACE library that wraps around a single other + # target for compatibility. Unwrap this layer so we can extract real info. + if("${name}" MATCHES "^(python|numpy|mpi_python)([1-9])([0-9])$") + set(name_nv "${CMAKE_MATCH_1}") + if(TARGET "${prefix}::${name_nv}") + get_property(type TARGET "${prefix}::${name}" PROPERTY TYPE) + if(type STREQUAL "INTERFACE_LIBRARY") + get_property(lib TARGET "${prefix}::${name}" PROPERTY INTERFACE_LINK_LIBRARIES) + if("${lib}" STREQUAL "${prefix}::${name_nv}") + set(${target_var} "${prefix}::${name_nv}" PARENT_SCOPE) + return() + endif() + endif() + endif() + endif() + set(${target_var} "${prefix}::${name}" PARENT_SCOPE) + return() + endif() + endforeach() + endforeach() + set(${target_var} "" PARENT_SCOPE) +endfunction() + +function(_boost_get_canonical_target_name component target_var) + string(TOLOWER "${component}" component) + if(component MATCHES "^([a-z_]*)(python|numpy)([1-9])\\.?([0-9])?$") + # handle pythonXY and numpyXY versioned components and also python X.Y, mpi_python etc. + set(${target_var} "Boost::${CMAKE_MATCH_1}${CMAKE_MATCH_2}" PARENT_SCOPE) + else() + set(${target_var} "Boost::${component}" PARENT_SCOPE) + endif() +endfunction() + +macro(_boost_set_in_parent_scope name value) + # Set a variable in parent scope and make it visibile in current scope + set(${name} "${value}" PARENT_SCOPE) + set(${name} "${value}") +endmacro() + +macro(_boost_set_if_unset name value) + if(NOT ${name}) + _boost_set_in_parent_scope(${name} "${value}") + endif() +endmacro() + +macro(_boost_set_cache_if_unset name value) + if(NOT ${name}) + set(${name} "${value}" CACHE STRING "" FORCE) + endif() +endmacro() + +macro(_boost_append_include_dir target) + get_target_property(inc "${target}" INTERFACE_INCLUDE_DIRECTORIES) + if(inc) + list(APPEND include_dirs "${inc}") + endif() +endmacro() + +function(_boost_set_legacy_variables_from_config) + # Set legacy variables for compatibility if not set + set(include_dirs "") + set(library_dirs "") + set(libraries "") + # Header targets Boost::headers or Boost::boost + foreach(comp headers boost) + _boost_get_existing_target(${comp} target) + if(target) + _boost_append_include_dir("${target}") + endif() + endforeach() + # Library targets + foreach(comp IN LISTS Boost_FIND_COMPONENTS) + string(TOUPPER ${comp} uppercomp) + # Overwrite if set + _boost_set_in_parent_scope(Boost_${uppercomp}_FOUND "${Boost_${comp}_FOUND}") + if(Boost_${comp}_FOUND) + _boost_get_existing_target(${comp} target) + if(NOT target) + if(Boost_DEBUG OR Boost_VERBOSE) + message(WARNING "Could not find imported target for required component '${comp}'. Legacy variables for this component might be missing. Refer to the documentation of your Boost installation for help on variables to use.") + endif() + continue() + endif() + _boost_append_include_dir("${target}") + _boost_set_if_unset(Boost_${uppercomp}_LIBRARY "${target}") + _boost_set_if_unset(Boost_${uppercomp}_LIBRARIES "${target}") # Very old legacy variable + list(APPEND libraries "${target}") + get_property(type TARGET "${target}" PROPERTY TYPE) + if(NOT type STREQUAL "INTERFACE_LIBRARY") + foreach(cfg RELEASE DEBUG) + get_target_property(lib ${target} IMPORTED_LOCATION_${cfg}) + if(lib) + get_filename_component(lib_dir "${lib}" DIRECTORY) + list(APPEND library_dirs ${lib_dir}) + _boost_set_cache_if_unset(Boost_${uppercomp}_LIBRARY_${cfg} "${lib}") + endif() + endforeach() + elseif(Boost_DEBUG OR Boost_VERBOSE) + # For projects using only the Boost::* targets this warning can be safely ignored. + message(WARNING "Imported target '${target}' for required component '${comp}' has no artifact. Legacy variables for this component might be missing. Refer to the documentation of your Boost installation for help on variables to use.") + endif() + _boost_get_canonical_target_name("${comp}" canonical_target) + if(NOT TARGET "${canonical_target}") + add_library("${canonical_target}" INTERFACE IMPORTED) + target_link_libraries("${canonical_target}" INTERFACE "${target}") + endif() + endif() + endforeach() + list(REMOVE_DUPLICATES include_dirs) + list(REMOVE_DUPLICATES library_dirs) + _boost_set_if_unset(Boost_INCLUDE_DIRS "${include_dirs}") + _boost_set_if_unset(Boost_LIBRARY_DIRS "${library_dirs}") + _boost_set_if_unset(Boost_LIBRARIES "${libraries}") + _boost_set_if_unset(Boost_VERSION_STRING "${Boost_VERSION_MAJOR}.${Boost_VERSION_MINOR}.${Boost_VERSION_PATCH}") + find_path(Boost_INCLUDE_DIR + NAMES boost/version.hpp boost/config.hpp + HINTS ${Boost_INCLUDE_DIRS} + NO_DEFAULT_PATH + ) + if(NOT Boost_VERSION_MACRO OR NOT Boost_LIB_VERSION) + set(version_file ${Boost_INCLUDE_DIR}/boost/version.hpp) + if(EXISTS "${version_file}") + file(STRINGS "${version_file}" contents REGEX "#define BOOST_(LIB_)?VERSION ") + if(contents MATCHES "#define BOOST_VERSION ([0-9]+)") + _boost_set_if_unset(Boost_VERSION_MACRO "${CMAKE_MATCH_1}") + endif() + if(contents MATCHES "#define BOOST_LIB_VERSION \"([0-9_]+)\"") + _boost_set_if_unset(Boost_LIB_VERSION "${CMAKE_MATCH_1}") + endif() + endif() + endif() + _boost_set_if_unset(Boost_MAJOR_VERSION ${Boost_VERSION_MAJOR}) + _boost_set_if_unset(Boost_MINOR_VERSION ${Boost_VERSION_MINOR}) + _boost_set_if_unset(Boost_SUBMINOR_VERSION ${Boost_VERSION_PATCH}) + if(WIN32) + _boost_set_if_unset(Boost_LIB_DIAGNOSTIC_DEFINITIONS "-DBOOST_LIB_DIAGNOSTIC") + endif() + if(NOT TARGET Boost::headers) + add_library(Boost::headers INTERFACE IMPORTED) + target_include_directories(Boost::headers INTERFACE ${Boost_INCLUDE_DIRS}) + endif() + # Legacy targets w/o functionality as all handled by defined targets + foreach(lib diagnostic_definitions disable_autolinking dynamic_linking) + if(NOT TARGET Boost::${lib}) + add_library(Boost::${lib} INTERFACE IMPORTED) + endif() + endforeach() + if(NOT TARGET Boost::boost) + add_library(Boost::boost INTERFACE IMPORTED) + target_link_libraries(Boost::boost INTERFACE Boost::headers) + endif() +endfunction() + +#------------------------------------------------------------------------------- +# Before we go searching, check whether a boost cmake package is available, unless +# the user specifically asked NOT to search for one. +# +# If Boost_DIR is set, this behaves as any find_package call would. If not, +# it looks at BOOST_ROOT and BOOSTROOT to find Boost. +# +if (NOT Boost_NO_BOOST_CMAKE) + # If Boost_DIR is not set, look for BOOSTROOT and BOOST_ROOT as alternatives, + # since these are more conventional for Boost. + if ("$ENV{Boost_DIR}" STREQUAL "") + if (NOT "$ENV{BOOST_ROOT}" STREQUAL "") + set(ENV{Boost_DIR} $ENV{BOOST_ROOT}) + elseif (NOT "$ENV{BOOSTROOT}" STREQUAL "") + set(ENV{Boost_DIR} $ENV{BOOSTROOT}) + endif() + endif() + + # Do the same find_package call but look specifically for the CMake version. + # Note that args are passed in the Boost_FIND_xxxxx variables, so there is no + # need to delegate them to this find_package call. + find_package(Boost QUIET NO_MODULE) + mark_as_advanced(Boost_DIR) + + # If we found a boost cmake package, then we're done. Print out what we found. + # Otherwise let the rest of the module try to find it. + if(Boost_FOUND) + # Convert component found variables to standard variables if required + # Necessary for legacy boost-cmake and 1.70 builtin BoostConfig + if(Boost_FIND_COMPONENTS) + foreach(_comp IN LISTS Boost_FIND_COMPONENTS) + if(DEFINED Boost_${_comp}_FOUND) + continue() + endif() + string(TOUPPER ${_comp} _uppercomp) + if(DEFINED Boost${_comp}_FOUND) # legacy boost-cmake project + set(Boost_${_comp}_FOUND ${Boost${_comp}_FOUND}) + elseif(DEFINED Boost_${_uppercomp}_FOUND) # Boost 1.70 + set(Boost_${_comp}_FOUND ${Boost_${_uppercomp}_FOUND}) + endif() + endforeach() + endif() + + find_package_handle_standard_args(Boost HANDLE_COMPONENTS CONFIG_MODE) + _boost_set_legacy_variables_from_config() + + # Restore project's policies + cmake_policy(POP) + return() + endif() +endif() + + +#------------------------------------------------------------------------------- +# FindBoost functions & macros +# + +# +# Print debug text if Boost_DEBUG is set. +# Call example: +# _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "debug message") +# +function(_Boost_DEBUG_PRINT file line text) + if(Boost_DEBUG) + message(STATUS "[ ${file}:${line} ] ${text}") + endif() +endfunction() + +# +# _Boost_DEBUG_PRINT_VAR(file line variable_name [ENVIRONMENT] +# [SOURCE "short explanation of origin of var value"]) +# +# ENVIRONMENT - look up environment variable instead of CMake variable +# +# Print variable name and its value if Boost_DEBUG is set. +# Call example: +# _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" BOOST_ROOT) +# +function(_Boost_DEBUG_PRINT_VAR file line name) + if(Boost_DEBUG) + cmake_parse_arguments(_args "ENVIRONMENT" "SOURCE" "" ${ARGN}) + + unset(source) + if(_args_SOURCE) + set(source " (${_args_SOURCE})") + endif() + + if(_args_ENVIRONMENT) + if(DEFINED ENV{${name}}) + set(value "\"$ENV{${name}}\"") + else() + set(value "") + endif() + set(_name "ENV{${name}}") + else() + if(DEFINED "${name}") + set(value "\"${${name}}\"") + else() + set(value "") + endif() + set(_name "${name}") + endif() + + _Boost_DEBUG_PRINT("${file}" "${line}" "${_name} = ${value}${source}") + endif() +endfunction() + +############################################ +# +# Check the existence of the libraries. +# +############################################ +# This macro was taken directly from the FindQt4.cmake file that is included +# with the CMake distribution. This is NOT my work. All work was done by the +# original authors of the FindQt4.cmake file. Only minor modifications were +# made to remove references to Qt and make this file more generally applicable +# And ELSE/ENDIF pairs were removed for readability. +######################################################################### + +macro(_Boost_ADJUST_LIB_VARS basename) + if(Boost_INCLUDE_DIR ) + if(Boost_${basename}_LIBRARY_DEBUG AND Boost_${basename}_LIBRARY_RELEASE) + # if the generator is multi-config or if CMAKE_BUILD_TYPE is set for + # single-config generators, set optimized and debug libraries + get_property(_isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG) + if(_isMultiConfig OR CMAKE_BUILD_TYPE) + set(Boost_${basename}_LIBRARY optimized ${Boost_${basename}_LIBRARY_RELEASE} debug ${Boost_${basename}_LIBRARY_DEBUG}) + else() + # For single-config generators where CMAKE_BUILD_TYPE has no value, + # just use the release libraries + set(Boost_${basename}_LIBRARY ${Boost_${basename}_LIBRARY_RELEASE} ) + endif() + # FIXME: This probably should be set for both cases + set(Boost_${basename}_LIBRARIES optimized ${Boost_${basename}_LIBRARY_RELEASE} debug ${Boost_${basename}_LIBRARY_DEBUG}) + endif() + + # if only the release version was found, set the debug variable also to the release version + if(Boost_${basename}_LIBRARY_RELEASE AND NOT Boost_${basename}_LIBRARY_DEBUG) + set(Boost_${basename}_LIBRARY_DEBUG ${Boost_${basename}_LIBRARY_RELEASE}) + set(Boost_${basename}_LIBRARY ${Boost_${basename}_LIBRARY_RELEASE}) + set(Boost_${basename}_LIBRARIES ${Boost_${basename}_LIBRARY_RELEASE}) + endif() + + # if only the debug version was found, set the release variable also to the debug version + if(Boost_${basename}_LIBRARY_DEBUG AND NOT Boost_${basename}_LIBRARY_RELEASE) + set(Boost_${basename}_LIBRARY_RELEASE ${Boost_${basename}_LIBRARY_DEBUG}) + set(Boost_${basename}_LIBRARY ${Boost_${basename}_LIBRARY_DEBUG}) + set(Boost_${basename}_LIBRARIES ${Boost_${basename}_LIBRARY_DEBUG}) + endif() + + # If the debug & release library ends up being the same, omit the keywords + if("${Boost_${basename}_LIBRARY_RELEASE}" STREQUAL "${Boost_${basename}_LIBRARY_DEBUG}") + set(Boost_${basename}_LIBRARY ${Boost_${basename}_LIBRARY_RELEASE} ) + set(Boost_${basename}_LIBRARIES ${Boost_${basename}_LIBRARY_RELEASE} ) + endif() + + if(Boost_${basename}_LIBRARY AND Boost_${basename}_HEADER) + set(Boost_${basename}_FOUND ON) + if("x${basename}" STREQUAL "xTHREAD" AND NOT TARGET Threads::Threads) + string(APPEND Boost_ERROR_REASON_THREAD " (missing dependency: Threads)") + set(Boost_THREAD_FOUND OFF) + endif() + endif() + + endif() + # Make variables changeable to the advanced user + mark_as_advanced( + Boost_${basename}_LIBRARY_RELEASE + Boost_${basename}_LIBRARY_DEBUG + ) +endmacro() + +# Detect changes in used variables. +# Compares the current variable value with the last one. +# In short form: +# v != v_LAST -> CHANGED = 1 +# v is defined, v_LAST not -> CHANGED = 1 +# v is not defined, but v_LAST is -> CHANGED = 1 +# otherwise -> CHANGED = 0 +# CHANGED is returned in variable named ${changed_var} +macro(_Boost_CHANGE_DETECT changed_var) + set(${changed_var} 0) + foreach(v ${ARGN}) + if(DEFINED _Boost_COMPONENTS_SEARCHED) + if(${v}) + if(_${v}_LAST) + string(COMPARE NOTEQUAL "${${v}}" "${_${v}_LAST}" _${v}_CHANGED) + else() + set(_${v}_CHANGED 1) + endif() + elseif(_${v}_LAST) + set(_${v}_CHANGED 1) + endif() + if(_${v}_CHANGED) + set(${changed_var} 1) + endif() + else() + set(_${v}_CHANGED 0) + endif() + endforeach() +endmacro() + +# +# Find the given library (var). +# Use 'build_type' to support different lib paths for RELEASE or DEBUG builds +# +macro(_Boost_FIND_LIBRARY var build_type) + + find_library(${var} ${ARGN}) + + if(${var}) + # If this is the first library found then save Boost_LIBRARY_DIR_[RELEASE,DEBUG]. + if(NOT Boost_LIBRARY_DIR_${build_type}) + get_filename_component(_dir "${${var}}" PATH) + set(Boost_LIBRARY_DIR_${build_type} "${_dir}" CACHE PATH "Boost library directory ${build_type}" FORCE) + endif() + elseif(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT) + # Try component-specific hints but do not save Boost_LIBRARY_DIR_[RELEASE,DEBUG]. + find_library(${var} HINTS ${_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT} ${ARGN}) + endif() + + # If Boost_LIBRARY_DIR_[RELEASE,DEBUG] is known then search only there. + if(Boost_LIBRARY_DIR_${build_type}) + set(_boost_LIBRARY_SEARCH_DIRS_${build_type} ${Boost_LIBRARY_DIR_${build_type}} NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" + "Boost_LIBRARY_DIR_${build_type}") + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" + "_boost_LIBRARY_SEARCH_DIRS_${build_type}") + endif() +endmacro() + +#------------------------------------------------------------------------------- + +# Convert CMAKE_CXX_COMPILER_VERSION to boost compiler suffix version. +function(_Boost_COMPILER_DUMPVERSION _OUTPUT_VERSION _OUTPUT_VERSION_MAJOR _OUTPUT_VERSION_MINOR) + string(REGEX REPLACE "([0-9]+)\\.([0-9]+)(\\.[0-9]+)?" "\\1" + _boost_COMPILER_VERSION_MAJOR "${CMAKE_CXX_COMPILER_VERSION}") + string(REGEX REPLACE "([0-9]+)\\.([0-9]+)(\\.[0-9]+)?" "\\2" + _boost_COMPILER_VERSION_MINOR "${CMAKE_CXX_COMPILER_VERSION}") + + set(_boost_COMPILER_VERSION "${_boost_COMPILER_VERSION_MAJOR}${_boost_COMPILER_VERSION_MINOR}") + + set(${_OUTPUT_VERSION} ${_boost_COMPILER_VERSION} PARENT_SCOPE) + set(${_OUTPUT_VERSION_MAJOR} ${_boost_COMPILER_VERSION_MAJOR} PARENT_SCOPE) + set(${_OUTPUT_VERSION_MINOR} ${_boost_COMPILER_VERSION_MINOR} PARENT_SCOPE) +endfunction() + +# +# Take a list of libraries with "thread" in it +# and prepend duplicates with "thread_${Boost_THREADAPI}" +# at the front of the list +# +function(_Boost_PREPEND_LIST_WITH_THREADAPI _output) + set(_orig_libnames ${ARGN}) + string(REPLACE "thread" "thread_${Boost_THREADAPI}" _threadapi_libnames "${_orig_libnames}") + set(${_output} ${_threadapi_libnames} ${_orig_libnames} PARENT_SCOPE) +endfunction() + +# +# If a library is found, replace its cache entry with its REALPATH +# +function(_Boost_SWAP_WITH_REALPATH _library _docstring) + if(${_library}) + get_filename_component(_boost_filepathreal ${${_library}} REALPATH) + unset(${_library} CACHE) + set(${_library} ${_boost_filepathreal} CACHE FILEPATH "${_docstring}") + endif() +endfunction() + +function(_Boost_CHECK_SPELLING _var) + if(${_var}) + string(TOUPPER ${_var} _var_UC) + message(FATAL_ERROR "ERROR: ${_var} is not the correct spelling. The proper spelling is ${_var_UC}.") + endif() +endfunction() + +# Guesses Boost's compiler prefix used in built library names +# Returns the guess by setting the variable pointed to by _ret +function(_Boost_GUESS_COMPILER_PREFIX _ret) + if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xIntel") + if(WIN32) + set (_boost_COMPILER "-iw") + else() + set (_boost_COMPILER "-il") + endif() + elseif (GHSMULTI) + set(_boost_COMPILER "-ghs") + elseif("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xMSVC" OR "x${CMAKE_CXX_SIMULATE_ID}" STREQUAL "xMSVC") + if(MSVC_TOOLSET_VERSION GREATER_EQUAL 150) + # Not yet known. + set(_boost_COMPILER "") + elseif(MSVC_TOOLSET_VERSION GREATER_EQUAL 140) + # MSVC toolset 14.x versions are forward compatible. + set(_boost_COMPILER "") + foreach(v 9 8 7 6 5 4 3 2 1 0) + if(MSVC_TOOLSET_VERSION GREATER_EQUAL 14${v}) + list(APPEND _boost_COMPILER "-vc14${v}") + endif() + endforeach() + elseif(MSVC_TOOLSET_VERSION GREATER_EQUAL 80) + set(_boost_COMPILER "-vc${MSVC_TOOLSET_VERSION}") + elseif(NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 13.10) + set(_boost_COMPILER "-vc71") + elseif(NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 13) # Good luck! + set(_boost_COMPILER "-vc7") # yes, this is correct + else() # VS 6.0 Good luck! + set(_boost_COMPILER "-vc6") # yes, this is correct + endif() + + if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xClang") + string(REPLACE "." ";" VERSION_LIST "${CMAKE_CXX_COMPILER_VERSION}") + list(GET VERSION_LIST 0 CLANG_VERSION_MAJOR) + set(_boost_COMPILER "-clangw${CLANG_VERSION_MAJOR};${_boost_COMPILER}") + endif() + elseif (BORLAND) + set(_boost_COMPILER "-bcb") + elseif(CMAKE_CXX_COMPILER_ID STREQUAL "SunPro") + set(_boost_COMPILER "-sw") + elseif(CMAKE_CXX_COMPILER_ID STREQUAL "XL") + set(_boost_COMPILER "-xlc") + elseif (MINGW) + if(Boost_VERSION_STRING VERSION_LESS 1.34) + set(_boost_COMPILER "-mgw") # no GCC version encoding prior to 1.34 + else() + _Boost_COMPILER_DUMPVERSION(_boost_COMPILER_VERSION _boost_COMPILER_VERSION_MAJOR _boost_COMPILER_VERSION_MINOR) + set(_boost_COMPILER "-mgw${_boost_COMPILER_VERSION}") + endif() + elseif (UNIX) + _Boost_COMPILER_DUMPVERSION(_boost_COMPILER_VERSION _boost_COMPILER_VERSION_MAJOR _boost_COMPILER_VERSION_MINOR) + if(NOT Boost_VERSION_STRING VERSION_LESS 1.69.0) + # From GCC 5 and clang 4, versioning changes and minor becomes patch. + # For those compilers, patch is exclude from compiler tag in Boost 1.69+ library naming. + if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND _boost_COMPILER_VERSION_MAJOR VERSION_GREATER 4) + set(_boost_COMPILER_VERSION "${_boost_COMPILER_VERSION_MAJOR}") + elseif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND _boost_COMPILER_VERSION_MAJOR VERSION_GREATER 3) + set(_boost_COMPILER_VERSION "${_boost_COMPILER_VERSION_MAJOR}") + endif() + endif() + + if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") + if(Boost_VERSION_STRING VERSION_LESS 1.34) + set(_boost_COMPILER "-gcc") # no GCC version encoding prior to 1.34 + else() + # Determine which version of GCC we have. + if(APPLE) + if(Boost_VERSION_STRING VERSION_LESS 1.36.0) + # In Boost <= 1.35.0, there is no mangled compiler name for + # the macOS/Darwin version of GCC. + set(_boost_COMPILER "") + else() + # In Boost 1.36.0 and newer, the mangled compiler name used + # on macOS/Darwin is "xgcc". + set(_boost_COMPILER "-xgcc${_boost_COMPILER_VERSION}") + endif() + else() + set(_boost_COMPILER "-gcc${_boost_COMPILER_VERSION}") + endif() + endif() + elseif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + # TODO: Find out any Boost version constraints vs clang support. + set(_boost_COMPILER "-clang${_boost_COMPILER_VERSION}") + endif() + else() + set(_boost_COMPILER "") + endif() + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" + "_boost_COMPILER" SOURCE "guessed") + set(${_ret} ${_boost_COMPILER} PARENT_SCOPE) +endfunction() + +# +# Get component dependencies. Requires the dependencies to have been +# defined for the Boost release version. +# +# component - the component to check +# _ret - list of library dependencies +# +function(_Boost_COMPONENT_DEPENDENCIES component _ret) + # Note: to add a new Boost release, run + # + # % cmake -DBOOST_DIR=/path/to/boost/source -P Utilities/Scripts/BoostScanDeps.cmake + # + # The output may be added in a new block below. If it's the same as + # the previous release, simply update the version range of the block + # for the previous release. Also check if any new components have + # been added, and add any new components to + # _Boost_COMPONENT_HEADERS. + # + # This information was originally generated by running + # BoostScanDeps.cmake against every boost release to date supported + # by FindBoost: + # + # % for version in /path/to/boost/sources/* + # do + # cmake -DBOOST_DIR=$version -P Utilities/Scripts/BoostScanDeps.cmake + # done + # + # The output was then updated by search and replace with these regexes: + # + # - Strip message(STATUS) prefix dashes + # s;^-- ;; + # - Indent + # s;^set(; set(;; + # - Add conditionals + # s;Scanning /path/to/boost/sources/boost_\(.*\)_\(.*\)_\(.*); elseif(NOT Boost_VERSION_STRING VERSION_LESS \1\.\2\.\3 AND Boost_VERSION_STRING VERSION_LESS xxxx); + # + # This results in the logic seen below, but will require the xxxx + # replacing with the following Boost release version (or the next + # minor version to be released, e.g. 1.59 was the latest at the time + # of writing, making 1.60 the next. Identical consecutive releases + # were then merged together by updating the end range of the first + # block and removing the following redundant blocks. + # + # Running the script against all historical releases should be + # required only if the BoostScanDeps.cmake script logic is changed. + # The addition of a new release should only require it to be run + # against the new release. + + # Handle Python version suffixes + if(component MATCHES "^(python|mpi_python|numpy)([0-9][0-9]?|[0-9]\\.[0-9])\$") + set(component "${CMAKE_MATCH_1}") + set(component_python_version "${CMAKE_MATCH_2}") + endif() + + set(_Boost_IMPORTED_TARGETS TRUE) + if(Boost_VERSION_STRING AND Boost_VERSION_STRING VERSION_LESS 1.33.0) + message(WARNING "Imported targets and dependency information not available for Boost version ${Boost_VERSION_STRING} (all versions older than 1.33)") + set(_Boost_IMPORTED_TARGETS FALSE) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.33.0 AND Boost_VERSION_STRING VERSION_LESS 1.35.0) + set(_Boost_IOSTREAMS_DEPENDENCIES regex thread) + set(_Boost_REGEX_DEPENDENCIES thread) + set(_Boost_WAVE_DEPENDENCIES filesystem thread) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.35.0 AND Boost_VERSION_STRING VERSION_LESS 1.36.0) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_WAVE_DEPENDENCIES filesystem system thread) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.36.0 AND Boost_VERSION_STRING VERSION_LESS 1.38.0) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_WAVE_DEPENDENCIES filesystem system thread) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.38.0 AND Boost_VERSION_STRING VERSION_LESS 1.43.0) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_THREAD_DEPENDENCIES date_time) + set(_Boost_WAVE_DEPENDENCIES filesystem system thread date_time) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.43.0 AND Boost_VERSION_STRING VERSION_LESS 1.44.0) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l random) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_THREAD_DEPENDENCIES date_time) + set(_Boost_WAVE_DEPENDENCIES filesystem system thread date_time) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.44.0 AND Boost_VERSION_STRING VERSION_LESS 1.45.0) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l random serialization) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_THREAD_DEPENDENCIES date_time) + set(_Boost_WAVE_DEPENDENCIES serialization filesystem system thread date_time) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.45.0 AND Boost_VERSION_STRING VERSION_LESS 1.47.0) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l random) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_THREAD_DEPENDENCIES date_time) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread date_time) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.47.0 AND Boost_VERSION_STRING VERSION_LESS 1.48.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l random) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_THREAD_DEPENDENCIES date_time) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread date_time) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.48.0 AND Boost_VERSION_STRING VERSION_LESS 1.50.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l random) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_THREAD_DEPENDENCIES date_time) + set(_Boost_TIMER_DEPENDENCIES chrono system) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread date_time) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.50.0 AND Boost_VERSION_STRING VERSION_LESS 1.53.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l regex random) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time) + set(_Boost_TIMER_DEPENDENCIES chrono system) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.53.0 AND Boost_VERSION_STRING VERSION_LESS 1.54.0) + set(_Boost_ATOMIC_DEPENDENCIES thread chrono system date_time) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l regex random) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) + set(_Boost_TIMER_DEPENDENCIES chrono system) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.54.0 AND Boost_VERSION_STRING VERSION_LESS 1.55.0) + set(_Boost_ATOMIC_DEPENDENCIES thread chrono system date_time) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES log_setup date_time system filesystem thread regex chrono) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l regex random) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) + set(_Boost_TIMER_DEPENDENCIES chrono system) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.55.0 AND Boost_VERSION_STRING VERSION_LESS 1.56.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_COROUTINE_DEPENDENCIES context system) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES log_setup date_time system filesystem thread regex chrono) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l regex random) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) + set(_Boost_TIMER_DEPENDENCIES chrono system) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.56.0 AND Boost_VERSION_STRING VERSION_LESS 1.59.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_COROUTINE_DEPENDENCIES context system) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES log_setup date_time system filesystem thread regex chrono) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_RANDOM_DEPENDENCIES system) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) + set(_Boost_TIMER_DEPENDENCIES chrono system) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.59.0 AND Boost_VERSION_STRING VERSION_LESS 1.60.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_COROUTINE_DEPENDENCIES context system) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES log_setup date_time system filesystem thread regex chrono atomic) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_RANDOM_DEPENDENCIES system) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) + set(_Boost_TIMER_DEPENDENCIES chrono system) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.60.0 AND Boost_VERSION_STRING VERSION_LESS 1.61.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_COROUTINE_DEPENDENCIES context system) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_RANDOM_DEPENDENCIES system) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) + set(_Boost_TIMER_DEPENDENCIES chrono system) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.61.0 AND Boost_VERSION_STRING VERSION_LESS 1.62.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time) + set(_Boost_COROUTINE_DEPENDENCIES context system) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_RANDOM_DEPENDENCIES system) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.62.0 AND Boost_VERSION_STRING VERSION_LESS 1.63.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time) + set(_Boost_COROUTINE_DEPENDENCIES context system) + set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_RANDOM_DEPENDENCIES system) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.63.0 AND Boost_VERSION_STRING VERSION_LESS 1.65.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time) + set(_Boost_COROUTINE_DEPENDENCIES context system) + set(_Boost_COROUTINE2_DEPENDENCIES context fiber thread chrono system date_time) + set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_RANDOM_DEPENDENCIES system) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.65.0 AND Boost_VERSION_STRING VERSION_LESS 1.67.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time) + set(_Boost_COROUTINE_DEPENDENCIES context system) + set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_NUMPY_DEPENDENCIES python${component_python_version}) + set(_Boost_RANDOM_DEPENDENCIES system) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) + set(_Boost_TIMER_DEPENDENCIES chrono system) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.67.0 AND Boost_VERSION_STRING VERSION_LESS 1.68.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time) + set(_Boost_COROUTINE_DEPENDENCIES context system) + set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_NUMPY_DEPENDENCIES python${component_python_version}) + set(_Boost_RANDOM_DEPENDENCIES system) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) + set(_Boost_TIMER_DEPENDENCIES chrono system) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.68.0 AND Boost_VERSION_STRING VERSION_LESS 1.69.0) + set(_Boost_CHRONO_DEPENDENCIES system) + set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time) + set(_Boost_CONTRACT_DEPENDENCIES thread chrono system date_time) + set(_Boost_COROUTINE_DEPENDENCIES context system) + set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time) + set(_Boost_FILESYSTEM_DEPENDENCIES system) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_NUMPY_DEPENDENCIES python${component_python_version}) + set(_Boost_RANDOM_DEPENDENCIES system) + set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) + set(_Boost_TIMER_DEPENDENCIES chrono system) + set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.69.0 AND Boost_VERSION_STRING VERSION_LESS 1.70.0) + set(_Boost_CONTRACT_DEPENDENCIES thread chrono date_time) + set(_Boost_COROUTINE_DEPENDENCIES context) + set(_Boost_FIBER_DEPENDENCIES context) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES date_time log_setup filesystem thread regex chrono atomic) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_NUMPY_DEPENDENCIES python${component_python_version}) + set(_Boost_THREAD_DEPENDENCIES chrono date_time atomic) + set(_Boost_TIMER_DEPENDENCIES chrono system) + set(_Boost_WAVE_DEPENDENCIES filesystem serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.70.0) + set(_Boost_CONTRACT_DEPENDENCIES thread chrono date_time) + set(_Boost_COROUTINE_DEPENDENCIES context) + set(_Boost_FIBER_DEPENDENCIES context) + set(_Boost_IOSTREAMS_DEPENDENCIES regex) + set(_Boost_LOG_DEPENDENCIES date_time log_setup filesystem thread regex chrono atomic) + set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) + set(_Boost_MPI_DEPENDENCIES serialization) + set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) + set(_Boost_NUMPY_DEPENDENCIES python${component_python_version}) + set(_Boost_THREAD_DEPENDENCIES chrono date_time atomic) + set(_Boost_TIMER_DEPENDENCIES chrono) + set(_Boost_WAVE_DEPENDENCIES filesystem serialization thread chrono date_time atomic) + set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) + if(NOT Boost_VERSION_STRING VERSION_LESS 1.72.0) + message(WARNING "New Boost version may have incorrect or missing dependencies and imported targets") + endif() + endif() + + string(TOUPPER ${component} uppercomponent) + set(${_ret} ${_Boost_${uppercomponent}_DEPENDENCIES} PARENT_SCOPE) + set(_Boost_IMPORTED_TARGETS ${_Boost_IMPORTED_TARGETS} PARENT_SCOPE) + + string(REGEX REPLACE ";" " " _boost_DEPS_STRING "${_Boost_${uppercomponent}_DEPENDENCIES}") + if (NOT _boost_DEPS_STRING) + set(_boost_DEPS_STRING "(none)") + endif() + # message(STATUS "Dependencies for Boost::${component}: ${_boost_DEPS_STRING}") +endfunction() + +# +# Get component headers. This is the primary header (or headers) for +# a given component, and is used to check that the headers are present +# as well as the library itself as an extra sanity check of the build +# environment. +# +# component - the component to check +# _hdrs +# +function(_Boost_COMPONENT_HEADERS component _hdrs) + # Handle Python version suffixes + if(component MATCHES "^(python|mpi_python|numpy)([0-9][0-9]?|[0-9]\\.[0-9])\$") + set(component "${CMAKE_MATCH_1}") + set(component_python_version "${CMAKE_MATCH_2}") + endif() + + # Note: new boost components will require adding here. The header + # must be present in all versions of Boost providing a library. + set(_Boost_ATOMIC_HEADERS "boost/atomic.hpp") + set(_Boost_CHRONO_HEADERS "boost/chrono.hpp") + set(_Boost_CONTAINER_HEADERS "boost/container/container_fwd.hpp") + set(_Boost_CONTRACT_HEADERS "boost/contract.hpp") + if(Boost_VERSION_STRING VERSION_LESS 1.61.0) + set(_Boost_CONTEXT_HEADERS "boost/context/all.hpp") + else() + set(_Boost_CONTEXT_HEADERS "boost/context/detail/fcontext.hpp") + endif() + set(_Boost_COROUTINE_HEADERS "boost/coroutine/all.hpp") + set(_Boost_DATE_TIME_HEADERS "boost/date_time/date.hpp") + set(_Boost_EXCEPTION_HEADERS "boost/exception/exception.hpp") + set(_Boost_FIBER_HEADERS "boost/fiber/all.hpp") + set(_Boost_FILESYSTEM_HEADERS "boost/filesystem/path.hpp") + set(_Boost_GRAPH_HEADERS "boost/graph/adjacency_list.hpp") + set(_Boost_GRAPH_PARALLEL_HEADERS "boost/graph/adjacency_list.hpp") + set(_Boost_IOSTREAMS_HEADERS "boost/iostreams/stream.hpp") + set(_Boost_LOCALE_HEADERS "boost/locale.hpp") + set(_Boost_LOG_HEADERS "boost/log/core.hpp") + set(_Boost_LOG_SETUP_HEADERS "boost/log/detail/setup_config.hpp") + set(_Boost_MATH_HEADERS "boost/math_fwd.hpp") + set(_Boost_MATH_C99_HEADERS "boost/math/tr1.hpp") + set(_Boost_MATH_C99F_HEADERS "boost/math/tr1.hpp") + set(_Boost_MATH_C99L_HEADERS "boost/math/tr1.hpp") + set(_Boost_MATH_TR1_HEADERS "boost/math/tr1.hpp") + set(_Boost_MATH_TR1F_HEADERS "boost/math/tr1.hpp") + set(_Boost_MATH_TR1L_HEADERS "boost/math/tr1.hpp") + set(_Boost_MPI_HEADERS "boost/mpi.hpp") + set(_Boost_MPI_PYTHON_HEADERS "boost/mpi/python/config.hpp") + set(_Boost_NUMPY_HEADERS "boost/python/numpy.hpp") + set(_Boost_PRG_EXEC_MONITOR_HEADERS "boost/test/prg_exec_monitor.hpp") + set(_Boost_PROGRAM_OPTIONS_HEADERS "boost/program_options.hpp") + set(_Boost_PYTHON_HEADERS "boost/python.hpp") + set(_Boost_RANDOM_HEADERS "boost/random.hpp") + set(_Boost_REGEX_HEADERS "boost/regex.hpp") + set(_Boost_SERIALIZATION_HEADERS "boost/serialization/serialization.hpp") + set(_Boost_SIGNALS_HEADERS "boost/signals.hpp") + set(_Boost_STACKTRACE_ADDR2LINE_HEADERS "boost/stacktrace.hpp") + set(_Boost_STACKTRACE_BACKTRACE_HEADERS "boost/stacktrace.hpp") + set(_Boost_STACKTRACE_BASIC_HEADERS "boost/stacktrace.hpp") + set(_Boost_STACKTRACE_NOOP_HEADERS "boost/stacktrace.hpp") + set(_Boost_STACKTRACE_WINDBG_CACHED_HEADERS "boost/stacktrace.hpp") + set(_Boost_STACKTRACE_WINDBG_HEADERS "boost/stacktrace.hpp") + set(_Boost_SYSTEM_HEADERS "boost/system/config.hpp") + set(_Boost_TEST_EXEC_MONITOR_HEADERS "boost/test/test_exec_monitor.hpp") + set(_Boost_THREAD_HEADERS "boost/thread.hpp") + set(_Boost_TIMER_HEADERS "boost/timer.hpp") + set(_Boost_TYPE_ERASURE_HEADERS "boost/type_erasure/config.hpp") + set(_Boost_UNIT_TEST_FRAMEWORK_HEADERS "boost/test/framework.hpp") + set(_Boost_WAVE_HEADERS "boost/wave.hpp") + set(_Boost_WSERIALIZATION_HEADERS "boost/archive/text_wiarchive.hpp") + if(WIN32) + set(_Boost_BZIP2_HEADERS "boost/iostreams/filter/bzip2.hpp") + set(_Boost_ZLIB_HEADERS "boost/iostreams/filter/zlib.hpp") + endif() + + string(TOUPPER ${component} uppercomponent) + set(${_hdrs} ${_Boost_${uppercomponent}_HEADERS} PARENT_SCOPE) + + string(REGEX REPLACE ";" " " _boost_HDRS_STRING "${_Boost_${uppercomponent}_HEADERS}") + if (NOT _boost_HDRS_STRING) + set(_boost_HDRS_STRING "(none)") + endif() + # message(STATUS "Headers for Boost::${component}: ${_boost_HDRS_STRING}") +endfunction() + +# +# Determine if any missing dependencies require adding to the component list. +# +# Sets _Boost_${COMPONENT}_DEPENDENCIES for each required component, +# plus _Boost_IMPORTED_TARGETS (TRUE if imported targets should be +# defined; FALSE if dependency information is unavailable). +# +# componentvar - the component list variable name +# extravar - the indirect dependency list variable name +# +# +function(_Boost_MISSING_DEPENDENCIES componentvar extravar) + # _boost_unprocessed_components - list of components requiring processing + # _boost_processed_components - components already processed (or currently being processed) + # _boost_new_components - new components discovered for future processing + # + list(APPEND _boost_unprocessed_components ${${componentvar}}) + + while(_boost_unprocessed_components) + list(APPEND _boost_processed_components ${_boost_unprocessed_components}) + foreach(component ${_boost_unprocessed_components}) + string(TOUPPER ${component} uppercomponent) + set(${_ret} ${_Boost_${uppercomponent}_DEPENDENCIES} PARENT_SCOPE) + _Boost_COMPONENT_DEPENDENCIES("${component}" _Boost_${uppercomponent}_DEPENDENCIES) + set(_Boost_${uppercomponent}_DEPENDENCIES ${_Boost_${uppercomponent}_DEPENDENCIES} PARENT_SCOPE) + set(_Boost_IMPORTED_TARGETS ${_Boost_IMPORTED_TARGETS} PARENT_SCOPE) + foreach(componentdep ${_Boost_${uppercomponent}_DEPENDENCIES}) + if (NOT ("${componentdep}" IN_LIST _boost_processed_components OR "${componentdep}" IN_LIST _boost_new_components)) + list(APPEND _boost_new_components ${componentdep}) + endif() + endforeach() + endforeach() + set(_boost_unprocessed_components ${_boost_new_components}) + unset(_boost_new_components) + endwhile() + set(_boost_extra_components ${_boost_processed_components}) + if(_boost_extra_components AND ${componentvar}) + list(REMOVE_ITEM _boost_extra_components ${${componentvar}}) + endif() + set(${componentvar} ${_boost_processed_components} PARENT_SCOPE) + set(${extravar} ${_boost_extra_components} PARENT_SCOPE) +endfunction() + +# +# Some boost libraries may require particular set of compler features. +# The very first one was `boost::fiber` introduced in Boost 1.62. +# One can check required compiler features of it in +# - `${Boost_ROOT}/libs/fiber/build/Jamfile.v2`; +# - `${Boost_ROOT}/libs/context/build/Jamfile.v2`. +# +# TODO (Re)Check compiler features on (every?) release ??? +# One may use the following command to get the files to check: +# +# $ find . -name Jamfile.v2 | grep build | xargs grep -l cxx1 +# +function(_Boost_COMPILER_FEATURES component _ret) + # Boost >= 1.62 + if(NOT Boost_VERSION_STRING VERSION_LESS 1.62.0) + set(_Boost_FIBER_COMPILER_FEATURES + cxx_alias_templates + cxx_auto_type + cxx_constexpr + cxx_defaulted_functions + cxx_final + cxx_lambdas + cxx_noexcept + cxx_nullptr + cxx_rvalue_references + cxx_thread_local + cxx_variadic_templates + ) + # Compiler feature for `context` same as for `fiber`. + set(_Boost_CONTEXT_COMPILER_FEATURES ${_Boost_FIBER_COMPILER_FEATURES}) + endif() + + # Boost Contract library available in >= 1.67 + if(NOT Boost_VERSION_STRING VERSION_LESS 1.67.0) + # From `libs/contract/build/boost_contract_build.jam` + set(_Boost_CONTRACT_COMPILER_FEATURES + cxx_lambdas + cxx_variadic_templates + ) + endif() + + string(TOUPPER ${component} uppercomponent) + set(${_ret} ${_Boost_${uppercomponent}_COMPILER_FEATURES} PARENT_SCOPE) +endfunction() + +# +# Update library search directory hint variable with paths used by prebuilt boost binaries. +# +# Prebuilt windows binaries (https://sourceforge.net/projects/boost/files/boost-binaries/) +# have library directories named using MSVC compiler version and architecture. +# This function would append corresponding directories if MSVC is a current compiler, +# so having `BOOST_ROOT` would be enough to specify to find everything. +# +function(_Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS componentlibvar basedir) + if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xMSVC") + if(CMAKE_SIZEOF_VOID_P EQUAL 8) + set(_arch_suffix 64) + else() + set(_arch_suffix 32) + endif() + if(MSVC_TOOLSET_VERSION GREATER_EQUAL 150) + # Not yet known. + elseif(MSVC_TOOLSET_VERSION GREATER_EQUAL 140) + # MSVC toolset 14.x versions are forward compatible. + foreach(v 9 8 7 6 5 4 3 2 1 0) + if(MSVC_TOOLSET_VERSION GREATER_EQUAL 14${v}) + list(APPEND ${componentlibvar} ${basedir}/lib${_arch_suffix}-msvc-14.${v}) + endif() + endforeach() + elseif(MSVC_TOOLSET_VERSION GREATER_EQUAL 80) + math(EXPR _toolset_major_version "${MSVC_TOOLSET_VERSION} / 10") + list(APPEND ${componentlibvar} ${basedir}/lib${_arch_suffix}-msvc-${_toolset_major_version}.0) + endif() + set(${componentlibvar} ${${componentlibvar}} PARENT_SCOPE) + endif() +endfunction() + +# +# End functions/macros +# +#------------------------------------------------------------------------------- + +#------------------------------------------------------------------------------- +# main. +#------------------------------------------------------------------------------- + + +# If the user sets Boost_LIBRARY_DIR, use it as the default for both +# configurations. +if(NOT Boost_LIBRARY_DIR_RELEASE AND Boost_LIBRARY_DIR) + set(Boost_LIBRARY_DIR_RELEASE "${Boost_LIBRARY_DIR}") +endif() +if(NOT Boost_LIBRARY_DIR_DEBUG AND Boost_LIBRARY_DIR) + set(Boost_LIBRARY_DIR_DEBUG "${Boost_LIBRARY_DIR}") +endif() + +if(NOT DEFINED Boost_USE_DEBUG_LIBS) + set(Boost_USE_DEBUG_LIBS TRUE) +endif() +if(NOT DEFINED Boost_USE_RELEASE_LIBS) + set(Boost_USE_RELEASE_LIBS TRUE) +endif() +if(NOT DEFINED Boost_USE_MULTITHREADED) + set(Boost_USE_MULTITHREADED TRUE) +endif() +if(NOT DEFINED Boost_USE_DEBUG_RUNTIME) + set(Boost_USE_DEBUG_RUNTIME TRUE) +endif() + +# Check the version of Boost against the requested version. +if(Boost_FIND_VERSION AND NOT Boost_FIND_VERSION_MINOR) + message(SEND_ERROR "When requesting a specific version of Boost, you must provide at least the major and minor version numbers, e.g., 1.34") +endif() + +if(Boost_FIND_VERSION_EXACT) + # The version may appear in a directory with or without the patch + # level, even when the patch level is non-zero. + set(_boost_TEST_VERSIONS + "${Boost_FIND_VERSION_MAJOR}.${Boost_FIND_VERSION_MINOR}.${Boost_FIND_VERSION_PATCH}" + "${Boost_FIND_VERSION_MAJOR}.${Boost_FIND_VERSION_MINOR}") +else() + # The user has not requested an exact version. Among known + # versions, find those that are acceptable to the user request. + # + # Note: When adding a new Boost release, also update the dependency + # information in _Boost_COMPONENT_DEPENDENCIES and + # _Boost_COMPONENT_HEADERS. See the instructions at the top of + # _Boost_COMPONENT_DEPENDENCIES. + set(_Boost_KNOWN_VERSIONS ${Boost_ADDITIONAL_VERSIONS} + "1.71.0" "1.71" "1.70.0" "1.70" "1.69.0" "1.69" + "1.68.0" "1.68" "1.67.0" "1.67" "1.66.0" "1.66" "1.65.1" "1.65.0" "1.65" + "1.64.0" "1.64" "1.63.0" "1.63" "1.62.0" "1.62" "1.61.0" "1.61" "1.60.0" "1.60" + "1.59.0" "1.59" "1.58.0" "1.58" "1.57.0" "1.57" "1.56.0" "1.56" "1.55.0" "1.55" + "1.54.0" "1.54" "1.53.0" "1.53" "1.52.0" "1.52" "1.51.0" "1.51" + "1.50.0" "1.50" "1.49.0" "1.49" "1.48.0" "1.48" "1.47.0" "1.47" "1.46.1" + "1.46.0" "1.46" "1.45.0" "1.45" "1.44.0" "1.44" "1.43.0" "1.43" "1.42.0" "1.42" + "1.41.0" "1.41" "1.40.0" "1.40" "1.39.0" "1.39" "1.38.0" "1.38" "1.37.0" "1.37" + "1.36.1" "1.36.0" "1.36" "1.35.1" "1.35.0" "1.35" "1.34.1" "1.34.0" + "1.34" "1.33.1" "1.33.0" "1.33") + + set(_boost_TEST_VERSIONS) + if(Boost_FIND_VERSION) + set(_Boost_FIND_VERSION_SHORT "${Boost_FIND_VERSION_MAJOR}.${Boost_FIND_VERSION_MINOR}") + # Select acceptable versions. + foreach(version ${_Boost_KNOWN_VERSIONS}) + if(NOT "${version}" VERSION_LESS "${Boost_FIND_VERSION}") + # This version is high enough. + list(APPEND _boost_TEST_VERSIONS "${version}") + elseif("${version}.99" VERSION_EQUAL "${_Boost_FIND_VERSION_SHORT}.99") + # This version is a short-form for the requested version with + # the patch level dropped. + list(APPEND _boost_TEST_VERSIONS "${version}") + endif() + endforeach() + else() + # Any version is acceptable. + set(_boost_TEST_VERSIONS "${_Boost_KNOWN_VERSIONS}") + endif() +endif() + +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_TEST_VERSIONS") +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_USE_MULTITHREADED") +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_USE_STATIC_LIBS") +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_USE_STATIC_RUNTIME") +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_ADDITIONAL_VERSIONS") +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_NO_SYSTEM_PATHS") + +# Supply Boost_LIB_DIAGNOSTIC_DEFINITIONS as a convenience target. It +# will only contain any interface definitions on WIN32, but is created +# on all platforms to keep end user code free from platform dependent +# code. Also provide convenience targets to disable autolinking and +# enable dynamic linking. +if(NOT TARGET Boost::diagnostic_definitions) + add_library(Boost::diagnostic_definitions INTERFACE IMPORTED) + add_library(Boost::disable_autolinking INTERFACE IMPORTED) + add_library(Boost::dynamic_linking INTERFACE IMPORTED) + set_target_properties(Boost::dynamic_linking PROPERTIES + INTERFACE_COMPILE_DEFINITIONS "BOOST_ALL_DYN_LINK") +endif() +if(WIN32) + # In windows, automatic linking is performed, so you do not have + # to specify the libraries. If you are linking to a dynamic + # runtime, then you can choose to link to either a static or a + # dynamic Boost library, the default is to do a static link. You + # can alter this for a specific library "whatever" by defining + # BOOST_WHATEVER_DYN_LINK to force Boost library "whatever" to be + # linked dynamically. Alternatively you can force all Boost + # libraries to dynamic link by defining BOOST_ALL_DYN_LINK. + + # This feature can be disabled for Boost library "whatever" by + # defining BOOST_WHATEVER_NO_LIB, or for all of Boost by defining + # BOOST_ALL_NO_LIB. + + # If you want to observe which libraries are being linked against + # then defining BOOST_LIB_DIAGNOSTIC will cause the auto-linking + # code to emit a #pragma message each time a library is selected + # for linking. + set(Boost_LIB_DIAGNOSTIC_DEFINITIONS "-DBOOST_LIB_DIAGNOSTIC") + set_target_properties(Boost::diagnostic_definitions PROPERTIES + INTERFACE_COMPILE_DEFINITIONS "BOOST_LIB_DIAGNOSTIC") + set_target_properties(Boost::disable_autolinking PROPERTIES + INTERFACE_COMPILE_DEFINITIONS "BOOST_ALL_NO_LIB") +endif() + +cmake_policy(GET CMP0074 _Boost_CMP0074) +if(NOT "x${_Boost_CMP0074}x" STREQUAL "xNEWx") + _Boost_CHECK_SPELLING(Boost_ROOT) +endif() +unset(_Boost_CMP0074) +_Boost_CHECK_SPELLING(Boost_LIBRARYDIR) +_Boost_CHECK_SPELLING(Boost_INCLUDEDIR) + +# Collect environment variable inputs as hints. Do not consider changes. +foreach(v BOOSTROOT BOOST_ROOT BOOST_INCLUDEDIR BOOST_LIBRARYDIR) + set(_env $ENV{${v}}) + if(_env) + file(TO_CMAKE_PATH "${_env}" _ENV_${v}) + else() + set(_ENV_${v} "") + endif() +endforeach() +if(NOT _ENV_BOOST_ROOT AND _ENV_BOOSTROOT) + set(_ENV_BOOST_ROOT "${_ENV_BOOSTROOT}") +endif() + +# Collect inputs and cached results. Detect changes since the last run. +if(NOT BOOST_ROOT AND BOOSTROOT) + set(BOOST_ROOT "${BOOSTROOT}") +endif() +set(_Boost_VARS_DIR + BOOST_ROOT + Boost_NO_SYSTEM_PATHS + ) + +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "BOOST_ROOT") +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "BOOST_ROOT" ENVIRONMENT) +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "BOOST_INCLUDEDIR") +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "BOOST_INCLUDEDIR" ENVIRONMENT) +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "BOOST_LIBRARYDIR") +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "BOOST_LIBRARYDIR" ENVIRONMENT) + +# ------------------------------------------------------------------------ +# Search for Boost include DIR +# ------------------------------------------------------------------------ + +set(_Boost_VARS_INC BOOST_INCLUDEDIR Boost_INCLUDE_DIR Boost_ADDITIONAL_VERSIONS) +_Boost_CHANGE_DETECT(_Boost_CHANGE_INCDIR ${_Boost_VARS_DIR} ${_Boost_VARS_INC}) +# Clear Boost_INCLUDE_DIR if it did not change but other input affecting the +# location did. We will find a new one based on the new inputs. +if(_Boost_CHANGE_INCDIR AND NOT _Boost_INCLUDE_DIR_CHANGED) + unset(Boost_INCLUDE_DIR CACHE) +endif() + +if(NOT Boost_INCLUDE_DIR) + set(_boost_INCLUDE_SEARCH_DIRS "") + if(BOOST_INCLUDEDIR) + list(APPEND _boost_INCLUDE_SEARCH_DIRS ${BOOST_INCLUDEDIR}) + elseif(_ENV_BOOST_INCLUDEDIR) + list(APPEND _boost_INCLUDE_SEARCH_DIRS ${_ENV_BOOST_INCLUDEDIR}) + endif() + + if( BOOST_ROOT ) + list(APPEND _boost_INCLUDE_SEARCH_DIRS ${BOOST_ROOT}/include ${BOOST_ROOT}) + elseif( _ENV_BOOST_ROOT ) + list(APPEND _boost_INCLUDE_SEARCH_DIRS ${_ENV_BOOST_ROOT}/include ${_ENV_BOOST_ROOT}) + endif() + + if( Boost_NO_SYSTEM_PATHS) + list(APPEND _boost_INCLUDE_SEARCH_DIRS NO_CMAKE_SYSTEM_PATH NO_SYSTEM_ENVIRONMENT_PATH) + else() + if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xMSVC") + foreach(ver ${_boost_TEST_VERSIONS}) + string(REPLACE "." "_" ver "${ver}") + list(APPEND _boost_INCLUDE_SEARCH_DIRS PATHS "C:/local/boost_${ver}") + endforeach() + endif() + list(APPEND _boost_INCLUDE_SEARCH_DIRS PATHS + C:/boost/include + C:/boost + /sw/local/include + ) + endif() + + # Try to find Boost by stepping backwards through the Boost versions + # we know about. + # Build a list of path suffixes for each version. + set(_boost_PATH_SUFFIXES) + foreach(_boost_VER ${_boost_TEST_VERSIONS}) + # Add in a path suffix, based on the required version, ideally + # we could read this from version.hpp, but for that to work we'd + # need to know the include dir already + set(_boost_BOOSTIFIED_VERSION) + + # Transform 1.35 => 1_35 and 1.36.0 => 1_36_0 + if(_boost_VER MATCHES "([0-9]+)\\.([0-9]+)\\.([0-9]+)") + set(_boost_BOOSTIFIED_VERSION + "${CMAKE_MATCH_1}_${CMAKE_MATCH_2}_${CMAKE_MATCH_3}") + elseif(_boost_VER MATCHES "([0-9]+)\\.([0-9]+)") + set(_boost_BOOSTIFIED_VERSION + "${CMAKE_MATCH_1}_${CMAKE_MATCH_2}") + endif() + + list(APPEND _boost_PATH_SUFFIXES + "boost-${_boost_BOOSTIFIED_VERSION}" + "boost_${_boost_BOOSTIFIED_VERSION}" + "boost/boost-${_boost_BOOSTIFIED_VERSION}" + "boost/boost_${_boost_BOOSTIFIED_VERSION}" + ) + + endforeach() + + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_INCLUDE_SEARCH_DIRS") + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_PATH_SUFFIXES") + + # Look for a standard boost header file. + find_path(Boost_INCLUDE_DIR + NAMES boost/config.hpp + HINTS ${_boost_INCLUDE_SEARCH_DIRS} + PATH_SUFFIXES ${_boost_PATH_SUFFIXES} + ) +endif() + +# ------------------------------------------------------------------------ +# Extract version information from version.hpp +# ------------------------------------------------------------------------ + +if(Boost_INCLUDE_DIR) + _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" + "location of version.hpp: ${Boost_INCLUDE_DIR}/boost/version.hpp") + + # Extract Boost_VERSION_MACRO and Boost_LIB_VERSION from version.hpp + set(Boost_VERSION_MACRO 0) + set(Boost_LIB_VERSION "") + file(STRINGS "${Boost_INCLUDE_DIR}/boost/version.hpp" _boost_VERSION_HPP_CONTENTS REGEX "#define BOOST_(LIB_)?VERSION ") + if("${_boost_VERSION_HPP_CONTENTS}" MATCHES "#define BOOST_VERSION ([0-9]+)") + set(Boost_VERSION_MACRO "${CMAKE_MATCH_1}") + endif() + if("${_boost_VERSION_HPP_CONTENTS}" MATCHES "#define BOOST_LIB_VERSION \"([0-9_]+)\"") + set(Boost_LIB_VERSION "${CMAKE_MATCH_1}") + endif() + unset(_boost_VERSION_HPP_CONTENTS) + + # Calculate version components + math(EXPR Boost_VERSION_MAJOR "${Boost_VERSION_MACRO} / 100000") + math(EXPR Boost_VERSION_MINOR "${Boost_VERSION_MACRO} / 100 % 1000") + math(EXPR Boost_VERSION_PATCH "${Boost_VERSION_MACRO} % 100") + set(Boost_VERSION_COUNT 3) + + # Define alias variables for backwards compat. + set(Boost_MAJOR_VERSION ${Boost_VERSION_MAJOR}) + set(Boost_MINOR_VERSION ${Boost_VERSION_MINOR}) + set(Boost_SUBMINOR_VERSION ${Boost_VERSION_PATCH}) + + # Define Boost version in x.y.z format + set(Boost_VERSION_STRING "${Boost_VERSION_MAJOR}.${Boost_VERSION_MINOR}.${Boost_VERSION_PATCH}") + + # Define final Boost_VERSION + cmake_policy(GET CMP0093 _Boost_CMP0093 + PARENT_SCOPE # undocumented, do not use outside of CMake + ) + if("x${_Boost_CMP0093}x" STREQUAL "xNEWx") + set(Boost_VERSION ${Boost_VERSION_STRING}) + else() + set(Boost_VERSION ${Boost_VERSION_MACRO}) + endif() + unset(_Boost_CMP0093) + + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION") + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION_STRING") + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION_MACRO") + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION_MAJOR") + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION_MINOR") + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION_PATCH") + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION_COUNT") +endif() + +# ------------------------------------------------------------------------ +# Prefix initialization +# ------------------------------------------------------------------------ + +set(Boost_LIB_PREFIX "") +if ( (GHSMULTI AND Boost_USE_STATIC_LIBS) OR + (WIN32 AND Boost_USE_STATIC_LIBS AND NOT CYGWIN) ) + set(Boost_LIB_PREFIX "lib") +endif() + +if ( NOT Boost_NAMESPACE ) + set(Boost_NAMESPACE "boost") +endif() + +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_LIB_PREFIX") +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_NAMESPACE") + +# ------------------------------------------------------------------------ +# Suffix initialization and compiler suffix detection. +# ------------------------------------------------------------------------ + +set(_Boost_VARS_NAME + Boost_NAMESPACE + Boost_COMPILER + Boost_THREADAPI + Boost_USE_DEBUG_PYTHON + Boost_USE_MULTITHREADED + Boost_USE_STATIC_LIBS + Boost_USE_STATIC_RUNTIME + Boost_USE_STLPORT + Boost_USE_STLPORT_DEPRECATED_NATIVE_IOSTREAMS + ) +_Boost_CHANGE_DETECT(_Boost_CHANGE_LIBNAME ${_Boost_VARS_NAME}) + +# Setting some more suffixes for the library +if (Boost_COMPILER) + set(_boost_COMPILER ${Boost_COMPILER}) + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" + "_boost_COMPILER" SOURCE "user-specified via Boost_COMPILER") +else() + # Attempt to guess the compiler suffix + # NOTE: this is not perfect yet, if you experience any issues + # please report them and use the Boost_COMPILER variable + # to work around the problems. + _Boost_GUESS_COMPILER_PREFIX(_boost_COMPILER) +endif() + +set (_boost_MULTITHREADED "-mt") +if( NOT Boost_USE_MULTITHREADED ) + set (_boost_MULTITHREADED "") +endif() +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_MULTITHREADED") + +#====================== +# Systematically build up the Boost ABI tag for the 'tagged' and 'versioned' layouts +# http://boost.org/doc/libs/1_66_0/more/getting_started/windows.html#library-naming +# http://boost.org/doc/libs/1_66_0/boost/config/auto_link.hpp +# http://boost.org/doc/libs/1_66_0/tools/build/src/tools/common.jam +# http://boost.org/doc/libs/1_66_0/boostcpp.jam +set( _boost_RELEASE_ABI_TAG "-") +set( _boost_DEBUG_ABI_TAG "-") +# Key Use this library when: +# s linking statically to the C++ standard library and +# compiler runtime support libraries. +if(Boost_USE_STATIC_RUNTIME) + set( _boost_RELEASE_ABI_TAG "${_boost_RELEASE_ABI_TAG}s") + set( _boost_DEBUG_ABI_TAG "${_boost_DEBUG_ABI_TAG}s") +endif() +# g using debug versions of the standard and runtime +# support libraries +if(WIN32 AND Boost_USE_DEBUG_RUNTIME) + if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xMSVC" + OR "x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xClang" + OR "x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xIntel") + string(APPEND _boost_DEBUG_ABI_TAG "g") + endif() +endif() +# y using special debug build of python +if(Boost_USE_DEBUG_PYTHON) + string(APPEND _boost_DEBUG_ABI_TAG "y") +endif() +# d using a debug version of your code +string(APPEND _boost_DEBUG_ABI_TAG "d") +# p using the STLport standard library rather than the +# default one supplied with your compiler +if(Boost_USE_STLPORT) + string(APPEND _boost_RELEASE_ABI_TAG "p") + string(APPEND _boost_DEBUG_ABI_TAG "p") +endif() +# n using the STLport deprecated "native iostreams" feature +# removed from the documentation in 1.43.0 but still present in +# boost/config/auto_link.hpp +if(Boost_USE_STLPORT_DEPRECATED_NATIVE_IOSTREAMS) + string(APPEND _boost_RELEASE_ABI_TAG "n") + string(APPEND _boost_DEBUG_ABI_TAG "n") +endif() + +# -x86 Architecture and address model tag +# First character is the architecture, then word-size, either 32 or 64 +# Only used in 'versioned' layout, added in Boost 1.66.0 +if(DEFINED Boost_ARCHITECTURE) + set(_boost_ARCHITECTURE_TAG "${Boost_ARCHITECTURE}") + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" + "_boost_ARCHITECTURE_TAG" SOURCE "user-specified via Boost_ARCHITECTURE") +else() + set(_boost_ARCHITECTURE_TAG "") + # {CMAKE_CXX_COMPILER_ARCHITECTURE_ID} is not currently set for all compilers + if(NOT "x${CMAKE_CXX_COMPILER_ARCHITECTURE_ID}" STREQUAL "x" AND NOT Boost_VERSION_STRING VERSION_LESS 1.66.0) + string(APPEND _boost_ARCHITECTURE_TAG "-") + # This needs to be kept in-sync with the section of CMakePlatformId.h.in + # inside 'defined(_WIN32) && defined(_MSC_VER)' + if(CMAKE_CXX_COMPILER_ARCHITECTURE_ID STREQUAL "IA64") + string(APPEND _boost_ARCHITECTURE_TAG "i") + elseif(CMAKE_CXX_COMPILER_ARCHITECTURE_ID STREQUAL "X86" + OR CMAKE_CXX_COMPILER_ARCHITECTURE_ID STREQUAL "x64") + string(APPEND _boost_ARCHITECTURE_TAG "x") + elseif(CMAKE_CXX_COMPILER_ARCHITECTURE_ID MATCHES "^ARM") + string(APPEND _boost_ARCHITECTURE_TAG "a") + elseif(CMAKE_CXX_COMPILER_ARCHITECTURE_ID STREQUAL "MIPS") + string(APPEND _boost_ARCHITECTURE_TAG "m") + endif() + + if(CMAKE_SIZEOF_VOID_P EQUAL 8) + string(APPEND _boost_ARCHITECTURE_TAG "64") + else() + string(APPEND _boost_ARCHITECTURE_TAG "32") + endif() + endif() + _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" + "_boost_ARCHITECTURE_TAG" SOURCE "detected") +endif() + +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_RELEASE_ABI_TAG") +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_DEBUG_ABI_TAG") + +# ------------------------------------------------------------------------ +# Begin finding boost libraries +# ------------------------------------------------------------------------ + +set(_Boost_VARS_LIB "") +foreach(c DEBUG RELEASE) + set(_Boost_VARS_LIB_${c} BOOST_LIBRARYDIR Boost_LIBRARY_DIR_${c}) + list(APPEND _Boost_VARS_LIB ${_Boost_VARS_LIB_${c}}) + _Boost_CHANGE_DETECT(_Boost_CHANGE_LIBDIR_${c} ${_Boost_VARS_DIR} ${_Boost_VARS_LIB_${c}} Boost_INCLUDE_DIR) + # Clear Boost_LIBRARY_DIR_${c} if it did not change but other input affecting the + # location did. We will find a new one based on the new inputs. + if(_Boost_CHANGE_LIBDIR_${c} AND NOT _Boost_LIBRARY_DIR_${c}_CHANGED) + unset(Boost_LIBRARY_DIR_${c} CACHE) + endif() + + # If Boost_LIBRARY_DIR_[RELEASE,DEBUG] is set, prefer its value. + if(Boost_LIBRARY_DIR_${c}) + set(_boost_LIBRARY_SEARCH_DIRS_${c} ${Boost_LIBRARY_DIR_${c}} NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + else() + set(_boost_LIBRARY_SEARCH_DIRS_${c} "") + if(BOOST_LIBRARYDIR) + list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} ${BOOST_LIBRARYDIR}) + elseif(_ENV_BOOST_LIBRARYDIR) + list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} ${_ENV_BOOST_LIBRARYDIR}) + endif() + + if(BOOST_ROOT) + list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} ${BOOST_ROOT}/lib ${BOOST_ROOT}/stage/lib) + _Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS(_boost_LIBRARY_SEARCH_DIRS_${c} "${BOOST_ROOT}") + elseif(_ENV_BOOST_ROOT) + list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} ${_ENV_BOOST_ROOT}/lib ${_ENV_BOOST_ROOT}/stage/lib) + _Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS(_boost_LIBRARY_SEARCH_DIRS_${c} "${_ENV_BOOST_ROOT}") + endif() + + list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} + ${Boost_INCLUDE_DIR}/lib + ${Boost_INCLUDE_DIR}/../lib + ${Boost_INCLUDE_DIR}/stage/lib + ) + _Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS(_boost_LIBRARY_SEARCH_DIRS_${c} "${Boost_INCLUDE_DIR}/..") + _Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS(_boost_LIBRARY_SEARCH_DIRS_${c} "${Boost_INCLUDE_DIR}") + if( Boost_NO_SYSTEM_PATHS ) + list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} NO_CMAKE_SYSTEM_PATH NO_SYSTEM_ENVIRONMENT_PATH) + else() + foreach(ver ${_boost_TEST_VERSIONS}) + string(REPLACE "." "_" ver "${ver}") + _Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS(_boost_LIBRARY_SEARCH_DIRS_${c} "C:/local/boost_${ver}") + endforeach() + _Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS(_boost_LIBRARY_SEARCH_DIRS_${c} "C:/boost") + list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} PATHS + C:/boost/lib + C:/boost + /sw/local/lib + ) + endif() + endif() +endforeach() + +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_LIBRARY_SEARCH_DIRS_RELEASE") +_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_LIBRARY_SEARCH_DIRS_DEBUG") + +# Support preference of static libs by adjusting CMAKE_FIND_LIBRARY_SUFFIXES +if( Boost_USE_STATIC_LIBS ) + set( _boost_ORIG_CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_FIND_LIBRARY_SUFFIXES}) + if(WIN32) + list(INSERT CMAKE_FIND_LIBRARY_SUFFIXES 0 .lib .a) + else() + set(CMAKE_FIND_LIBRARY_SUFFIXES .a) + endif() +endif() + +# We want to use the tag inline below without risking double dashes +if(_boost_RELEASE_ABI_TAG) + if(${_boost_RELEASE_ABI_TAG} STREQUAL "-") + set(_boost_RELEASE_ABI_TAG "") + endif() +endif() +if(_boost_DEBUG_ABI_TAG) + if(${_boost_DEBUG_ABI_TAG} STREQUAL "-") + set(_boost_DEBUG_ABI_TAG "") + endif() +endif() + +# The previous behavior of FindBoost when Boost_USE_STATIC_LIBS was enabled +# on WIN32 was to: +# 1. Search for static libs compiled against a SHARED C++ standard runtime library (use if found) +# 2. Search for static libs compiled against a STATIC C++ standard runtime library (use if found) +# We maintain this behavior since changing it could break people's builds. +# To disable the ambiguous behavior, the user need only +# set Boost_USE_STATIC_RUNTIME either ON or OFF. +set(_boost_STATIC_RUNTIME_WORKAROUND false) +if(WIN32 AND Boost_USE_STATIC_LIBS) + if(NOT DEFINED Boost_USE_STATIC_RUNTIME) + set(_boost_STATIC_RUNTIME_WORKAROUND TRUE) + endif() +endif() + +# On versions < 1.35, remove the System library from the considered list +# since it wasn't added until 1.35. +if(Boost_VERSION_STRING AND Boost_FIND_COMPONENTS) + if(Boost_VERSION_STRING VERSION_LESS 1.35.0) + list(REMOVE_ITEM Boost_FIND_COMPONENTS system) + endif() +endif() + +# Additional components may be required via component dependencies. +# Add any missing components to the list. +_Boost_MISSING_DEPENDENCIES(Boost_FIND_COMPONENTS _Boost_EXTRA_FIND_COMPONENTS) + +# If thread is required, get the thread libs as a dependency +if("thread" IN_LIST Boost_FIND_COMPONENTS) + if(Boost_FIND_QUIETLY) + set(_Boost_find_quiet QUIET) + else() + set(_Boost_find_quiet "") + endif() + find_package(Threads ${_Boost_find_quiet}) + unset(_Boost_find_quiet) +endif() + +# If the user changed any of our control inputs flush previous results. +if(_Boost_CHANGE_LIBDIR_DEBUG OR _Boost_CHANGE_LIBDIR_RELEASE OR _Boost_CHANGE_LIBNAME) + foreach(COMPONENT ${_Boost_COMPONENTS_SEARCHED}) + string(TOUPPER ${COMPONENT} UPPERCOMPONENT) + foreach(c DEBUG RELEASE) + set(_var Boost_${UPPERCOMPONENT}_LIBRARY_${c}) + unset(${_var} CACHE) + set(${_var} "${_var}-NOTFOUND") + endforeach() + endforeach() + set(_Boost_COMPONENTS_SEARCHED "") +endif() + +foreach(COMPONENT ${Boost_FIND_COMPONENTS}) + string(TOUPPER ${COMPONENT} UPPERCOMPONENT) + + set( _boost_docstring_release "Boost ${COMPONENT} library (release)") + set( _boost_docstring_debug "Boost ${COMPONENT} library (debug)") + + # Compute component-specific hints. + set(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT "") + if(${COMPONENT} STREQUAL "mpi" OR ${COMPONENT} STREQUAL "mpi_python" OR + ${COMPONENT} STREQUAL "graph_parallel") + foreach(lib ${MPI_CXX_LIBRARIES} ${MPI_C_LIBRARIES}) + if(IS_ABSOLUTE "${lib}") + get_filename_component(libdir "${lib}" PATH) + string(REPLACE "\\" "/" libdir "${libdir}") + list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT ${libdir}) + endif() + endforeach() + endif() + + # Handle Python version suffixes + unset(COMPONENT_PYTHON_VERSION_MAJOR) + unset(COMPONENT_PYTHON_VERSION_MINOR) + if(${COMPONENT} MATCHES "^(python|mpi_python|numpy)([0-9])\$") + set(COMPONENT_UNVERSIONED "${CMAKE_MATCH_1}") + set(COMPONENT_PYTHON_VERSION_MAJOR "${CMAKE_MATCH_2}") + elseif(${COMPONENT} MATCHES "^(python|mpi_python|numpy)([0-9])\\.?([0-9])\$") + set(COMPONENT_UNVERSIONED "${CMAKE_MATCH_1}") + set(COMPONENT_PYTHON_VERSION_MAJOR "${CMAKE_MATCH_2}") + set(COMPONENT_PYTHON_VERSION_MINOR "${CMAKE_MATCH_3}") + endif() + + unset(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME) + if (COMPONENT_PYTHON_VERSION_MINOR) + # Boost >= 1.67 + list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}${COMPONENT_PYTHON_VERSION_MAJOR}${COMPONENT_PYTHON_VERSION_MINOR}") + # Debian/Ubuntu (Some versions omit the 2 and/or 3 from the suffix) + list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}${COMPONENT_PYTHON_VERSION_MAJOR}-py${COMPONENT_PYTHON_VERSION_MAJOR}${COMPONENT_PYTHON_VERSION_MINOR}") + list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}-py${COMPONENT_PYTHON_VERSION_MAJOR}${COMPONENT_PYTHON_VERSION_MINOR}") + # Gentoo + list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}-${COMPONENT_PYTHON_VERSION_MAJOR}.${COMPONENT_PYTHON_VERSION_MINOR}") + # RPMs + list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}-${COMPONENT_PYTHON_VERSION_MAJOR}${COMPONENT_PYTHON_VERSION_MINOR}") + endif() + if (COMPONENT_PYTHON_VERSION_MAJOR AND NOT COMPONENT_PYTHON_VERSION_MINOR) + # Boost < 1.67 + list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}${COMPONENT_PYTHON_VERSION_MAJOR}") + endif() + + # Consolidate and report component-specific hints. + if(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME) + list(REMOVE_DUPLICATES _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME) + _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" + "Component-specific library search names for ${COMPONENT_NAME}: ${_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME}") + endif() + if(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT) + list(REMOVE_DUPLICATES _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT) + _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" + "Component-specific library search paths for ${COMPONENT}: ${_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT}") + endif() + + # + # Find headers + # + _Boost_COMPONENT_HEADERS("${COMPONENT}" Boost_${UPPERCOMPONENT}_HEADER_NAME) + # Look for a standard boost header file. + if(Boost_${UPPERCOMPONENT}_HEADER_NAME) + if(EXISTS "${Boost_INCLUDE_DIR}/${Boost_${UPPERCOMPONENT}_HEADER_NAME}") + set(Boost_${UPPERCOMPONENT}_HEADER ON) + else() + set(Boost_${UPPERCOMPONENT}_HEADER OFF) + endif() + else() + set(Boost_${UPPERCOMPONENT}_HEADER ON) + message(WARNING "No header defined for ${COMPONENT}; skipping header check") + endif() + + # + # Find RELEASE libraries + # + unset(_boost_RELEASE_NAMES) + foreach(component IN LISTS _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME COMPONENT) + foreach(compiler IN LISTS _boost_COMPILER) + list(APPEND _boost_RELEASE_NAMES + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}${_boost_ARCHITECTURE_TAG} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG} ) + endforeach() + list(APPEND _boost_RELEASE_NAMES + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}${_boost_ARCHITECTURE_TAG} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component} ) + if(_boost_STATIC_RUNTIME_WORKAROUND) + set(_boost_RELEASE_STATIC_ABI_TAG "-s${_boost_RELEASE_ABI_TAG}") + foreach(compiler IN LISTS _boost_COMPILER) + list(APPEND _boost_RELEASE_NAMES + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG} ) + endforeach() + list(APPEND _boost_RELEASE_NAMES + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG} ) + endif() + endforeach() + if(Boost_THREADAPI AND ${COMPONENT} STREQUAL "thread") + _Boost_PREPEND_LIST_WITH_THREADAPI(_boost_RELEASE_NAMES ${_boost_RELEASE_NAMES}) + endif() + _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" + "Searching for ${UPPERCOMPONENT}_LIBRARY_RELEASE: ${_boost_RELEASE_NAMES}") + + # if Boost_LIBRARY_DIR_RELEASE is not defined, + # but Boost_LIBRARY_DIR_DEBUG is, look there first for RELEASE libs + if(NOT Boost_LIBRARY_DIR_RELEASE AND Boost_LIBRARY_DIR_DEBUG) + list(INSERT _boost_LIBRARY_SEARCH_DIRS_RELEASE 0 ${Boost_LIBRARY_DIR_DEBUG}) + endif() + + # Avoid passing backslashes to _Boost_FIND_LIBRARY due to macro re-parsing. + string(REPLACE "\\" "/" _boost_LIBRARY_SEARCH_DIRS_tmp "${_boost_LIBRARY_SEARCH_DIRS_RELEASE}") + + if(Boost_USE_RELEASE_LIBS) + _Boost_FIND_LIBRARY(Boost_${UPPERCOMPONENT}_LIBRARY_RELEASE RELEASE + NAMES ${_boost_RELEASE_NAMES} + HINTS ${_boost_LIBRARY_SEARCH_DIRS_tmp} + NAMES_PER_DIR + DOC "${_boost_docstring_release}" + ) + endif() + + # + # Find DEBUG libraries + # + unset(_boost_DEBUG_NAMES) + foreach(component IN LISTS _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME COMPONENT) + foreach(compiler IN LISTS _boost_COMPILER) + list(APPEND _boost_DEBUG_NAMES + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}${_boost_ARCHITECTURE_TAG} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG} ) + endforeach() + list(APPEND _boost_DEBUG_NAMES + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}${_boost_ARCHITECTURE_TAG} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component} ) + if(_boost_STATIC_RUNTIME_WORKAROUND) + set(_boost_DEBUG_STATIC_ABI_TAG "-s${_boost_DEBUG_ABI_TAG}") + foreach(compiler IN LISTS _boost_COMPILER) + list(APPEND _boost_DEBUG_NAMES + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG} ) + endforeach() + list(APPEND _boost_DEBUG_NAMES + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG} + ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG} ) + endif() + endforeach() + if(Boost_THREADAPI AND ${COMPONENT} STREQUAL "thread") + _Boost_PREPEND_LIST_WITH_THREADAPI(_boost_DEBUG_NAMES ${_boost_DEBUG_NAMES}) + endif() + _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" + "Searching for ${UPPERCOMPONENT}_LIBRARY_DEBUG: ${_boost_DEBUG_NAMES}") + + # if Boost_LIBRARY_DIR_DEBUG is not defined, + # but Boost_LIBRARY_DIR_RELEASE is, look there first for DEBUG libs + if(NOT Boost_LIBRARY_DIR_DEBUG AND Boost_LIBRARY_DIR_RELEASE) + list(INSERT _boost_LIBRARY_SEARCH_DIRS_DEBUG 0 ${Boost_LIBRARY_DIR_RELEASE}) + endif() + + # Avoid passing backslashes to _Boost_FIND_LIBRARY due to macro re-parsing. + string(REPLACE "\\" "/" _boost_LIBRARY_SEARCH_DIRS_tmp "${_boost_LIBRARY_SEARCH_DIRS_DEBUG}") + + if(Boost_USE_DEBUG_LIBS) + _Boost_FIND_LIBRARY(Boost_${UPPERCOMPONENT}_LIBRARY_DEBUG DEBUG + NAMES ${_boost_DEBUG_NAMES} + HINTS ${_boost_LIBRARY_SEARCH_DIRS_tmp} + NAMES_PER_DIR + DOC "${_boost_docstring_debug}" + ) + endif () + + if(Boost_REALPATH) + _Boost_SWAP_WITH_REALPATH(Boost_${UPPERCOMPONENT}_LIBRARY_RELEASE "${_boost_docstring_release}") + _Boost_SWAP_WITH_REALPATH(Boost_${UPPERCOMPONENT}_LIBRARY_DEBUG "${_boost_docstring_debug}" ) + endif() + + _Boost_ADJUST_LIB_VARS(${UPPERCOMPONENT}) + + # Check if component requires some compiler features + _Boost_COMPILER_FEATURES(${COMPONENT} _Boost_${UPPERCOMPONENT}_COMPILER_FEATURES) + +endforeach() + +# Restore the original find library ordering +if( Boost_USE_STATIC_LIBS ) + set(CMAKE_FIND_LIBRARY_SUFFIXES ${_boost_ORIG_CMAKE_FIND_LIBRARY_SUFFIXES}) +endif() + +# ------------------------------------------------------------------------ +# End finding boost libraries +# ------------------------------------------------------------------------ + +set(Boost_INCLUDE_DIRS ${Boost_INCLUDE_DIR}) +set(Boost_LIBRARY_DIRS) +if(Boost_LIBRARY_DIR_RELEASE) + list(APPEND Boost_LIBRARY_DIRS ${Boost_LIBRARY_DIR_RELEASE}) +endif() +if(Boost_LIBRARY_DIR_DEBUG) + list(APPEND Boost_LIBRARY_DIRS ${Boost_LIBRARY_DIR_DEBUG}) +endif() +if(Boost_LIBRARY_DIRS) + list(REMOVE_DUPLICATES Boost_LIBRARY_DIRS) +endif() + +# ------------------------------------------------------------------------ +# Call FPHSA helper, see https://cmake.org/cmake/help/latest/module/FindPackageHandleStandardArgs.html +# ------------------------------------------------------------------------ + +# Define aliases as needed by the component handler in the FPHSA helper below +foreach(_comp IN LISTS Boost_FIND_COMPONENTS) + string(TOUPPER ${_comp} _uppercomp) + if(DEFINED Boost_${_uppercomp}_FOUND) + set(Boost_${_comp}_FOUND ${Boost_${_uppercomp}_FOUND}) + endif() +endforeach() + +find_package_handle_standard_args(Boost + REQUIRED_VARS Boost_INCLUDE_DIR + VERSION_VAR Boost_VERSION_STRING + HANDLE_COMPONENTS) + +if(Boost_FOUND) + if( NOT Boost_LIBRARY_DIRS ) + # Compatibility Code for backwards compatibility with CMake + # 2.4's FindBoost module. + + # Look for the boost library path. + # Note that the user may not have installed any libraries + # so it is quite possible the Boost_LIBRARY_DIRS may not exist. + set(_boost_LIB_DIR ${Boost_INCLUDE_DIR}) + + if("${_boost_LIB_DIR}" MATCHES "boost-[0-9]+") + get_filename_component(_boost_LIB_DIR ${_boost_LIB_DIR} PATH) + endif() + + if("${_boost_LIB_DIR}" MATCHES "/include$") + # Strip off the trailing "/include" in the path. + get_filename_component(_boost_LIB_DIR ${_boost_LIB_DIR} PATH) + endif() + + if(EXISTS "${_boost_LIB_DIR}/lib") + string(APPEND _boost_LIB_DIR /lib) + elseif(EXISTS "${_boost_LIB_DIR}/stage/lib") + string(APPEND _boost_LIB_DIR "/stage/lib") + else() + set(_boost_LIB_DIR "") + endif() + + if(_boost_LIB_DIR AND EXISTS "${_boost_LIB_DIR}") + set(Boost_LIBRARY_DIRS ${_boost_LIB_DIR}) + endif() + + endif() +else() + # Boost headers were not found so no components were found. + foreach(COMPONENT ${Boost_FIND_COMPONENTS}) + string(TOUPPER ${COMPONENT} UPPERCOMPONENT) + set(Boost_${UPPERCOMPONENT}_FOUND 0) + endforeach() +endif() + +# ------------------------------------------------------------------------ +# Add imported targets +# ------------------------------------------------------------------------ + +if(Boost_FOUND) + # The builtin CMake package in Boost 1.70+ introduces a new name + # for the header-only lib, let's provide the same UI in module mode + if(NOT TARGET Boost::headers) + add_library(Boost::headers INTERFACE IMPORTED) + if(Boost_INCLUDE_DIRS) + set_target_properties(Boost::headers PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES "${Boost_INCLUDE_DIRS}") + endif() + endif() + + # Define the old target name for header-only libraries for backwards + # compat. + if(NOT TARGET Boost::boost) + add_library(Boost::boost INTERFACE IMPORTED) + set_target_properties(Boost::boost + PROPERTIES INTERFACE_LINK_LIBRARIES Boost::headers) + endif() + + foreach(COMPONENT ${Boost_FIND_COMPONENTS}) + if(_Boost_IMPORTED_TARGETS AND NOT TARGET Boost::${COMPONENT}) + string(TOUPPER ${COMPONENT} UPPERCOMPONENT) + if(Boost_${UPPERCOMPONENT}_FOUND) + if(Boost_USE_STATIC_LIBS) + add_library(Boost::${COMPONENT} STATIC IMPORTED) + else() + # Even if Boost_USE_STATIC_LIBS is OFF, we might have static + # libraries as a result. + add_library(Boost::${COMPONENT} UNKNOWN IMPORTED) + endif() + if(Boost_INCLUDE_DIRS) + set_target_properties(Boost::${COMPONENT} PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES "${Boost_INCLUDE_DIRS}") + endif() + if(EXISTS "${Boost_${UPPERCOMPONENT}_LIBRARY}") + set_target_properties(Boost::${COMPONENT} PROPERTIES + IMPORTED_LINK_INTERFACE_LANGUAGES "CXX" + IMPORTED_LOCATION "${Boost_${UPPERCOMPONENT}_LIBRARY}") + endif() + if(EXISTS "${Boost_${UPPERCOMPONENT}_LIBRARY_RELEASE}") + set_property(TARGET Boost::${COMPONENT} APPEND PROPERTY + IMPORTED_CONFIGURATIONS RELEASE) + set_target_properties(Boost::${COMPONENT} PROPERTIES + IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX" + IMPORTED_LOCATION_RELEASE "${Boost_${UPPERCOMPONENT}_LIBRARY_RELEASE}") + endif() + if(EXISTS "${Boost_${UPPERCOMPONENT}_LIBRARY_DEBUG}") + set_property(TARGET Boost::${COMPONENT} APPEND PROPERTY + IMPORTED_CONFIGURATIONS DEBUG) + set_target_properties(Boost::${COMPONENT} PROPERTIES + IMPORTED_LINK_INTERFACE_LANGUAGES_DEBUG "CXX" + IMPORTED_LOCATION_DEBUG "${Boost_${UPPERCOMPONENT}_LIBRARY_DEBUG}") + endif() + if(_Boost_${UPPERCOMPONENT}_DEPENDENCIES) + unset(_Boost_${UPPERCOMPONENT}_TARGET_DEPENDENCIES) + foreach(dep ${_Boost_${UPPERCOMPONENT}_DEPENDENCIES}) + list(APPEND _Boost_${UPPERCOMPONENT}_TARGET_DEPENDENCIES Boost::${dep}) + endforeach() + if(COMPONENT STREQUAL "thread") + list(APPEND _Boost_${UPPERCOMPONENT}_TARGET_DEPENDENCIES Threads::Threads) + endif() + set_target_properties(Boost::${COMPONENT} PROPERTIES + INTERFACE_LINK_LIBRARIES "${_Boost_${UPPERCOMPONENT}_TARGET_DEPENDENCIES}") + endif() + if(_Boost_${UPPERCOMPONENT}_COMPILER_FEATURES) + set_target_properties(Boost::${COMPONENT} PROPERTIES + INTERFACE_COMPILE_FEATURES "${_Boost_${UPPERCOMPONENT}_COMPILER_FEATURES}") + endif() + endif() + endif() + endforeach() +endif() + +# ------------------------------------------------------------------------ +# Finalize +# ------------------------------------------------------------------------ + +# Report Boost_LIBRARIES +set(Boost_LIBRARIES "") +foreach(_comp IN LISTS Boost_FIND_COMPONENTS) + string(TOUPPER ${_comp} _uppercomp) + if(Boost_${_uppercomp}_FOUND) + list(APPEND Boost_LIBRARIES ${Boost_${_uppercomp}_LIBRARY}) + if(_comp STREQUAL "thread") + list(APPEND Boost_LIBRARIES ${CMAKE_THREAD_LIBS_INIT}) + endif() + endif() +endforeach() + +# Configure display of cache entries in GUI. +foreach(v BOOSTROOT BOOST_ROOT ${_Boost_VARS_INC} ${_Boost_VARS_LIB}) + get_property(_type CACHE ${v} PROPERTY TYPE) + if(_type) + set_property(CACHE ${v} PROPERTY ADVANCED 1) + if("x${_type}" STREQUAL "xUNINITIALIZED") + if("x${v}" STREQUAL "xBoost_ADDITIONAL_VERSIONS") + set_property(CACHE ${v} PROPERTY TYPE STRING) + else() + set_property(CACHE ${v} PROPERTY TYPE PATH) + endif() + endif() + endif() +endforeach() + +# Record last used values of input variables so we can +# detect on the next run if the user changed them. +foreach(v + ${_Boost_VARS_INC} ${_Boost_VARS_LIB} + ${_Boost_VARS_DIR} ${_Boost_VARS_NAME} + ) + if(DEFINED ${v}) + set(_${v}_LAST "${${v}}" CACHE INTERNAL "Last used ${v} value.") + else() + unset(_${v}_LAST CACHE) + endif() +endforeach() + +# Maintain a persistent list of components requested anywhere since +# the last flush. +set(_Boost_COMPONENTS_SEARCHED "${_Boost_COMPONENTS_SEARCHED}") +list(APPEND _Boost_COMPONENTS_SEARCHED ${Boost_FIND_COMPONENTS}) +list(REMOVE_DUPLICATES _Boost_COMPONENTS_SEARCHED) +list(SORT _Boost_COMPONENTS_SEARCHED) +set(_Boost_COMPONENTS_SEARCHED "${_Boost_COMPONENTS_SEARCHED}" + CACHE INTERNAL "Components requested for this build tree.") + +# Restore project's policies +cmake_policy(POP) From 6badcefac417f0af3c3c06d9b5dd3a79a73796ca Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Mon, 7 Oct 2019 11:42:38 +0200 Subject: [PATCH 0055/1152] Patches to use CMake's FindBoost into gtsam --- cmake/FindBoost.cmake | 20 +++++++++++++++----- 1 file changed, 15 insertions(+), 5 deletions(-) diff --git a/cmake/FindBoost.cmake b/cmake/FindBoost.cmake index 078000f22..5f7cb5ddc 100644 --- a/cmake/FindBoost.cmake +++ b/cmake/FindBoost.cmake @@ -243,7 +243,10 @@ Set ``Boost_NO_BOOST_CMAKE`` to ``ON``, to disable the search for boost-cmake. # The FPHSA helper provides standard way of reporting final search results to # the user including the version and component checks. -include(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake) + +# Patch for GTSAM: +#include(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake) +include(FindPackageHandleStandardArgs) # Save project's policies cmake_policy(PUSH) @@ -1487,7 +1490,11 @@ if(WIN32) INTERFACE_COMPILE_DEFINITIONS "BOOST_ALL_NO_LIB") endif() -cmake_policy(GET CMP0074 _Boost_CMP0074) +# Patch for GTSAM: +if (POLICY CMP0074) + cmake_policy(GET CMP0074 _Boost_CMP0074) +endif() + if(NOT "x${_Boost_CMP0074}x" STREQUAL "xNEWx") _Boost_CHECK_SPELLING(Boost_ROOT) endif() @@ -1640,9 +1647,12 @@ if(Boost_INCLUDE_DIR) set(Boost_VERSION_STRING "${Boost_VERSION_MAJOR}.${Boost_VERSION_MINOR}.${Boost_VERSION_PATCH}") # Define final Boost_VERSION - cmake_policy(GET CMP0093 _Boost_CMP0093 - PARENT_SCOPE # undocumented, do not use outside of CMake - ) + if (POLICY CMP0093) + cmake_policy(GET CMP0093 _Boost_CMP0093 + PARENT_SCOPE # undocumented, do not use outside of CMake + ) + endif() + if("x${_Boost_CMP0093}x" STREQUAL "xNEWx") set(Boost_VERSION ${Boost_VERSION_STRING}) else() From a1d46fab3388d1b41668e79595d6632ab3141e3b Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Mon, 7 Oct 2019 11:54:28 +0200 Subject: [PATCH 0056/1152] Ubuntu PPA packages: use GTSAM_BUILD_WITH_MARCH_NATIVE=OFF --- debian/rules | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/debian/rules b/debian/rules index 6a8d21c00..156629fd6 100755 --- a/debian/rules +++ b/debian/rules @@ -21,5 +21,5 @@ export DH_VERBOSE = 1 # dh_make generated override targets # This is example for Cmake (See https://bugs.debian.org/641051 ) override_dh_auto_configure: - dh_auto_configure -- -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=/usr -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_WRAP=OFF -DGTSAM_BUILD_DOCS=OFF -DGTSAM_INSTALL_CPPUNITLITE=OFF -DGTSAM_INSTALL_GEOGRAPHICLIB=OFF -DGTSAM_BUILD_TYPE_POSTFIXES=OFF + dh_auto_configure -- -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=/usr -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_WRAP=OFF -DGTSAM_BUILD_DOCS=OFF -DGTSAM_INSTALL_CPPUNITLITE=OFF -DGTSAM_INSTALL_GEOGRAPHICLIB=OFF -DGTSAM_BUILD_TYPE_POSTFIXES=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF From b3dccc6ef3e24eb11b60f03f857f177feff5714f Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Mon, 7 Oct 2019 12:07:49 +0200 Subject: [PATCH 0057/1152] get gtsam version number in synch --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index b0457cb1c..1c9f0639a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,7 +10,7 @@ endif() # Set the version number for the library set (GTSAM_VERSION_MAJOR 4) set (GTSAM_VERSION_MINOR 0) -set (GTSAM_VERSION_PATCH 0) +set (GTSAM_VERSION_PATCH 2) 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}") From 5c883caf168809adf36995067a1cca548e0db5a5 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 7 Oct 2019 23:43:01 -0400 Subject: [PATCH 0058/1152] label subplots for each estimator and hyphenate Geman-McClure --- matlab/gtsam_examples/VisualizeMEstimators.m | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/matlab/gtsam_examples/VisualizeMEstimators.m b/matlab/gtsam_examples/VisualizeMEstimators.m index 5120934fe..1c5a14a70 100644 --- a/matlab/gtsam_examples/VisualizeMEstimators.m +++ b/matlab/gtsam_examples/VisualizeMEstimators.m @@ -36,7 +36,7 @@ plot_m_estimator(x, cauchyNoiseModel, rho, 'Cauchy', 3, 'cauchy.png') c = 1.0; rho = gemanmcclure(x, c); gemanmcclureNoiseModel = gtsam.noiseModel.mEstimator.GemanMcClure(c); -plot_m_estimator(x, gemanmcclureNoiseModel, rho, 'GemanMcClure', 4, 'gemanmcclure.png') +plot_m_estimator(x, gemanmcclureNoiseModel, rho, 'Geman-McClure', 4, 'gemanmcclure.png') c = 2.9846; rho = welsch(x, c); @@ -59,15 +59,20 @@ function plot_m_estimator(x, model, rho, plot_title, fig_id, filename) figure(fig_id); subplot(3, 1, 1); - plot(x, rho); + plot(x, rho, 'LineWidth',2); + title('rho function'); xlim([-5, 5]); - title(plot_title); subplot(3, 1, 2); - plot(x, psi); + plot(x, psi, 'LineWidth',2); + title('influence function'); xlim([-5, 5]); subplot(3, 1, 3); - plot(x, w); + plot(x, w, 'LineWidth',2); + title('weight function'); xlim([-5, 5]); + + sgtitle(plot_title, 'FontSize', 26); + saveas(figure(fig_id), filename); end From 4be8d8a75853409b44599e0df7bb160896f4838f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 8 Oct 2019 20:20:29 -0400 Subject: [PATCH 0059/1152] Robust Estimator Updates - Moved implementations of residual and weight to NoiseModel.cpp. - Added `const` to function arguments and variables in `residual` and `weight`. - Aliased Welsh to Welsch. - Formatting. --- gtsam/linear/NoiseModel.cpp | 76 ++++++++++++++++++++++-- gtsam/linear/NoiseModel.h | 113 +++++++----------------------------- 2 files changed, 92 insertions(+), 97 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index d4cf2a5c2..67aa20b10 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -718,15 +718,25 @@ void Null::print(const std::string &s="") const Null::shared_ptr Null::Create() { return shared_ptr(new Null()); } +/* ************************************************************************* */ +// Fair +/* ************************************************************************* */ + Fair::Fair(double c, const ReweightScheme reweight) : Base(reweight), c_(c) { if (c_ <= 0) { throw runtime_error("mEstimator Fair takes only positive double in constructor."); } } -/* ************************************************************************* */ -// Fair -/* ************************************************************************* */ +double Fair::weight(const double error) const { + return 1.0 / (1.0 + std::abs(error) / c_); +} +double Fair::residual(const double error) const { + const double absError = std::abs(error); + const double normalizedError = absError / c_; + const double c_2 = c_ * c_; + return c_2 * (normalizedError - std::log(1 + normalizedError)); +} void Fair::print(const std::string &s="") const { cout << s << "fair (" << c_ << ")" << endl; } @@ -750,6 +760,20 @@ Huber::Huber(double k, const ReweightScheme reweight) : Base(reweight), k_(k) { } } +double Huber::weight(const double error) const { + const double absError = std::abs(error); + return (absError <= k_) ? (1.0) : (k_ / absError); +} + +double Huber::residual(const double error) const { + const double absError = std::abs(error); + if (absError <= k_) { // |x| <= k + return error*error / 2; + } else { // |x| > k + return k_ * (absError - (k_/2)); + } +} + void Huber::print(const std::string &s="") const { cout << s << "huber (" << k_ << ")" << endl; } @@ -774,6 +798,16 @@ Cauchy::Cauchy(double k, const ReweightScheme reweight) : Base(reweight), k_(k), } } +double Cauchy::weight(const double error) const { + return ksquared_ / (ksquared_ + error*error); +} + +double Cauchy::residual(const double error) const { + const double xc2 = error / k_; + const double val = std::log(1 + (xc2*xc2)); + return ksquared_ * val * 0.5; +} + void Cauchy::print(const std::string &s="") const { cout << s << "cauchy (" << k_ << ")" << endl; } @@ -791,7 +825,30 @@ Cauchy::shared_ptr Cauchy::Create(double c, const ReweightScheme reweight) { /* ************************************************************************* */ // Tukey /* ************************************************************************* */ -Tukey::Tukey(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {} + +Tukey::Tukey(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) { + if (c <= 0) { + throw runtime_error("mEstimator Tukey takes only positive double in constructor."); + } +} + +double Tukey::weight(const double error) const { + if (std::abs(error) <= c_) { + const double xc2 = error*error/csquared_; + return (1.0-xc2)*(1.0-xc2); + } + return 0.0; +} +double Tukey::residual(const double error) const { + double absError = std::abs(error); + if (absError <= c_) { + const double xc2 = error*error/csquared_; + const double t = (1 - xc2)*(1 - xc2)*(1 - xc2); + return csquared_ * (1 - t) / 6.0; + } else { + return csquared_ / 6.0; + } +} void Tukey::print(const std::string &s="") const { std::cout << s << ": Tukey (" << c_ << ")" << std::endl; @@ -810,8 +867,19 @@ Tukey::shared_ptr Tukey::Create(double c, const ReweightScheme reweight) { /* ************************************************************************* */ // Welsch /* ************************************************************************* */ + Welsch::Welsch(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {} +double Welsch::weight(const double error) const { + const double xc2 = (error*error)/csquared_; + return std::exp(-xc2); +} + +double Welsch::residual(const double error) const { + const double xc2 = (error*error)/csquared_; + return csquared_ * 0.5 * (1 - std::exp(-xc2) ); +} + void Welsch::print(const std::string &s="") const { std::cout << s << ": Welsch (" << c_ << ")" << std::endl; } diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 2ef830c81..5f957ba01 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -18,7 +18,6 @@ #pragma once -#include #include #include #include @@ -677,7 +676,7 @@ namespace gtsam { * evaluating the total penalty. But for now, I'm leaving this residual method as pure * virtual, so the existing mEstimators can inherit this default fallback behavior. */ - virtual double residual(double error) const { return 0; }; + virtual double residual(const double error) const { return 0; }; /* * This method is responsible for returning the weight function for a given amount of error. @@ -686,7 +685,7 @@ namespace gtsam { * for details. This method is required when optimizing cost functions with robust penalties * using iteratively re-weighted least squares. */ - virtual double weight(double error) const = 0; + virtual double weight(const double error) const = 0; virtual void print(const std::string &s) const = 0; virtual bool equals(const Base& expected, double tol=1e-8) const = 0; @@ -727,8 +726,8 @@ namespace gtsam { Null(const ReweightScheme reweight = Block) : Base(reweight) {} virtual ~Null() {} - virtual double weight(double /*error*/) const { return 1.0; } - virtual double residual(double error) const { return error; } + virtual double weight(const double /*error*/) const { return 1.0; } + virtual double residual(const double error) const { return error; } virtual void print(const std::string &s) const; virtual bool equals(const Base& /*expected*/, double /*tol*/) const { return true; } static shared_ptr Create() ; @@ -751,15 +750,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Fair(double c = 1.3998, const ReweightScheme reweight = Block); - double weight(double error) const { - return 1.0 / (1.0 + std::abs(error) / c_); - } - double residual(double error) const { - double absError = std::abs(error); - double normalizedError = absError / c_; - double val = normalizedError - std::log(1 + normalizedError); - return c_ * c_ * val; - } + double weight(const double error) const; + double residual(const double error) const; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double c, const ReweightScheme reweight = Block) ; @@ -783,18 +775,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Huber(double k = 1.345, const ReweightScheme reweight = Block); - double weight(double error) const { - double absError = std::abs(error); - return (absError < k_) ? (1.0) : (k_ / absError); - } - double residual(double error) const { - double absError = std::abs(error); - if (absError <= k_) { // |x| <= k - return error*error / 2; - } else { // |x| > k - return k_ * (absError - (k_/2)); - } - } + double weight(const double error) const; + double residual(const double error) const; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -822,14 +804,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Cauchy(double k = 0.1, const ReweightScheme reweight = Block); - double weight(double error) const { - return ksquared_ / (ksquared_ + error*error); - } - double residual(double error) const { - double normalizedError = error / k_; - double val = std::log(1 + (normalizedError*normalizedError)); - return ksquared_ * val * 0.5; - } + double weight(const double error) const; + double residual(const double error) const; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -853,23 +829,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Tukey(double c = 4.6851, const ReweightScheme reweight = Block); - double weight(double error) const { - if (std::abs(error) <= c_) { - double xc2 = error*error/csquared_; - return (1.0-xc2)*(1.0-xc2); - } - return 0.0; - } - double residual(double error) const { - double absError = std::abs(error); - if (absError <= c_) { - double t = csquared_ - (error*error); - double val = t * t * t; - return ((csquared_*csquared_*csquared_) - val) / (6.0 * csquared_ * csquared_); - } else { - return csquared_ / 6.0; - } - } + double weight(const double error) const; + double residual(const double error) const; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -893,14 +854,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Welsch(double c = 2.9846, const ReweightScheme reweight = Block); - double weight(double error) const { - double xc2 = (error*error)/csquared_; - return std::exp(-xc2); - } - double residual(double error) const { - double xc2 = (error*error)/csquared_; - return csquared_ * 0.5 * (1 - std::exp(-xc2) ); - } + double weight(const double error) const; + double residual(const double error) const; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -920,35 +875,7 @@ namespace gtsam { // Welsh implements the "Welsch" robust error model (Zhang97ivc) // This was misspelled in previous versions of gtsam and should be // removed in the future. - class GTSAM_EXPORT Welsh : public Base { - protected: - double c_, csquared_; - - public: - typedef boost::shared_ptr shared_ptr; - - Welsh(double c = 2.9846, const ReweightScheme reweight = Block); - double weight(double error) const { - double xc2 = (error*error)/csquared_; - return std::exp(-xc2); - } - double residual(double error) const { - double xc2 = (error*error)/csquared_; - return csquared_ * 0.5 * (1 - std::exp(-xc2) ); - } - void print(const std::string &s) const; - bool equals(const Base& expected, double tol=1e-8) const; - static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(c_); - } - }; + using Welsh = Welsch; #endif /// GemanMcClure implements the "Geman-McClure" robust error model @@ -963,8 +890,8 @@ namespace gtsam { GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block); virtual ~GemanMcClure() {} - virtual double weight(double error) const; - virtual double residual(double error) const; + virtual double weight(const double error) const; + virtual double residual(const double error) const; virtual void print(const std::string &s) const; virtual bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -993,7 +920,7 @@ namespace gtsam { DCS(double c = 1.0, const ReweightScheme reweight = Block); virtual ~DCS() {} - virtual double weight(double error) const; + virtual double weight(const double error) const; virtual void print(const std::string &s) const; virtual bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -1024,11 +951,11 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; L2WithDeadZone(double k, const ReweightScheme reweight = Block); - double residual(double error) const { + double residual(const double error) const { const double abs_error = std::abs(error); return (abs_error < k_) ? 0.0 : 0.5*(k_-abs_error)*(k_-abs_error); } - double weight(double error) const { + double weight(const double error) const { // note that this code is slightly uglier than above, because there are three distinct // cases to handle (left of deadzone, deadzone, right of deadzone) instead of the two // cases (deadzone, non-deadzone) above. From 431c37090a1e133ee400e5316cfd206cf792d82f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 8 Oct 2019 21:25:41 -0400 Subject: [PATCH 0060/1152] removed const declarator from and functions, implemented DCS residual --- gtsam/linear/NoiseModel.cpp | 43 ++++++++++++++++++++------ gtsam/linear/NoiseModel.h | 61 ++++++++++++++++--------------------- 2 files changed, 59 insertions(+), 45 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 67aa20b10..68e579718 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -728,10 +728,10 @@ Fair::Fair(double c, const ReweightScheme reweight) : Base(reweight), c_(c) { } } -double Fair::weight(const double error) const { +double Fair::weight(double error) const { return 1.0 / (1.0 + std::abs(error) / c_); } -double Fair::residual(const double error) const { +double Fair::residual(double error) const { const double absError = std::abs(error); const double normalizedError = absError / c_; const double c_2 = c_ * c_; @@ -760,12 +760,12 @@ Huber::Huber(double k, const ReweightScheme reweight) : Base(reweight), k_(k) { } } -double Huber::weight(const double error) const { +double Huber::weight(double error) const { const double absError = std::abs(error); return (absError <= k_) ? (1.0) : (k_ / absError); } -double Huber::residual(const double error) const { +double Huber::residual(double error) const { const double absError = std::abs(error); if (absError <= k_) { // |x| <= k return error*error / 2; @@ -798,11 +798,11 @@ Cauchy::Cauchy(double k, const ReweightScheme reweight) : Base(reweight), k_(k), } } -double Cauchy::weight(const double error) const { +double Cauchy::weight(double error) const { return ksquared_ / (ksquared_ + error*error); } -double Cauchy::residual(const double error) const { +double Cauchy::residual(double error) const { const double xc2 = error / k_; const double val = std::log(1 + (xc2*xc2)); return ksquared_ * val * 0.5; @@ -832,14 +832,14 @@ Tukey::Tukey(double c, const ReweightScheme reweight) : Base(reweight), c_(c), c } } -double Tukey::weight(const double error) const { +double Tukey::weight(double error) const { if (std::abs(error) <= c_) { const double xc2 = error*error/csquared_; return (1.0-xc2)*(1.0-xc2); } return 0.0; } -double Tukey::residual(const double error) const { +double Tukey::residual(double error) const { double absError = std::abs(error); if (absError <= c_) { const double xc2 = error*error/csquared_; @@ -870,12 +870,12 @@ Tukey::shared_ptr Tukey::Create(double c, const ReweightScheme reweight) { Welsch::Welsch(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {} -double Welsch::weight(const double error) const { +double Welsch::weight(double error) const { const double xc2 = (error*error)/csquared_; return std::exp(-xc2); } -double Welsch::residual(const double error) const { +double Welsch::residual(double error) const { const double xc2 = (error*error)/csquared_; return csquared_ * 0.5 * (1 - std::exp(-xc2) ); } @@ -964,6 +964,16 @@ double DCS::weight(double error) const { return 1.0; } +double DCS::residual(double error) const { + // This is the simplified version of Eq 9 from (Agarwal13icra) + // after you simplify and cancel terms. + const double e2 = error*error; + const double e4 = e2*e2; + const double c2 = c_*c_; + + return (c2*e2 + c_*e4) / ((e2 + c_)*(e2 + c_)); +} + void DCS::print(const std::string &s="") const { std::cout << s << ": DCS (" << c_ << ")" << std::endl; } @@ -988,6 +998,19 @@ L2WithDeadZone::L2WithDeadZone(double k, const ReweightScheme reweight) : Base(r } } +double L2WithDeadZone::residual(double error) const { + const double abs_error = std::abs(error); + return (abs_error < k_) ? 0.0 : 0.5*(k_-abs_error)*(k_-abs_error); +} +double L2WithDeadZone::weight(double error) const { + // note that this code is slightly uglier than residual, because there are three distinct + // cases to handle (left of deadzone, deadzone, right of deadzone) instead of the two + // cases (deadzone, non-deadzone) in residual. + if (std::abs(error) <= k_) return 0.0; + else if (error > k_) return (-k_+error)/error; + else return (k_+error)/error; +} + void L2WithDeadZone::print(const std::string &s="") const { std::cout << s << ": L2WithDeadZone (" << k_ << ")" << std::endl; } diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 5f957ba01..4c289427b 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -676,7 +676,7 @@ namespace gtsam { * evaluating the total penalty. But for now, I'm leaving this residual method as pure * virtual, so the existing mEstimators can inherit this default fallback behavior. */ - virtual double residual(const double error) const { return 0; }; + virtual double residual(double error) const { return 0; }; /* * This method is responsible for returning the weight function for a given amount of error. @@ -685,7 +685,7 @@ namespace gtsam { * for details. This method is required when optimizing cost functions with robust penalties * using iteratively re-weighted least squares. */ - virtual double weight(const double error) const = 0; + virtual double weight(double error) const = 0; virtual void print(const std::string &s) const = 0; virtual bool equals(const Base& expected, double tol=1e-8) const = 0; @@ -726,8 +726,8 @@ namespace gtsam { Null(const ReweightScheme reweight = Block) : Base(reweight) {} virtual ~Null() {} - virtual double weight(const double /*error*/) const { return 1.0; } - virtual double residual(const double error) const { return error; } + virtual double weight(double /*error*/) const { return 1.0; } + virtual double residual(double error) const { return error; } virtual void print(const std::string &s) const; virtual bool equals(const Base& /*expected*/, double /*tol*/) const { return true; } static shared_ptr Create() ; @@ -750,8 +750,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Fair(double c = 1.3998, const ReweightScheme reweight = Block); - double weight(const double error) const; - double residual(const double error) const; + double weight(double error) const; + double residual(double error) const; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double c, const ReweightScheme reweight = Block) ; @@ -775,8 +775,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Huber(double k = 1.345, const ReweightScheme reweight = Block); - double weight(const double error) const; - double residual(const double error) const; + double weight(double error) const; + double residual(double error) const; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -804,8 +804,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Cauchy(double k = 0.1, const ReweightScheme reweight = Block); - double weight(const double error) const; - double residual(const double error) const; + double weight(double error) const; + double residual(double error) const; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -829,8 +829,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Tukey(double c = 4.6851, const ReweightScheme reweight = Block); - double weight(const double error) const; - double residual(const double error) const; + double weight(double error) const; + double residual(double error) const; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -854,8 +854,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Welsch(double c = 2.9846, const ReweightScheme reweight = Block); - double weight(const double error) const; - double residual(const double error) const; + double weight(double error) const; + double residual(double error) const; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -889,11 +889,11 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block); - virtual ~GemanMcClure() {} - virtual double weight(const double error) const; - virtual double residual(const double error) const; - virtual void print(const std::string &s) const; - virtual bool equals(const Base& expected, double tol=1e-8) const; + ~GemanMcClure() {} + double weight(double error) const; + double residual(double error) const; + void print(const std::string &s) const; + bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; protected: @@ -919,10 +919,11 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; DCS(double c = 1.0, const ReweightScheme reweight = Block); - virtual ~DCS() {} - virtual double weight(const double error) const; - virtual void print(const std::string &s) const; - virtual bool equals(const Base& expected, double tol=1e-8) const; + ~DCS() {} + double weight(double error) const; + double residual(double error) const; + void print(const std::string &s) const; + bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; protected: @@ -951,18 +952,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; L2WithDeadZone(double k, const ReweightScheme reweight = Block); - double residual(const double error) const { - const double abs_error = std::abs(error); - return (abs_error < k_) ? 0.0 : 0.5*(k_-abs_error)*(k_-abs_error); - } - double weight(const double error) const { - // note that this code is slightly uglier than above, because there are three distinct - // cases to handle (left of deadzone, deadzone, right of deadzone) instead of the two - // cases (deadzone, non-deadzone) above. - if (std::abs(error) <= k_) return 0.0; - else if (error > k_) return (-k_+error)/error; - else return (k_+error)/error; - } + double residual(double error) const; + double weight(double error) const; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block); From 586a825c7c166a4b1e41a53d7ed229cd4d2a40bc Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 8 Oct 2019 21:25:56 -0400 Subject: [PATCH 0061/1152] added DCS residual tests --- gtsam/linear/tests/testNoiseModel.cpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 6419f2b9d..10578627f 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -556,10 +556,12 @@ TEST(NoiseModel, robustFunctionDCS) { const double k = 1.0, error1 = 1.0, error2 = 10.0; const mEstimator::DCS::shared_ptr dcs = mEstimator::DCS::Create(k); - const double weight1 = dcs->weight(error1), - weight2 = dcs->weight(error2); - DOUBLES_EQUAL(1.0 , weight1, 1e-8); - DOUBLES_EQUAL(0.00039211, weight2, 1e-8); + + DOUBLES_EQUAL(1.0 , dcs->weight(error1), 1e-8); + DOUBLES_EQUAL(0.00039211, dcs->weight(error2), 1e-8); + + DOUBLES_EQUAL(0.5 , dcs->residual(error1), 1e-8); + DOUBLES_EQUAL(0.9900990099, dcs->residual(error2), 1e-8); } TEST(NoiseModel, robustFunctionL2WithDeadZone) From 494005d64a6d1619adc08dc2e8a106bc8455d39a Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 8 Oct 2019 21:26:11 -0400 Subject: [PATCH 0062/1152] wrap DCS and L2WithDeadZone estimators --- gtsam.h | 22 +++++++++++++++++++++- 1 file changed, 21 insertions(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 35256e92c..04575f84d 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1432,7 +1432,27 @@ virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { double residual(double error) const; }; -//TODO DCS and L2WithDeadZone mEstimators +virtual class DCS: gtsam::noiseModel::mEstimator::Base { + DCS(double c); + static gtsam::noiseModel::mEstimator::DCS* Create(double c); + + // enabling serialization functionality + void serializable() const; + + double weight(double error) const; + double residual(double error) const; +}; + +virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base { + L2WithDeadZone(double k); + static gtsam::noiseModel::mEstimator::L2WithDeadZone* Create(double k); + + // enabling serialization functionality + void serializable() const; + + double weight(double error) const; + double residual(double error) const; +}; }///\namespace mEstimator From 7501d8a4b08d00270e7fe88fe3bd2157dbae77b2 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 8 Oct 2019 21:31:09 -0400 Subject: [PATCH 0063/1152] added override keyword to derived versions of and for mEstimators --- gtsam/linear/NoiseModel.h | 32 ++++++++++++++++---------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 4c289427b..d93a7f825 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -750,8 +750,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Fair(double c = 1.3998, const ReweightScheme reweight = Block); - double weight(double error) const; - double residual(double error) const; + double weight(double error) const override; + double residual(double error) const override; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double c, const ReweightScheme reweight = Block) ; @@ -775,8 +775,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Huber(double k = 1.345, const ReweightScheme reweight = Block); - double weight(double error) const; - double residual(double error) const; + double weight(double error) const override; + double residual(double error) const override; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -804,8 +804,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Cauchy(double k = 0.1, const ReweightScheme reweight = Block); - double weight(double error) const; - double residual(double error) const; + double weight(double error) const override; + double residual(double error) const override; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -829,8 +829,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Tukey(double c = 4.6851, const ReweightScheme reweight = Block); - double weight(double error) const; - double residual(double error) const; + double weight(double error) const override; + double residual(double error) const override; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -854,8 +854,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Welsch(double c = 2.9846, const ReweightScheme reweight = Block); - double weight(double error) const; - double residual(double error) const; + double weight(double error) const override; + double residual(double error) const override; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -890,8 +890,8 @@ namespace gtsam { GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block); ~GemanMcClure() {} - double weight(double error) const; - double residual(double error) const; + double weight(double error) const override; + double residual(double error) const override; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -920,8 +920,8 @@ namespace gtsam { DCS(double c = 1.0, const ReweightScheme reweight = Block); ~DCS() {} - double weight(double error) const; - double residual(double error) const; + double weight(double error) const override; + double residual(double error) const override; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; @@ -952,8 +952,8 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; L2WithDeadZone(double k, const ReweightScheme reweight = Block); - double residual(double error) const; - double weight(double error) const; + double residual(double error) const override; + double weight(double error) const override; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block); From 1240339dc2198f6f111ec32e744afae3c06b40d1 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 9 Oct 2019 15:33:40 -0400 Subject: [PATCH 0064/1152] formatting; removed virtual from derived classes; added default values for L2WithDeadZone constructor to allow serialization --- gtsam.h | 4 ++-- gtsam/linear/NoiseModel.cpp | 32 +++++++++----------------------- gtsam/linear/NoiseModel.h | 14 +++++++------- 3 files changed, 18 insertions(+), 32 deletions(-) diff --git a/gtsam.h b/gtsam.h index 04575f84d..09b5b59e6 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1422,8 +1422,8 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base { }; virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { - GemanMcClure(double k); - static gtsam::noiseModel::mEstimator::GemanMcClure* Create(double k); + GemanMcClure(double c); + static gtsam::noiseModel::mEstimator::GemanMcClure* Create(double c); // enabling serialization functionality void serializable() const; diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 68e579718..e0b7c8b17 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -731,6 +731,7 @@ Fair::Fair(double c, const ReweightScheme reweight) : Base(reweight), c_(c) { double Fair::weight(double error) const { return 1.0 / (1.0 + std::abs(error) / c_); } + double Fair::residual(double error) const { const double absError = std::abs(error); const double normalizedError = absError / c_; @@ -839,6 +840,7 @@ double Tukey::weight(double error) const { } return 0.0; } + double Tukey::residual(double error) const { double absError = std::abs(error); if (absError <= c_) { @@ -894,24 +896,6 @@ Welsch::shared_ptr Welsch::Create(double c, const ReweightScheme reweight) { return shared_ptr(new Welsch(c, reweight)); } -#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 -Welsh::Welsh(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {} - -void Welsh::print(const std::string &s="") const { - std::cout << s << ": Welsh (" << c_ << ")" << std::endl; -} - -bool Welsh::equals(const Base &expected, double tol) const { - const Welsh* p = dynamic_cast(&expected); - if (p == NULL) return false; - return std::abs(c_ - p->c_) < tol; -} - -Welsh::shared_ptr Welsh::Create(double c, const ReweightScheme reweight) { - return shared_ptr(new Welsh(c, reweight)); -} -#endif - /* ************************************************************************* */ // GemanMcClure /* ************************************************************************* */ @@ -992,16 +976,13 @@ DCS::shared_ptr DCS::Create(double c, const ReweightScheme reweight) { // L2WithDeadZone /* ************************************************************************* */ -L2WithDeadZone::L2WithDeadZone(double k, const ReweightScheme reweight) : Base(reweight), k_(k) { +L2WithDeadZone::L2WithDeadZone(double k, const ReweightScheme reweight) + : Base(reweight), k_(k) { if (k_ <= 0) { throw runtime_error("mEstimator L2WithDeadZone takes only positive double in constructor."); } } -double L2WithDeadZone::residual(double error) const { - const double abs_error = std::abs(error); - return (abs_error < k_) ? 0.0 : 0.5*(k_-abs_error)*(k_-abs_error); -} double L2WithDeadZone::weight(double error) const { // note that this code is slightly uglier than residual, because there are three distinct // cases to handle (left of deadzone, deadzone, right of deadzone) instead of the two @@ -1011,6 +992,11 @@ double L2WithDeadZone::weight(double error) const { else return (k_+error)/error; } +double L2WithDeadZone::residual(double error) const { + const double abs_error = std::abs(error); + return (abs_error < k_) ? 0.0 : 0.5*(k_-abs_error)*(k_-abs_error); +} + void L2WithDeadZone::print(const std::string &s="") const { std::cout << s << ": L2WithDeadZone (" << k_ << ")" << std::endl; } diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index d93a7f825..d6b0a7331 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -725,11 +725,11 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; Null(const ReweightScheme reweight = Block) : Base(reweight) {} - virtual ~Null() {} - virtual double weight(double /*error*/) const { return 1.0; } - virtual double residual(double error) const { return error; } - virtual void print(const std::string &s) const; - virtual bool equals(const Base& /*expected*/, double /*tol*/) const { return true; } + ~Null() {} + double weight(double /*error*/) const { return 1.0; } + double residual(double error) const { return error; } + void print(const std::string &s) const; + bool equals(const Base& /*expected*/, double /*tol*/) const { return true; } static shared_ptr Create() ; private: @@ -951,9 +951,9 @@ namespace gtsam { public: typedef boost::shared_ptr shared_ptr; - L2WithDeadZone(double k, const ReweightScheme reweight = Block); - double residual(double error) const override; + L2WithDeadZone(double k = 1.0, const ReweightScheme reweight = Block); double weight(double error) const override; + double residual(double error) const override; void print(const std::string &s) const; bool equals(const Base& expected, double tol=1e-8) const; static shared_ptr Create(double k, const ReweightScheme reweight = Block); From c2b6607d188105a320635e5111655671dba96cb4 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 9 Oct 2019 15:46:24 -0400 Subject: [PATCH 0065/1152] add residual function for Fair mEstimator wrapper --- gtsam.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam.h b/gtsam.h index 09b5b59e6..c9364d9b0 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1375,6 +1375,7 @@ virtual class Fair: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; + double residual(double error) const; }; virtual class Huber: gtsam::noiseModel::mEstimator::Base { From 4c9f9ecabf5b048db5775f778186d34334e690d5 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 9 Oct 2019 15:48:12 -0400 Subject: [PATCH 0066/1152] cleaned up Matlab script for visualizing mEstimators --- matlab/gtsam_examples/VisualizeMEstimators.m | 56 ++++---------------- 1 file changed, 11 insertions(+), 45 deletions(-) diff --git a/matlab/gtsam_examples/VisualizeMEstimators.m b/matlab/gtsam_examples/VisualizeMEstimators.m index 1c5a14a70..8a0485334 100644 --- a/matlab/gtsam_examples/VisualizeMEstimators.m +++ b/matlab/gtsam_examples/VisualizeMEstimators.m @@ -12,47 +12,43 @@ % import gtsam.* -clear all; close all; x = linspace(-10, 10, 1000); -% x = linspace(-5, 5, 101); + +%% Define all the mEstimator models and plot them c = 1.3998; -rho = fair(x, c); fairNoiseModel = gtsam.noiseModel.mEstimator.Fair(c); -plot_m_estimator(x, fairNoiseModel, rho, 'Fair', 1, 'fair.png') +plot_m_estimator(x, fairNoiseModel, 'Fair', 1, 'fair.png') c = 1.345; -rho = huber(x, c); huberNoiseModel = gtsam.noiseModel.mEstimator.Huber(c); -plot_m_estimator(x, huberNoiseModel, rho, 'Huber', 2, 'huber.png') +plot_m_estimator(x, huberNoiseModel, 'Huber', 2, 'huber.png') c = 0.1; -rho = cauchy(x, c); cauchyNoiseModel = gtsam.noiseModel.mEstimator.Cauchy(c); -plot_m_estimator(x, cauchyNoiseModel, rho, 'Cauchy', 3, 'cauchy.png') +plot_m_estimator(x, cauchyNoiseModel, 'Cauchy', 3, 'cauchy.png') c = 1.0; -rho = gemanmcclure(x, c); gemanmcclureNoiseModel = gtsam.noiseModel.mEstimator.GemanMcClure(c); -plot_m_estimator(x, gemanmcclureNoiseModel, rho, 'Geman-McClure', 4, 'gemanmcclure.png') +plot_m_estimator(x, gemanmcclureNoiseModel, 'Geman-McClure', 4, 'gemanmcclure.png') c = 2.9846; -rho = welsch(x, c); welschNoiseModel = gtsam.noiseModel.mEstimator.Welsch(c); -plot_m_estimator(x, welschNoiseModel, rho, 'Welsch', 5, 'welsch.png') +plot_m_estimator(x, welschNoiseModel, 'Welsch', 5, 'welsch.png') c = 4.6851; -rho = tukey(x, c); tukeyNoiseModel = gtsam.noiseModel.mEstimator.Tukey(c); -plot_m_estimator(x, tukeyNoiseModel, rho, 'Tukey', 6, 'tukey.png') +plot_m_estimator(x, tukeyNoiseModel, 'Tukey', 6, 'tukey.png') %% Plot rho, psi and weights of the mEstimator. -function plot_m_estimator(x, model, rho, plot_title, fig_id, filename) +function plot_m_estimator(x, model, plot_title, fig_id, filename) w = zeros(size(x)); + rho = zeros(size(x)); for i = 1:size(x, 2) w(i) = model.weight(x(i)); + rho(i) = model.residual(x(i)); end psi = w .* x; @@ -75,33 +71,3 @@ function plot_m_estimator(x, model, rho, plot_title, fig_id, filename) saveas(figure(fig_id), filename); end - -function rho = fair(x, c) - rho = c^2 * ( (abs(x) ./ c) - log(1 + (abs(x)./c)) ); -end - -function rho = huber(x, k) - t = (abs(x) > k); - - rho = (x .^ 2) ./ 2; - rho(t) = k * (abs(x(t)) - (k/2)); -end - -function rho = cauchy(x, c) - rho = (c^2 / 2) .* log(1 + ((x./c) .^ 2)); -end - -function rho = gemanmcclure(x, c) - rho = ((x .^ 2) ./ 2) ./ (1 + x .^ 2); -end - -function rho = welsch(x, c) - rho = (c^2 / 2) * ( 1 - exp(-(x ./ c) .^2 )); -end - -function rho = tukey(x, c) - t = (abs(x) > c); - - rho = (c^2 / 6) * (1 - (1 - (x ./ c) .^ 2 ) .^ 3 ); - rho(t) = c .^ 2 / 6; -end From e20494324f7c1ef27e2c92d684dd0a5dc8b45cf4 Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Wed, 9 Oct 2019 15:58:57 -0400 Subject: [PATCH 0067/1152] Gaussian Factor Graph unittests and linearization (with Python bindings) --- .../gtsam/tests/test_GaussianFactorGraph.py | 91 ++++++++++ gtsam.h | 4 + gtsam/nonlinear/Marginals.cpp | 30 +++- gtsam/nonlinear/Marginals.h | 26 ++- tests/testMarginals.cpp | 162 ++++++++++-------- 5 files changed, 238 insertions(+), 75 deletions(-) create mode 100644 cython/gtsam/tests/test_GaussianFactorGraph.py diff --git a/cython/gtsam/tests/test_GaussianFactorGraph.py b/cython/gtsam/tests/test_GaussianFactorGraph.py new file mode 100644 index 000000000..2e7875af0 --- /dev/null +++ b/cython/gtsam/tests/test_GaussianFactorGraph.py @@ -0,0 +1,91 @@ +""" +GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Unit tests for Linear Factor Graphs. +Author: Frank Dellaert & Gerry Chen +""" +# pylint: disable=invalid-name, no-name-in-module, no-member + +from __future__ import print_function + +import unittest + +import gtsam +from gtsam.utils.test_case import GtsamTestCase + +import numpy as np + +def create_graph(): + """Create a basic linear factor graph for testing""" + graph = gtsam.GaussianFactorGraph() + + x0 = gtsam.symbol(ord('x'), 0) + x1 = gtsam.symbol(ord('x'), 1) + x2 = gtsam.symbol(ord('x'), 2) + + BETWEEN_NOISE = gtsam.noiseModel_Diagonal.Sigmas(np.ones(1)) + PRIOR_NOISE = gtsam.noiseModel_Diagonal.Sigmas(np.ones(1)) + + graph.add(x1, np.eye(1), x0, -np.eye(1), np.ones(1), BETWEEN_NOISE) + graph.add(x2, np.eye(1), x1, -np.eye(1), 2*np.ones(1), BETWEEN_NOISE) + graph.add(x0, np.eye(1), np.zeros(1), PRIOR_NOISE) + + return graph, (x0, x1, x2) + +class TestGaussianFactorGraph(GtsamTestCase): + """Tests for Gaussian Factor Graphs.""" + + def test_fg(self): + """Test solving a linear factor graph""" + graph, X = create_graph() + result = graph.optimize() + + EXPECTEDX = [0, 1, 3] + + # check solutions + self.assertAlmostEqual(EXPECTEDX[0], result.at(X[0]), delta=1e-8) + self.assertAlmostEqual(EXPECTEDX[1], result.at(X[1]), delta=1e-8) + self.assertAlmostEqual(EXPECTEDX[2], result.at(X[2]), delta=1e-8) + + def test_convertNonlinear(self): + """Test converting a linear factor graph to a nonlinear one""" + graph, X = create_graph() + + EXPECTEDM = [1, 2, 3] + + # create nonlinear factor graph for marginalization + nfg = gtsam.LinearContainerFactor.ConvertLinearGraph(graph) + optimizer = gtsam.LevenbergMarquardtOptimizer(nfg, gtsam.Values()) + nlresult = optimizer.optimizeSafely() + + # marginalize + marginals = gtsam.Marginals(nfg, nlresult) + m = [marginals.marginalCovariance(x) for x in X] + + # check linear marginalizations + self.assertAlmostEqual(EXPECTEDM[0], m[0], delta=1e-8) + self.assertAlmostEqual(EXPECTEDM[1], m[1], delta=1e-8) + self.assertAlmostEqual(EXPECTEDM[2], m[2], delta=1e-8) + + def test_linearMarginalization(self): + """Marginalize a linear factor graph""" + graph, X = create_graph() + result = graph.optimize() + + EXPECTEDM = [1, 2, 3] + + # linear factor graph marginalize + marginals = gtsam.Marginals(graph, result) + m = [marginals.marginalCovariance(x) for x in X] + + # check linear marginalizations + self.assertAlmostEqual(EXPECTEDM[0], m[0], delta=1e-8) + self.assertAlmostEqual(EXPECTEDM[1], m[1], delta=1e-8) + self.assertAlmostEqual(EXPECTEDM[2], m[2], delta=1e-8) + +if __name__ == '__main__': + unittest.main() diff --git a/gtsam.h b/gtsam.h index bf3575580..1a1149084 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2011,6 +2011,10 @@ class Values { class Marginals { Marginals(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& solution); + Marginals(const gtsam::GaussianFactorGraph& gfgraph, + const gtsam::Values& solution); + Marginals(const gtsam::GaussianFactorGraph& gfgraph, + const gtsam::VectorValues& solutionvec); void print(string s) const; Matrix marginalCovariance(size_t variable) const; diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index fcbbf2f44..11e123f13 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -28,15 +28,35 @@ namespace gtsam { /* ************************************************************************* */ Marginals::Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization, EliminateableFactorGraph::OptionalOrdering ordering) -{ + : values_(solution), factorization_(factorization) { gttic(MarginalsConstructor); - - // Linearize graph graph_ = *graph.linearize(solution); + computeBayesTree(ordering); +} - // Store values - values_ = solution; +/* ************************************************************************* */ +Marginals::Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization, + EliminateableFactorGraph::OptionalOrdering ordering) + : graph_(graph), factorization_(factorization) { + gttic(MarginalsConstructor); + Values vals; + for (const VectorValues::KeyValuePair& v: solution) { + vals.insert(v.first, v.second); + } + values_ = vals; + computeBayesTree(ordering); +} +/* ************************************************************************* */ +Marginals::Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization, + EliminateableFactorGraph::OptionalOrdering ordering) + : graph_(graph), values_(solution), factorization_(factorization) { + gttic(MarginalsConstructor); + computeBayesTree(ordering); +} + +/* ************************************************************************* */ +void Marginals::computeBayesTree(EliminateableFactorGraph::OptionalOrdering ordering) { // Compute BayesTree factorization_ = factorization; if(factorization_ == CHOLESKY) diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h index e0a78042d..54a290196 100644 --- a/gtsam/nonlinear/Marginals.h +++ b/gtsam/nonlinear/Marginals.h @@ -51,7 +51,7 @@ public: /// Default constructor only for Cython wrapper Marginals(){} - /** Construct a marginals class. + /** Construct a marginals class from a nonlinear factor graph. * @param graph The factor graph defining the full joint density on all variables. * @param solution The linearization point about which to compute Gaussian marginals (usually the MLE as obtained from a NonlinearOptimizer). * @param factorization The linear decomposition mode - either Marginals::CHOLESKY (faster and suitable for most problems) or Marginals::QR (slower but more numerically stable for poorly-conditioned problems). @@ -60,6 +60,24 @@ public: Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY, EliminateableFactorGraph::OptionalOrdering ordering = boost::none); + /** Construct a marginals class from a linear factor graph. + * @param graph The factor graph defining the full joint density on all variables. + * @param solution The solution point to compute Gaussian marginals. + * @param factorization The linear decomposition mode - either Marginals::CHOLESKY (faster and suitable for most problems) or Marginals::QR (slower but more numerically stable for poorly-conditioned problems). + * @param ordering An optional variable ordering for elimination. + */ + Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY, + EliminateableFactorGraph::OptionalOrdering ordering = boost::none); + + /** Construct a marginals class from a linear factor graph. + * @param graph The factor graph defining the full joint density on all variables. + * @param solution The solution point to compute Gaussian marginals. + * @param factorization The linear decomposition mode - either Marginals::CHOLESKY (faster and suitable for most problems) or Marginals::QR (slower but more numerically stable for poorly-conditioned problems). + * @param ordering An optional variable ordering for elimination. + */ + Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization = CHOLESKY, + EliminateableFactorGraph::OptionalOrdering ordering = boost::none); + /** print */ void print(const std::string& str = "Marginals: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; @@ -81,6 +99,12 @@ public: /** Optimize the bayes tree */ VectorValues optimize() const; + +protected: + + /** Compute the Bayes Tree as a helper function to the constructor */ + void computeBayesTree(EliminateableFactorGraph::OptionalOrdering ordering); + }; /** diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp index 4bdbd9387..3c35c6bc0 100644 --- a/tests/testMarginals.cpp +++ b/tests/testMarginals.cpp @@ -87,6 +87,12 @@ TEST(Marginals, planarSLAMmarginals) { soln.insert(x3, Pose2(4.0, 0.0, 0.0)); soln.insert(l1, Point2(2.0, 2.0)); soln.insert(l2, Point2(4.0, 2.0)); + VectorValues soln_lin; + soln_lin.insert(x1, Vector3(0.0, 0.0, 0.0)); + soln_lin.insert(x2, Vector3(2.0, 0.0, 0.0)); + soln_lin.insert(x3, Vector3(4.0, 0.0, 0.0)); + soln_lin.insert(l1, Vector2(2.0, 2.0)); + soln_lin.insert(l2, Vector2(4.0, 2.0)); Matrix expectedx1(3,3); expectedx1 << @@ -110,71 +116,80 @@ TEST(Marginals, planarSLAMmarginals) { Matrix expectedl2(2,2); expectedl2 << 0.293870968, -0.104516129, - -0.104516129, 0.391935484; + -0.104516129, 0.391935484; - // Check marginals covariances for all variables (Cholesky mode) - Marginals marginals(graph, soln, Marginals::CHOLESKY); - EXPECT(assert_equal(expectedx1, marginals.marginalCovariance(x1), 1e-8)); - EXPECT(assert_equal(expectedx2, marginals.marginalCovariance(x2), 1e-8)); - EXPECT(assert_equal(expectedx3, marginals.marginalCovariance(x3), 1e-8)); - EXPECT(assert_equal(expectedl1, marginals.marginalCovariance(l1), 1e-8)); - EXPECT(assert_equal(expectedl2, marginals.marginalCovariance(l2), 1e-8)); + auto testMarginals = [&] (Marginals marginals) { + EXPECT(assert_equal(expectedx1, marginals.marginalCovariance(x1), 1e-8)); + EXPECT(assert_equal(expectedx2, marginals.marginalCovariance(x2), 1e-8)); + EXPECT(assert_equal(expectedx3, marginals.marginalCovariance(x3), 1e-8)); + EXPECT(assert_equal(expectedl1, marginals.marginalCovariance(l1), 1e-8)); + EXPECT(assert_equal(expectedl2, marginals.marginalCovariance(l2), 1e-8)); + }; - // Check marginals covariances for all variables (QR mode) + auto testJointMarginals = [&] (Marginals marginals) { + // Check joint marginals for 3 variables + Matrix expected_l2x1x3(8,8); + expected_l2x1x3 << + 0.293871159514111, -0.104516127560770, 0.090000180000270, -0.000000000000000, -0.020000000000000, 0.151935669757191, -0.104516127560770, -0.050967744878460, + -0.104516127560770, 0.391935664055174, 0.000000000000000, 0.090000180000270, 0.040000000000000, 0.007741936219615, 0.351935664055174, 0.056129031890193, + 0.090000180000270, 0.000000000000000, 0.090000180000270, -0.000000000000000, 0.000000000000000, 0.090000180000270, 0.000000000000000, 0.000000000000000, + -0.000000000000000, 0.090000180000270, -0.000000000000000, 0.090000180000270, 0.000000000000000, -0.000000000000000, 0.090000180000270, 0.000000000000000, + -0.020000000000000, 0.040000000000000, 0.000000000000000, 0.000000000000000, 0.010000000000000, 0.000000000000000, 0.040000000000000, 0.010000000000000, + 0.151935669757191, 0.007741936219615, 0.090000180000270, -0.000000000000000, 0.000000000000000, 0.160967924878730, 0.007741936219615, 0.004516127560770, + -0.104516127560770, 0.351935664055174, 0.000000000000000, 0.090000180000270, 0.040000000000000, 0.007741936219615, 0.351935664055174, 0.056129031890193, + -0.050967744878460, 0.056129031890193, 0.000000000000000, 0.000000000000000, 0.010000000000000, 0.004516127560770, 0.056129031890193, 0.027741936219615; + KeyVector variables {x1, l2, x3}; + JointMarginal joint_l2x1x3 = marginals.jointMarginalCovariance(variables); + EXPECT(assert_equal(Matrix(expected_l2x1x3.block(0,0,2,2)), Matrix(joint_l2x1x3(l2,l2)), 1e-6)); + EXPECT(assert_equal(Matrix(expected_l2x1x3.block(2,0,3,2)), Matrix(joint_l2x1x3(x1,l2)), 1e-6)); + EXPECT(assert_equal(Matrix(expected_l2x1x3.block(5,0,3,2)), Matrix(joint_l2x1x3(x3,l2)), 1e-6)); + + EXPECT(assert_equal(Matrix(expected_l2x1x3.block(0,2,2,3)), Matrix(joint_l2x1x3(l2,x1)), 1e-6)); + EXPECT(assert_equal(Matrix(expected_l2x1x3.block(2,2,3,3)), Matrix(joint_l2x1x3(x1,x1)), 1e-6)); + EXPECT(assert_equal(Matrix(expected_l2x1x3.block(5,2,3,3)), Matrix(joint_l2x1x3(x3,x1)), 1e-6)); + + EXPECT(assert_equal(Matrix(expected_l2x1x3.block(0,5,2,3)), Matrix(joint_l2x1x3(l2,x3)), 1e-6)); + EXPECT(assert_equal(Matrix(expected_l2x1x3.block(2,5,3,3)), Matrix(joint_l2x1x3(x1,x3)), 1e-6)); + EXPECT(assert_equal(Matrix(expected_l2x1x3.block(5,5,3,3)), Matrix(joint_l2x1x3(x3,x3)), 1e-6)); + + // Check joint marginals for 2 variables (different code path than >2 variable case above) + Matrix expected_l2x1(5,5); + expected_l2x1 << + 0.293871159514111, -0.104516127560770, 0.090000180000270, -0.000000000000000, -0.020000000000000, + -0.104516127560770, 0.391935664055174, 0.000000000000000, 0.090000180000270, 0.040000000000000, + 0.090000180000270, 0.000000000000000, 0.090000180000270, -0.000000000000000, 0.000000000000000, + -0.000000000000000, 0.090000180000270, -0.000000000000000, 0.090000180000270, 0.000000000000000, + -0.020000000000000, 0.040000000000000, 0.000000000000000, 0.000000000000000, 0.010000000000000; + variables.resize(2); + variables[0] = l2; + variables[1] = x1; + JointMarginal joint_l2x1 = marginals.jointMarginalCovariance(variables); + EXPECT(assert_equal(Matrix(expected_l2x1.block(0,0,2,2)), Matrix(joint_l2x1(l2,l2)), 1e-6)); + EXPECT(assert_equal(Matrix(expected_l2x1.block(2,0,3,2)), Matrix(joint_l2x1(x1,l2)), 1e-6)); + EXPECT(assert_equal(Matrix(expected_l2x1.block(0,2,2,3)), Matrix(joint_l2x1(l2,x1)), 1e-6)); + EXPECT(assert_equal(Matrix(expected_l2x1.block(2,2,3,3)), Matrix(joint_l2x1(x1,x1)), 1e-6)); + + // Check joint marginal for 1 variable (different code path than >1 variable cases above) + variables.resize(1); + variables[0] = x1; + JointMarginal joint_x1 = marginals.jointMarginalCovariance(variables); + EXPECT(assert_equal(expectedx1, Matrix(joint_l2x1(x1,x1)), 1e-6)); + }; + + Marginals marginals; + + marginals = Marginals(graph, soln, Marginals::CHOLESKY); + testMarginals(marginals); marginals = Marginals(graph, soln, Marginals::QR); - EXPECT(assert_equal(expectedx1, marginals.marginalCovariance(x1), 1e-8)); - EXPECT(assert_equal(expectedx2, marginals.marginalCovariance(x2), 1e-8)); - EXPECT(assert_equal(expectedx3, marginals.marginalCovariance(x3), 1e-8)); - EXPECT(assert_equal(expectedl1, marginals.marginalCovariance(l1), 1e-8)); - EXPECT(assert_equal(expectedl2, marginals.marginalCovariance(l2), 1e-8)); + testMarginals(marginals); + testJointMarginals(marginals); - // Check joint marginals for 3 variables - Matrix expected_l2x1x3(8,8); - expected_l2x1x3 << - 0.293871159514111, -0.104516127560770, 0.090000180000270, -0.000000000000000, -0.020000000000000, 0.151935669757191, -0.104516127560770, -0.050967744878460, - -0.104516127560770, 0.391935664055174, 0.000000000000000, 0.090000180000270, 0.040000000000000, 0.007741936219615, 0.351935664055174, 0.056129031890193, - 0.090000180000270, 0.000000000000000, 0.090000180000270, -0.000000000000000, 0.000000000000000, 0.090000180000270, 0.000000000000000, 0.000000000000000, - -0.000000000000000, 0.090000180000270, -0.000000000000000, 0.090000180000270, 0.000000000000000, -0.000000000000000, 0.090000180000270, 0.000000000000000, - -0.020000000000000, 0.040000000000000, 0.000000000000000, 0.000000000000000, 0.010000000000000, 0.000000000000000, 0.040000000000000, 0.010000000000000, - 0.151935669757191, 0.007741936219615, 0.090000180000270, -0.000000000000000, 0.000000000000000, 0.160967924878730, 0.007741936219615, 0.004516127560770, - -0.104516127560770, 0.351935664055174, 0.000000000000000, 0.090000180000270, 0.040000000000000, 0.007741936219615, 0.351935664055174, 0.056129031890193, - -0.050967744878460, 0.056129031890193, 0.000000000000000, 0.000000000000000, 0.010000000000000, 0.004516127560770, 0.056129031890193, 0.027741936219615; - KeyVector variables {x1, l2, x3}; - JointMarginal joint_l2x1x3 = marginals.jointMarginalCovariance(variables); - EXPECT(assert_equal(Matrix(expected_l2x1x3.block(0,0,2,2)), Matrix(joint_l2x1x3(l2,l2)), 1e-6)); - EXPECT(assert_equal(Matrix(expected_l2x1x3.block(2,0,3,2)), Matrix(joint_l2x1x3(x1,l2)), 1e-6)); - EXPECT(assert_equal(Matrix(expected_l2x1x3.block(5,0,3,2)), Matrix(joint_l2x1x3(x3,l2)), 1e-6)); - - EXPECT(assert_equal(Matrix(expected_l2x1x3.block(0,2,2,3)), Matrix(joint_l2x1x3(l2,x1)), 1e-6)); - EXPECT(assert_equal(Matrix(expected_l2x1x3.block(2,2,3,3)), Matrix(joint_l2x1x3(x1,x1)), 1e-6)); - EXPECT(assert_equal(Matrix(expected_l2x1x3.block(5,2,3,3)), Matrix(joint_l2x1x3(x3,x1)), 1e-6)); - - EXPECT(assert_equal(Matrix(expected_l2x1x3.block(0,5,2,3)), Matrix(joint_l2x1x3(l2,x3)), 1e-6)); - EXPECT(assert_equal(Matrix(expected_l2x1x3.block(2,5,3,3)), Matrix(joint_l2x1x3(x1,x3)), 1e-6)); - EXPECT(assert_equal(Matrix(expected_l2x1x3.block(5,5,3,3)), Matrix(joint_l2x1x3(x3,x3)), 1e-6)); - - // Check joint marginals for 2 variables (different code path than >2 variable case above) - Matrix expected_l2x1(5,5); - expected_l2x1 << - 0.293871159514111, -0.104516127560770, 0.090000180000270, -0.000000000000000, -0.020000000000000, - -0.104516127560770, 0.391935664055174, 0.000000000000000, 0.090000180000270, 0.040000000000000, - 0.090000180000270, 0.000000000000000, 0.090000180000270, -0.000000000000000, 0.000000000000000, - -0.000000000000000, 0.090000180000270, -0.000000000000000, 0.090000180000270, 0.000000000000000, - -0.020000000000000, 0.040000000000000, 0.000000000000000, 0.000000000000000, 0.010000000000000; - variables.resize(2); - variables[0] = l2; - variables[1] = x1; - JointMarginal joint_l2x1 = marginals.jointMarginalCovariance(variables); - EXPECT(assert_equal(Matrix(expected_l2x1.block(0,0,2,2)), Matrix(joint_l2x1(l2,l2)), 1e-6)); - EXPECT(assert_equal(Matrix(expected_l2x1.block(2,0,3,2)), Matrix(joint_l2x1(x1,l2)), 1e-6)); - EXPECT(assert_equal(Matrix(expected_l2x1.block(0,2,2,3)), Matrix(joint_l2x1(l2,x1)), 1e-6)); - EXPECT(assert_equal(Matrix(expected_l2x1.block(2,2,3,3)), Matrix(joint_l2x1(x1,x1)), 1e-6)); - - // Check joint marginal for 1 variable (different code path than >1 variable cases above) - variables.resize(1); - variables[0] = x1; - JointMarginal joint_x1 = marginals.jointMarginalCovariance(variables); - EXPECT(assert_equal(expectedx1, Matrix(joint_l2x1(x1,x1)), 1e-6)); + GaussianFactorGraph gfg = *graph.linearize(soln); + marginals = Marginals(gfg, soln_lin, Marginals::CHOLESKY); + testMarginals(marginals); + marginals = Marginals(gfg, soln_lin, Marginals::QR); + testMarginals(marginals); + testJointMarginals(marginals); } /* ************************************************************************* */ @@ -222,17 +237,26 @@ TEST(Marginals, order) { vals.at(3).bearing(vals.at(101)), vals.at(3).range(vals.at(101)), noiseModel::Unit::Create(2)); + auto testMarginals = [&] (Marginals marginals, KeySet set) { + KeyVector keys(set.begin(), set.end()); + JointMarginal joint = marginals.jointMarginalCovariance(keys); + + LONGS_EQUAL(3, (long)joint(0,0).rows()); + LONGS_EQUAL(3, (long)joint(1,1).rows()); + LONGS_EQUAL(3, (long)joint(2,2).rows()); + LONGS_EQUAL(3, (long)joint(3,3).rows()); + LONGS_EQUAL(2, (long)joint(100,100).rows()); + LONGS_EQUAL(2, (long)joint(101,101).rows()); + }; + Marginals marginals(fg, vals); KeySet set = fg.keys(); - KeyVector keys(set.begin(), set.end()); - JointMarginal joint = marginals.jointMarginalCovariance(keys); + testMarginals(marginals, set); - LONGS_EQUAL(3, (long)joint(0,0).rows()); - LONGS_EQUAL(3, (long)joint(1,1).rows()); - LONGS_EQUAL(3, (long)joint(2,2).rows()); - LONGS_EQUAL(3, (long)joint(3,3).rows()); - LONGS_EQUAL(2, (long)joint(100,100).rows()); - LONGS_EQUAL(2, (long)joint(101,101).rows()); + GaussianFactorGraph gfg = *fg.linearize(vals); + marginals = Marginals(gfg, vals); + set = gfg.keys(); + testMarginals(marginals, set); } /* ************************************************************************* */ From bc511a26eca5053097d1d09cd2b3931b1a95d282 Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Wed, 9 Oct 2019 17:12:18 -0400 Subject: [PATCH 0068/1152] `optional` and `auto` modernization --- gtsam/nonlinear/Marginals.cpp | 17 ++++++++--------- gtsam/nonlinear/Marginals.h | 8 ++++---- 2 files changed, 12 insertions(+), 13 deletions(-) diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index 11e123f13..7f554b5e5 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -27,7 +27,7 @@ namespace gtsam { /* ************************************************************************* */ Marginals::Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization, - EliminateableFactorGraph::OptionalOrdering ordering) + boost::optional ordering) : values_(solution), factorization_(factorization) { gttic(MarginalsConstructor); graph_ = *graph.linearize(solution); @@ -36,12 +36,12 @@ Marginals::Marginals(const NonlinearFactorGraph& graph, const Values& solution, /* ************************************************************************* */ Marginals::Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization, - EliminateableFactorGraph::OptionalOrdering ordering) + boost::optional ordering) : graph_(graph), factorization_(factorization) { gttic(MarginalsConstructor); Values vals; - for (const VectorValues::KeyValuePair& v: solution) { - vals.insert(v.first, v.second); + for (const auto& keyValue: solution) { + vals.insert(keyValue.first, keyValue.second); } values_ = vals; computeBayesTree(ordering); @@ -49,16 +49,15 @@ Marginals::Marginals(const GaussianFactorGraph& graph, const VectorValues& solut /* ************************************************************************* */ Marginals::Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization, - EliminateableFactorGraph::OptionalOrdering ordering) + boost::optional ordering) : graph_(graph), values_(solution), factorization_(factorization) { gttic(MarginalsConstructor); computeBayesTree(ordering); } /* ************************************************************************* */ -void Marginals::computeBayesTree(EliminateableFactorGraph::OptionalOrdering ordering) { +void Marginals::computeBayesTree(boost::optional ordering) { // Compute BayesTree - factorization_ = factorization; if(factorization_ == CHOLESKY) bayesTree_ = *graph_.eliminateMultifrontal(ordering, EliminatePreferCholesky); else if(factorization_ == QR) @@ -145,7 +144,7 @@ JointMarginal Marginals::jointMarginalInformation(const KeyVector& variables) co // Get dimensions from factor graph std::vector dims; dims.reserve(variablesSorted.size()); - for(Key key: variablesSorted) { + for(const auto& key: variablesSorted) { dims.push_back(values_.at(key).dim()); } @@ -162,7 +161,7 @@ VectorValues Marginals::optimize() const { void JointMarginal::print(const std::string& s, const KeyFormatter& formatter) const { cout << s << "Joint marginal on keys "; bool first = true; - for(Key key: keys_) { + for(const auto& key: keys_) { if(!first) cout << ", "; else diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h index 54a290196..4e5921544 100644 --- a/gtsam/nonlinear/Marginals.h +++ b/gtsam/nonlinear/Marginals.h @@ -58,7 +58,7 @@ public: * @param ordering An optional variable ordering for elimination. */ Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY, - EliminateableFactorGraph::OptionalOrdering ordering = boost::none); + boost::optional ordering = boost::none); /** Construct a marginals class from a linear factor graph. * @param graph The factor graph defining the full joint density on all variables. @@ -67,7 +67,7 @@ public: * @param ordering An optional variable ordering for elimination. */ Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY, - EliminateableFactorGraph::OptionalOrdering ordering = boost::none); + boost::optional ordering = boost::none); /** Construct a marginals class from a linear factor graph. * @param graph The factor graph defining the full joint density on all variables. @@ -76,7 +76,7 @@ public: * @param ordering An optional variable ordering for elimination. */ Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization = CHOLESKY, - EliminateableFactorGraph::OptionalOrdering ordering = boost::none); + boost::optional ordering = boost::none); /** print */ void print(const std::string& str = "Marginals: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; @@ -103,7 +103,7 @@ public: protected: /** Compute the Bayes Tree as a helper function to the constructor */ - void computeBayesTree(EliminateableFactorGraph::OptionalOrdering ordering); + void computeBayesTree(boost::optional ordering); }; From 5900eaa8ec35467b41ca98fa6b5f289f8ed8a560 Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Thu, 10 Oct 2019 01:02:38 -0400 Subject: [PATCH 0069/1152] Change ordering back to OptionalOrdering typedef --- gtsam/nonlinear/Marginals.cpp | 8 ++++---- gtsam/nonlinear/Marginals.h | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index 7f554b5e5..c24cb6143 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -27,7 +27,7 @@ namespace gtsam { /* ************************************************************************* */ Marginals::Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization, - boost::optional ordering) + EliminateableFactorGraph::OptionalOrdering ordering) : values_(solution), factorization_(factorization) { gttic(MarginalsConstructor); graph_ = *graph.linearize(solution); @@ -36,7 +36,7 @@ Marginals::Marginals(const NonlinearFactorGraph& graph, const Values& solution, /* ************************************************************************* */ Marginals::Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization, - boost::optional ordering) + EliminateableFactorGraph::OptionalOrdering ordering) : graph_(graph), factorization_(factorization) { gttic(MarginalsConstructor); Values vals; @@ -49,14 +49,14 @@ Marginals::Marginals(const GaussianFactorGraph& graph, const VectorValues& solut /* ************************************************************************* */ Marginals::Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization, - boost::optional ordering) + EliminateableFactorGraph::OptionalOrdering ordering) : graph_(graph), values_(solution), factorization_(factorization) { gttic(MarginalsConstructor); computeBayesTree(ordering); } /* ************************************************************************* */ -void Marginals::computeBayesTree(boost::optional ordering) { +void Marginals::computeBayesTree(EliminateableFactorGraph::OptionalOrdering ordering) { // Compute BayesTree if(factorization_ == CHOLESKY) bayesTree_ = *graph_.eliminateMultifrontal(ordering, EliminatePreferCholesky); diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h index 4e5921544..54a290196 100644 --- a/gtsam/nonlinear/Marginals.h +++ b/gtsam/nonlinear/Marginals.h @@ -58,7 +58,7 @@ public: * @param ordering An optional variable ordering for elimination. */ Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY, - boost::optional ordering = boost::none); + EliminateableFactorGraph::OptionalOrdering ordering = boost::none); /** Construct a marginals class from a linear factor graph. * @param graph The factor graph defining the full joint density on all variables. @@ -67,7 +67,7 @@ public: * @param ordering An optional variable ordering for elimination. */ Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY, - boost::optional ordering = boost::none); + EliminateableFactorGraph::OptionalOrdering ordering = boost::none); /** Construct a marginals class from a linear factor graph. * @param graph The factor graph defining the full joint density on all variables. @@ -76,7 +76,7 @@ public: * @param ordering An optional variable ordering for elimination. */ Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization = CHOLESKY, - boost::optional ordering = boost::none); + EliminateableFactorGraph::OptionalOrdering ordering = boost::none); /** print */ void print(const std::string& str = "Marginals: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; @@ -103,7 +103,7 @@ public: protected: /** Compute the Bayes Tree as a helper function to the constructor */ - void computeBayesTree(boost::optional ordering); + void computeBayesTree(EliminateableFactorGraph::OptionalOrdering ordering); }; From 76367bd946a39c89580f52d0f07b242a8bcd0ac6 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Thu, 10 Oct 2019 10:34:07 -0700 Subject: [PATCH 0070/1152] Fix Metis ordering for empty graph and single node --- gtsam/inference/Ordering.cpp | 12 +++++++++++- gtsam/inference/Ordering.h | 5 ++++- gtsam/inference/tests/testOrdering.cpp | 22 ++++++++++++++++++++++ 3 files changed, 37 insertions(+), 2 deletions(-) diff --git a/gtsam/inference/Ordering.cpp b/gtsam/inference/Ordering.cpp index da61ca57e..0875755aa 100644 --- a/gtsam/inference/Ordering.cpp +++ b/gtsam/inference/Ordering.cpp @@ -213,11 +213,21 @@ Ordering Ordering::Metis(const MetisIndex& met) { #ifdef GTSAM_SUPPORT_NESTED_DISSECTION gttic(Ordering_METIS); + idx_t size = met.nValues(); + if (size == 0) + { + return Ordering(); + } + + if (size == 1) + { + return Ordering(KeyVector(1, met.intToKey(0))); + } + vector xadj = met.xadj(); vector adj = met.adj(); vector perm, iperm; - idx_t size = met.nValues(); for (idx_t i = 0; i < size; i++) { perm.push_back(0); iperm.push_back(0); diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h index f770c7da1..a2d165792 100644 --- a/gtsam/inference/Ordering.h +++ b/gtsam/inference/Ordering.h @@ -191,7 +191,10 @@ public: template static Ordering Metis(const FACTOR_GRAPH& graph) { - return Metis(MetisIndex(graph)); + if (graph.empty()) + return Ordering(); + else + return Metis(MetisIndex(graph)); } /// @} diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp index 0d23d9655..0305218af 100644 --- a/gtsam/inference/tests/testOrdering.cpp +++ b/gtsam/inference/tests/testOrdering.cpp @@ -294,6 +294,28 @@ TEST(Ordering, MetisLoop) { } #endif /* ************************************************************************* */ +#ifdef GTSAM_SUPPORT_NESTED_DISSECTION +TEST(Ordering, MetisEmptyGraph) { + SymbolicFactorGraph symbolicGraph; + + Ordering actual = Ordering::Create(Ordering::METIS, symbolicGraph); + Ordering expected; + EXPECT(assert_equal(expected, actual)); +} +#endif +/* ************************************************************************* */ +#ifdef GTSAM_SUPPORT_NESTED_DISSECTION +TEST(Ordering, MetisSingleNode) { + // create graph with a single node + SymbolicFactorGraph symbolicGraph; + symbolicGraph.push_factor(7); + + Ordering actual = Ordering::Create(Ordering::METIS, symbolicGraph); + Ordering expected = Ordering(list_of(7)); + EXPECT(assert_equal(expected, actual)); +} +#endif +/* ************************************************************************* */ TEST(Ordering, Create) { // create chain graph From f44ba996e02ea75ec0d144cce8c4f41ca495663d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 12 Oct 2019 14:13:31 -0400 Subject: [PATCH 0071/1152] Add override to resolve warnings on clang --- gtsam/linear/NoiseModel.h | 32 ++++++++++++++++---------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index d6b0a7331..f73fde51c 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -752,8 +752,8 @@ namespace gtsam { Fair(double c = 1.3998, const ReweightScheme reweight = Block); double weight(double error) const override; double residual(double error) const override; - void print(const std::string &s) const; - bool equals(const Base& expected, double tol=1e-8) const; + void print(const std::string &s) const override; + bool equals(const Base& expected, double tol = 1e-8) const override; static shared_ptr Create(double c, const ReweightScheme reweight = Block) ; private: @@ -777,8 +777,8 @@ namespace gtsam { Huber(double k = 1.345, const ReweightScheme reweight = Block); double weight(double error) const override; double residual(double error) const override; - void print(const std::string &s) const; - bool equals(const Base& expected, double tol=1e-8) const; + void print(const std::string &s) const override; + bool equals(const Base& expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; private: @@ -806,8 +806,8 @@ namespace gtsam { Cauchy(double k = 0.1, const ReweightScheme reweight = Block); double weight(double error) const override; double residual(double error) const override; - void print(const std::string &s) const; - bool equals(const Base& expected, double tol=1e-8) const; + void print(const std::string &s) const override; + bool equals(const Base& expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; private: @@ -831,8 +831,8 @@ namespace gtsam { Tukey(double c = 4.6851, const ReweightScheme reweight = Block); double weight(double error) const override; double residual(double error) const override; - void print(const std::string &s) const; - bool equals(const Base& expected, double tol=1e-8) const; + void print(const std::string &s) const override; + bool equals(const Base& expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; private: @@ -856,8 +856,8 @@ namespace gtsam { Welsch(double c = 2.9846, const ReweightScheme reweight = Block); double weight(double error) const override; double residual(double error) const override; - void print(const std::string &s) const; - bool equals(const Base& expected, double tol=1e-8) const; + void print(const std::string &s) const override; + bool equals(const Base& expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; private: @@ -892,8 +892,8 @@ namespace gtsam { ~GemanMcClure() {} double weight(double error) const override; double residual(double error) const override; - void print(const std::string &s) const; - bool equals(const Base& expected, double tol=1e-8) const; + void print(const std::string &s) const override; + bool equals(const Base& expected, double tol=1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; protected: @@ -922,8 +922,8 @@ namespace gtsam { ~DCS() {} double weight(double error) const override; double residual(double error) const override; - void print(const std::string &s) const; - bool equals(const Base& expected, double tol=1e-8) const; + void print(const std::string &s) const override; + bool equals(const Base& expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; protected: @@ -954,8 +954,8 @@ namespace gtsam { L2WithDeadZone(double k = 1.0, const ReweightScheme reweight = Block); double weight(double error) const override; double residual(double error) const override; - void print(const std::string &s) const; - bool equals(const Base& expected, double tol=1e-8) const; + void print(const std::string &s) const override; + bool equals(const Base& expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); private: From 4a1491876d5a96ea791c0e17204ace05f6eb206a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 12 Oct 2019 14:14:10 -0400 Subject: [PATCH 0072/1152] Replace deprecated `ptr_fun` with lambda expression --- gtsam/linear/GaussianBayesNet.cpp | 12 ++++++------ gtsam/linear/GaussianBayesTree.cpp | 4 ++-- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/gtsam/linear/GaussianBayesNet.cpp b/gtsam/linear/GaussianBayesNet.cpp index bc96452b9..e9938ceb6 100644 --- a/gtsam/linear/GaussianBayesNet.cpp +++ b/gtsam/linear/GaussianBayesNet.cpp @@ -187,16 +187,16 @@ namespace gtsam { } /* ************************************************************************* */ - double GaussianBayesNet::logDeterminant() const - { + double GaussianBayesNet::logDeterminant() const { double logDet = 0.0; - for(const sharedConditional& cg: *this) { - if(cg->get_model()) { + for (const sharedConditional& cg : *this) { + if (cg->get_model()) { Vector diag = cg->R().diagonal(); cg->get_model()->whitenInPlace(diag); - logDet += diag.unaryExpr(ptr_fun(log)).sum(); + logDet += diag.unaryExpr([](double x) { return log(x); }).sum(); } else { - logDet += cg->R().diagonal().unaryExpr(ptr_fun(log)).sum(); + logDet += + cg->R().diagonal().unaryExpr([](double x) { return log(x); }).sum(); } } return logDet; diff --git a/gtsam/linear/GaussianBayesTree.cpp b/gtsam/linear/GaussianBayesTree.cpp index 8d0fafb61..13c19bce6 100644 --- a/gtsam/linear/GaussianBayesTree.cpp +++ b/gtsam/linear/GaussianBayesTree.cpp @@ -40,11 +40,11 @@ namespace gtsam { parentSum += clique->conditional() ->R() .diagonal() - .unaryExpr(std::ptr_fun(log)) + .unaryExpr([](double x) { return log(x); }) .sum(); return 0; } - } + } // namespace internal /* ************************************************************************* */ bool GaussianBayesTree::equals(const This& other, double tol) const From fc6d6794848fcf62b0680419f5b1f2ff12c442ea Mon Sep 17 00:00:00 2001 From: Peter Mullen Date: Sat, 12 Oct 2019 22:56:34 -0700 Subject: [PATCH 0073/1152] fix compile error --- timing/timeGaussianFactorGraph.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/timing/timeGaussianFactorGraph.cpp b/timing/timeGaussianFactorGraph.cpp index 3258edb49..2c1e11586 100644 --- a/timing/timeGaussianFactorGraph.cpp +++ b/timing/timeGaussianFactorGraph.cpp @@ -40,7 +40,7 @@ double timeKalmanSmoother(int T) { /* ************************************************************************* */ // Create a planar factor graph and optimize double timePlanarSmoother(int N, bool old = true) { - GaussianFactorGraph fg = planarGraph(N).get<0>(); + GaussianFactorGraph fg = planarGraph(N).first; clock_t start = clock(); fg.optimize(); clock_t end = clock (); @@ -51,7 +51,7 @@ double timePlanarSmoother(int N, bool old = true) { /* ************************************************************************* */ // Create a planar factor graph and eliminate double timePlanarSmootherEliminate(int N, bool old = true) { - GaussianFactorGraph fg = planarGraph(N).get<0>(); + GaussianFactorGraph fg = planarGraph(N).first; clock_t start = clock(); fg.eliminateMultifrontal(); clock_t end = clock (); From 5a358489dc91daeaafd6b6dcb6f84670d479e104 Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Sun, 13 Oct 2019 23:54:22 -0400 Subject: [PATCH 0074/1152] Some low hanging fruit changing `func(..., boost::optional)` to overloaded `func(...)` and `func(..., const Class &)` not all done Also, although it currently passes all tests, I think some more tests may be needed... --- gtsam/base/TestableAssertions.h | 8 +- gtsam/inference/EliminateableFactorGraph.h | 4 +- gtsam/linear/GaussianBayesNet.cpp | 21 +-- gtsam/linear/GaussianBayesNet.h | 9 +- gtsam/linear/GaussianFactorGraph.cpp | 45 +++++- gtsam/linear/GaussianFactorGraph.h | 47 +++++- gtsam/linear/HessianFactor.cpp | 4 +- gtsam/linear/HessianFactor.h | 6 +- gtsam/linear/IterativeSolver.cpp | 21 ++- gtsam/linear/IterativeSolver.h | 16 +- gtsam/linear/JacobianFactor.cpp | 172 +++++++++++++++------ gtsam/linear/JacobianFactor.h | 36 ++++- gtsam/linear/RegularHessianFactor.h | 8 +- gtsam/nonlinear/NonlinearOptimizer.cpp | 8 +- 14 files changed, 304 insertions(+), 101 deletions(-) diff --git a/gtsam/base/TestableAssertions.h b/gtsam/base/TestableAssertions.h index 1a31aa284..a698f8f98 100644 --- a/gtsam/base/TestableAssertions.h +++ b/gtsam/base/TestableAssertions.h @@ -71,12 +71,8 @@ bool assert_equal(const V& expected, const boost::optional& actual, double to } template -bool assert_equal(const V& expected, const boost::optional& actual, double tol = 1e-9) { - if (!actual) { - std::cout << "actual is boost::none" << std::endl; - return false; - } - return assert_equal(expected, *actual, tol); +bool assert_equal(const V& expected, double tol = 1e-9) { + return false; } /** diff --git a/gtsam/inference/EliminateableFactorGraph.h b/gtsam/inference/EliminateableFactorGraph.h index 8084aa75b..249c594b6 100644 --- a/gtsam/inference/EliminateableFactorGraph.h +++ b/gtsam/inference/EliminateableFactorGraph.h @@ -89,10 +89,10 @@ namespace gtsam { typedef boost::function Eliminate; /// Typedef for an optional ordering as an argument to elimination functions - typedef boost::optional OptionalOrdering; + typedef const boost::optional& OptionalOrdering; /// Typedef for an optional variable index as an argument to elimination functions - typedef boost::optional OptionalVariableIndex; + typedef const boost::optional& OptionalVariableIndex; /// Typedef for an optional ordering type typedef boost::optional OptionalOrderingType; diff --git a/gtsam/linear/GaussianBayesNet.cpp b/gtsam/linear/GaussianBayesNet.cpp index e9938ceb6..04094d593 100644 --- a/gtsam/linear/GaussianBayesNet.cpp +++ b/gtsam/linear/GaussianBayesNet.cpp @@ -156,16 +156,17 @@ namespace gtsam { } /* ************************************************************************* */ - pair GaussianBayesNet::matrix(boost::optional ordering) const { - if (ordering) { - // Convert to a GaussianFactorGraph and use its machinery - GaussianFactorGraph factorGraph(*this); - return factorGraph.jacobian(ordering); - } else { - // recursively call with default ordering - const auto defaultOrdering = this->ordering(); - return matrix(defaultOrdering); - } + pair GaussianBayesNet::matrix(const Ordering& ordering) const { + // Convert to a GaussianFactorGraph and use its machinery + GaussianFactorGraph factorGraph(*this); + return factorGraph.jacobian(ordering); + } + + /* ************************************************************************* */ + pair GaussianBayesNet::matrix() const { + // recursively call with default ordering + const auto defaultOrdering = this->ordering(); + return matrix(defaultOrdering); } ///* ************************************************************************* */ diff --git a/gtsam/linear/GaussianBayesNet.h b/gtsam/linear/GaussianBayesNet.h index 669c8a964..9da7a1609 100644 --- a/gtsam/linear/GaussianBayesNet.h +++ b/gtsam/linear/GaussianBayesNet.h @@ -92,7 +92,14 @@ namespace gtsam { * Will return upper-triangular matrix only when using 'ordering' above. * In case Bayes net is incomplete zero columns are added to the end. */ - std::pair matrix(boost::optional ordering = boost::none) const; + std::pair matrix(const Ordering& ordering) const; + + /** + * Return (dense) upper-triangular matrix representation + * Will return upper-triangular matrix only when using 'ordering' above. + * In case Bayes net is incomplete zero columns are added to the end. + */ + std::pair matrix() const; /** * Optimize along the gradient direction, with a closed-form computation to perform the line diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index 9281c7e7a..fe0a9b2df 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -190,33 +190,62 @@ namespace gtsam { /* ************************************************************************* */ Matrix GaussianFactorGraph::augmentedJacobian( - boost::optional optionalOrdering) const { + const Ordering& ordering) const { // combine all factors - JacobianFactor combined(*this, optionalOrdering); + JacobianFactor combined(*this, ordering); + return combined.augmentedJacobian(); + } + + /* ************************************************************************* */ + Matrix GaussianFactorGraph::augmentedJacobian() const { + // combine all factors + JacobianFactor combined(*this); return combined.augmentedJacobian(); } /* ************************************************************************* */ pair GaussianFactorGraph::jacobian( - boost::optional optionalOrdering) const { - Matrix augmented = augmentedJacobian(optionalOrdering); + const Ordering& ordering) const { + Matrix augmented = augmentedJacobian(ordering); + return make_pair(augmented.leftCols(augmented.cols() - 1), + augmented.col(augmented.cols() - 1)); + } + + /* ************************************************************************* */ + pair GaussianFactorGraph::jacobian() const { + Matrix augmented = augmentedJacobian(); return make_pair(augmented.leftCols(augmented.cols() - 1), augmented.col(augmented.cols() - 1)); } /* ************************************************************************* */ Matrix GaussianFactorGraph::augmentedHessian( - boost::optional optionalOrdering) const { + const Ordering& ordering) const { // combine all factors and get upper-triangular part of Hessian - Scatter scatter(*this, optionalOrdering); + Scatter scatter(*this, ordering); + HessianFactor combined(*this, scatter); + return combined.info().selfadjointView();; + } + + /* ************************************************************************* */ + Matrix GaussianFactorGraph::augmentedHessian() const { + // combine all factors and get upper-triangular part of Hessian + Scatter scatter(*this); HessianFactor combined(*this, scatter); return combined.info().selfadjointView();; } /* ************************************************************************* */ pair GaussianFactorGraph::hessian( - boost::optional optionalOrdering) const { - Matrix augmented = augmentedHessian(optionalOrdering); + const Ordering& ordering) const { + Matrix augmented = augmentedHessian(ordering); + size_t n = augmented.rows() - 1; + return make_pair(augmented.topLeftCorner(n, n), augmented.topRightCorner(n, 1)); + } + + /* ************************************************************************* */ + pair GaussianFactorGraph::hessian() const { + Matrix augmented = augmentedHessian(); size_t n = augmented.rows() - 1; return make_pair(augmented.topLeftCorner(n, n), augmented.topRightCorner(n, 1)); } diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 49cba482d..8bdf4e475 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -201,7 +201,16 @@ namespace gtsam { * \f$ \frac{1}{2} \Vert Ax-b \Vert^2 \f$. See also * GaussianFactorGraph::jacobian and GaussianFactorGraph::sparseJacobian. */ - Matrix augmentedJacobian(boost::optional optionalOrdering = boost::none) const; + Matrix augmentedJacobian(const Ordering& ordering) const; + + /** + * Return a dense \f$ [ \;A\;b\; ] \in \mathbb{R}^{m \times n+1} \f$ + * Jacobian matrix, augmented with b with the noise models baked + * into A and b. The negative log-likelihood is + * \f$ \frac{1}{2} \Vert Ax-b \Vert^2 \f$. See also + * GaussianFactorGraph::jacobian and GaussianFactorGraph::sparseJacobian. + */ + Matrix augmentedJacobian() const; /** * Return the dense Jacobian \f$ A \f$ and right-hand-side \f$ b \f$, @@ -210,7 +219,16 @@ namespace gtsam { * GaussianFactorGraph::augmentedJacobian and * GaussianFactorGraph::sparseJacobian. */ - std::pair jacobian(boost::optional optionalOrdering = boost::none) const; + std::pair jacobian(const Ordering& ordering) const; + + /** + * Return the dense Jacobian \f$ A \f$ and right-hand-side \f$ b \f$, + * with the noise models baked into A and b. The negative log-likelihood + * is \f$ \frac{1}{2} \Vert Ax-b \Vert^2 \f$. See also + * GaussianFactorGraph::augmentedJacobian and + * GaussianFactorGraph::sparseJacobian. + */ + std::pair jacobian() const; /** * Return a dense \f$ \Lambda \in \mathbb{R}^{n+1 \times n+1} \f$ Hessian @@ -223,7 +241,20 @@ namespace gtsam { and the negative log-likelihood is \f$ \frac{1}{2} x^T \Lambda x + \eta^T x + c \f$. */ - Matrix augmentedHessian(boost::optional optionalOrdering = boost::none) const; + Matrix augmentedHessian(const Ordering& ordering) const; + + /** + * Return a dense \f$ \Lambda \in \mathbb{R}^{n+1 \times n+1} \f$ Hessian + * matrix, augmented with the information vector \f$ \eta \f$. The + * augmented Hessian is + \f[ \left[ \begin{array}{ccc} + \Lambda & \eta \\ + \eta^T & c + \end{array} \right] \f] + and the negative log-likelihood is + \f$ \frac{1}{2} x^T \Lambda x + \eta^T x + c \f$. + */ + Matrix augmentedHessian() const; /** * Return the dense Hessian \f$ \Lambda \f$ and information vector @@ -231,7 +262,15 @@ namespace gtsam { * is \frac{1}{2} x^T \Lambda x + \eta^T x + c. See also * GaussianFactorGraph::augmentedHessian. */ - std::pair hessian(boost::optional optionalOrdering = boost::none) const; + std::pair hessian(const Ordering& ordering) const; + + /** + * Return the dense Hessian \f$ \Lambda \f$ and information vector + * \f$ \eta \f$, with the noise models baked in. The negative log-likelihood + * is \frac{1}{2} x^T \Lambda x + \eta^T x + c. See also + * GaussianFactorGraph::augmentedHessian. + */ + std::pair hessian() const; /** Return only the diagonal of the Hessian A'*A, as a VectorValues */ virtual VectorValues hessianDiagonal() const; diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index c208259b8..cc82e2fa0 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -250,10 +250,10 @@ HessianFactor::HessianFactor(const GaussianFactor& gf) : /* ************************************************************************* */ HessianFactor::HessianFactor(const GaussianFactorGraph& factors, - boost::optional scatter) { + const Scatter& scatter) { gttic(HessianFactor_MergeConstructor); - Allocate(scatter ? *scatter : Scatter(factors)); + Allocate(scatter); // Form A' * A gttic(update); diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index cb9da0f1a..f0c79d8fb 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -176,7 +176,11 @@ namespace gtsam { /** Combine a set of factors into a single dense HessianFactor */ explicit HessianFactor(const GaussianFactorGraph& factors, - boost::optional scatter = boost::none); + const Scatter& scatter); + + /** Combine a set of factors into a single dense HessianFactor */ + explicit HessianFactor(const GaussianFactorGraph& factors) + : HessianFactor(factors, Scatter(factors)) {} /** Destructor */ virtual ~HessianFactor() {} diff --git a/gtsam/linear/IterativeSolver.cpp b/gtsam/linear/IterativeSolver.cpp index c7d4e5405..9478f6fbf 100644 --- a/gtsam/linear/IterativeSolver.cpp +++ b/gtsam/linear/IterativeSolver.cpp @@ -84,16 +84,25 @@ string IterativeOptimizationParameters::verbosityTranslator( /*****************************************************************************/ VectorValues IterativeSolver::optimize(const GaussianFactorGraph &gfg, - boost::optional keyInfo, - boost::optional&> lambda) { - return optimize(gfg, keyInfo ? *keyInfo : KeyInfo(gfg), - lambda ? *lambda : std::map()); + const KeyInfo &keyInfo, const std::map &lambda) { + return optimize(gfg, keyInfo, lambda, keyInfo.x0()); } /*****************************************************************************/ VectorValues IterativeSolver::optimize(const GaussianFactorGraph &gfg, - const KeyInfo &keyInfo, const std::map &lambda) { - return optimize(gfg, keyInfo, lambda, keyInfo.x0()); + const KeyInfo& keyInfo) { + return optimize(gfg, keyInfo, std::map()); +} + +/*****************************************************************************/ +VectorValues IterativeSolver::optimize(const GaussianFactorGraph &gfg, + const std::map& lambda) { + return optimize(gfg, KeyInfo(gfg), lambda); +} + +/*****************************************************************************/ +VectorValues IterativeSolver::optimize(const GaussianFactorGraph &gfg) { + return optimize(gfg, KeyInfo(gfg), std::map()); } /****************************************************************************/ diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index 758d2aec9..84ebe52cb 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -91,15 +91,21 @@ public: virtual ~IterativeSolver() { } - /* interface to the nonlinear optimizer, without metadata, damping and initial estimate */ - GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg, - boost::optional = boost::none, - boost::optional&> lambda = boost::none); - /* interface to the nonlinear optimizer, without initial estimate */ GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg, const KeyInfo &keyInfo, const std::map &lambda); + /* interface to the nonlinear optimizer, without damping and initial estimate */ + GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg, + const KeyInfo& keyInfo); + + /* interface to the nonlinear optimizer, without metadata and initial estimate */ + GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg, + const std::map& lambda); + + /* interface to the nonlinear optimizer, without metadata, damping and initial estimate */ + GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg); + /* interface to the nonlinear optimizer that the subclasses have to implement */ virtual VectorValues optimize(const GaussianFactorGraph &gfg, const KeyInfo &keyInfo, const std::map &lambda, diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 06f6b3bed..9be010ff5 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -220,60 +220,13 @@ FastVector _convertOrCastToJacobians( } /* ************************************************************************* */ -JacobianFactor::JacobianFactor(const GaussianFactorGraph& graph, - boost::optional ordering, - boost::optional p_variableSlots) { - gttic(JacobianFactor_combine_constructor); - - // Compute VariableSlots if one was not provided - // Binds reference, does not copy VariableSlots - const VariableSlots & variableSlots = - p_variableSlots ? p_variableSlots.get() : VariableSlots(graph); +void JacobianFactor::JacobianFactorHelper(const GaussianFactorGraph& graph, + const FastVector& orderedSlots) { // Cast or convert to Jacobians FastVector jacobians = _convertOrCastToJacobians( graph); - gttic(Order_slots); - // Order variable slots - we maintain the vector of ordered slots, as well as keep a list - // 'unorderedSlots' of any variables discovered that are not in the ordering. Those will then - // be added after all of the ordered variables. - FastVector orderedSlots; - orderedSlots.reserve(variableSlots.size()); - if (ordering) { - // If an ordering is provided, arrange the slots first that ordering - FastList unorderedSlots; - size_t nOrderingSlotsUsed = 0; - orderedSlots.resize(ordering->size()); - FastMap inverseOrdering = ordering->invert(); - for (VariableSlots::const_iterator item = variableSlots.begin(); - item != variableSlots.end(); ++item) { - FastMap::const_iterator orderingPosition = - inverseOrdering.find(item->first); - if (orderingPosition == inverseOrdering.end()) { - unorderedSlots.push_back(item); - } else { - orderedSlots[orderingPosition->second] = item; - ++nOrderingSlotsUsed; - } - } - if (nOrderingSlotsUsed != ordering->size()) - throw std::invalid_argument( - "The ordering provided to the JacobianFactor combine constructor\n" - "contained extra variables that did not appear in the factors to combine."); - // Add the remaining slots - for(VariableSlots::const_iterator item: unorderedSlots) { - orderedSlots.push_back(item); - } - } else { - // If no ordering is provided, arrange the slots as they were, which will be sorted - // numerically since VariableSlots uses a map sorting on Key. - for (VariableSlots::const_iterator item = variableSlots.begin(); - item != variableSlots.end(); ++item) - orderedSlots.push_back(item); - } - gttoc(Order_slots); - // Count dimensions FastVector varDims; DenseIndex m, n; @@ -344,6 +297,127 @@ JacobianFactor::JacobianFactor(const GaussianFactorGraph& graph, this->setModel(anyConstrained, *sigmas); } +/* ************************************************************************* */ +// Order variable slots - we maintain the vector of ordered slots, as well as keep a list +// 'unorderedSlots' of any variables discovered that are not in the ordering. Those will then +// be added after all of the ordered variables. +FastVector orderedSlotsHelper( + const Ordering& ordering, + const VariableSlots& variableSlots) { + gttic(Order_slots); + + FastVector orderedSlots; + orderedSlots.reserve(variableSlots.size()); + + // If an ordering is provided, arrange the slots first that ordering + FastList unorderedSlots; + size_t nOrderingSlotsUsed = 0; + orderedSlots.resize(ordering.size()); + FastMap inverseOrdering = ordering.invert(); + for (VariableSlots::const_iterator item = variableSlots.begin(); + item != variableSlots.end(); ++item) { + FastMap::const_iterator orderingPosition = + inverseOrdering.find(item->first); + if (orderingPosition == inverseOrdering.end()) { + unorderedSlots.push_back(item); + } else { + orderedSlots[orderingPosition->second] = item; + ++nOrderingSlotsUsed; + } + } + if (nOrderingSlotsUsed != ordering.size()) + throw std::invalid_argument( + "The ordering provided to the JacobianFactor combine constructor\n" + "contained extra variables that did not appear in the factors to combine."); + // Add the remaining slots + for(VariableSlots::const_iterator item: unorderedSlots) { + orderedSlots.push_back(item); + } + + gttoc(Order_slots); + + return orderedSlots; +} + +/* ************************************************************************* */ +JacobianFactor::JacobianFactor(const GaussianFactorGraph& graph) { + gttic(JacobianFactor_combine_constructor); + + // Compute VariableSlots if one was not provided + // Binds reference, does not copy VariableSlots + const VariableSlots & variableSlots = VariableSlots(graph); + + gttic(Order_slots); + // Order variable slots - we maintain the vector of ordered slots, as well as keep a list + // 'unorderedSlots' of any variables discovered that are not in the ordering. Those will then + // be added after all of the ordered variables. + FastVector orderedSlots; + orderedSlots.reserve(variableSlots.size()); + + // If no ordering is provided, arrange the slots as they were, which will be sorted + // numerically since VariableSlots uses a map sorting on Key. + for (VariableSlots::const_iterator item = variableSlots.begin(); + item != variableSlots.end(); ++item) + orderedSlots.push_back(item); + gttoc(Order_slots); + + JacobianFactorHelper(graph, orderedSlots); +} + +/* ************************************************************************* */ +JacobianFactor::JacobianFactor(const GaussianFactorGraph& graph, + const VariableSlots& p_variableSlots) { + gttic(JacobianFactor_combine_constructor); + + // Binds reference, does not copy VariableSlots + const VariableSlots & variableSlots = p_variableSlots; + + gttic(Order_slots); + // Order variable slots - we maintain the vector of ordered slots, as well as keep a list + // 'unorderedSlots' of any variables discovered that are not in the ordering. Those will then + // be added after all of the ordered variables. + FastVector orderedSlots; + orderedSlots.reserve(variableSlots.size()); + + // If no ordering is provided, arrange the slots as they were, which will be sorted + // numerically since VariableSlots uses a map sorting on Key. + for (VariableSlots::const_iterator item = variableSlots.begin(); + item != variableSlots.end(); ++item) + orderedSlots.push_back(item); + gttoc(Order_slots); + + JacobianFactorHelper(graph, orderedSlots); +} + +/* ************************************************************************* */ +JacobianFactor::JacobianFactor(const GaussianFactorGraph& graph, + const Ordering& ordering) { + gttic(JacobianFactor_combine_constructor); + + // Compute VariableSlots if one was not provided + // Binds reference, does not copy VariableSlots + const VariableSlots & variableSlots = VariableSlots(graph); + + // Order variable slots + FastVector orderedSlots = + orderedSlotsHelper(ordering, variableSlots); + + JacobianFactorHelper(graph, orderedSlots); +} + +/* ************************************************************************* */ +JacobianFactor::JacobianFactor(const GaussianFactorGraph& graph, + const Ordering& ordering, + const VariableSlots& p_variableSlots) { + gttic(JacobianFactor_combine_constructor); + + // Order variable slots + FastVector orderedSlots = + orderedSlotsHelper(ordering, p_variableSlots); + + JacobianFactorHelper(graph, orderedSlots); +} + /* ************************************************************************* */ void JacobianFactor::print(const string& s, const KeyFormatter& formatter) const { diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 36d1e12da..c8d77c554 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -22,6 +22,7 @@ #include #include #include +#include #include @@ -147,14 +148,37 @@ namespace gtsam { JacobianFactor( const KEYS& keys, const VerticalBlockMatrix& augmentedMatrix, const SharedDiagonal& sigmas = SharedDiagonal()); + /** + * Build a dense joint factor from all the factors in a factor graph. If a VariableSlots + * structure computed for \c graph is already available, providing it will reduce the amount of + * computation performed. */ + explicit JacobianFactor( + const GaussianFactorGraph& graph); + /** * Build a dense joint factor from all the factors in a factor graph. If a VariableSlots * structure computed for \c graph is already available, providing it will reduce the amount of * computation performed. */ explicit JacobianFactor( const GaussianFactorGraph& graph, - boost::optional ordering = boost::none, - boost::optional p_variableSlots = boost::none); + const VariableSlots& p_variableSlots); + + /** + * Build a dense joint factor from all the factors in a factor graph. If a VariableSlots + * structure computed for \c graph is already available, providing it will reduce the amount of + * computation performed. */ + explicit JacobianFactor( + const GaussianFactorGraph& graph, + const Ordering& ordering); + + /** + * Build a dense joint factor from all the factors in a factor graph. If a VariableSlots + * structure computed for \c graph is already available, providing it will reduce the amount of + * computation performed. */ + explicit JacobianFactor( + const GaussianFactorGraph& graph, + const Ordering& ordering, + const VariableSlots& p_variableSlots); /** Virtual destructor */ virtual ~JacobianFactor() {} @@ -356,6 +380,14 @@ namespace gtsam { private: + /** + * Helper function for public constructors: + * Build a dense joint factor from all the factors in a factor graph. Takes in + * ordered variable slots */ + void JacobianFactorHelper( + const GaussianFactorGraph& graph, + const FastVector& orderedSlots); + /** Unsafe Constructor that creates an uninitialized Jacobian of right size * @param keys in some order * @param diemnsions of the variables in same order diff --git a/gtsam/linear/RegularHessianFactor.h b/gtsam/linear/RegularHessianFactor.h index 1fe7009bc..a24acfacd 100644 --- a/gtsam/linear/RegularHessianFactor.h +++ b/gtsam/linear/RegularHessianFactor.h @@ -77,11 +77,17 @@ public: /// Construct from a GaussianFactorGraph RegularHessianFactor(const GaussianFactorGraph& factors, - boost::optional scatter = boost::none) + const Scatter& scatter) : HessianFactor(factors, scatter) { checkInvariants(); } + /// Construct from a GaussianFactorGraph + RegularHessianFactor(const GaussianFactorGraph& factors) + : HessianFactor(factors) { + checkInvariants(); + } + private: /// Check invariants after construction diff --git a/gtsam/nonlinear/NonlinearOptimizer.cpp b/gtsam/nonlinear/NonlinearOptimizer.cpp index e1efa2061..b12dcf70a 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.cpp +++ b/gtsam/nonlinear/NonlinearOptimizer.cpp @@ -128,17 +128,17 @@ VectorValues NonlinearOptimizer::solve(const GaussianFactorGraph& gfg, const NonlinearOptimizerParams& params) const { // solution of linear solver is an update to the linearization point VectorValues delta; - boost::optional optionalOrdering; + Ordering ordering; if (params.ordering) - optionalOrdering.reset(*params.ordering); + ordering = *params.ordering; // Check which solver we are using if (params.isMultifrontal()) { // Multifrontal QR or Cholesky (decided by params.getEliminationFunction()) - delta = gfg.optimize(optionalOrdering, params.getEliminationFunction()); + delta = gfg.optimize(ordering, params.getEliminationFunction()); } else if (params.isSequential()) { // Sequential QR or Cholesky (decided by params.getEliminationFunction()) - delta = gfg.eliminateSequential(optionalOrdering, params.getEliminationFunction(), boost::none, + delta = gfg.eliminateSequential(ordering, params.getEliminationFunction(), boost::none, params.orderingType)->optimize(); } else if (params.isIterative()) { // Conjugate Gradient -> needs params.iterativeParams From dcb82920eaa237b24de4bb03db06328c9cfd44d3 Mon Sep 17 00:00:00 2001 From: duyanwei Date: Thu, 17 Oct 2019 21:32:21 +0800 Subject: [PATCH 0075/1152] fix default parameters in constructor of IncrementalFixedLagSmoother.h --- .../nonlinear/IncrementalFixedLagSmoother.h | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h index fe89c5b26..4a1a9cb4a 100644 --- a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h +++ b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h @@ -39,8 +39,8 @@ public: /** default constructor */ IncrementalFixedLagSmoother(double smootherLag = 0.0, - const ISAM2Params& parameters = ISAM2Params()) : - FixedLagSmoother(smootherLag), isam_(parameters) { + const boost::optional& parameters = boost::none) : + FixedLagSmoother(smootherLag), isam_(parameters ? (*parameters) : getDefaultParams()) { } /** destructor */ @@ -114,6 +114,14 @@ public: const ISAM2Result& getISAM2Result() const{ return isamResult_; } protected: + + /* Create default parameters */ + ISAM2Params getDefaultParams() const { + ISAM2Params params; + params.findUnusedFactorSlots = true; + return params; + } + /** An iSAM2 object used to perform inference. The smoother lag is controlled * by what factors are removed each iteration */ ISAM2 isam_; From 38982ae4aa31bd9948c17bb79b742848ecd26960 Mon Sep 17 00:00:00 2001 From: duyanwei Date: Fri, 18 Oct 2019 00:23:00 +0800 Subject: [PATCH 0076/1152] changed function name and made it static --- gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h index 4a1a9cb4a..3cf6c16d3 100644 --- a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h +++ b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h @@ -39,8 +39,8 @@ public: /** default constructor */ IncrementalFixedLagSmoother(double smootherLag = 0.0, - const boost::optional& parameters = boost::none) : - FixedLagSmoother(smootherLag), isam_(parameters ? (*parameters) : getDefaultParams()) { + const ISAM2Params& parameters = DefaultISAM2Params()) : + FixedLagSmoother(smootherLag), isam_(parameters) { } /** destructor */ @@ -115,8 +115,8 @@ public: protected: - /* Create default parameters */ - ISAM2Params getDefaultParams() const { + /** Create default parameters */ + static ISAM2Params DefaultISAM2Params() { ISAM2Params params; params.findUnusedFactorSlots = true; return params; From 730199b67819aa32dc390085c1b2bd86dea9e182 Mon Sep 17 00:00:00 2001 From: Jean-Philippe Tardif Date: Fri, 18 Oct 2019 10:55:02 -0400 Subject: [PATCH 0077/1152] Fix python wrappers for BetweenFactorVector and PreintegratedCombinedMeasurements and added Vector type to the BetweenFactor generation Created PreintegrationCombinedParams to add constructor for PreintegratedCombinedMeasurements --- gtsam.h | 29 +++++++- gtsam/navigation/CombinedImuFactor.h | 103 +++++++++++++++------------ 2 files changed, 84 insertions(+), 48 deletions(-) diff --git a/gtsam.h b/gtsam.h index e500edbd9..9ab4f1d99 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2405,7 +2405,7 @@ virtual class PriorFactor : gtsam::NoiseModelFactor { #include -template +template virtual class BetweenFactor : gtsam::NoiseModelFactor { BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel); T measured() const; @@ -2812,7 +2812,34 @@ virtual class ImuFactor: gtsam::NonlinearFactor { }; #include +//typedef PreintegratedCombinedMeasurements::Params PreintegrationCombinedParams; +virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams { + PreintegrationCombinedParams(Vector n_gravity); + + static gtsam::PreintegrationCombinedParams* MakeSharedD(double g); + static gtsam::PreintegrationCombinedParams* MakeSharedU(double g); + static gtsam::PreintegrationCombinedParams* MakeSharedD(); // default g = 9.81 + static gtsam::PreintegrationCombinedParams* MakeSharedU(); // default g = 9.81 + + // Testable + void print(string s) const; + bool equals(const gtsam::PreintegrationCombinedParams& expected, double tol); + + void setBiasAccCovariance(Matrix cov); + void setBiasOmegaCovariance(Matrix cov); + void setBiasAccOmegaInt(Matrix cov); + + Matrix getBiasAccCovariance() const ; + Matrix getBiasOmegaCovariance() const ; + Matrix getBiasAccOmegaInt() const; + +}; + class PreintegratedCombinedMeasurements { +// Constructors + PreintegratedCombinedMeasurements(const gtsam::PreintegrationCombinedParams* params); + PreintegratedCombinedMeasurements(const gtsam::PreintegrationCombinedParams* params, + const gtsam::imuBias::ConstantBias& bias); // Testable void print(string s) const; bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 2ad71cb3c..d37d5fe84 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -29,12 +29,6 @@ namespace gtsam { -#ifdef GTSAM_TANGENT_PREINTEGRATION -typedef TangentPreintegration PreintegrationType; -#else -typedef ManifoldPreintegration PreintegrationType; -#endif - /* * If you are using the factor, please cite: * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating @@ -54,6 +48,61 @@ typedef ManifoldPreintegration PreintegrationType; * Robotics: Science and Systems (RSS), 2015. */ +struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams { + Matrix3 biasAccCovariance; ///< continuous-time "Covariance" describing accelerometer bias random walk + Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk + Matrix6 biasAccOmegaInt; ///< covariance of bias used for pre-integration + + /// See two named constructors below for good values of n_gravity in body frame +PreintegrationCombinedParams(const Vector3& n_gravity) : + PreintegrationParams(n_gravity), biasAccCovariance(I_3x3), biasOmegaCovariance( + I_3x3), biasAccOmegaInt(I_6x6) { + } + + // Default Params for a Z-down navigation frame, such as NED: gravity points along positive Z-axis + static boost::shared_ptr MakeSharedD(double g = 9.81) { + return boost::shared_ptr(new PreintegrationCombinedParams(Vector3(0, 0, g))); + } + + // Default Params for a Z-up navigation frame, such as ENU: gravity points along negative Z-axis + static boost::shared_ptr MakeSharedU(double g = 9.81) { + return boost::shared_ptr(new PreintegrationCombinedParams(Vector3(0, 0, -g))); + } + + void setBiasAccCovariance(const Matrix3& cov) { biasAccCovariance=cov; } + void setBiasOmegaCovariance(const Matrix3& cov) { biasOmegaCovariance=cov; } + void setBiasAccOmegaInt(const Matrix6& cov) { biasAccOmegaInt=cov; } + + const Matrix3& getBiasAccCovariance() const { return biasAccCovariance; } + const Matrix3& getBiasOmegaCovariance() const { return biasOmegaCovariance; } + const Matrix6& getBiasAccOmegaInt() const { return biasAccOmegaInt; } + +private: + /// Default constructor makes unitialized params struct + PreintegrationCombinedParams() {} + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotation::Params); + ar& BOOST_SERIALIZATION_NVP(biasAccCovariance); + ar& BOOST_SERIALIZATION_NVP(biasOmegaCovariance); + ar& BOOST_SERIALIZATION_NVP(biasAccOmegaInt); + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +#ifdef GTSAM_TANGENT_PREINTEGRATION +typedef TangentPreintegration PreintegrationType; +#else +typedef ManifoldPreintegration PreintegrationType; +#endif + + /** * PreintegratedCombinedMeasurements integrates the IMU measurements * (rotation rates and accelerations) and the corresponding covariance matrix. @@ -67,47 +116,7 @@ typedef ManifoldPreintegration PreintegrationType; class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType { public: - - /// Parameters for pre-integration: - /// Usage: Create just a single Params and pass a shared pointer to the constructor - struct Params : PreintegrationParams { - Matrix3 biasAccCovariance; ///< continuous-time "Covariance" describing accelerometer bias random walk - Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk - Matrix6 biasAccOmegaInt; ///< covariance of bias used for pre-integration - - /// See two named constructors below for good values of n_gravity in body frame - Params(const Vector3& n_gravity) : - PreintegrationParams(n_gravity), biasAccCovariance(I_3x3), biasOmegaCovariance( - I_3x3), biasAccOmegaInt(I_6x6) { - } - - // Default Params for a Z-down navigation frame, such as NED: gravity points along positive Z-axis - static boost::shared_ptr MakeSharedD(double g = 9.81) { - return boost::shared_ptr(new Params(Vector3(0, 0, g))); - } - - // Default Params for a Z-up navigation frame, such as ENU: gravity points along negative Z-axis - static boost::shared_ptr MakeSharedU(double g = 9.81) { - return boost::shared_ptr(new Params(Vector3(0, 0, -g))); - } - - private: - /// Default constructor makes unitialized params struct - Params() {} - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE& ar, const unsigned int /*version*/) { - ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotation::Params); - ar& BOOST_SERIALIZATION_NVP(biasAccCovariance); - ar& BOOST_SERIALIZATION_NVP(biasOmegaCovariance); - ar& BOOST_SERIALIZATION_NVP(biasAccOmegaInt); - } - - public: - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - }; + typedef PreintegrationCombinedParams Params; protected: /* Covariance matrix of the preintegrated measurements From f58a5f89f22fba829d5c13649d7912ca7ff20a51 Mon Sep 17 00:00:00 2001 From: Jean-Philippe Tardif Date: Fri, 18 Oct 2019 14:15:19 -0400 Subject: [PATCH 0078/1152] clean up commented code --- gtsam.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 9ab4f1d99..708753749 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2812,7 +2812,6 @@ virtual class ImuFactor: gtsam::NonlinearFactor { }; #include -//typedef PreintegratedCombinedMeasurements::Params PreintegrationCombinedParams; virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams { PreintegrationCombinedParams(Vector n_gravity); From ca02a03c08f0076fb0f4ea2d706de7efd094de46 Mon Sep 17 00:00:00 2001 From: Jean-Philippe Tardif Date: Fri, 18 Oct 2019 14:16:07 -0400 Subject: [PATCH 0079/1152] Move back code,, comments in the code --- gtsam/navigation/CombinedImuFactor.h | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index d37d5fe84..ca9b2ca1a 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -29,6 +29,12 @@ namespace gtsam { +#ifdef GTSAM_TANGENT_PREINTEGRATION +typedef TangentPreintegration PreintegrationType; +#else +typedef ManifoldPreintegration PreintegrationType; +#endif + /* * If you are using the factor, please cite: * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating @@ -48,6 +54,8 @@ namespace gtsam { * Robotics: Science and Systems (RSS), 2015. */ +/// Parameters for pre-integration using PreintegratedCombinedMeasurements: +/// Usage: Create just a single Params and pass a shared pointer to the constructor struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams { Matrix3 biasAccCovariance; ///< continuous-time "Covariance" describing accelerometer bias random walk Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk @@ -95,13 +103,6 @@ public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; - -#ifdef GTSAM_TANGENT_PREINTEGRATION -typedef TangentPreintegration PreintegrationType; -#else -typedef ManifoldPreintegration PreintegrationType; -#endif - /** * PreintegratedCombinedMeasurements integrates the IMU measurements From 8df79815649b1f7964d59a628aac7e718afd4690 Mon Sep 17 00:00:00 2001 From: mxie32 Date: Sat, 19 Oct 2019 17:15:56 -0400 Subject: [PATCH 0080/1152] expose GPSFactor in python wrapper, and add example for it --- cython/gtsam/examples/GPSFactorExample.py | 56 +++++++++++++++++++++++ gtsam.h | 25 ++++++++++ 2 files changed, 81 insertions(+) create mode 100644 cython/gtsam/examples/GPSFactorExample.py diff --git a/cython/gtsam/examples/GPSFactorExample.py b/cython/gtsam/examples/GPSFactorExample.py new file mode 100644 index 000000000..493a07725 --- /dev/null +++ b/cython/gtsam/examples/GPSFactorExample.py @@ -0,0 +1,56 @@ +""" +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 + +Simple robot motion example, with prior and one GPS measurements +Author: Mandy Xie +""" +# pylint: disable=invalid-name, E1101 + +from __future__ import print_function + +import numpy as np + +import gtsam + +import matplotlib.pyplot as plt +import gtsam.utils.plot as gtsam_plot + +# ENU Origin is where the plane was in hold next to runway +lat0 = 33.86998 +lon0 = -84.30626 +h0 = 274 + +# Create noise models +GPS_NOISE = gtsam.noiseModel_Isotropic.Sigma(3, 0.1) +PRIOR_NOISE = gtsam.noiseModel_Isotropic.Sigma(6, 0.25) + +# Create an empty nonlinear factor graph +graph = gtsam.NonlinearFactorGraph() + +# Add a prior on the first point, setting it to the origin +# A prior factor consists of a mean and a noise model (covariance matrix) +priorMean = gtsam.Pose3() # prior at origin +graph.add(gtsam.PriorFactorPose3(1, priorMean, PRIOR_NOISE)) + +# Add GPS factors +gps = gtsam.Point3(lat0, lon0, h0) +graph.add(gtsam.GPSFactor(1, gps, GPS_NOISE)) +print("\nFactor Graph:\n{}".format(graph)) + +# Create the data structure to hold the initialEstimate estimate to the solution +# For illustrative purposes, these have been deliberately set to incorrect values +initial = gtsam.Values() +initial.insert(1, gtsam.Pose3()) +print("\nInitial Estimate:\n{}".format(initial)) + +# optimize using Levenberg-Marquardt optimization +params = gtsam.LevenbergMarquardtParams() +optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initial, params) +result = optimizer.optimize() +print("\nFinal Result:\n{}".format(result)) + diff --git a/gtsam.h b/gtsam.h index 708753749..070a3c42f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2936,6 +2936,31 @@ virtual class Pose3AttitudeFactor : gtsam::NonlinearFactor { gtsam::Unit3 bRef() const; }; +#include +virtual class GPSFactor : gtsam::NonlinearFactor{ + GPSFactor(size_t key, const gtsam::Point3& gpsIn, + const gtsam::noiseModel::Base* model); + + // Testable + void print(string s) const; + bool equals(const gtsam::GPSFactor& expected, double tol); + + // Standard Interface + gtsam::Point3 measurementIn() const; +}; + +virtual class GPSFactor2 : gtsam::NonlinearFactor { + GPSFactor2(size_t key, const gtsam::Point3& gpsIn, + const gtsam::noiseModel::Base* model); + + // Testable + void print(string s) const; + bool equals(const gtsam::GPSFactor2& expected, double tol); + + // Standard Interface + gtsam::Point3 measurementIn() const; +}; + #include virtual class Scenario { gtsam::Pose3 pose(double t) const; From 939aba362181ce57cd7da448e8bec63f9c7bad7b Mon Sep 17 00:00:00 2001 From: mxie32 Date: Sat, 19 Oct 2019 17:51:15 -0400 Subject: [PATCH 0081/1152] upgrade colamd to suite-sparse-5.4.0 --- gtsam/3rdparty/CCOLAMD/Source/ccolamd.c | 11 ++-- gtsam/3rdparty/SuiteSparse_config/Makefile | 4 +- gtsam/3rdparty/SuiteSparse_config/README.txt | 3 +- .../SuiteSparse_config/SuiteSparse_config.c | 2 +- .../SuiteSparse_config/SuiteSparse_config.h | 41 ++------------ .../SuiteSparse_config/SuiteSparse_config.mk | 56 +++++++++++++------ 6 files changed, 52 insertions(+), 65 deletions(-) diff --git a/gtsam/3rdparty/CCOLAMD/Source/ccolamd.c b/gtsam/3rdparty/CCOLAMD/Source/ccolamd.c index d5e8da2f0..9a08e3ea8 100644 --- a/gtsam/3rdparty/CCOLAMD/Source/ccolamd.c +++ b/gtsam/3rdparty/CCOLAMD/Source/ccolamd.c @@ -1560,9 +1560,8 @@ PUBLIC Int CCOLAMD_2 /* returns TRUE if successful, FALSE otherwise */ Int *dead_cols ; Int set1 ; Int set2 ; -#ifndef NDEBUG Int cs ; -#endif + int ok ; #ifndef NDEBUG @@ -1910,10 +1909,8 @@ PUBLIC Int CCOLAMD_2 /* returns TRUE if successful, FALSE otherwise */ p [k] = col ; ASSERT (A [col] == EMPTY) ; -#ifndef NDEBUG - cs = CMEMBER (col) ; + cs = CMEMBER (col) ; ASSERT (k >= cset_start [cs] && k < cset_start [cs+1]) ; -#endif A [col] = k ; k++ ; @@ -1929,11 +1926,11 @@ PUBLIC Int CCOLAMD_2 /* returns TRUE if successful, FALSE otherwise */ if (A [col] == EMPTY) { k = Col [col].shared2.order ; + cs = CMEMBER (col) ; #ifndef NDEBUG - cs = CMEMBER (col) ; dead_cols [cs]-- ; - ASSERT (k >= cset_start [cs] && k < cset_start [cs+1]) ; #endif + ASSERT (k >= cset_start [cs] && k < cset_start [cs+1]) ; DEBUG1 (("ccolamd output ordering: k "ID" col "ID " (dense or null col)\n", k, col)) ; p [k] = col ; diff --git a/gtsam/3rdparty/SuiteSparse_config/Makefile b/gtsam/3rdparty/SuiteSparse_config/Makefile index aa858aeab..695a327a4 100644 --- a/gtsam/3rdparty/SuiteSparse_config/Makefile +++ b/gtsam/3rdparty/SuiteSparse_config/Makefile @@ -7,8 +7,8 @@ export SUITESPARSE # version of SuiteSparse_config is also version of SuiteSparse meta-package LIBRARY = libsuitesparseconfig -VERSION = 4.5.6 -SO_VERSION = 4 +VERSION = 5.4.0 +SO_VERSION = 5 default: library diff --git a/gtsam/3rdparty/SuiteSparse_config/README.txt b/gtsam/3rdparty/SuiteSparse_config/README.txt index 8129f5a04..8555cc459 100644 --- a/gtsam/3rdparty/SuiteSparse_config/README.txt +++ b/gtsam/3rdparty/SuiteSparse_config/README.txt @@ -1,4 +1,4 @@ -SuiteSparse_config, 2017, Timothy A. Davis, http://www.suitesparse.com +SuiteSparse_config, 2018, Timothy A. Davis, http://www.suitesparse.com (formerly the UFconfig package) This directory contains a default SuiteSparse_config.mk file. It tries to @@ -37,6 +37,7 @@ SuiteSparse_config is not required by these packages: CSparse a Concise Sparse matrix package MATLAB_Tools toolboxes for use in MATLAB + GraphBLAS graph algorithms in the language of linear algebra In addition, the xerbla/ directory contains Fortan and C versions of the BLAS/LAPACK xerbla routine, which is called when an invalid input is passed to diff --git a/gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.c b/gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.c index b491539fe..595e46781 100644 --- a/gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.c +++ b/gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.c @@ -4,7 +4,7 @@ /* SuiteSparse configuration : memory manager and printf functions. */ -/* Copyright (c) 2013, Timothy A. Davis. No licensing restrictions +/* Copyright (c) 2013-2018, Timothy A. Davis. No licensing restrictions * apply to this file or to the SuiteSparse_config directory. * Author: Timothy A. Davis. */ diff --git a/gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.h b/gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.h index 7d4de65d3..9e28c0530 100644 --- a/gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.h +++ b/gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.h @@ -177,38 +177,7 @@ int SuiteSparse_divcomplex /* SuiteSparse is not a package itself, but a collection of packages, some of * which must be used together (UMFPACK requires AMD, CHOLMOD requires AMD, * COLAMD, CAMD, and CCOLAMD, etc). A version number is provided here for the - * collection itself. The versions of packages within each version of - * SuiteSparse are meant to work together. Combining one package from one - * version of SuiteSparse, with another package from another version of - * SuiteSparse, may or may not work. - * - * SuiteSparse contains the following packages: - * - * SuiteSparse_config version 4.5.6 (version always the same as SuiteSparse) - * AMD version 2.4.6 - * BTF version 1.2.6 - * CAMD version 2.4.6 - * CCOLAMD version 2.9.6 - * CHOLMOD version 3.0.11 - * COLAMD version 2.9.6 - * CSparse version 3.1.9 - * CXSparse version 3.1.9 - * GPUQREngine version 1.0.5 - * KLU version 1.3.8 - * LDL version 2.2.6 - * RBio version 2.2.6 - * SPQR version 2.0.8 - * SuiteSparse_GPURuntime version 1.0.5 - * UMFPACK version 5.7.6 - * MATLAB_Tools various packages & M-files - * xerbla version 1.0.3 - * - * Other package dependencies: - * BLAS required by CHOLMOD and UMFPACK - * LAPACK required by CHOLMOD - * METIS 5.1.0 required by CHOLMOD (optional) and KLU (optional) - * CUBLAS, CUDART NVIDIA libraries required by CHOLMOD and SPQR when - * they are compiled with GPU acceleration. + * collection itself, which is also the version number of SuiteSparse_config. */ int SuiteSparse_version /* returns SUITESPARSE_VERSION */ @@ -233,11 +202,11 @@ int SuiteSparse_version /* returns SUITESPARSE_VERSION */ */ #define SUITESPARSE_HAS_VERSION_FUNCTION -#define SUITESPARSE_DATE "Oct 3, 2017" +#define SUITESPARSE_DATE "Dec 28, 2018" #define SUITESPARSE_VER_CODE(main,sub) ((main) * 1000 + (sub)) -#define SUITESPARSE_MAIN_VERSION 4 -#define SUITESPARSE_SUB_VERSION 5 -#define SUITESPARSE_SUBSUB_VERSION 6 +#define SUITESPARSE_MAIN_VERSION 5 +#define SUITESPARSE_SUB_VERSION 4 +#define SUITESPARSE_SUBSUB_VERSION 0 #define SUITESPARSE_VERSION \ SUITESPARSE_VER_CODE(SUITESPARSE_MAIN_VERSION,SUITESPARSE_SUB_VERSION) diff --git a/gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.mk b/gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.mk index 2c13a6010..19a39032a 100644 --- a/gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.mk +++ b/gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.mk @@ -3,9 +3,11 @@ #=============================================================================== # This file contains all configuration settings for all packages in SuiteSparse, -# except for CSparse (which is stand-alone) and the packages in MATLAB_Tools. +# except for CSparse (which is stand-alone), the packages in MATLAB_Tools, +# and GraphBLAS. The configuration settings for GraphBLAS are determined by +# GraphBLAS/CMakeLists.txt -SUITESPARSE_VERSION = 4.5.6 +SUITESPARSE_VERSION = 5.4.0 #=============================================================================== # Options you can change without editing this file: @@ -57,6 +59,15 @@ SUITESPARSE_VERSION = 4.5.6 INSTALL_INCLUDE ?= $(INSTALL)/include INSTALL_DOC ?= $(INSTALL)/share/doc/suitesparse-$(SUITESPARSE_VERSION) + CMAKE_OPTIONS ?= -DCMAKE_INSTALL_PREFIX=$(INSTALL) + + #--------------------------------------------------------------------------- + # parallel make + #--------------------------------------------------------------------------- + + # sequential make's by default + JOBS ?= 1 + #--------------------------------------------------------------------------- # optimization level #--------------------------------------------------------------------------- @@ -78,19 +89,11 @@ SUITESPARSE_VERSION = 4.5.6 CXX = g++ BLAS = -lrefblas -lgfortran -lstdc++ LAPACK = -llapack - CFLAGS += --coverage - OPTIMIZATION = -g - LDFLAGS += --coverage + CFLAGS += --coverage + OPTIMIZATION = -g + LDFLAGS += --coverage endif - #--------------------------------------------------------------------------- - # CFLAGS for the C/C++ compiler - #--------------------------------------------------------------------------- - - # The CF macro is used by SuiteSparse Makefiles as a combination of - # CFLAGS, CPPFLAGS, TARGET_ARCH, and system-dependent settings. - CF ?= $(CFLAGS) $(CPPFLAGS) $(TARGET_ARCH) $(OPTIMIZATION) -fexceptions -fPIC - #--------------------------------------------------------------------------- # OpenMP is used in CHOLMOD #--------------------------------------------------------------------------- @@ -112,10 +115,12 @@ SUITESPARSE_VERSION = 4.5.6 ifneq ($(AUTOCC),no) ifneq ($(shell which icc 2>/dev/null),) # use the Intel icc compiler for C codes, and -qopenmp for OpenMP - CC = icc -D_GNU_SOURCE - CXX = $(CC) + CC = icc + CFLAGS += -D_GNU_SOURCE + CXX = icpc CFOPENMP = -qopenmp -I$(MKLROOT)/include - LDFLAGS += -openmp + LDFLAGS += -qopenmp + LDLIBS += -lm -lirc endif ifneq ($(shell which ifort 2>/dev/null),) # use the Intel ifort compiler for Fortran codes @@ -123,6 +128,16 @@ SUITESPARSE_VERSION = 4.5.6 endif endif + CMAKE_OPTIONS += -DCMAKE_CXX_COMPILER=$(CXX) -DCMAKE_C_COMPILER=$(CC) + + #--------------------------------------------------------------------------- + # CFLAGS for the C/C++ compiler + #--------------------------------------------------------------------------- + + # The CF macro is used by SuiteSparse Makefiles as a combination of + # CFLAGS, CPPFLAGS, TARGET_ARCH, and system-dependent settings. + CF ?= $(CFLAGS) $(CPPFLAGS) $(TARGET_ARCH) $(OPTIMIZATION) -fexceptions -fPIC + #--------------------------------------------------------------------------- # code formatting (for Tcov on Linux only) #--------------------------------------------------------------------------- @@ -157,7 +172,7 @@ SUITESPARSE_VERSION = 4.5.6 # $(MKLROOT)/lib/intel64/libmkl_intel_thread.a \ # -Wl,--end-group -lpthread -lm # using dynamic linking: - BLAS = -lmkl_intel_lp64 -lmkl_core -lmkl_intel_thread -lpthread -lm + BLAS = -lmkl_intel_lp64 -lmkl_core -lmkl_intel_thread -liomp5 -lpthread -lm LAPACK = else # use the OpenBLAS at http://www.openblas.net @@ -223,12 +238,16 @@ SUITESPARSE_VERSION = 4.5.6 CUBLAS_LIB = $(CUDA_PATH)/lib64/libcublas.so CUDA_INC_PATH = $(CUDA_PATH)/include/ CUDA_INC = -I$(CUDA_INC_PATH) + MAGMA_INC = -I/opt/magma-2.4.0/include/ + MAGMA_LIB = -L/opt/magma-2.4.0/lib/ -lmagma NVCC = $(CUDA_PATH)/bin/nvcc NVCCFLAGS = -Xcompiler -fPIC -O3 \ -gencode=arch=compute_30,code=sm_30 \ -gencode=arch=compute_35,code=sm_35 \ -gencode=arch=compute_50,code=sm_50 \ - -gencode=arch=compute_50,code=compute_50 + -gencode=arch=compute_53,code=sm_53 \ + -gencode=arch=compute_53,code=sm_53 \ + -gencode=arch=compute_60,code=compute_60 endif #--------------------------------------------------------------------------- @@ -555,6 +574,7 @@ config: @echo 'Install include files in: INSTALL_INCLUDE=' '$(INSTALL_INCLUDE)' @echo 'Install documentation in: INSTALL_DOC= ' '$(INSTALL_DOC)' @echo 'Optimization level: OPTIMIZATION= ' '$(OPTIMIZATION)' + @echo 'parallel make jobs: JOBS= ' '$(JOBS)' @echo 'BLAS library: BLAS= ' '$(BLAS)' @echo 'LAPACK library: LAPACK= ' '$(LAPACK)' @echo 'Intel TBB library: TBB= ' '$(TBB)' From 1733f3ac98323cd24c042e0f2cc774e2da2c45dc Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Sun, 20 Oct 2019 01:15:20 -0400 Subject: [PATCH 0082/1152] convert all optional Ordering to function overloads compiles and passes tests, but some potentially code-breaking changes in: Marginals.h - order of arguments had to change since `factorization` has a default value EliminatableFactorGraph.h - marginalMultifrontalBayesNet and marginalMultifrontalBayesTree no longer accept `boost::none` as a placeholder to specify later arguments Notes: EliminateableFactorGraph.h - `orderingType` is no longer needed in function overloads that specify ordering, but I left it for the time being to avoid potential code breaking --- gtsam/inference/BayesTree-inst.h | 4 +- gtsam/inference/BayesTreeCliqueBase-inst.h | 2 +- .../inference/EliminateableFactorGraph-inst.h | 315 ++++++++++-------- gtsam/inference/EliminateableFactorGraph.h | 95 ++++-- gtsam/linear/GaussianFactorGraph.cpp | 9 +- gtsam/linear/GaussianFactorGraph.h | 9 +- gtsam/linear/IterativeSolver.cpp | 25 +- gtsam/linear/IterativeSolver.h | 16 +- gtsam/linear/Scatter.cpp | 34 +- gtsam/linear/Scatter.h | 14 +- gtsam/nonlinear/Marginals.cpp | 64 +++- gtsam/nonlinear/Marginals.h | 41 ++- gtsam_unstable/discrete/CSP.cpp | 9 +- gtsam_unstable/discrete/CSP.h | 5 +- tests/testGaussianFactorGraphB.cpp | 4 +- 15 files changed, 406 insertions(+), 240 deletions(-) diff --git a/gtsam/inference/BayesTree-inst.h b/gtsam/inference/BayesTree-inst.h index 4df234004..639bcbab0 100644 --- a/gtsam/inference/BayesTree-inst.h +++ b/gtsam/inference/BayesTree-inst.h @@ -262,7 +262,7 @@ namespace gtsam { // Now, marginalize out everything that is not variable j BayesNetType marginalBN = *cliqueMarginal.marginalMultifrontalBayesNet( - Ordering(cref_list_of<1,Key>(j)), boost::none, function); + Ordering(cref_list_of<1,Key>(j)), function); // The Bayes net should contain only one conditional for variable j, so return it return marginalBN.front(); @@ -383,7 +383,7 @@ namespace gtsam { } // now, marginalize out everything that is not variable j1 or j2 - return p_BC1C2.marginalMultifrontalBayesNet(Ordering(cref_list_of<2,Key>(j1)(j2)), boost::none, function); + return p_BC1C2.marginalMultifrontalBayesNet(Ordering(cref_list_of<2,Key>(j1)(j2)), function); } /* ************************************************************************* */ diff --git a/gtsam/inference/BayesTreeCliqueBase-inst.h b/gtsam/inference/BayesTreeCliqueBase-inst.h index 6bcfb434d..e762786f5 100644 --- a/gtsam/inference/BayesTreeCliqueBase-inst.h +++ b/gtsam/inference/BayesTreeCliqueBase-inst.h @@ -171,7 +171,7 @@ namespace gtsam { // The variables we want to keepSet are exactly the ones in S KeyVector indicesS(this->conditional()->beginParents(), this->conditional()->endParents()); - cachedSeparatorMarginal_ = *p_Cp.marginalMultifrontalBayesNet(Ordering(indicesS), boost::none, function); + cachedSeparatorMarginal_ = *p_Cp.marginalMultifrontalBayesNet(Ordering(indicesS), function); } } diff --git a/gtsam/inference/EliminateableFactorGraph-inst.h b/gtsam/inference/EliminateableFactorGraph-inst.h index af2a91257..a77d96537 100644 --- a/gtsam/inference/EliminateableFactorGraph-inst.h +++ b/gtsam/inference/EliminateableFactorGraph-inst.h @@ -28,33 +28,19 @@ namespace gtsam { template boost::shared_ptr::BayesNetType> EliminateableFactorGraph::eliminateSequential( - OptionalOrdering ordering, const Eliminate& function, - OptionalVariableIndex variableIndex, OptionalOrderingType orderingType) const - { - if(ordering && variableIndex) { - gttic(eliminateSequential); - // Do elimination - EliminationTreeType etree(asDerived(), *variableIndex, *ordering); - boost::shared_ptr bayesNet; - boost::shared_ptr factorGraph; - boost::tie(bayesNet,factorGraph) = etree.eliminate(function); - // If any factors are remaining, the ordering was incomplete - if(!factorGraph->empty()) - throw InconsistentEliminationRequested(); - // Return the Bayes net - return bayesNet; - } - else if(!variableIndex) { + const Eliminate& function, OptionalVariableIndex variableIndex, + OptionalOrderingType orderingType) const { + if(!variableIndex) { // If no VariableIndex provided, compute one and call this function again IMPORTANT: we check // for no variable index first so that it's always computed if we need to call COLAMD because - // no Ordering is provided. + // no Ordering is provided. When removing optional from VariableIndex, create VariableIndex + // before creating ordering. VariableIndex computedVariableIndex(asDerived()); - return eliminateSequential(ordering, function, computedVariableIndex, orderingType); + return eliminateSequential(function, computedVariableIndex, orderingType); } - else /*if(!ordering)*/ { - // If no Ordering provided, compute one and call this function again. We are guaranteed to - // have a VariableIndex already here because we computed one if needed in the previous 'else' - // block. + else { + // Compute an ordering and call this function again. We are guaranteed to have a + // VariableIndex already here because we computed one if needed in the previous 'if' block. if (orderingType == Ordering::METIS) { Ordering computedOrdering = Ordering::Metis(asDerived()); return eliminateSequential(computedOrdering, function, variableIndex, orderingType); @@ -67,15 +53,73 @@ namespace gtsam { /* ************************************************************************* */ template - boost::shared_ptr::BayesTreeType> - EliminateableFactorGraph::eliminateMultifrontal( - OptionalOrdering ordering, const Eliminate& function, + boost::shared_ptr::BayesNetType> + EliminateableFactorGraph::eliminateSequential( + const Ordering& ordering, const Eliminate& function, OptionalVariableIndex variableIndex, OptionalOrderingType orderingType) const { - if(ordering && variableIndex) { + if(!variableIndex) { + // If no VariableIndex provided, compute one and call this function again + VariableIndex computedVariableIndex(asDerived()); + return eliminateSequential(ordering, function, computedVariableIndex, orderingType); + } else { + gttic(eliminateSequential); + // Do elimination + EliminationTreeType etree(asDerived(), *variableIndex, ordering); + boost::shared_ptr bayesNet; + boost::shared_ptr factorGraph; + boost::tie(bayesNet,factorGraph) = etree.eliminate(function); + // If any factors are remaining, the ordering was incomplete + if(!factorGraph->empty()) + throw InconsistentEliminationRequested(); + // Return the Bayes net + return bayesNet; + } + } + + /* ************************************************************************* */ + template + boost::shared_ptr::BayesTreeType> + EliminateableFactorGraph::eliminateMultifrontal( + const Eliminate& function, OptionalVariableIndex variableIndex, + OptionalOrderingType orderingType) const + { + if(!variableIndex) { + // If no VariableIndex provided, compute one and call this function again IMPORTANT: we check + // for no variable index first so that it's always computed if we need to call COLAMD because + // no Ordering is provided. When removing optional from VariableIndex, create VariableIndex + // before creating ordering. + VariableIndex computedVariableIndex(asDerived()); + return eliminateMultifrontal(function, computedVariableIndex, orderingType); + } + else { + // Compute an ordering and call this function again. We are guaranteed to have a + // VariableIndex already here because we computed one if needed in the previous 'if' block. + if (orderingType == Ordering::METIS) { + Ordering computedOrdering = Ordering::Metis(asDerived()); + return eliminateMultifrontal(computedOrdering, function, variableIndex, orderingType); + } else { + Ordering computedOrdering = Ordering::Colamd(*variableIndex); + return eliminateMultifrontal(computedOrdering, function, variableIndex, orderingType); + } + } + } + + /* ************************************************************************* */ + template + boost::shared_ptr::BayesTreeType> + EliminateableFactorGraph::eliminateMultifrontal( + const Ordering& ordering, const Eliminate& function, + OptionalVariableIndex variableIndex, OptionalOrderingType orderingType) const + { + if(!variableIndex) { + // If no VariableIndex provided, compute one and call this function again + VariableIndex computedVariableIndex(asDerived()); + return eliminateMultifrontal(ordering, function, computedVariableIndex, orderingType); + } else { gttic(eliminateMultifrontal); // Do elimination with given ordering - EliminationTreeType etree(asDerived(), *variableIndex, *ordering); + EliminationTreeType etree(asDerived(), *variableIndex, ordering); JunctionTreeType junctionTree(etree); boost::shared_ptr bayesTree; boost::shared_ptr factorGraph; @@ -86,25 +130,6 @@ namespace gtsam { // Return the Bayes tree return bayesTree; } - else if(!variableIndex) { - // If no VariableIndex provided, compute one and call this function again IMPORTANT: we check - // for no variable index first so that it's always computed if we need to call COLAMD because - // no Ordering is provided. - VariableIndex computedVariableIndex(asDerived()); - return eliminateMultifrontal(ordering, function, computedVariableIndex, orderingType); - } - else /*if(!ordering)*/ { - // If no Ordering provided, compute one and call this function again. We are guaranteed to - // have a VariableIndex already here because we computed one if needed in the previous 'else' - // block. - if (orderingType == Ordering::METIS) { - Ordering computedOrdering = Ordering::Metis(asDerived()); - return eliminateMultifrontal(computedOrdering, function, variableIndex, orderingType); - } else { - Ordering computedOrdering = Ordering::Colamd(*variableIndex); - return eliminateMultifrontal(computedOrdering, function, variableIndex, orderingType); - } - } } /* ************************************************************************* */ @@ -191,57 +216,65 @@ namespace gtsam { boost::shared_ptr::BayesNetType> EliminateableFactorGraph::marginalMultifrontalBayesNet( boost::variant variables, - OptionalOrdering marginalizedVariableOrdering, const Eliminate& function, OptionalVariableIndex variableIndex) const { - if(variableIndex) - { - if(marginalizedVariableOrdering) - { - gttic(marginalMultifrontalBayesNet); - // An ordering was provided for the marginalized variables, so we can first eliminate them - // in the order requested. - boost::shared_ptr bayesTree; - boost::shared_ptr factorGraph; - boost::tie(bayesTree,factorGraph) = - eliminatePartialMultifrontal(*marginalizedVariableOrdering, function, *variableIndex); - - if(const Ordering* varsAsOrdering = boost::get(&variables)) - { - // An ordering was also provided for the unmarginalized variables, so we can also - // eliminate them in the order requested. - return factorGraph->eliminateSequential(*varsAsOrdering, function); - } - else - { - // No ordering was provided for the unmarginalized variables, so order them with COLAMD. - return factorGraph->eliminateSequential(boost::none, function); - } - } - else - { - // No ordering was provided for the marginalized variables, so order them using constrained - // COLAMD. - bool unmarginalizedAreOrdered = (boost::get(&variables) != 0); - const KeyVector* variablesOrOrdering = - unmarginalizedAreOrdered ? - boost::get(&variables) : boost::get(&variables); - - Ordering totalOrdering = - Ordering::ColamdConstrainedLast(*variableIndex, *variablesOrOrdering, unmarginalizedAreOrdered); - - // Split up ordering - const size_t nVars = variablesOrOrdering->size(); - Ordering marginalizationOrdering(totalOrdering.begin(), totalOrdering.end() - nVars); - Ordering marginalVarsOrdering(totalOrdering.end() - nVars, totalOrdering.end()); - - // Call this function again with the computed orderings - return marginalMultifrontalBayesNet(marginalVarsOrdering, marginalizationOrdering, function, *variableIndex); - } + if(!variableIndex) { + // If no variable index is provided, compute one and call this function again + VariableIndex index(asDerived()); + return marginalMultifrontalBayesNet(variables, function, index); } else { + // No ordering was provided for the marginalized variables, so order them using constrained + // COLAMD. + bool unmarginalizedAreOrdered = (boost::get(&variables) != 0); + const KeyVector* variablesOrOrdering = + unmarginalizedAreOrdered ? + boost::get(&variables) : boost::get(&variables); + + Ordering totalOrdering = + Ordering::ColamdConstrainedLast(*variableIndex, *variablesOrOrdering, unmarginalizedAreOrdered); + + // Split up ordering + const size_t nVars = variablesOrOrdering->size(); + Ordering marginalizationOrdering(totalOrdering.begin(), totalOrdering.end() - nVars); + Ordering marginalVarsOrdering(totalOrdering.end() - nVars, totalOrdering.end()); + + // Call this function again with the computed orderings + return marginalMultifrontalBayesNet(marginalVarsOrdering, marginalizationOrdering, function, *variableIndex); + } + } + + /* ************************************************************************* */ + template + boost::shared_ptr::BayesNetType> + EliminateableFactorGraph::marginalMultifrontalBayesNet( + boost::variant variables, + const Ordering& marginalizedVariableOrdering, + const Eliminate& function, OptionalVariableIndex variableIndex) const + { + if(!variableIndex) { // If no variable index is provided, compute one and call this function again VariableIndex index(asDerived()); return marginalMultifrontalBayesNet(variables, marginalizedVariableOrdering, function, index); + } else { + gttic(marginalMultifrontalBayesNet); + // An ordering was provided for the marginalized variables, so we can first eliminate them + // in the order requested. + boost::shared_ptr bayesTree; + boost::shared_ptr factorGraph; + boost::tie(bayesTree,factorGraph) = + eliminatePartialMultifrontal(marginalizedVariableOrdering, function, *variableIndex); + + if(const Ordering* varsAsOrdering = boost::get(&variables)) + { + // An ordering was also provided for the unmarginalized variables, so we can also + // eliminate them in the order requested. + return factorGraph->eliminateSequential(*varsAsOrdering, function); + } + else + { + // No ordering was provided for the unmarginalized variables, so order them with COLAMD. + return factorGraph->eliminateSequential(function); + } } } @@ -250,57 +283,65 @@ namespace gtsam { boost::shared_ptr::BayesTreeType> EliminateableFactorGraph::marginalMultifrontalBayesTree( boost::variant variables, - OptionalOrdering marginalizedVariableOrdering, const Eliminate& function, OptionalVariableIndex variableIndex) const { - if(variableIndex) - { - if(marginalizedVariableOrdering) - { - gttic(marginalMultifrontalBayesTree); - // An ordering was provided for the marginalized variables, so we can first eliminate them - // in the order requested. - boost::shared_ptr bayesTree; - boost::shared_ptr factorGraph; - boost::tie(bayesTree,factorGraph) = - eliminatePartialMultifrontal(*marginalizedVariableOrdering, function, *variableIndex); - - if(const Ordering* varsAsOrdering = boost::get(&variables)) - { - // An ordering was also provided for the unmarginalized variables, so we can also - // eliminate them in the order requested. - return factorGraph->eliminateMultifrontal(*varsAsOrdering, function); - } - else - { - // No ordering was provided for the unmarginalized variables, so order them with COLAMD. - return factorGraph->eliminateMultifrontal(boost::none, function); - } - } - else - { - // No ordering was provided for the marginalized variables, so order them using constrained - // COLAMD. - bool unmarginalizedAreOrdered = (boost::get(&variables) != 0); - const KeyVector* variablesOrOrdering = - unmarginalizedAreOrdered ? - boost::get(&variables) : boost::get(&variables); - - Ordering totalOrdering = - Ordering::ColamdConstrainedLast(*variableIndex, *variablesOrOrdering, unmarginalizedAreOrdered); - - // Split up ordering - const size_t nVars = variablesOrOrdering->size(); - Ordering marginalizationOrdering(totalOrdering.begin(), totalOrdering.end() - nVars); - Ordering marginalVarsOrdering(totalOrdering.end() - nVars, totalOrdering.end()); - - // Call this function again with the computed orderings - return marginalMultifrontalBayesTree(marginalVarsOrdering, marginalizationOrdering, function, *variableIndex); - } + if(!variableIndex) { + // If no variable index is provided, compute one and call this function again + VariableIndex computedVariableIndex(asDerived()); + return marginalMultifrontalBayesTree(variables, function, computedVariableIndex); } else { + // No ordering was provided for the marginalized variables, so order them using constrained + // COLAMD. + bool unmarginalizedAreOrdered = (boost::get(&variables) != 0); + const KeyVector* variablesOrOrdering = + unmarginalizedAreOrdered ? + boost::get(&variables) : boost::get(&variables); + + Ordering totalOrdering = + Ordering::ColamdConstrainedLast(*variableIndex, *variablesOrOrdering, unmarginalizedAreOrdered); + + // Split up ordering + const size_t nVars = variablesOrOrdering->size(); + Ordering marginalizationOrdering(totalOrdering.begin(), totalOrdering.end() - nVars); + Ordering marginalVarsOrdering(totalOrdering.end() - nVars, totalOrdering.end()); + + // Call this function again with the computed orderings + return marginalMultifrontalBayesTree(marginalVarsOrdering, marginalizationOrdering, function, *variableIndex); + } + } + + /* ************************************************************************* */ + template + boost::shared_ptr::BayesTreeType> + EliminateableFactorGraph::marginalMultifrontalBayesTree( + boost::variant variables, + const Ordering& marginalizedVariableOrdering, + const Eliminate& function, OptionalVariableIndex variableIndex) const + { + if(!variableIndex) { // If no variable index is provided, compute one and call this function again VariableIndex computedVariableIndex(asDerived()); return marginalMultifrontalBayesTree(variables, marginalizedVariableOrdering, function, computedVariableIndex); + } else { + gttic(marginalMultifrontalBayesTree); + // An ordering was provided for the marginalized variables, so we can first eliminate them + // in the order requested. + boost::shared_ptr bayesTree; + boost::shared_ptr factorGraph; + boost::tie(bayesTree,factorGraph) = + eliminatePartialMultifrontal(marginalizedVariableOrdering, function, *variableIndex); + + if(const Ordering* varsAsOrdering = boost::get(&variables)) + { + // An ordering was also provided for the unmarginalized variables, so we can also + // eliminate them in the order requested. + return factorGraph->eliminateMultifrontal(*varsAsOrdering, function); + } + else + { + // No ordering was provided for the unmarginalized variables, so order them with COLAMD. + return factorGraph->eliminateMultifrontal(function); + } } } diff --git a/gtsam/inference/EliminateableFactorGraph.h b/gtsam/inference/EliminateableFactorGraph.h index 249c594b6..8a216918c 100644 --- a/gtsam/inference/EliminateableFactorGraph.h +++ b/gtsam/inference/EliminateableFactorGraph.h @@ -88,9 +88,6 @@ namespace gtsam { /// The function type that does a single dense elimination step on a subgraph. typedef boost::function Eliminate; - /// Typedef for an optional ordering as an argument to elimination functions - typedef const boost::optional& OptionalOrdering; - /// Typedef for an optional variable index as an argument to elimination functions typedef const boost::optional& OptionalVariableIndex; @@ -108,25 +105,40 @@ namespace gtsam { * Example - METIS ordering for elimination * \code * boost::shared_ptr result = graph.eliminateSequential(OrderingType::METIS); - * - * Example - Full QR elimination in specified order: - * \code - * boost::shared_ptr result = graph.eliminateSequential(EliminateQR, myOrdering); * \endcode * * Example - Reusing an existing VariableIndex to improve performance, and using COLAMD ordering: * \code * VariableIndex varIndex(graph); // Build variable index * Data data = otherFunctionUsingVariableIndex(graph, varIndex); // Other code that uses variable index - * boost::shared_ptr result = graph.eliminateSequential(EliminateQR, boost::none, varIndex); + * boost::shared_ptr result = graph.eliminateSequential(EliminateQR, varIndex, boost::none); * \endcode * */ boost::shared_ptr eliminateSequential( - OptionalOrdering ordering = boost::none, const Eliminate& function = EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex = boost::none, OptionalOrderingType orderingType = boost::none) const; + /** Do sequential elimination of all variables to produce a Bayes net. + * + * Example - Full QR elimination in specified order: + * \code + * boost::shared_ptr result = graph.eliminateSequential(myOrdering, EliminateQR); + * \endcode + * + * Example - Reusing an existing VariableIndex to improve performance: + * \code + * VariableIndex varIndex(graph); // Build variable index + * Data data = otherFunctionUsingVariableIndex(graph, varIndex); // Other code that uses variable index + * boost::shared_ptr result = graph.eliminateSequential(myOrdering, EliminateQR, varIndex, boost::none); + * \endcode + * */ + boost::shared_ptr eliminateSequential( + const Ordering& ordering, + const Eliminate& function = EliminationTraitsType::DefaultEliminate, + OptionalVariableIndex variableIndex = boost::none, + OptionalOrderingType orderingType = boost::none) const; // orderingType is not necessary anymore, kept for backwards compatibility + /** Do multifrontal elimination of all variables to produce a Bayes tree. If an ordering is not * provided, the ordering will be computed using either COLAMD or METIS, dependeing on * the parameter orderingType (Ordering::COLAMD or Ordering::METIS) @@ -136,11 +148,6 @@ namespace gtsam { * boost::shared_ptr result = graph.eliminateMultifrontal(EliminateCholesky); * \endcode * - * Example - Full QR elimination in specified order: - * \code - * boost::shared_ptr result = graph.eliminateMultifrontal(EliminateQR, myOrdering); - * \endcode - * * Example - Reusing an existing VariableIndex to improve performance, and using COLAMD ordering: * \code * VariableIndex varIndex(graph); // Build variable index @@ -149,11 +156,25 @@ namespace gtsam { * \endcode * */ boost::shared_ptr eliminateMultifrontal( - OptionalOrdering ordering = boost::none, const Eliminate& function = EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex = boost::none, OptionalOrderingType orderingType = boost::none) const; + /** Do multifrontal elimination of all variables to produce a Bayes tree. If an ordering is not + * provided, the ordering will be computed using either COLAMD or METIS, dependeing on + * the parameter orderingType (Ordering::COLAMD or Ordering::METIS) + * + * Example - Full QR elimination in specified order: + * \code + * boost::shared_ptr result = graph.eliminateMultifrontal(EliminateQR, myOrdering); + * \endcode + * */ + boost::shared_ptr eliminateMultifrontal( + const Ordering& ordering, + const Eliminate& function = EliminationTraitsType::DefaultEliminate, + OptionalVariableIndex variableIndex = boost::none, + OptionalOrderingType orderingType = boost::none) const; // orderingType no longer needed + /** Do sequential elimination of some variables, in \c ordering provided, to produce a Bayes net * and a remaining factor graph. This computes the factorization \f$ p(X) = p(A|B) p(B) \f$, * where \f$ A = \f$ \c variables, \f$ X \f$ is all the variables in the factor graph, and \f$ @@ -194,20 +215,47 @@ namespace gtsam { const Eliminate& function = EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex = boost::none) const; - /** Compute the marginal of the requested variables and return the result as a Bayes net. + /** Compute the marginal of the requested variables and return the result as a Bayes net. Uses + * COLAMD marginalization ordering by default * @param variables Determines the variables whose marginal to compute, if provided as an * Ordering they will be ordered in the returned BayesNet as specified, and if provided * as a KeyVector they will be ordered using constrained COLAMD. - * @param marginalizedVariableOrdering Optional ordering for the variables being marginalized - * out, i.e. all variables not in \c variables. If this is boost::none, the ordering - * will be computed with COLAMD. * @param function Optional dense elimination function, if not provided the default will be * used. * @param variableIndex Optional pre-computed VariableIndex for the factor graph, if not * provided one will be computed. */ boost::shared_ptr marginalMultifrontalBayesNet( boost::variant variables, - OptionalOrdering marginalizedVariableOrdering = boost::none, + const Eliminate& function = EliminationTraitsType::DefaultEliminate, + OptionalVariableIndex variableIndex = boost::none) const; + + /** Compute the marginal of the requested variables and return the result as a Bayes net. + * @param variables Determines the variables whose marginal to compute, if provided as an + * Ordering they will be ordered in the returned BayesNet as specified, and if provided + * as a KeyVector they will be ordered using constrained COLAMD. + * @param marginalizedVariableOrdering Ordering for the variables being marginalized out, + * i.e. all variables not in \c variables. + * @param function Optional dense elimination function, if not provided the default will be + * used. + * @param variableIndex Optional pre-computed VariableIndex for the factor graph, if not + * provided one will be computed. */ + boost::shared_ptr marginalMultifrontalBayesNet( + boost::variant variables, + const Ordering& marginalizedVariableOrdering, // this no longer takes boost::none - potentially code breaking + const Eliminate& function = EliminationTraitsType::DefaultEliminate, + OptionalVariableIndex variableIndex = boost::none) const; + + /** Compute the marginal of the requested variables and return the result as a Bayes tree. Uses + * COLAMD marginalization order by default + * @param variables Determines the variables whose marginal to compute, if provided as an + * Ordering they will be ordered in the returned BayesNet as specified, and if provided + * as a KeyVector they will be ordered using constrained COLAMD. + * @param function Optional dense elimination function, if not provided the default will be + * used. + * @param variableIndex Optional pre-computed VariableIndex for the factor graph, if not + * provided one will be computed. */ + boost::shared_ptr marginalMultifrontalBayesTree( + boost::variant variables, const Eliminate& function = EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex = boost::none) const; @@ -215,16 +263,15 @@ namespace gtsam { * @param variables Determines the variables whose marginal to compute, if provided as an * Ordering they will be ordered in the returned BayesNet as specified, and if provided * as a KeyVector they will be ordered using constrained COLAMD. - * @param marginalizedVariableOrdering Optional ordering for the variables being marginalized - * out, i.e. all variables not in \c variables. If this is boost::none, the ordering - * will be computed with COLAMD. + * @param marginalizedVariableOrdering Ordering for the variables being marginalized out, + * i.e. all variables not in \c variables. * @param function Optional dense elimination function, if not provided the default will be * used. * @param variableIndex Optional pre-computed VariableIndex for the factor graph, if not * provided one will be computed. */ boost::shared_ptr marginalMultifrontalBayesTree( boost::variant variables, - OptionalOrdering marginalizedVariableOrdering = boost::none, + const Ordering& marginalizedVariableOrdering, // this no longer takes boost::none - potentially code breaking const Eliminate& function = EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex = boost::none) const; diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index fe0a9b2df..faa3f8bd6 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -282,8 +282,13 @@ namespace gtsam { } /* ************************************************************************* */ - VectorValues GaussianFactorGraph::optimize(OptionalOrdering ordering, const Eliminate& function) const - { + VectorValues GaussianFactorGraph::optimize(const Eliminate& function) const { + gttic(GaussianFactorGraph_optimize); + return BaseEliminateable::eliminateMultifrontal(function)->optimize(); + } + + /* ************************************************************************* */ + VectorValues GaussianFactorGraph::optimize(const Ordering& ordering, const Eliminate& function) const { gttic(GaussianFactorGraph_optimize); return BaseEliminateable::eliminateMultifrontal(ordering, function)->optimize(); } diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 8bdf4e475..f24fb602d 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -282,7 +282,14 @@ namespace gtsam { * the dense elimination function specified in \c function (default EliminatePreferCholesky), * followed by back-substitution in the Bayes tree resulting from elimination. Is equivalent * to calling graph.eliminateMultifrontal()->optimize(). */ - VectorValues optimize(OptionalOrdering ordering = boost::none, + VectorValues optimize( + const Eliminate& function = EliminationTraitsType::DefaultEliminate) const; + + /** Solve the factor graph by performing multifrontal variable elimination in COLAMD order using + * the dense elimination function specified in \c function (default EliminatePreferCholesky), + * followed by back-substitution in the Bayes tree resulting from elimination. Is equivalent + * to calling graph.eliminateMultifrontal()->optimize(). */ + VectorValues optimize(const Ordering&, const Eliminate& function = EliminationTraitsType::DefaultEliminate) const; /** diff --git a/gtsam/linear/IterativeSolver.cpp b/gtsam/linear/IterativeSolver.cpp index 9478f6fbf..c7d4e5405 100644 --- a/gtsam/linear/IterativeSolver.cpp +++ b/gtsam/linear/IterativeSolver.cpp @@ -82,29 +82,20 @@ string IterativeOptimizationParameters::verbosityTranslator( return "UNKNOWN"; } +/*****************************************************************************/ +VectorValues IterativeSolver::optimize(const GaussianFactorGraph &gfg, + boost::optional keyInfo, + boost::optional&> lambda) { + return optimize(gfg, keyInfo ? *keyInfo : KeyInfo(gfg), + lambda ? *lambda : std::map()); +} + /*****************************************************************************/ VectorValues IterativeSolver::optimize(const GaussianFactorGraph &gfg, const KeyInfo &keyInfo, const std::map &lambda) { return optimize(gfg, keyInfo, lambda, keyInfo.x0()); } -/*****************************************************************************/ -VectorValues IterativeSolver::optimize(const GaussianFactorGraph &gfg, - const KeyInfo& keyInfo) { - return optimize(gfg, keyInfo, std::map()); -} - -/*****************************************************************************/ -VectorValues IterativeSolver::optimize(const GaussianFactorGraph &gfg, - const std::map& lambda) { - return optimize(gfg, KeyInfo(gfg), lambda); -} - -/*****************************************************************************/ -VectorValues IterativeSolver::optimize(const GaussianFactorGraph &gfg) { - return optimize(gfg, KeyInfo(gfg), std::map()); -} - /****************************************************************************/ KeyInfo::KeyInfo(const GaussianFactorGraph &fg, const Ordering &ordering) : ordering_(ordering) { diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index 84ebe52cb..758d2aec9 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -91,21 +91,15 @@ public: virtual ~IterativeSolver() { } + /* interface to the nonlinear optimizer, without metadata, damping and initial estimate */ + GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg, + boost::optional = boost::none, + boost::optional&> lambda = boost::none); + /* interface to the nonlinear optimizer, without initial estimate */ GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg, const KeyInfo &keyInfo, const std::map &lambda); - /* interface to the nonlinear optimizer, without damping and initial estimate */ - GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg, - const KeyInfo& keyInfo); - - /* interface to the nonlinear optimizer, without metadata and initial estimate */ - GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg, - const std::map& lambda); - - /* interface to the nonlinear optimizer, without metadata, damping and initial estimate */ - GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg); - /* interface to the nonlinear optimizer that the subclasses have to implement */ virtual VectorValues optimize(const GaussianFactorGraph &gfg, const KeyInfo &keyInfo, const std::map &lambda, diff --git a/gtsam/linear/Scatter.cpp b/gtsam/linear/Scatter.cpp index 5312da34b..448120cdd 100644 --- a/gtsam/linear/Scatter.cpp +++ b/gtsam/linear/Scatter.cpp @@ -34,17 +34,7 @@ string SlotEntry::toString() const { } /* ************************************************************************* */ -Scatter::Scatter(const GaussianFactorGraph& gfg, - boost::optional ordering) { - gttic(Scatter_Constructor); - - // If we have an ordering, pre-fill the ordered variables first - if (ordering) { - for (Key key : *ordering) { - add(key, 0); - } - } - +void Scatter::ScatterHelper(const GaussianFactorGraph& gfg, size_t sortStart) { // Now, find dimensions of variables and/or extend for (const auto& factor : gfg) { if (!factor) @@ -68,10 +58,30 @@ Scatter::Scatter(const GaussianFactorGraph& gfg, // To keep the same behavior as before, sort the keys after the ordering iterator first = begin(); - if (ordering) first += ordering->size(); + first += sortStart; if (first != end()) std::sort(first, end()); } +/* ************************************************************************* */ +Scatter::Scatter(const GaussianFactorGraph& gfg) { + gttic(Scatter_Constructor); + + ScatterHelper(gfg, 0); +} + +/* ************************************************************************* */ +Scatter::Scatter(const GaussianFactorGraph& gfg, + const Ordering& ordering) { + gttic(Scatter_Constructor); + + // pre-fill the ordered variables first + for (Key key : ordering) { + add(key, 0); + } + + ScatterHelper(gfg, ordering.size()); +} + /* ************************************************************************* */ void Scatter::add(Key key, size_t dim) { emplace_back(SlotEntry(key, dim)); diff --git a/gtsam/linear/Scatter.h b/gtsam/linear/Scatter.h index 793961c59..8936f827c 100644 --- a/gtsam/linear/Scatter.h +++ b/gtsam/linear/Scatter.h @@ -23,8 +23,6 @@ #include #include -#include - namespace gtsam { class GaussianFactorGraph; @@ -53,15 +51,21 @@ class Scatter : public FastVector { /// Default Constructor Scatter() {} - /// Construct from gaussian factor graph, with optional (partial or complete) ordering - Scatter(const GaussianFactorGraph& gfg, - boost::optional ordering = boost::none); + /// Construct from gaussian factor graph, without ordering + explicit Scatter(const GaussianFactorGraph& gfg); + + /// Construct from gaussian factor graph, with (partial or complete) ordering + explicit Scatter(const GaussianFactorGraph& gfg, const Ordering& ordering); /// Add a key/dim pair void add(Key key, size_t dim); private: + /// Helper function for constructors, adds/finds dimensions of variables and + // sorts starting from sortStart + void ScatterHelper(const GaussianFactorGraph& gfg, size_t sortStart); + /// Find the SlotEntry with the right key (linear time worst case) iterator find(Key key); }; diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index c24cb6143..c29a79623 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -26,8 +26,16 @@ using namespace std; namespace gtsam { /* ************************************************************************* */ -Marginals::Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization, - EliminateableFactorGraph::OptionalOrdering ordering) +Marginals::Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization) + : values_(solution), factorization_(factorization) { + gttic(MarginalsConstructor); + graph_ = *graph.linearize(solution); + computeBayesTree(); +} + +/* ************************************************************************* */ +Marginals::Marginals(const NonlinearFactorGraph& graph, const Values& solution, const Ordering& ordering, + Factorization factorization) : values_(solution), factorization_(factorization) { gttic(MarginalsConstructor); graph_ = *graph.linearize(solution); @@ -35,28 +43,52 @@ Marginals::Marginals(const NonlinearFactorGraph& graph, const Values& solution, } /* ************************************************************************* */ -Marginals::Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization, - EliminateableFactorGraph::OptionalOrdering ordering) - : graph_(graph), factorization_(factorization) { +Marginals::Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization) + : graph_(graph), values_(solution), factorization_(factorization) { gttic(MarginalsConstructor); - Values vals; - for (const auto& keyValue: solution) { - vals.insert(keyValue.first, keyValue.second); - } - values_ = vals; - computeBayesTree(ordering); + computeBayesTree(); } /* ************************************************************************* */ -Marginals::Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization, - EliminateableFactorGraph::OptionalOrdering ordering) +Marginals::Marginals(const GaussianFactorGraph& graph, const Values& solution, const Ordering& ordering, + Factorization factorization) : graph_(graph), values_(solution), factorization_(factorization) { gttic(MarginalsConstructor); computeBayesTree(ordering); } /* ************************************************************************* */ -void Marginals::computeBayesTree(EliminateableFactorGraph::OptionalOrdering ordering) { +Marginals::Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization) + : graph_(graph), factorization_(factorization) { + gttic(MarginalsConstructor); + for (const auto& keyValue: solution) { + values_.insert(keyValue.first, keyValue.second); + } + computeBayesTree(); +} + +/* ************************************************************************* */ +Marginals::Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, const Ordering& ordering, + Factorization factorization) + : graph_(graph), factorization_(factorization) { + gttic(MarginalsConstructor); + for (const auto& keyValue: solution) { + values_.insert(keyValue.first, keyValue.second); + } + computeBayesTree(ordering); +} + +/* ************************************************************************* */ +void Marginals::computeBayesTree() { + // Compute BayesTree + if(factorization_ == CHOLESKY) + bayesTree_ = *graph_.eliminateMultifrontal(EliminatePreferCholesky); + else if(factorization_ == QR) + bayesTree_ = *graph_.eliminateMultifrontal(EliminateQR); +} + +/* ************************************************************************* */ +void Marginals::computeBayesTree(const Ordering& ordering) { // Compute BayesTree if(factorization_ == CHOLESKY) bayesTree_ = *graph_.eliminateMultifrontal(ordering, EliminatePreferCholesky); @@ -128,9 +160,9 @@ JointMarginal Marginals::jointMarginalInformation(const KeyVector& variables) co jointFG = *bayesTree_.joint(variables[0], variables[1], EliminateQR); } else { if(factorization_ == CHOLESKY) - jointFG = GaussianFactorGraph(*graph_.marginalMultifrontalBayesTree(variables, boost::none, EliminatePreferCholesky)); + jointFG = GaussianFactorGraph(*graph_.marginalMultifrontalBayesTree(variables, EliminatePreferCholesky)); else if(factorization_ == QR) - jointFG = GaussianFactorGraph(*graph_.marginalMultifrontalBayesTree(variables, boost::none, EliminateQR)); + jointFG = GaussianFactorGraph(*graph_.marginalMultifrontalBayesTree(variables, EliminateQR)); } // Get information matrix diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h index 54a290196..abad71ea7 100644 --- a/gtsam/nonlinear/Marginals.h +++ b/gtsam/nonlinear/Marginals.h @@ -55,10 +55,33 @@ public: * @param graph The factor graph defining the full joint density on all variables. * @param solution The linearization point about which to compute Gaussian marginals (usually the MLE as obtained from a NonlinearOptimizer). * @param factorization The linear decomposition mode - either Marginals::CHOLESKY (faster and suitable for most problems) or Marginals::QR (slower but more numerically stable for poorly-conditioned problems). - * @param ordering An optional variable ordering for elimination. */ - Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY, - EliminateableFactorGraph::OptionalOrdering ordering = boost::none); + Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY); + + /** Construct a marginals class from a nonlinear factor graph. + * @param graph The factor graph defining the full joint density on all variables. + * @param solution The linearization point about which to compute Gaussian marginals (usually the MLE as obtained from a NonlinearOptimizer). + * @param factorization The linear decomposition mode - either Marginals::CHOLESKY (faster and suitable for most problems) or Marginals::QR (slower but more numerically stable for poorly-conditioned problems). + * @param ordering The ordering for elimination. + */ + Marginals(const NonlinearFactorGraph& graph, const Values& solution, const Ordering& ordering, // argument order switch due to default value of factorization, potentially code breaking + Factorization factorization = CHOLESKY); + + /** Construct a marginals class from a linear factor graph. + * @param graph The factor graph defining the full joint density on all variables. + * @param solution The solution point to compute Gaussian marginals. + * @param factorization The linear decomposition mode - either Marginals::CHOLESKY (faster and suitable for most problems) or Marginals::QR (slower but more numerically stable for poorly-conditioned problems). + */ + Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY); + + /** Construct a marginals class from a linear factor graph. + * @param graph The factor graph defining the full joint density on all variables. + * @param solution The solution point to compute Gaussian marginals. + * @param factorization The linear decomposition mode - either Marginals::CHOLESKY (faster and suitable for most problems) or Marginals::QR (slower but more numerically stable for poorly-conditioned problems). + * @param ordering The ordering for elimination. + */ + Marginals(const GaussianFactorGraph& graph, const Values& solution, const Ordering& ordering, // argument order switch due to default value of factorization, potentially code breaking + Factorization factorization = CHOLESKY); /** Construct a marginals class from a linear factor graph. * @param graph The factor graph defining the full joint density on all variables. @@ -66,8 +89,7 @@ public: * @param factorization The linear decomposition mode - either Marginals::CHOLESKY (faster and suitable for most problems) or Marginals::QR (slower but more numerically stable for poorly-conditioned problems). * @param ordering An optional variable ordering for elimination. */ - Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY, - EliminateableFactorGraph::OptionalOrdering ordering = boost::none); + Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization = CHOLESKY); /** Construct a marginals class from a linear factor graph. * @param graph The factor graph defining the full joint density on all variables. @@ -75,8 +97,8 @@ public: * @param factorization The linear decomposition mode - either Marginals::CHOLESKY (faster and suitable for most problems) or Marginals::QR (slower but more numerically stable for poorly-conditioned problems). * @param ordering An optional variable ordering for elimination. */ - Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization = CHOLESKY, - EliminateableFactorGraph::OptionalOrdering ordering = boost::none); + Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, const Ordering& ordering, // argument order switch due to default value of factorization, potentially code breaking + Factorization factorization = CHOLESKY); /** print */ void print(const std::string& str = "Marginals: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; @@ -103,7 +125,10 @@ public: protected: /** Compute the Bayes Tree as a helper function to the constructor */ - void computeBayesTree(EliminateableFactorGraph::OptionalOrdering ordering); + void computeBayesTree(); + + /** Compute the Bayes Tree as a helper function to the constructor */ + void computeBayesTree(const Ordering& ordering); }; diff --git a/gtsam_unstable/discrete/CSP.cpp b/gtsam_unstable/discrete/CSP.cpp index 0223250b5..525abd098 100644 --- a/gtsam_unstable/discrete/CSP.cpp +++ b/gtsam_unstable/discrete/CSP.cpp @@ -14,7 +14,14 @@ using namespace std; namespace gtsam { /// Find the best total assignment - can be expensive - CSP::sharedValues CSP::optimalAssignment(OptionalOrdering ordering) const { + CSP::sharedValues CSP::optimalAssignment() const { + DiscreteBayesNet::shared_ptr chordal = this->eliminateSequential(); + sharedValues mpe = chordal->optimize(); + return mpe; + } + + /// Find the best total assignment - can be expensive + CSP::sharedValues CSP::optimalAssignment(const Ordering& ordering) const { DiscreteBayesNet::shared_ptr chordal = this->eliminateSequential(ordering); sharedValues mpe = chordal->optimize(); return mpe; diff --git a/gtsam_unstable/discrete/CSP.h b/gtsam_unstable/discrete/CSP.h index bbdadd3dc..9e843f667 100644 --- a/gtsam_unstable/discrete/CSP.h +++ b/gtsam_unstable/discrete/CSP.h @@ -60,7 +60,10 @@ namespace gtsam { // } /// Find the best total assignment - can be expensive - sharedValues optimalAssignment(OptionalOrdering ordering = boost::none) const; + sharedValues optimalAssignment() const; + + /// Find the best total assignment - can be expensive + sharedValues optimalAssignment(const Ordering& ordering) const; // /* // * Perform loopy belief propagation diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index c4e9d26f5..bf968c8d7 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -206,7 +206,7 @@ TEST(GaussianFactorGraph, optimize_Cholesky) { GaussianFactorGraph fg = createGaussianFactorGraph(); // optimize the graph - VectorValues actual = fg.optimize(boost::none, EliminateCholesky); + VectorValues actual = fg.optimize(EliminateCholesky); // verify VectorValues expected = createCorrectDelta(); @@ -220,7 +220,7 @@ TEST( GaussianFactorGraph, optimize_QR ) GaussianFactorGraph fg = createGaussianFactorGraph(); // optimize the graph - VectorValues actual = fg.optimize(boost::none, EliminateQR); + VectorValues actual = fg.optimize(EliminateQR); // verify VectorValues expected = createCorrectDelta(); From 4877bdb4f3d7ec7daeb2f605997418fb93a52efb Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Sun, 20 Oct 2019 03:20:14 -0400 Subject: [PATCH 0083/1152] Caught some stragglers using boost::optional --- gtsam/discrete/DiscreteConditional.cpp | 19 ++++-- gtsam/discrete/DiscreteConditional.h | 6 +- gtsam/linear/Scatter.cpp | 7 +-- gtsam/linear/Scatter.h | 2 +- gtsam/nonlinear/NonlinearFactorGraph.cpp | 53 +++++++++++----- gtsam/nonlinear/NonlinearFactorGraph.h | 22 +++++-- gtsam/nonlinear/NonlinearOptimizerParams.h | 2 +- .../nonlinear/NonlinearClusterTree.h | 60 +++++++++++++++---- tests/testNonlinearFactorGraph.cpp | 2 +- 9 files changed, 131 insertions(+), 42 deletions(-) diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp index f12cd2567..71d04f246 100644 --- a/gtsam/discrete/DiscreteConditional.cpp +++ b/gtsam/discrete/DiscreteConditional.cpp @@ -46,16 +46,25 @@ DiscreteConditional::DiscreteConditional(const size_t nrFrontals, /* ******************************************************************************** */ DiscreteConditional::DiscreteConditional(const DecisionTreeFactor& joint, - const DecisionTreeFactor& marginal, const boost::optional& orderedKeys) : + const DecisionTreeFactor& marginal) : BaseFactor( ISDEBUG("DiscreteConditional::COUNT") ? joint : joint / marginal), BaseConditional( joint.size()-marginal.size()) { if (ISDEBUG("DiscreteConditional::DiscreteConditional")) cout << (firstFrontalKey()) << endl; //TODO Print all keys - if (orderedKeys) { - keys_.clear(); - keys_.insert(keys_.end(), orderedKeys->begin(), orderedKeys->end()); - } +} + +/* ******************************************************************************** */ +DiscreteConditional::DiscreteConditional(const DecisionTreeFactor& joint, + const DecisionTreeFactor& marginal, const Ordering& orderedKeys) : + BaseFactor( + ISDEBUG("DiscreteConditional::COUNT") ? joint : joint / marginal), BaseConditional( + joint.size()-marginal.size()) { + if (ISDEBUG("DiscreteConditional::DiscreteConditional")) + cout << (firstFrontalKey()) << endl; //TODO Print all keys + + keys_.clear(); + keys_.insert(keys_.end(), orderedKeys.begin(), orderedKeys.end()); } /* ******************************************************************************** */ diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h index 88c3e5620..3da8d0a82 100644 --- a/gtsam/discrete/DiscreteConditional.h +++ b/gtsam/discrete/DiscreteConditional.h @@ -60,7 +60,11 @@ public: /** construct P(X|Y)=P(X,Y)/P(Y) from P(X,Y) and P(Y) */ DiscreteConditional(const DecisionTreeFactor& joint, - const DecisionTreeFactor& marginal, const boost::optional& orderedKeys = boost::none); + const DecisionTreeFactor& marginal); + + /** construct P(X|Y)=P(X,Y)/P(Y) from P(X,Y) and P(Y) */ + DiscreteConditional(const DecisionTreeFactor& joint, + const DecisionTreeFactor& marginal, const Ordering& orderedKeys); /** * Combine several conditional into a single one. diff --git a/gtsam/linear/Scatter.cpp b/gtsam/linear/Scatter.cpp index 448120cdd..d201dfa78 100644 --- a/gtsam/linear/Scatter.cpp +++ b/gtsam/linear/Scatter.cpp @@ -34,8 +34,7 @@ string SlotEntry::toString() const { } /* ************************************************************************* */ -void Scatter::ScatterHelper(const GaussianFactorGraph& gfg, size_t sortStart) { - // Now, find dimensions of variables and/or extend +void Scatter::setDimensions(const GaussianFactorGraph& gfg, size_t sortStart) { for (const auto& factor : gfg) { if (!factor) continue; @@ -66,7 +65,7 @@ void Scatter::ScatterHelper(const GaussianFactorGraph& gfg, size_t sortStart) { Scatter::Scatter(const GaussianFactorGraph& gfg) { gttic(Scatter_Constructor); - ScatterHelper(gfg, 0); + setDimensions(gfg, 0); } /* ************************************************************************* */ @@ -79,7 +78,7 @@ Scatter::Scatter(const GaussianFactorGraph& gfg, add(key, 0); } - ScatterHelper(gfg, ordering.size()); + setDimensions(gfg, ordering.size()); } /* ************************************************************************* */ diff --git a/gtsam/linear/Scatter.h b/gtsam/linear/Scatter.h index 8936f827c..1583aa2f0 100644 --- a/gtsam/linear/Scatter.h +++ b/gtsam/linear/Scatter.h @@ -64,7 +64,7 @@ class Scatter : public FastVector { /// Helper function for constructors, adds/finds dimensions of variables and // sorts starting from sortStart - void ScatterHelper(const GaussianFactorGraph& gfg, size_t sortStart); + void setDimensions(const GaussianFactorGraph& gfg, size_t sortStart); /// Find the SlotEntry with the right key (linear time worst case) iterator find(Key key); diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index a4bdd83e3..3ad9cd9a6 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -344,23 +344,31 @@ GaussianFactorGraph::shared_ptr NonlinearFactorGraph::linearize(const Values& li } /* ************************************************************************* */ -static Scatter scatterFromValues(const Values& values, boost::optional ordering) { +static Scatter scatterFromValues(const Values& values) { gttic(scatterFromValues); Scatter scatter; scatter.reserve(values.size()); - if (!ordering) { - // use "natural" ordering with keys taken from the initial values - for (const auto& key_value : values) { - scatter.add(key_value.key, key_value.value.dim()); - } - } else { - // copy ordering into keys and lookup dimension in values, is O(n*log n) - for (Key key : *ordering) { - const Value& value = values.at(key); - scatter.add(key, value.dim()); - } + // use "natural" ordering with keys taken from the initial values + for (const auto& key_value : values) { + scatter.add(key_value.key, key_value.value.dim()); + } + + return scatter; +} + +/* ************************************************************************* */ +static Scatter scatterFromValues(const Values& values, const Ordering& ordering) { + gttic(scatterFromValues); + + Scatter scatter; + scatter.reserve(values.size()); + + // copy ordering into keys and lookup dimension in values, is O(n*log n) + for (Key key : ordering) { + const Value& value = values.at(key); + scatter.add(key, value.dim()); } return scatter; @@ -368,7 +376,15 @@ static Scatter scatterFromValues(const Values& values, boost::optional ordering, const Dampen& dampen) const { + const Values& values, const Dampen& dampen) const { + KeyVector keys = values.keys(); + Ordering defaultOrdering(keys); + return linearizeToHessianFactor(values, defaultOrdering, dampen); +} + +/* ************************************************************************* */ +HessianFactor::shared_ptr NonlinearFactorGraph::linearizeToHessianFactor( + const Values& values, const Ordering& ordering, const Dampen& dampen) const { gttic(NonlinearFactorGraph_linearizeToHessianFactor); Scatter scatter = scatterFromValues(values, ordering); @@ -395,7 +411,16 @@ HessianFactor::shared_ptr NonlinearFactorGraph::linearizeToHessianFactor( /* ************************************************************************* */ Values NonlinearFactorGraph::updateCholesky(const Values& values, - boost::optional ordering, + const Dampen& dampen) const { + gttic(NonlinearFactorGraph_updateCholesky); + auto hessianFactor = linearizeToHessianFactor(values, dampen); + VectorValues delta = hessianFactor->solve(); + return values.retract(delta); +} + +/* ************************************************************************* */ +Values NonlinearFactorGraph::updateCholesky(const Values& values, + const Ordering& ordering, const Dampen& dampen) const { gttic(NonlinearFactorGraph_updateCholesky); auto hessianFactor = linearizeToHessianFactor(values, ordering, dampen); diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 323461459..0b0db1b7b 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -149,17 +149,31 @@ namespace gtsam { * Instead of producing a GaussianFactorGraph, pre-allocate and linearize directly * into a HessianFactor. Avoids the many mallocs and pointer indirection in constructing * a new graph, and hence useful in case a dense solve is appropriate for your problem. - * An optional ordering can be given that still decides how the Hessian is laid out. * An optional lambda function can be used to apply damping on the filled Hessian. * No parallelism is exploited, because all the factors write in the same memory. */ boost::shared_ptr linearizeToHessianFactor( - const Values& values, boost::optional ordering = boost::none, - const Dampen& dampen = nullptr) const; + const Values& values, const Dampen& dampen = nullptr) const; + + /** + * Instead of producing a GaussianFactorGraph, pre-allocate and linearize directly + * into a HessianFactor. Avoids the many mallocs and pointer indirection in constructing + * a new graph, and hence useful in case a dense solve is appropriate for your problem. + * An ordering is given that still decides how the Hessian is laid out. + * An optional lambda function can be used to apply damping on the filled Hessian. + * No parallelism is exploited, because all the factors write in the same memory. + */ + boost::shared_ptr linearizeToHessianFactor( + const Values& values, const Ordering& ordering, const Dampen& dampen = nullptr) const; /// Linearize and solve in one pass. /// Calls linearizeToHessianFactor, densely solves the normal equations, and updates the values. - Values updateCholesky(const Values& values, boost::optional ordering = boost::none, + Values updateCholesky(const Values& values, + const Dampen& dampen = nullptr) const; + + /// Linearize and solve in one pass. + /// Calls linearizeToHessianFactor, densely solves the normal equations, and updates the values. + Values updateCholesky(const Values& values, const Ordering& ordering, const Dampen& dampen = nullptr) const; /// Clone() performs a deep-copy of the graph, including all of the factors diff --git a/gtsam/nonlinear/NonlinearOptimizerParams.h b/gtsam/nonlinear/NonlinearOptimizerParams.h index 180f4fb84..9757cca73 100644 --- a/gtsam/nonlinear/NonlinearOptimizerParams.h +++ b/gtsam/nonlinear/NonlinearOptimizerParams.h @@ -82,7 +82,7 @@ public: }; LinearSolverType linearSolverType; ///< The type of linear solver to use in the nonlinear optimizer - boost::optional ordering; ///< The variable elimination ordering, or empty to use COLAMD (default: empty) + 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. inline bool isMultifrontal() const { diff --git a/gtsam_unstable/nonlinear/NonlinearClusterTree.h b/gtsam_unstable/nonlinear/NonlinearClusterTree.h index a483c9521..5d089f123 100644 --- a/gtsam_unstable/nonlinear/NonlinearClusterTree.h +++ b/gtsam_unstable/nonlinear/NonlinearClusterTree.h @@ -46,21 +46,26 @@ class NonlinearClusterTree : public ClusterTree { // linearize local custer factors straight into hessianFactor, which is returned // If no ordering given, uses colamd HessianFactor::shared_ptr linearizeToHessianFactor( - const Values& values, boost::optional ordering = boost::none, + const Values& values, const NonlinearFactorGraph::Dampen& dampen = nullptr) const { - if (!ordering) - ordering.reset(Ordering::ColamdConstrainedFirst(factors, orderedFrontalKeys, true)); - return factors.linearizeToHessianFactor(values, *ordering, dampen); + Ordering ordering; + ordering = Ordering::ColamdConstrainedFirst(factors, orderedFrontalKeys, true); + return factors.linearizeToHessianFactor(values, ordering, dampen); } - // Recursively eliminate subtree rooted at this Cluster into a Bayes net and factor on parent + // linearize local custer factors straight into hessianFactor, which is returned + // If no ordering given, uses colamd + HessianFactor::shared_ptr linearizeToHessianFactor( + const Values& values, const Ordering& ordering, + const NonlinearFactorGraph::Dampen& dampen = nullptr) const { + return factors.linearizeToHessianFactor(values, ordering, dampen); + } + + // Helper function: recursively eliminate subtree rooted at this Cluster into a Bayes net and factor on parent // TODO(frank): Use TBB to support deep trees and parallelism std::pair linearizeAndEliminate( - const Values& values, boost::optional ordering = boost::none, - const NonlinearFactorGraph::Dampen& dampen = nullptr) const { - // Linearize and create HessianFactor f(front,separator) - HessianFactor::shared_ptr localFactor = linearizeToHessianFactor(values, ordering, dampen); - + const Values& values, + const HessianFactor::shared_ptr& localFactor) const { // Get contributions f(front) from children, as well as p(children|front) GaussianBayesNet bayesNet; for (const auto& child : children) { @@ -72,12 +77,45 @@ class NonlinearClusterTree : public ClusterTree { return {bayesNet, localFactor}; } + // Recursively eliminate subtree rooted at this Cluster into a Bayes net and factor on parent + // TODO(frank): Use TBB to support deep trees and parallelism + std::pair linearizeAndEliminate( + const Values& values, + const NonlinearFactorGraph::Dampen& dampen = nullptr) const { + // Linearize and create HessianFactor f(front,separator) + HessianFactor::shared_ptr localFactor = linearizeToHessianFactor(values, dampen); + return linearizeAndEliminate(values, localFactor); + } + + // Recursively eliminate subtree rooted at this Cluster into a Bayes net and factor on parent + // TODO(frank): Use TBB to support deep trees and parallelism + std::pair linearizeAndEliminate( + const Values& values, const Ordering& ordering, + const NonlinearFactorGraph::Dampen& dampen = nullptr) const { + // Linearize and create HessianFactor f(front,separator) + HessianFactor::shared_ptr localFactor = linearizeToHessianFactor(values, ordering, dampen); + return linearizeAndEliminate(values, localFactor); + } + // Recursively eliminate subtree rooted at this Cluster // Version that updates existing Bayes net and returns a new Hessian factor on parent clique // It is possible to pass in a nullptr for the bayesNet if only interested in the new factor HessianFactor::shared_ptr linearizeAndEliminate( const Values& values, GaussianBayesNet* bayesNet, - boost::optional ordering = boost::none, + const NonlinearFactorGraph::Dampen& dampen = nullptr) const { + auto bayesNet_newFactor_pair = linearizeAndEliminate(values, dampen); + if (bayesNet) { + bayesNet->push_back(bayesNet_newFactor_pair.first); + } + return bayesNet_newFactor_pair.second; + } + + // Recursively eliminate subtree rooted at this Cluster + // Version that updates existing Bayes net and returns a new Hessian factor on parent clique + // It is possible to pass in a nullptr for the bayesNet if only interested in the new factor + HessianFactor::shared_ptr linearizeAndEliminate( + const Values& values, GaussianBayesNet* bayesNet, + const Ordering& ordering, const NonlinearFactorGraph::Dampen& dampen = nullptr) const { auto bayesNet_newFactor_pair = linearizeAndEliminate(values, ordering, dampen); if (bayesNet) { diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index 290f0138e..6a7a963bc 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -198,7 +198,7 @@ TEST(NonlinearFactorGraph, UpdateCholesky) { } } }; - EXPECT(assert_equal(initial, fg.updateCholesky(initial, boost::none, dampen), 1e-6)); + EXPECT(assert_equal(initial, fg.updateCholesky(initial, dampen), 1e-6)); } /* ************************************************************************* */ From 8e62a1405e5cc7b4a059b691ffda6e96d2b328f7 Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Mon, 28 Oct 2019 17:41:16 -0400 Subject: [PATCH 0084/1152] deprecated functions for backwards compatibility also removed some edits that were tangential to the PR. --- gtsam/base/TestableAssertions.h | 8 +- gtsam/discrete/DiscreteConditional.cpp | 7 +- .../inference/EliminateableFactorGraph-inst.h | 16 ++-- gtsam/inference/EliminateableFactorGraph.h | 73 ++++++++++++++++--- gtsam/linear/GaussianFactorGraph.cpp | 7 ++ gtsam/linear/GaussianFactorGraph.h | 6 ++ gtsam/linear/Scatter.cpp | 35 ++++----- gtsam/linear/Scatter.h | 5 -- gtsam/nonlinear/Marginals.h | 21 +++++- gtsam/nonlinear/NonlinearFactorGraph.cpp | 32 ++++---- gtsam/nonlinear/NonlinearFactorGraph.h | 20 +++++ gtsam/nonlinear/NonlinearOptimizer.cpp | 16 ++-- tests/testGaussianFactorGraphB.cpp | 2 + tests/testNonlinearFactorGraph.cpp | 2 +- 14 files changed, 172 insertions(+), 78 deletions(-) diff --git a/gtsam/base/TestableAssertions.h b/gtsam/base/TestableAssertions.h index a698f8f98..1a31aa284 100644 --- a/gtsam/base/TestableAssertions.h +++ b/gtsam/base/TestableAssertions.h @@ -71,8 +71,12 @@ bool assert_equal(const V& expected, const boost::optional& actual, double to } template -bool assert_equal(const V& expected, double tol = 1e-9) { - return false; +bool assert_equal(const V& expected, const boost::optional& actual, double tol = 1e-9) { + if (!actual) { + std::cout << "actual is boost::none" << std::endl; + return false; + } + return assert_equal(expected, *actual, tol); } /** diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp index 71d04f246..cf2997ce0 100644 --- a/gtsam/discrete/DiscreteConditional.cpp +++ b/gtsam/discrete/DiscreteConditional.cpp @@ -57,12 +57,7 @@ DiscreteConditional::DiscreteConditional(const DecisionTreeFactor& joint, /* ******************************************************************************** */ DiscreteConditional::DiscreteConditional(const DecisionTreeFactor& joint, const DecisionTreeFactor& marginal, const Ordering& orderedKeys) : - BaseFactor( - ISDEBUG("DiscreteConditional::COUNT") ? joint : joint / marginal), BaseConditional( - joint.size()-marginal.size()) { - if (ISDEBUG("DiscreteConditional::DiscreteConditional")) - cout << (firstFrontalKey()) << endl; //TODO Print all keys - + DiscreteConditional(joint, marginal) { keys_.clear(); keys_.insert(keys_.end(), orderedKeys.begin(), orderedKeys.end()); } diff --git a/gtsam/inference/EliminateableFactorGraph-inst.h b/gtsam/inference/EliminateableFactorGraph-inst.h index a77d96537..81f4047a1 100644 --- a/gtsam/inference/EliminateableFactorGraph-inst.h +++ b/gtsam/inference/EliminateableFactorGraph-inst.h @@ -28,8 +28,8 @@ namespace gtsam { template boost::shared_ptr::BayesNetType> EliminateableFactorGraph::eliminateSequential( - const Eliminate& function, OptionalVariableIndex variableIndex, - OptionalOrderingType orderingType) const { + OptionalOrderingType orderingType, const Eliminate& function, + OptionalVariableIndex variableIndex) const { if(!variableIndex) { // If no VariableIndex provided, compute one and call this function again IMPORTANT: we check // for no variable index first so that it's always computed if we need to call COLAMD because @@ -56,12 +56,12 @@ namespace gtsam { boost::shared_ptr::BayesNetType> EliminateableFactorGraph::eliminateSequential( const Ordering& ordering, const Eliminate& function, - OptionalVariableIndex variableIndex, OptionalOrderingType orderingType) const + OptionalVariableIndex variableIndex) const { if(!variableIndex) { // If no VariableIndex provided, compute one and call this function again VariableIndex computedVariableIndex(asDerived()); - return eliminateSequential(ordering, function, computedVariableIndex, orderingType); + return eliminateSequential(ordering, function, computedVariableIndex); } else { gttic(eliminateSequential); // Do elimination @@ -81,8 +81,8 @@ namespace gtsam { template boost::shared_ptr::BayesTreeType> EliminateableFactorGraph::eliminateMultifrontal( - const Eliminate& function, OptionalVariableIndex variableIndex, - OptionalOrderingType orderingType) const + OptionalOrderingType orderingType, const Eliminate& function, + OptionalVariableIndex variableIndex) const { if(!variableIndex) { // If no VariableIndex provided, compute one and call this function again IMPORTANT: we check @@ -110,12 +110,12 @@ namespace gtsam { boost::shared_ptr::BayesTreeType> EliminateableFactorGraph::eliminateMultifrontal( const Ordering& ordering, const Eliminate& function, - OptionalVariableIndex variableIndex, OptionalOrderingType orderingType) const + OptionalVariableIndex variableIndex) const { if(!variableIndex) { // If no VariableIndex provided, compute one and call this function again VariableIndex computedVariableIndex(asDerived()); - return eliminateMultifrontal(ordering, function, computedVariableIndex, orderingType); + return eliminateMultifrontal(ordering, function, computedVariableIndex); } else { gttic(eliminateMultifrontal); // Do elimination with given ordering diff --git a/gtsam/inference/EliminateableFactorGraph.h b/gtsam/inference/EliminateableFactorGraph.h index 8a216918c..316ca8ee4 100644 --- a/gtsam/inference/EliminateableFactorGraph.h +++ b/gtsam/inference/EliminateableFactorGraph.h @@ -89,7 +89,7 @@ namespace gtsam { typedef boost::function Eliminate; /// Typedef for an optional variable index as an argument to elimination functions - typedef const boost::optional& OptionalVariableIndex; + typedef boost::optional OptionalVariableIndex; /// Typedef for an optional ordering type typedef boost::optional OptionalOrderingType; @@ -115,9 +115,9 @@ namespace gtsam { * \endcode * */ boost::shared_ptr eliminateSequential( + OptionalOrderingType orderingType = boost::none, const Eliminate& function = EliminationTraitsType::DefaultEliminate, - OptionalVariableIndex variableIndex = boost::none, - OptionalOrderingType orderingType = boost::none) const; + OptionalVariableIndex variableIndex = boost::none) const; /** Do sequential elimination of all variables to produce a Bayes net. * @@ -136,8 +136,7 @@ namespace gtsam { boost::shared_ptr eliminateSequential( const Ordering& ordering, const Eliminate& function = EliminationTraitsType::DefaultEliminate, - OptionalVariableIndex variableIndex = boost::none, - OptionalOrderingType orderingType = boost::none) const; // orderingType is not necessary anymore, kept for backwards compatibility + OptionalVariableIndex variableIndex = boost::none) const; /** Do multifrontal elimination of all variables to produce a Bayes tree. If an ordering is not * provided, the ordering will be computed using either COLAMD or METIS, dependeing on @@ -156,9 +155,9 @@ namespace gtsam { * \endcode * */ boost::shared_ptr eliminateMultifrontal( + OptionalOrderingType orderingType = boost::none, const Eliminate& function = EliminationTraitsType::DefaultEliminate, - OptionalVariableIndex variableIndex = boost::none, - OptionalOrderingType orderingType = boost::none) const; + OptionalVariableIndex variableIndex = boost::none) const; /** Do multifrontal elimination of all variables to produce a Bayes tree. If an ordering is not * provided, the ordering will be computed using either COLAMD or METIS, dependeing on @@ -172,8 +171,7 @@ namespace gtsam { boost::shared_ptr eliminateMultifrontal( const Ordering& ordering, const Eliminate& function = EliminationTraitsType::DefaultEliminate, - OptionalVariableIndex variableIndex = boost::none, - OptionalOrderingType orderingType = boost::none) const; // orderingType no longer needed + OptionalVariableIndex variableIndex = boost::none) const; /** Do sequential elimination of some variables, in \c ordering provided, to produce a Bayes net * and a remaining factor graph. This computes the factorization \f$ p(X) = p(A|B) p(B) \f$, @@ -241,7 +239,7 @@ namespace gtsam { * provided one will be computed. */ boost::shared_ptr marginalMultifrontalBayesNet( boost::variant variables, - const Ordering& marginalizedVariableOrdering, // this no longer takes boost::none - potentially code breaking + const Ordering& marginalizedVariableOrdering, const Eliminate& function = EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex = boost::none) const; @@ -271,7 +269,7 @@ namespace gtsam { * provided one will be computed. */ boost::shared_ptr marginalMultifrontalBayesTree( boost::variant variables, - const Ordering& marginalizedVariableOrdering, // this no longer takes boost::none - potentially code breaking + const Ordering& marginalizedVariableOrdering, const Eliminate& function = EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex = boost::none) const; @@ -288,6 +286,59 @@ namespace gtsam { // Access the derived factor graph class FactorGraphType& asDerived() { return static_cast(*this); } + + public: + /** \deprecated ordering and orderingType shouldn't both be specified */ + boost::shared_ptr eliminateSequential( + const Ordering& ordering, + const Eliminate& function, + OptionalVariableIndex variableIndex, + OptionalOrderingType orderingType) const { + return eliminateSequential(ordering, function, variableIndex); + } + + /** \deprecated orderingType specified first for consistency */ + boost::shared_ptr eliminateSequential( + const Eliminate& function, + OptionalVariableIndex variableIndex = boost::none, + OptionalOrderingType orderingType = boost::none) const { + return eliminateSequential(orderingType, function, variableIndex); + } + + /** \deprecated ordering and orderingType shouldn't both be specified */ + boost::shared_ptr eliminateMultifrontal( + const Ordering& ordering, + const Eliminate& function, + OptionalVariableIndex variableIndex, + OptionalOrderingType orderingType) const { + return eliminateMultifrontal(ordering, function, variableIndex); + } + + /** \deprecated orderingType specified first for consistency */ + boost::shared_ptr eliminateMultifrontal( + const Eliminate& function, + OptionalVariableIndex variableIndex = boost::none, + OptionalOrderingType orderingType = boost::none) const { + return eliminateMultifrontal(orderingType, function, variableIndex); + } + + /** \deprecated */ + boost::shared_ptr marginalMultifrontalBayesNet( + boost::variant variables, + boost::none_t, + const Eliminate& function = EliminationTraitsType::DefaultEliminate, + OptionalVariableIndex variableIndex = boost::none) const { + return marginalMultifrontalBayesNet(variables, function, variableIndex); + } + + /** \deprecated */ + boost::shared_ptr marginalMultifrontalBayesTree( + boost::variant variables, + boost::none_t, + const Eliminate& function = EliminationTraitsType::DefaultEliminate, + OptionalVariableIndex variableIndex = boost::none) const { + return marginalMultifrontalBayesTree(variables, function, variableIndex); + } }; } diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index faa3f8bd6..8dc3600c6 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -494,4 +494,11 @@ namespace gtsam { return e; } + /* ************************************************************************* */ + /** \deprecated */ + VectorValues GaussianFactorGraph::optimize(boost::none_t, + const Eliminate& function) const { + return optimize(function); + } + } // namespace gtsam diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index f24fb602d..2b9e8e675 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -375,6 +375,12 @@ namespace gtsam { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); } + public: + + /** \deprecated */ + VectorValues optimize(boost::none_t, + const Eliminate& function = EliminationTraitsType::DefaultEliminate) const; + }; /** diff --git a/gtsam/linear/Scatter.cpp b/gtsam/linear/Scatter.cpp index d201dfa78..07ecaf483 100644 --- a/gtsam/linear/Scatter.cpp +++ b/gtsam/linear/Scatter.cpp @@ -33,8 +33,19 @@ string SlotEntry::toString() const { return oss.str(); } +Scatter::Scatter(const GaussianFactorGraph& gfg) : Scatter(gfg, Ordering()) {} + /* ************************************************************************* */ -void Scatter::setDimensions(const GaussianFactorGraph& gfg, size_t sortStart) { +Scatter::Scatter(const GaussianFactorGraph& gfg, + const Ordering& ordering) { + gttic(Scatter_Constructor); + + // If we have an ordering, pre-fill the ordered variables first + for (Key key : ordering) { + add(key, 0); + } + + // Now, find dimensions of variables and/or extend for (const auto& factor : gfg) { if (!factor) continue; @@ -57,30 +68,10 @@ void Scatter::setDimensions(const GaussianFactorGraph& gfg, size_t sortStart) { // To keep the same behavior as before, sort the keys after the ordering iterator first = begin(); - first += sortStart; + first += ordering.size(); if (first != end()) std::sort(first, end()); } -/* ************************************************************************* */ -Scatter::Scatter(const GaussianFactorGraph& gfg) { - gttic(Scatter_Constructor); - - setDimensions(gfg, 0); -} - -/* ************************************************************************* */ -Scatter::Scatter(const GaussianFactorGraph& gfg, - const Ordering& ordering) { - gttic(Scatter_Constructor); - - // pre-fill the ordered variables first - for (Key key : ordering) { - add(key, 0); - } - - setDimensions(gfg, ordering.size()); -} - /* ************************************************************************* */ void Scatter::add(Key key, size_t dim) { emplace_back(SlotEntry(key, dim)); diff --git a/gtsam/linear/Scatter.h b/gtsam/linear/Scatter.h index 1583aa2f0..3b34d170c 100644 --- a/gtsam/linear/Scatter.h +++ b/gtsam/linear/Scatter.h @@ -61,11 +61,6 @@ class Scatter : public FastVector { void add(Key key, size_t dim); private: - - /// Helper function for constructors, adds/finds dimensions of variables and - // sorts starting from sortStart - void setDimensions(const GaussianFactorGraph& gfg, size_t sortStart); - /// Find the SlotEntry with the right key (linear time worst case) iterator find(Key key); }; diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h index abad71ea7..4e201cc38 100644 --- a/gtsam/nonlinear/Marginals.h +++ b/gtsam/nonlinear/Marginals.h @@ -64,7 +64,7 @@ public: * @param factorization The linear decomposition mode - either Marginals::CHOLESKY (faster and suitable for most problems) or Marginals::QR (slower but more numerically stable for poorly-conditioned problems). * @param ordering The ordering for elimination. */ - Marginals(const NonlinearFactorGraph& graph, const Values& solution, const Ordering& ordering, // argument order switch due to default value of factorization, potentially code breaking + Marginals(const NonlinearFactorGraph& graph, const Values& solution, const Ordering& ordering, Factorization factorization = CHOLESKY); /** Construct a marginals class from a linear factor graph. @@ -80,7 +80,7 @@ public: * @param factorization The linear decomposition mode - either Marginals::CHOLESKY (faster and suitable for most problems) or Marginals::QR (slower but more numerically stable for poorly-conditioned problems). * @param ordering The ordering for elimination. */ - Marginals(const GaussianFactorGraph& graph, const Values& solution, const Ordering& ordering, // argument order switch due to default value of factorization, potentially code breaking + Marginals(const GaussianFactorGraph& graph, const Values& solution, const Ordering& ordering, Factorization factorization = CHOLESKY); /** Construct a marginals class from a linear factor graph. @@ -97,7 +97,7 @@ public: * @param factorization The linear decomposition mode - either Marginals::CHOLESKY (faster and suitable for most problems) or Marginals::QR (slower but more numerically stable for poorly-conditioned problems). * @param ordering An optional variable ordering for elimination. */ - Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, const Ordering& ordering, // argument order switch due to default value of factorization, potentially code breaking + Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, const Ordering& ordering, Factorization factorization = CHOLESKY); /** print */ @@ -121,7 +121,7 @@ public: /** Optimize the bayes tree */ VectorValues optimize() const; - + protected: /** Compute the Bayes Tree as a helper function to the constructor */ @@ -130,6 +130,19 @@ protected: /** Compute the Bayes Tree as a helper function to the constructor */ void computeBayesTree(const Ordering& ordering); +public: + /** \deprecated argument order changed due to removing boost::optional */ + Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization, + const Ordering& ordering) : Marginals(graph, solution, ordering, factorization) {} + + /** \deprecated argument order changed due to removing boost::optional */ + Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization, + const Ordering& ordering) : Marginals(graph, solution, ordering, factorization) {} + + /** \deprecated argument order changed due to removing boost::optional */ + Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization, + const Ordering& ordering) : Marginals(graph, solution, ordering, factorization) {} + }; /** diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index 3ad9cd9a6..d4b9fbb68 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -376,19 +376,7 @@ static Scatter scatterFromValues(const Values& values, const Ordering& ordering) /* ************************************************************************* */ HessianFactor::shared_ptr NonlinearFactorGraph::linearizeToHessianFactor( - const Values& values, const Dampen& dampen) const { - KeyVector keys = values.keys(); - Ordering defaultOrdering(keys); - return linearizeToHessianFactor(values, defaultOrdering, dampen); -} - -/* ************************************************************************* */ -HessianFactor::shared_ptr NonlinearFactorGraph::linearizeToHessianFactor( - const Values& values, const Ordering& ordering, const Dampen& dampen) const { - gttic(NonlinearFactorGraph_linearizeToHessianFactor); - - Scatter scatter = scatterFromValues(values, ordering); - + const Values& values, const Scatter& scatter, const Dampen& dampen) const { // NOTE(frank): we are heavily leaning on friendship below HessianFactor::shared_ptr hessianFactor(new HessianFactor(scatter)); @@ -409,6 +397,24 @@ HessianFactor::shared_ptr NonlinearFactorGraph::linearizeToHessianFactor( return hessianFactor; } +/* ************************************************************************* */ +HessianFactor::shared_ptr NonlinearFactorGraph::linearizeToHessianFactor( + const Values& values, const Ordering& order, const Dampen& dampen) const { + gttic(NonlinearFactorGraph_linearizeToHessianFactor); + + Scatter scatter = scatterFromValues(values, order); + return linearizeToHessianFactor(values, scatter, dampen); +} + +/* ************************************************************************* */ +HessianFactor::shared_ptr NonlinearFactorGraph::linearizeToHessianFactor( + const Values& values, const Dampen& dampen) const { + gttic(NonlinearFactorGraph_linearizeToHessianFactor); + + Scatter scatter = scatterFromValues(values); + return linearizeToHessianFactor(values, scatter, dampen); +} + /* ************************************************************************* */ Values NonlinearFactorGraph::updateCholesky(const Values& values, const Dampen& dampen) const { diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 0b0db1b7b..902a47a0f 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -204,6 +204,13 @@ namespace gtsam { private: + /** + * Linearize from Scatter rather than from Ordering. Made private because + * it doesn't include gttic. + */ + boost::shared_ptr linearizeToHessianFactor( + const Values& values, const Scatter& scatter, const Dampen& dampen = nullptr) const; + /** Serialization function */ friend class boost::serialization::access; template @@ -211,6 +218,19 @@ namespace gtsam { ar & boost::serialization::make_nvp("NonlinearFactorGraph", boost::serialization::base_object(*this)); } + + public: + + /** \deprecated */ + boost::shared_ptr linearizeToHessianFactor( + const Values& values, boost::none_t, const Dampen& dampen = nullptr) const + {return linearizeToHessianFactor(values, dampen);} + + /** \deprecated */ + Values updateCholesky(const Values& values, boost::none_t, + const Dampen& dampen = nullptr) const + {return updateCholesky(values, dampen);} + }; /// traits diff --git a/gtsam/nonlinear/NonlinearOptimizer.cpp b/gtsam/nonlinear/NonlinearOptimizer.cpp index b12dcf70a..ad3b9c4cc 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.cpp +++ b/gtsam/nonlinear/NonlinearOptimizer.cpp @@ -128,18 +128,22 @@ VectorValues NonlinearOptimizer::solve(const GaussianFactorGraph& gfg, const NonlinearOptimizerParams& params) const { // solution of linear solver is an update to the linearization point VectorValues delta; - Ordering ordering; - if (params.ordering) - ordering = *params.ordering; // Check which solver we are using if (params.isMultifrontal()) { // Multifrontal QR or Cholesky (decided by params.getEliminationFunction()) - delta = gfg.optimize(ordering, params.getEliminationFunction()); + if (params.ordering) + delta = gfg.optimize(*params.ordering, params.getEliminationFunction()); + else + delta = gfg.optimize(params.getEliminationFunction()); } else if (params.isSequential()) { // Sequential QR or Cholesky (decided by params.getEliminationFunction()) - delta = gfg.eliminateSequential(ordering, params.getEliminationFunction(), boost::none, - params.orderingType)->optimize(); + if (params.ordering) + delta = gfg.eliminateSequential(*params.ordering, params.getEliminationFunction(), + boost::none, params.orderingType)->optimize(); + else + delta = gfg.eliminateSequential(params.getEliminationFunction(), boost::none, + params.orderingType)->optimize(); } else if (params.isIterative()) { // Conjugate Gradient -> needs params.iterativeParams if (!params.iterativeParams) diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index bf968c8d7..9596f4af5 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -206,6 +206,7 @@ TEST(GaussianFactorGraph, optimize_Cholesky) { GaussianFactorGraph fg = createGaussianFactorGraph(); // optimize the graph + VectorValues actual1 = fg.optimize(boost::none, EliminateCholesky); VectorValues actual = fg.optimize(EliminateCholesky); // verify @@ -220,6 +221,7 @@ TEST( GaussianFactorGraph, optimize_QR ) GaussianFactorGraph fg = createGaussianFactorGraph(); // optimize the graph + VectorValues actual1 = fg.optimize(boost::none, EliminateQR); VectorValues actual = fg.optimize(EliminateQR); // verify diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index 6a7a963bc..290f0138e 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -198,7 +198,7 @@ TEST(NonlinearFactorGraph, UpdateCholesky) { } } }; - EXPECT(assert_equal(initial, fg.updateCholesky(initial, dampen), 1e-6)); + EXPECT(assert_equal(initial, fg.updateCholesky(initial, boost::none, dampen), 1e-6)); } /* ************************************************************************* */ From e40a5008590e427c2d56b5a5c91a432b0cf6342a Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Mon, 28 Oct 2019 17:43:56 -0400 Subject: [PATCH 0085/1152] Update test cases for new preferred syntax --- tests/testGaussianFactorGraphB.cpp | 2 -- tests/testNonlinearFactorGraph.cpp | 2 +- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 9596f4af5..bf968c8d7 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -206,7 +206,6 @@ TEST(GaussianFactorGraph, optimize_Cholesky) { GaussianFactorGraph fg = createGaussianFactorGraph(); // optimize the graph - VectorValues actual1 = fg.optimize(boost::none, EliminateCholesky); VectorValues actual = fg.optimize(EliminateCholesky); // verify @@ -221,7 +220,6 @@ TEST( GaussianFactorGraph, optimize_QR ) GaussianFactorGraph fg = createGaussianFactorGraph(); // optimize the graph - VectorValues actual1 = fg.optimize(boost::none, EliminateQR); VectorValues actual = fg.optimize(EliminateQR); // verify diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index 290f0138e..6a7a963bc 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -198,7 +198,7 @@ TEST(NonlinearFactorGraph, UpdateCholesky) { } } }; - EXPECT(assert_equal(initial, fg.updateCholesky(initial, boost::none, dampen), 1e-6)); + EXPECT(assert_equal(initial, fg.updateCholesky(initial, dampen), 1e-6)); } /* ************************************************************************* */ From 8572cd17ad637b8e7c00f15346202fa920c8cba1 Mon Sep 17 00:00:00 2001 From: Mike Bosse Date: Sat, 9 Nov 2019 16:58:44 -0800 Subject: [PATCH 0086/1152] Fix bug when constructing VariableSlots from a GaussianFactorGraph that has null factors. --- gtsam/inference/VariableSlots.h | 6 ++++-- gtsam_unstable/examples/FixedLagSmootherExample.cpp | 13 +++++++++++++ 2 files changed, 17 insertions(+), 2 deletions(-) diff --git a/gtsam/inference/VariableSlots.h b/gtsam/inference/VariableSlots.h index f9297d300..a665890c2 100644 --- a/gtsam/inference/VariableSlots.h +++ b/gtsam/inference/VariableSlots.h @@ -99,7 +99,9 @@ VariableSlots::VariableSlots(const FG& factorGraph) // factor does not involve that variable. size_t jointFactorPos = 0; for(const typename FG::sharedFactor& factor: factorGraph) { - assert(factor); + if (!factor) { + continue; + } size_t factorVarSlot = 0; for(const Key involvedVariable: *factor) { // Set the slot in this factor for this variable. If the @@ -111,7 +113,7 @@ VariableSlots::VariableSlots(const FG& factorGraph) iterator thisVarSlots; bool inserted; boost::tie(thisVarSlots, inserted) = this->insert(std::make_pair(involvedVariable, FastVector())); if(inserted) - thisVarSlots->second.resize(factorGraph.size(), Empty); + thisVarSlots->second.resize(factorGraph.nrFactors(), Empty); thisVarSlots->second[jointFactorPos] = factorVarSlot; if(debug) std::cout << " var " << involvedVariable << " rowblock " << jointFactorPos << " comes from factor's slot " << factorVarSlot << std::endl; ++ factorVarSlot; diff --git a/gtsam_unstable/examples/FixedLagSmootherExample.cpp b/gtsam_unstable/examples/FixedLagSmootherExample.cpp index 71153ee31..a6d5b699d 100644 --- a/gtsam_unstable/examples/FixedLagSmootherExample.cpp +++ b/gtsam_unstable/examples/FixedLagSmootherExample.cpp @@ -145,5 +145,18 @@ int main(int argc, char** argv) { cout << setprecision(5) << " Key: " << key_timestamp.first << " Time: " << key_timestamp.second << endl; } + // get the linearization point + Values result = smootherISAM2.calculateEstimate(); + + // create the factor graph + auto &factor_graph = smootherISAM2.getFactors(); + + // linearize to a Gaussian factor graph + boost::shared_ptr linear_graph = factor_graph.linearize(result); + + // this is where the segmentation fault occurs + Matrix A = linear_graph->jacobian().first; + cout << " A = " << A << endl; + return 0; } From fab3b01756a53553a3efaca7e8447ff92e07f018 Mon Sep 17 00:00:00 2001 From: Michael Bosse Date: Sat, 9 Nov 2019 19:49:59 -0800 Subject: [PATCH 0087/1152] updates from code review --- .../examples/FixedLagSmootherExample.cpp | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/gtsam_unstable/examples/FixedLagSmootherExample.cpp b/gtsam_unstable/examples/FixedLagSmootherExample.cpp index a6d5b699d..dc9b00580 100644 --- a/gtsam_unstable/examples/FixedLagSmootherExample.cpp +++ b/gtsam_unstable/examples/FixedLagSmootherExample.cpp @@ -145,18 +145,19 @@ int main(int argc, char** argv) { cout << setprecision(5) << " Key: " << key_timestamp.first << " Time: " << key_timestamp.second << endl; } - // get the linearization point + // Here is an example of how to get the full Jacobian of the problem. + // First, get the linearization point. Values result = smootherISAM2.calculateEstimate(); - // create the factor graph - auto &factor_graph = smootherISAM2.getFactors(); + // Get the factor graph + auto &factorGraph = smootherISAM2.getFactors(); - // linearize to a Gaussian factor graph - boost::shared_ptr linear_graph = factor_graph.linearize(result); + // Linearize to a Gaussian factor graph + boost::shared_ptr linearGraph = factorGraph.linearize(result); - // this is where the segmentation fault occurs - Matrix A = linear_graph->jacobian().first; - cout << " A = " << A << endl; + // Converts the linear graph into a Jacobian factor and extracts the Jacobian matrix + Matrix jacobian = linearGraph->jacobian().first; + cout << " Jacobian: " << jacobian << endl; return 0; } From 3135cd6623c924fa3ec51920acde78e1b747ddc1 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Mon, 11 Nov 2019 08:34:52 +0100 Subject: [PATCH 0088/1152] Fix broken dependencies in Debian packages --- debian/control | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/debian/control b/debian/control index 9a37e4377..9b3ae5308 100644 --- a/debian/control +++ b/debian/control @@ -10,6 +10,6 @@ Vcs-Browser: https://github.com/borglab/gtsam Package: libgtsam-dev Architecture: any -Depends: ${shlibs:Depends}, ${misc:Depends} +Depends: ${shlibs:Depends}, ${misc:Depends}, libboost-serialization-dev, libboost-system-dev, libboost-filesystem-dev, libboost-thread-dev, libboost-program-options-dev, libboost-date-time-dev, libboost-timer-dev, libboost-chrono-dev, libboost-regex-dev Description: Georgia Tech Smoothing and Mapping Library gtsam: Georgia Tech Smoothing and Mapping library for SLAM type applications From 99856befce90757eb6cb59d62f309522aaf23f4f Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Sat, 12 Oct 2019 18:21:54 +0200 Subject: [PATCH 0089/1152] Use gcc -fPIC flag when building gtsam libraries This flag is required to ensure proper code generation for shared libraries. --- cmake/GtsamBuildTypes.cmake | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake index aa35fea05..06b25ab06 100644 --- a/cmake/GtsamBuildTypes.cmake +++ b/cmake/GtsamBuildTypes.cmake @@ -94,7 +94,8 @@ if(MSVC) set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING /MD /O2 CACHE STRING "(User editable) Private compiler flags for Timing configuration.") else() # Common to all configurations, next for each configuration: - set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON -Wall CACHE STRING "(User editable) Private compiler flags for all configurations.") + # "-fPIC" is to ensure proper code generation for shared libraries + set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON -Wall -fPIC CACHE STRING "(User editable) Private compiler flags for all configurations.") set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG -g -fno-inline CACHE STRING "(User editable) Private compiler flags for Debug configuration.") set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO -g -O3 CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration.") set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE -O3 CACHE STRING "(User editable) Private compiler flags for Release configuration.") From 73542d980ab6cef78a2866b404ac01d05d6178a5 Mon Sep 17 00:00:00 2001 From: Francesco Papi Date: Tue, 12 Nov 2019 10:27:34 -0800 Subject: [PATCH 0090/1152] Move mEstimator into separate file --- gtsam/linear/LossFunctions.cpp | 423 +++++++++++++++++++++++++++++++++ gtsam/linear/LossFunctions.h | 379 +++++++++++++++++++++++++++++ gtsam/linear/NoiseModel.cpp | 397 ------------------------------- gtsam/linear/NoiseModel.h | 346 +-------------------------- 4 files changed, 804 insertions(+), 741 deletions(-) create mode 100644 gtsam/linear/LossFunctions.cpp create mode 100644 gtsam/linear/LossFunctions.h diff --git a/gtsam/linear/LossFunctions.cpp b/gtsam/linear/LossFunctions.cpp new file mode 100644 index 000000000..80b3e3312 --- /dev/null +++ b/gtsam/linear/LossFunctions.cpp @@ -0,0 +1,423 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file NoiseModel.cpp + * @date Jan 13, 2010 + * @author Richard Roberts + * @author Frank Dellaert + */ + +#include + +using namespace std; + +namespace gtsam { +namespace noiseModel { + +/* ************************************************************************* */ +// M-Estimator +/* ************************************************************************* */ + +namespace mEstimator { + +Vector Base::weight(const Vector& error) const { + const size_t n = error.rows(); + Vector w(n); + for (size_t i = 0; i < n; ++i) + w(i) = weight(error(i)); + return w; +} + +// The following three functions re-weight block matrices and a vector +// according to their weight implementation + +void Base::reweight(Vector& error) const { + if (reweight_ == Block) { + const double w = sqrtWeight(error.norm()); + error *= w; + } else { + error.array() *= weight(error).cwiseSqrt().array(); + } +} + +// Reweight n block matrices with one error vector +void Base::reweight(vector &A, Vector &error) const { + if ( reweight_ == Block ) { + const double w = sqrtWeight(error.norm()); + for(Matrix& Aj: A) { + Aj *= w; + } + error *= w; + } + else { + const Vector W = sqrtWeight(error); + for(Matrix& Aj: A) { + vector_scale_inplace(W,Aj); + } + error = W.cwiseProduct(error); + } +} + +// Reweight one block matrix with one error vector +void Base::reweight(Matrix &A, Vector &error) const { + if ( reweight_ == Block ) { + const double w = sqrtWeight(error.norm()); + A *= w; + error *= w; + } + else { + const Vector W = sqrtWeight(error); + vector_scale_inplace(W,A); + error = W.cwiseProduct(error); + } +} + +// Reweight two block matrix with one error vector +void Base::reweight(Matrix &A1, Matrix &A2, Vector &error) const { + if ( reweight_ == Block ) { + const double w = sqrtWeight(error.norm()); + A1 *= w; + A2 *= w; + error *= w; + } + else { + const Vector W = sqrtWeight(error); + vector_scale_inplace(W,A1); + vector_scale_inplace(W,A2); + error = W.cwiseProduct(error); + } +} + +// Reweight three block matrix with one error vector +void Base::reweight(Matrix &A1, Matrix &A2, Matrix &A3, Vector &error) const { + if ( reweight_ == Block ) { + const double w = sqrtWeight(error.norm()); + A1 *= w; + A2 *= w; + A3 *= w; + error *= w; + } + else { + const Vector W = sqrtWeight(error); + vector_scale_inplace(W,A1); + vector_scale_inplace(W,A2); + vector_scale_inplace(W,A3); + error = W.cwiseProduct(error); + } +} + +/* ************************************************************************* */ +// Null model +/* ************************************************************************* */ + +void Null::print(const std::string &s="") const +{ cout << s << "null ()" << endl; } + +Null::shared_ptr Null::Create() +{ return shared_ptr(new Null()); } + +/* ************************************************************************* */ +// Fair +/* ************************************************************************* */ + +Fair::Fair(double c, const ReweightScheme reweight) : Base(reweight), c_(c) { + if (c_ <= 0) { + throw runtime_error("mEstimator Fair takes only positive double in constructor."); + } +} + +double Fair::weight(double error) const { + return 1.0 / (1.0 + std::abs(error) / c_); +} + +double Fair::residual(double error) const { + const double absError = std::abs(error); + const double normalizedError = absError / c_; + const double c_2 = c_ * c_; + return c_2 * (normalizedError - std::log(1 + normalizedError)); +} + +void Fair::print(const std::string &s="") const +{ cout << s << "fair (" << c_ << ")" << endl; } + +bool Fair::equals(const Base &expected, double tol) const { + const Fair* p = dynamic_cast (&expected); + if (p == NULL) return false; + return std::abs(c_ - p->c_ ) < tol; +} + +Fair::shared_ptr Fair::Create(double c, const ReweightScheme reweight) +{ return shared_ptr(new Fair(c, reweight)); } + +/* ************************************************************************* */ +// Huber +/* ************************************************************************* */ + +Huber::Huber(double k, const ReweightScheme reweight) : Base(reweight), k_(k) { + if (k_ <= 0) { + throw runtime_error("mEstimator Huber takes only positive double in constructor."); + } +} + +double Huber::weight(double error) const { + const double absError = std::abs(error); + return (absError <= k_) ? (1.0) : (k_ / absError); +} + +double Huber::residual(double error) const { + const double absError = std::abs(error); + if (absError <= k_) { // |x| <= k + return error*error / 2; + } else { // |x| > k + return k_ * (absError - (k_/2)); + } +} + +void Huber::print(const std::string &s="") const { + cout << s << "huber (" << k_ << ")" << endl; +} + +bool Huber::equals(const Base &expected, double tol) const { + const Huber* p = dynamic_cast(&expected); + if (p == NULL) return false; + return std::abs(k_ - p->k_) < tol; +} + +Huber::shared_ptr Huber::Create(double c, const ReweightScheme reweight) { + return shared_ptr(new Huber(c, reweight)); +} + +/* ************************************************************************* */ +// Cauchy +/* ************************************************************************* */ + +Cauchy::Cauchy(double k, const ReweightScheme reweight) : Base(reweight), k_(k), ksquared_(k * k) { + if (k <= 0) { + throw runtime_error("mEstimator Cauchy takes only positive double in constructor."); + } +} + +double Cauchy::weight(double error) const { + return ksquared_ / (ksquared_ + error*error); +} + +double Cauchy::residual(double error) const { + const double xc2 = error / k_; + const double val = std::log(1 + (xc2*xc2)); + return ksquared_ * val * 0.5; +} + +void Cauchy::print(const std::string &s="") const { + cout << s << "cauchy (" << k_ << ")" << endl; +} + +bool Cauchy::equals(const Base &expected, double tol) const { + const Cauchy* p = dynamic_cast(&expected); + if (p == NULL) return false; + return std::abs(ksquared_ - p->ksquared_) < tol; +} + +Cauchy::shared_ptr Cauchy::Create(double c, const ReweightScheme reweight) { + return shared_ptr(new Cauchy(c, reweight)); +} + +/* ************************************************************************* */ +// Tukey +/* ************************************************************************* */ + +Tukey::Tukey(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) { + if (c <= 0) { + throw runtime_error("mEstimator Tukey takes only positive double in constructor."); + } +} + +double Tukey::weight(double error) const { + if (std::abs(error) <= c_) { + const double xc2 = error*error/csquared_; + return (1.0-xc2)*(1.0-xc2); + } + return 0.0; +} + +double Tukey::residual(double error) const { + double absError = std::abs(error); + if (absError <= c_) { + const double xc2 = error*error/csquared_; + const double t = (1 - xc2)*(1 - xc2)*(1 - xc2); + return csquared_ * (1 - t) / 6.0; + } else { + return csquared_ / 6.0; + } +} + +void Tukey::print(const std::string &s="") const { + std::cout << s << ": Tukey (" << c_ << ")" << std::endl; +} + +bool Tukey::equals(const Base &expected, double tol) const { + const Tukey* p = dynamic_cast(&expected); + if (p == NULL) return false; + return std::abs(c_ - p->c_) < tol; +} + +Tukey::shared_ptr Tukey::Create(double c, const ReweightScheme reweight) { + return shared_ptr(new Tukey(c, reweight)); +} + +/* ************************************************************************* */ +// Welsch +/* ************************************************************************* */ + +Welsch::Welsch(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {} + +double Welsch::weight(double error) const { + const double xc2 = (error*error)/csquared_; + return std::exp(-xc2); +} + +double Welsch::residual(double error) const { + const double xc2 = (error*error)/csquared_; + return csquared_ * 0.5 * (1 - std::exp(-xc2) ); +} + +void Welsch::print(const std::string &s="") const { + std::cout << s << ": Welsch (" << c_ << ")" << std::endl; +} + +bool Welsch::equals(const Base &expected, double tol) const { + const Welsch* p = dynamic_cast(&expected); + if (p == NULL) return false; + return std::abs(c_ - p->c_) < tol; +} + +Welsch::shared_ptr Welsch::Create(double c, const ReweightScheme reweight) { + return shared_ptr(new Welsch(c, reweight)); +} + +/* ************************************************************************* */ +// GemanMcClure +/* ************************************************************************* */ +GemanMcClure::GemanMcClure(double c, const ReweightScheme reweight) + : Base(reweight), c_(c) { +} + +double GemanMcClure::weight(double error) const { + const double c2 = c_*c_; + const double c4 = c2*c2; + const double c2error = c2 + error*error; + return c4/(c2error*c2error); +} + +double GemanMcClure::residual(double error) const { + const double c2 = c_*c_; + const double error2 = error*error; + return 0.5 * (c2 * error2) / (c2 + error2); +} + +void GemanMcClure::print(const std::string &s="") const { + std::cout << s << ": Geman-McClure (" << c_ << ")" << std::endl; +} + +bool GemanMcClure::equals(const Base &expected, double tol) const { + const GemanMcClure* p = dynamic_cast(&expected); + if (p == NULL) return false; + return std::abs(c_ - p->c_) < tol; +} + +GemanMcClure::shared_ptr GemanMcClure::Create(double c, const ReweightScheme reweight) { + return shared_ptr(new GemanMcClure(c, reweight)); +} + +/* ************************************************************************* */ +// DCS +/* ************************************************************************* */ +DCS::DCS(double c, const ReweightScheme reweight) + : Base(reweight), c_(c) { +} + +double DCS::weight(double error) const { + const double e2 = error*error; + if (e2 > c_) + { + const double w = 2.0*c_/(c_ + e2); + return w*w; + } + + return 1.0; +} + +double DCS::residual(double error) const { + // This is the simplified version of Eq 9 from (Agarwal13icra) + // after you simplify and cancel terms. + const double e2 = error*error; + const double e4 = e2*e2; + const double c2 = c_*c_; + + return (c2*e2 + c_*e4) / ((e2 + c_)*(e2 + c_)); +} + +void DCS::print(const std::string &s="") const { + std::cout << s << ": DCS (" << c_ << ")" << std::endl; +} + +bool DCS::equals(const Base &expected, double tol) const { + const DCS* p = dynamic_cast(&expected); + if (p == NULL) return false; + return std::abs(c_ - p->c_) < tol; +} + +DCS::shared_ptr DCS::Create(double c, const ReweightScheme reweight) { + return shared_ptr(new DCS(c, reweight)); +} + +/* ************************************************************************* */ +// L2WithDeadZone +/* ************************************************************************* */ + +L2WithDeadZone::L2WithDeadZone(double k, const ReweightScheme reweight) + : Base(reweight), k_(k) { + if (k_ <= 0) { + throw runtime_error("mEstimator L2WithDeadZone takes only positive double in constructor."); + } +} + +double L2WithDeadZone::weight(double error) const { + // note that this code is slightly uglier than residual, because there are three distinct + // cases to handle (left of deadzone, deadzone, right of deadzone) instead of the two + // cases (deadzone, non-deadzone) in residual. + if (std::abs(error) <= k_) return 0.0; + else if (error > k_) return (-k_+error)/error; + else return (k_+error)/error; +} + +double L2WithDeadZone::residual(double error) const { + const double abs_error = std::abs(error); + return (abs_error < k_) ? 0.0 : 0.5*(k_-abs_error)*(k_-abs_error); +} + +void L2WithDeadZone::print(const std::string &s="") const { + std::cout << s << ": L2WithDeadZone (" << k_ << ")" << std::endl; +} + +bool L2WithDeadZone::equals(const Base &expected, double tol) const { + const L2WithDeadZone* p = dynamic_cast(&expected); + if (p == NULL) return false; + return std::abs(k_ - p->k_) < tol; +} + +L2WithDeadZone::shared_ptr L2WithDeadZone::Create(double k, const ReweightScheme reweight) { + return shared_ptr(new L2WithDeadZone(k, reweight)); +} + +} // namespace mEstimator +} // namespace noiseModel +} // gtsam diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h new file mode 100644 index 000000000..1f7cc1377 --- /dev/null +++ b/gtsam/linear/LossFunctions.h @@ -0,0 +1,379 @@ + +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file NoiseModel.h + * @date Jan 13, 2010 + * @author Richard Roberts + * @author Frank Dellaert + */ + +#pragma once + +#include +#include +#include + +#include +#include +#include +#include +#include + +namespace gtsam { +namespace noiseModel { +// clang-format off +/** + * The mEstimator name space contains all robust error functions. + * It mirrors the exposition at + * https://members.loria.fr/MOBerger/Enseignement/Master2/Documents/ZhangIVC-97-01.pdf + * which talks about minimizing \sum \rho(r_i), where \rho is a residual function of choice. + * + * To illustrate, let's consider the least-squares (L2), L1, and Huber estimators as examples: + * + * Name Symbol Least-Squares L1-norm Huber + * Residual \rho(x) 0.5*x^2 |x| 0.5*x^2 if |x| shared_ptr; + + protected: + /** the rows can be weighted independently according to the error + * or uniformly with the norm of the right hand side */ + ReweightScheme reweight_; + + public: + Base(const ReweightScheme reweight = Block) : reweight_(reweight) {} + virtual ~Base() {} + + /* + * This method is responsible for returning the total penalty for a given + * amount of error. For example, this method is responsible for implementing + * the quadratic function for an L2 penalty, the absolute value function for + * an L1 penalty, etc. + * + * TODO(mikebosse): When the residual function has as input the norm of the + * residual vector, then it prevents implementations of asymmeric loss + * functions. It would be better for this function to accept the vector and + * internally call the norm if necessary. + */ + virtual double residual(double error) const { return 0; }; + + /* + * This method is responsible for returning the weight function for a given + * amount of error. The weight function is related to the analytic derivative + * of the residual function. See + * https://members.loria.fr/MOBerger/Enseignement/Master2/Documents/ZhangIVC-97-01.pdf + * for details. This method is required when optimizing cost functions with + * robust penalties using iteratively re-weighted least squares. + */ + virtual double weight(double error) const = 0; + + virtual void print(const std::string &s) const = 0; + virtual bool equals(const Base &expected, double tol = 1e-8) const = 0; + + double sqrtWeight(double error) const { return std::sqrt(weight(error)); } + + /** produce a weight vector according to an error vector and the implemented + * robust function */ + Vector weight(const Vector &error) const; + + /** square root version of the weight function */ + Vector sqrtWeight(const Vector &error) const { + return weight(error).cwiseSqrt(); + } + + /** reweight block matrices and a vector according to their weight + * implementation */ + void reweight(Vector &error) const; + void reweight(std::vector &A, Vector &error) const; + void reweight(Matrix &A, Vector &error) const; + void reweight(Matrix &A1, Matrix &A2, Vector &error) const; + void reweight(Matrix &A1, Matrix &A2, Matrix &A3, Vector &error) const; + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &BOOST_SERIALIZATION_NVP(reweight_); + } +}; + +/// Null class is not robust so is a Gaussian ? +class GTSAM_EXPORT Null : public Base { + public: + typedef boost::shared_ptr shared_ptr; + + Null(const ReweightScheme reweight = Block) : Base(reweight) {} + ~Null() {} + double weight(double /*error*/) const { return 1.0; } + double residual(double error) const { return error; } + void print(const std::string &s) const; + bool equals(const Base & /*expected*/, double /*tol*/) const { return true; } + static shared_ptr Create(); + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + } +}; + +/// Fair implements the "Fair" robust error model (Zhang97ivc) +class GTSAM_EXPORT Fair : public Base { + protected: + double c_; + + public: + typedef boost::shared_ptr shared_ptr; + + Fair(double c = 1.3998, const ReweightScheme reweight = Block); + double weight(double error) const override; + double residual(double error) const override; + void print(const std::string &s) const override; + bool equals(const Base &expected, double tol = 1e-8) const override; + static shared_ptr Create(double c, const ReweightScheme reweight = Block); + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar &BOOST_SERIALIZATION_NVP(c_); + } +}; + +/// Huber implements the "Huber" robust error model (Zhang97ivc) +class GTSAM_EXPORT Huber : public Base { + protected: + double k_; + + public: + typedef boost::shared_ptr shared_ptr; + + Huber(double k = 1.345, const ReweightScheme reweight = Block); + double weight(double error) const override; + double residual(double error) const override; + void print(const std::string &s) const override; + bool equals(const Base &expected, double tol = 1e-8) const override; + static shared_ptr Create(double k, const ReweightScheme reweight = Block); + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar &BOOST_SERIALIZATION_NVP(k_); + } +}; + +/// Cauchy implements the "Cauchy" robust error model (Lee2013IROS). Contributed +/// by: +/// Dipl.-Inform. Jan Oberlaender (M.Sc.), FZI Research Center for +/// Information Technology, Karlsruhe, Germany. +/// oberlaender@fzi.de +/// Thanks Jan! +class GTSAM_EXPORT Cauchy : public Base { + protected: + double k_, ksquared_; + + public: + typedef boost::shared_ptr shared_ptr; + + Cauchy(double k = 0.1, const ReweightScheme reweight = Block); + double weight(double error) const override; + double residual(double error) const override; + void print(const std::string &s) const override; + bool equals(const Base &expected, double tol = 1e-8) const override; + static shared_ptr Create(double k, const ReweightScheme reweight = Block); + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar &BOOST_SERIALIZATION_NVP(k_); + } +}; + +/// Tukey implements the "Tukey" robust error model (Zhang97ivc) +class GTSAM_EXPORT Tukey : public Base { + protected: + double c_, csquared_; + + public: + typedef boost::shared_ptr shared_ptr; + + Tukey(double c = 4.6851, const ReweightScheme reweight = Block); + double weight(double error) const override; + double residual(double error) const override; + void print(const std::string &s) const override; + bool equals(const Base &expected, double tol = 1e-8) const override; + static shared_ptr Create(double k, const ReweightScheme reweight = Block); + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar &BOOST_SERIALIZATION_NVP(c_); + } +}; + +/// Welsch implements the "Welsch" robust error model (Zhang97ivc) +class GTSAM_EXPORT Welsch : public Base { + protected: + double c_, csquared_; + + public: + typedef boost::shared_ptr shared_ptr; + + Welsch(double c = 2.9846, const ReweightScheme reweight = Block); + double weight(double error) const override; + double residual(double error) const override; + void print(const std::string &s) const override; + bool equals(const Base &expected, double tol = 1e-8) const override; + static shared_ptr Create(double k, const ReweightScheme reweight = Block); + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar &BOOST_SERIALIZATION_NVP(c_); + } +}; +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 +/// @name Deprecated +/// @{ +// Welsh implements the "Welsch" robust error model (Zhang97ivc) +// This was misspelled in previous versions of gtsam and should be +// removed in the future. +using Welsh = Welsch; +#endif + +/// GemanMcClure implements the "Geman-McClure" robust error model +/// (Zhang97ivc). +/// +/// Note that Geman-McClure weight function uses the parameter c == 1.0, +/// but here it's allowed to use different values, so we actually have +/// the generalized Geman-McClure from (Agarwal15phd). +class GTSAM_EXPORT GemanMcClure : public Base { + public: + typedef boost::shared_ptr shared_ptr; + + GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block); + ~GemanMcClure() {} + double weight(double error) const override; + double residual(double error) const override; + void print(const std::string &s) const override; + bool equals(const Base &expected, double tol = 1e-8) const override; + static shared_ptr Create(double k, const ReweightScheme reweight = Block); + + protected: + double c_; + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar &BOOST_SERIALIZATION_NVP(c_); + } +}; + +/// DCS implements the Dynamic Covariance Scaling robust error model +/// from the paper Robust Map Optimization (Agarwal13icra). +/// +/// Under the special condition of the parameter c == 1.0 and not +/// forcing the output weight s <= 1.0, DCS is similar to Geman-McClure. +class GTSAM_EXPORT DCS : public Base { + public: + typedef boost::shared_ptr shared_ptr; + + DCS(double c = 1.0, const ReweightScheme reweight = Block); + ~DCS() {} + double weight(double error) const override; + double residual(double error) const override; + void print(const std::string &s) const override; + bool equals(const Base &expected, double tol = 1e-8) const override; + static shared_ptr Create(double k, const ReweightScheme reweight = Block); + + protected: + double c_; + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar &BOOST_SERIALIZATION_NVP(c_); + } +}; + +/// L2WithDeadZone implements a standard L2 penalty, but with a dead zone of +/// width 2*k, centered at the origin. The resulting penalty within the dead +/// zone is always zero, and grows quadratically outside the dead zone. In this +/// sense, the L2WithDeadZone penalty is "robust to inliers", rather than being +/// robust to outliers. This penalty can be used to create barrier functions in +/// a general way. +class GTSAM_EXPORT L2WithDeadZone : public Base { + protected: + double k_; + + public: + typedef boost::shared_ptr shared_ptr; + + L2WithDeadZone(double k = 1.0, const ReweightScheme reweight = Block); + double weight(double error) const override; + double residual(double error) const override; + void print(const std::string &s) const override; + bool equals(const Base &expected, double tol = 1e-8) const override; + static shared_ptr Create(double k, const ReweightScheme reweight = Block); + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar &BOOST_SERIALIZATION_NVP(k_); + } +}; + +} // namespace mEstimator +} // namespace noiseModel +} // namespace gtsam diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index e0b7c8b17..4e599d45f 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -616,403 +616,6 @@ void Unit::print(const std::string& name) const { cout << name << "unit (" << dim_ << ") " << endl; } -/* ************************************************************************* */ -// M-Estimator -/* ************************************************************************* */ - -namespace mEstimator { - -Vector Base::weight(const Vector& error) const { - const size_t n = error.rows(); - Vector w(n); - for (size_t i = 0; i < n; ++i) - w(i) = weight(error(i)); - return w; -} - -// The following three functions re-weight block matrices and a vector -// according to their weight implementation - -void Base::reweight(Vector& error) const { - if (reweight_ == Block) { - const double w = sqrtWeight(error.norm()); - error *= w; - } else { - error.array() *= weight(error).cwiseSqrt().array(); - } -} - -// Reweight n block matrices with one error vector -void Base::reweight(vector &A, Vector &error) const { - if ( reweight_ == Block ) { - const double w = sqrtWeight(error.norm()); - for(Matrix& Aj: A) { - Aj *= w; - } - error *= w; - } - else { - const Vector W = sqrtWeight(error); - for(Matrix& Aj: A) { - vector_scale_inplace(W,Aj); - } - error = W.cwiseProduct(error); - } -} - -// Reweight one block matrix with one error vector -void Base::reweight(Matrix &A, Vector &error) const { - if ( reweight_ == Block ) { - const double w = sqrtWeight(error.norm()); - A *= w; - error *= w; - } - else { - const Vector W = sqrtWeight(error); - vector_scale_inplace(W,A); - error = W.cwiseProduct(error); - } -} - -// Reweight two block matrix with one error vector -void Base::reweight(Matrix &A1, Matrix &A2, Vector &error) const { - if ( reweight_ == Block ) { - const double w = sqrtWeight(error.norm()); - A1 *= w; - A2 *= w; - error *= w; - } - else { - const Vector W = sqrtWeight(error); - vector_scale_inplace(W,A1); - vector_scale_inplace(W,A2); - error = W.cwiseProduct(error); - } -} - -// Reweight three block matrix with one error vector -void Base::reweight(Matrix &A1, Matrix &A2, Matrix &A3, Vector &error) const { - if ( reweight_ == Block ) { - const double w = sqrtWeight(error.norm()); - A1 *= w; - A2 *= w; - A3 *= w; - error *= w; - } - else { - const Vector W = sqrtWeight(error); - vector_scale_inplace(W,A1); - vector_scale_inplace(W,A2); - vector_scale_inplace(W,A3); - error = W.cwiseProduct(error); - } -} - -/* ************************************************************************* */ -// Null model -/* ************************************************************************* */ - -void Null::print(const std::string &s="") const -{ cout << s << "null ()" << endl; } - -Null::shared_ptr Null::Create() -{ return shared_ptr(new Null()); } - -/* ************************************************************************* */ -// Fair -/* ************************************************************************* */ - -Fair::Fair(double c, const ReweightScheme reweight) : Base(reweight), c_(c) { - if (c_ <= 0) { - throw runtime_error("mEstimator Fair takes only positive double in constructor."); - } -} - -double Fair::weight(double error) const { - return 1.0 / (1.0 + std::abs(error) / c_); -} - -double Fair::residual(double error) const { - const double absError = std::abs(error); - const double normalizedError = absError / c_; - const double c_2 = c_ * c_; - return c_2 * (normalizedError - std::log(1 + normalizedError)); -} - -void Fair::print(const std::string &s="") const -{ cout << s << "fair (" << c_ << ")" << endl; } - -bool Fair::equals(const Base &expected, double tol) const { - const Fair* p = dynamic_cast (&expected); - if (p == NULL) return false; - return std::abs(c_ - p->c_ ) < tol; -} - -Fair::shared_ptr Fair::Create(double c, const ReweightScheme reweight) -{ return shared_ptr(new Fair(c, reweight)); } - -/* ************************************************************************* */ -// Huber -/* ************************************************************************* */ - -Huber::Huber(double k, const ReweightScheme reweight) : Base(reweight), k_(k) { - if (k_ <= 0) { - throw runtime_error("mEstimator Huber takes only positive double in constructor."); - } -} - -double Huber::weight(double error) const { - const double absError = std::abs(error); - return (absError <= k_) ? (1.0) : (k_ / absError); -} - -double Huber::residual(double error) const { - const double absError = std::abs(error); - if (absError <= k_) { // |x| <= k - return error*error / 2; - } else { // |x| > k - return k_ * (absError - (k_/2)); - } -} - -void Huber::print(const std::string &s="") const { - cout << s << "huber (" << k_ << ")" << endl; -} - -bool Huber::equals(const Base &expected, double tol) const { - const Huber* p = dynamic_cast(&expected); - if (p == NULL) return false; - return std::abs(k_ - p->k_) < tol; -} - -Huber::shared_ptr Huber::Create(double c, const ReweightScheme reweight) { - return shared_ptr(new Huber(c, reweight)); -} - -/* ************************************************************************* */ -// Cauchy -/* ************************************************************************* */ - -Cauchy::Cauchy(double k, const ReweightScheme reweight) : Base(reweight), k_(k), ksquared_(k * k) { - if (k <= 0) { - throw runtime_error("mEstimator Cauchy takes only positive double in constructor."); - } -} - -double Cauchy::weight(double error) const { - return ksquared_ / (ksquared_ + error*error); -} - -double Cauchy::residual(double error) const { - const double xc2 = error / k_; - const double val = std::log(1 + (xc2*xc2)); - return ksquared_ * val * 0.5; -} - -void Cauchy::print(const std::string &s="") const { - cout << s << "cauchy (" << k_ << ")" << endl; -} - -bool Cauchy::equals(const Base &expected, double tol) const { - const Cauchy* p = dynamic_cast(&expected); - if (p == NULL) return false; - return std::abs(ksquared_ - p->ksquared_) < tol; -} - -Cauchy::shared_ptr Cauchy::Create(double c, const ReweightScheme reweight) { - return shared_ptr(new Cauchy(c, reweight)); -} - -/* ************************************************************************* */ -// Tukey -/* ************************************************************************* */ - -Tukey::Tukey(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) { - if (c <= 0) { - throw runtime_error("mEstimator Tukey takes only positive double in constructor."); - } -} - -double Tukey::weight(double error) const { - if (std::abs(error) <= c_) { - const double xc2 = error*error/csquared_; - return (1.0-xc2)*(1.0-xc2); - } - return 0.0; -} - -double Tukey::residual(double error) const { - double absError = std::abs(error); - if (absError <= c_) { - const double xc2 = error*error/csquared_; - const double t = (1 - xc2)*(1 - xc2)*(1 - xc2); - return csquared_ * (1 - t) / 6.0; - } else { - return csquared_ / 6.0; - } -} - -void Tukey::print(const std::string &s="") const { - std::cout << s << ": Tukey (" << c_ << ")" << std::endl; -} - -bool Tukey::equals(const Base &expected, double tol) const { - const Tukey* p = dynamic_cast(&expected); - if (p == NULL) return false; - return std::abs(c_ - p->c_) < tol; -} - -Tukey::shared_ptr Tukey::Create(double c, const ReweightScheme reweight) { - return shared_ptr(new Tukey(c, reweight)); -} - -/* ************************************************************************* */ -// Welsch -/* ************************************************************************* */ - -Welsch::Welsch(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {} - -double Welsch::weight(double error) const { - const double xc2 = (error*error)/csquared_; - return std::exp(-xc2); -} - -double Welsch::residual(double error) const { - const double xc2 = (error*error)/csquared_; - return csquared_ * 0.5 * (1 - std::exp(-xc2) ); -} - -void Welsch::print(const std::string &s="") const { - std::cout << s << ": Welsch (" << c_ << ")" << std::endl; -} - -bool Welsch::equals(const Base &expected, double tol) const { - const Welsch* p = dynamic_cast(&expected); - if (p == NULL) return false; - return std::abs(c_ - p->c_) < tol; -} - -Welsch::shared_ptr Welsch::Create(double c, const ReweightScheme reweight) { - return shared_ptr(new Welsch(c, reweight)); -} - -/* ************************************************************************* */ -// GemanMcClure -/* ************************************************************************* */ -GemanMcClure::GemanMcClure(double c, const ReweightScheme reweight) - : Base(reweight), c_(c) { -} - -double GemanMcClure::weight(double error) const { - const double c2 = c_*c_; - const double c4 = c2*c2; - const double c2error = c2 + error*error; - return c4/(c2error*c2error); -} - -double GemanMcClure::residual(double error) const { - const double c2 = c_*c_; - const double error2 = error*error; - return 0.5 * (c2 * error2) / (c2 + error2); -} - -void GemanMcClure::print(const std::string &s="") const { - std::cout << s << ": Geman-McClure (" << c_ << ")" << std::endl; -} - -bool GemanMcClure::equals(const Base &expected, double tol) const { - const GemanMcClure* p = dynamic_cast(&expected); - if (p == NULL) return false; - return std::abs(c_ - p->c_) < tol; -} - -GemanMcClure::shared_ptr GemanMcClure::Create(double c, const ReweightScheme reweight) { - return shared_ptr(new GemanMcClure(c, reweight)); -} - -/* ************************************************************************* */ -// DCS -/* ************************************************************************* */ -DCS::DCS(double c, const ReweightScheme reweight) - : Base(reweight), c_(c) { -} - -double DCS::weight(double error) const { - const double e2 = error*error; - if (e2 > c_) - { - const double w = 2.0*c_/(c_ + e2); - return w*w; - } - - return 1.0; -} - -double DCS::residual(double error) const { - // This is the simplified version of Eq 9 from (Agarwal13icra) - // after you simplify and cancel terms. - const double e2 = error*error; - const double e4 = e2*e2; - const double c2 = c_*c_; - - return (c2*e2 + c_*e4) / ((e2 + c_)*(e2 + c_)); -} - -void DCS::print(const std::string &s="") const { - std::cout << s << ": DCS (" << c_ << ")" << std::endl; -} - -bool DCS::equals(const Base &expected, double tol) const { - const DCS* p = dynamic_cast(&expected); - if (p == NULL) return false; - return std::abs(c_ - p->c_) < tol; -} - -DCS::shared_ptr DCS::Create(double c, const ReweightScheme reweight) { - return shared_ptr(new DCS(c, reweight)); -} - -/* ************************************************************************* */ -// L2WithDeadZone -/* ************************************************************************* */ - -L2WithDeadZone::L2WithDeadZone(double k, const ReweightScheme reweight) - : Base(reweight), k_(k) { - if (k_ <= 0) { - throw runtime_error("mEstimator L2WithDeadZone takes only positive double in constructor."); - } -} - -double L2WithDeadZone::weight(double error) const { - // note that this code is slightly uglier than residual, because there are three distinct - // cases to handle (left of deadzone, deadzone, right of deadzone) instead of the two - // cases (deadzone, non-deadzone) in residual. - if (std::abs(error) <= k_) return 0.0; - else if (error > k_) return (-k_+error)/error; - else return (k_+error)/error; -} - -double L2WithDeadZone::residual(double error) const { - const double abs_error = std::abs(error); - return (abs_error < k_) ? 0.0 : 0.5*(k_-abs_error)*(k_-abs_error); -} - -void L2WithDeadZone::print(const std::string &s="") const { - std::cout << s << ": L2WithDeadZone (" << k_ << ")" << std::endl; -} - -bool L2WithDeadZone::equals(const Base &expected, double tol) const { - const L2WithDeadZone* p = dynamic_cast(&expected); - if (p == NULL) return false; - return std::abs(k_ - p->k_) < tol; -} - -L2WithDeadZone::shared_ptr L2WithDeadZone::Create(double k, const ReweightScheme reweight) { - return shared_ptr(new L2WithDeadZone(k, reweight)); -} - -} // namespace mEstimator - /* ************************************************************************* */ // Robust /* ************************************************************************* */ diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index f73fde51c..6fe50ed4c 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -21,6 +21,7 @@ #include #include #include +#include #include #include @@ -39,6 +40,7 @@ namespace gtsam { class Constrained; class Isotropic; class Unit; + class RobustModel; //--------------------------------------------------------------------------------------- @@ -626,350 +628,6 @@ namespace gtsam { } }; - /** - * The mEstimator name space contains all robust error functions. - * It mirrors the exposition at - * https://members.loria.fr/MOBerger/Enseignement/Master2/Documents/ZhangIVC-97-01.pdf - * which talks about minimizing \sum \rho(r_i), where \rho is a residual function of choice. - * - * To illustrate, let's consider the least-squares (L2), L1, and Huber estimators as examples: - * - * Name Symbol Least-Squares L1-norm Huber - * Residual \rho(x) 0.5*x^2 |x| 0.5*x^2 if |x| shared_ptr; - - protected: - /** the rows can be weighted independently according to the error - * or uniformly with the norm of the right hand side */ - ReweightScheme reweight_; - - public: - Base(const ReweightScheme reweight = Block):reweight_(reweight) {} - virtual ~Base() {} - - /* - * This method is responsible for returning the total penalty for a given amount of error. - * For example, this method is responsible for implementing the quadratic function for an - * L2 penalty, the absolute value function for an L1 penalty, etc. - * - * TODO(mike): There is currently a bug in GTSAM, where none of the mEstimator classes - * implement a residual function, and GTSAM calls the weight function to evaluate the - * total penalty, rather than calling the residual function. The weight function should be - * used during iteratively reweighted least squares optimization, but should not be used to - * evaluate the total penalty. The long-term solution is for all mEstimators to implement - * both a weight and a residual function, and for GTSAM to call the residual function when - * evaluating the total penalty. But for now, I'm leaving this residual method as pure - * virtual, so the existing mEstimators can inherit this default fallback behavior. - */ - virtual double residual(double error) const { return 0; }; - - /* - * This method is responsible for returning the weight function for a given amount of error. - * The weight function is related to the analytic derivative of the residual function. See - * https://members.loria.fr/MOBerger/Enseignement/Master2/Documents/ZhangIVC-97-01.pdf - * for details. This method is required when optimizing cost functions with robust penalties - * using iteratively re-weighted least squares. - */ - virtual double weight(double error) const = 0; - - virtual void print(const std::string &s) const = 0; - virtual bool equals(const Base& expected, double tol=1e-8) const = 0; - - double sqrtWeight(double error) const { - return std::sqrt(weight(error)); - } - - /** produce a weight vector according to an error vector and the implemented - * robust function */ - Vector weight(const Vector &error) const; - - /** square root version of the weight function */ - Vector sqrtWeight(const Vector &error) const { - return weight(error).cwiseSqrt(); - } - - /** reweight block matrices and a vector according to their weight implementation */ - void reweight(Vector &error) const; - void reweight(std::vector &A, Vector &error) const; - void reweight(Matrix &A, Vector &error) const; - void reweight(Matrix &A1, Matrix &A2, Vector &error) const; - void reweight(Matrix &A1, Matrix &A2, Matrix &A3, Vector &error) const; - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_NVP(reweight_); - } - }; - - /// Null class is not robust so is a Gaussian ? - class GTSAM_EXPORT Null : public Base { - public: - typedef boost::shared_ptr shared_ptr; - - Null(const ReweightScheme reweight = Block) : Base(reweight) {} - ~Null() {} - double weight(double /*error*/) const { return 1.0; } - double residual(double error) const { return error; } - void print(const std::string &s) const; - bool equals(const Base& /*expected*/, double /*tol*/) const { return true; } - static shared_ptr Create() ; - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - } - }; - - /// Fair implements the "Fair" robust error model (Zhang97ivc) - class GTSAM_EXPORT Fair : public Base { - protected: - double c_; - - public: - typedef boost::shared_ptr shared_ptr; - - Fair(double c = 1.3998, const ReweightScheme reweight = Block); - double weight(double error) const override; - double residual(double error) const override; - void print(const std::string &s) const override; - bool equals(const Base& expected, double tol = 1e-8) const override; - static shared_ptr Create(double c, const ReweightScheme reweight = Block) ; - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(c_); - } - }; - - /// Huber implements the "Huber" robust error model (Zhang97ivc) - class GTSAM_EXPORT Huber : public Base { - protected: - double k_; - - public: - typedef boost::shared_ptr shared_ptr; - - Huber(double k = 1.345, const ReweightScheme reweight = Block); - double weight(double error) const override; - double residual(double error) const override; - void print(const std::string &s) const override; - bool equals(const Base& expected, double tol = 1e-8) const override; - static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(k_); - } - }; - - /// Cauchy implements the "Cauchy" robust error model (Lee2013IROS). Contributed by: - /// Dipl.-Inform. Jan Oberlaender (M.Sc.), FZI Research Center for - /// Information Technology, Karlsruhe, Germany. - /// oberlaender@fzi.de - /// Thanks Jan! - class GTSAM_EXPORT Cauchy : public Base { - protected: - double k_, ksquared_; - - public: - typedef boost::shared_ptr shared_ptr; - - Cauchy(double k = 0.1, const ReweightScheme reweight = Block); - double weight(double error) const override; - double residual(double error) const override; - void print(const std::string &s) const override; - bool equals(const Base& expected, double tol = 1e-8) const override; - static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(k_); - } - }; - - /// Tukey implements the "Tukey" robust error model (Zhang97ivc) - class GTSAM_EXPORT Tukey : public Base { - protected: - double c_, csquared_; - - public: - typedef boost::shared_ptr shared_ptr; - - Tukey(double c = 4.6851, const ReweightScheme reweight = Block); - double weight(double error) const override; - double residual(double error) const override; - void print(const std::string &s) const override; - bool equals(const Base& expected, double tol = 1e-8) const override; - static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(c_); - } - }; - - /// Welsch implements the "Welsch" robust error model (Zhang97ivc) - class GTSAM_EXPORT Welsch : public Base { - protected: - double c_, csquared_; - - public: - typedef boost::shared_ptr shared_ptr; - - Welsch(double c = 2.9846, const ReweightScheme reweight = Block); - double weight(double error) const override; - double residual(double error) const override; - void print(const std::string &s) const override; - bool equals(const Base& expected, double tol = 1e-8) const override; - static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(c_); - } - }; -#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 - /// @name Deprecated - /// @{ - // Welsh implements the "Welsch" robust error model (Zhang97ivc) - // This was misspelled in previous versions of gtsam and should be - // removed in the future. - using Welsh = Welsch; -#endif - - /// GemanMcClure implements the "Geman-McClure" robust error model - /// (Zhang97ivc). - /// - /// Note that Geman-McClure weight function uses the parameter c == 1.0, - /// but here it's allowed to use different values, so we actually have - /// the generalized Geman-McClure from (Agarwal15phd). - class GTSAM_EXPORT GemanMcClure : public Base { - public: - typedef boost::shared_ptr shared_ptr; - - GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block); - ~GemanMcClure() {} - double weight(double error) const override; - double residual(double error) const override; - void print(const std::string &s) const override; - bool equals(const Base& expected, double tol=1e-8) const override; - static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; - - protected: - double c_; - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(c_); - } - }; - - /// DCS implements the Dynamic Covariance Scaling robust error model - /// from the paper Robust Map Optimization (Agarwal13icra). - /// - /// Under the special condition of the parameter c == 1.0 and not - /// forcing the output weight s <= 1.0, DCS is similar to Geman-McClure. - class GTSAM_EXPORT DCS : public Base { - public: - typedef boost::shared_ptr shared_ptr; - - DCS(double c = 1.0, const ReweightScheme reweight = Block); - ~DCS() {} - double weight(double error) const override; - double residual(double error) const override; - void print(const std::string &s) const override; - bool equals(const Base& expected, double tol = 1e-8) const override; - static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; - - protected: - double c_; - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(c_); - } - }; - - /// L2WithDeadZone implements a standard L2 penalty, but with a dead zone of width 2*k, - /// centered at the origin. The resulting penalty within the dead zone is always zero, and - /// grows quadratically outside the dead zone. In this sense, the L2WithDeadZone penalty is - /// "robust to inliers", rather than being robust to outliers. This penalty can be used to - /// create barrier functions in a general way. - class GTSAM_EXPORT L2WithDeadZone : public Base { - protected: - double k_; - - public: - typedef boost::shared_ptr shared_ptr; - - L2WithDeadZone(double k = 1.0, const ReweightScheme reweight = Block); - double weight(double error) const override; - double residual(double error) const override; - void print(const std::string &s) const override; - bool equals(const Base& expected, double tol = 1e-8) const override; - static shared_ptr Create(double k, const ReweightScheme reweight = Block); - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(k_); - } - }; - - } ///\namespace mEstimator - /** * Base class for robust error models * The robust M-estimators above simply tell us how to re-weight the residual, and are From 92008c9319c56bb2edc3a3de7da091a21191b306 Mon Sep 17 00:00:00 2001 From: Francesco Papi Date: Tue, 12 Nov 2019 14:07:22 -0800 Subject: [PATCH 0091/1152] Add functionalities to get introspection of the loss function weights and unweighted residuals for the NoiseModelFactor class --- gtsam/linear/NoiseModel.h | 20 ++++++++++++++++++-- gtsam/nonlinear/NonlinearFactor.cpp | 22 ++++++++++++++++++++++ gtsam/nonlinear/NonlinearFactor.h | 10 ++++++++++ 3 files changed, 50 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 6fe50ed4c..6c42fc7ba 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -117,6 +117,14 @@ namespace gtsam { v = unwhiten(v); } + /** Useful function for robust noise models to get the unweighted but whitened error */ + virtual Vector unweightedWhiten(const Vector& v) const { + return whiten(v); + } + + /** get the weight from the effective loss function on residual vector v */ + virtual double weight(const Vector& v) const { return 1.0; } + private: /** Serialization function */ friend class boost::serialization::access; @@ -684,9 +692,9 @@ namespace gtsam { { Vector b; Matrix B=A; this->WhitenSystem(B,b); return B; } inline virtual Vector unwhiten(const Vector& /*v*/) const { throw std::invalid_argument("unwhiten is not currently supported for robust noise models."); } + // Fold the use of the m-estimator residual(...) function into distance(...) inline virtual double distance(const Vector& v) const - { return this->whiten(v).squaredNorm(); } - // TODO(mike): fold the use of the m-estimator residual(...) function into distance(...) + { return robust_->residual(this->unweightedWhiten(v).norm()); } inline virtual double distance_non_whitened(const Vector& v) const { return robust_->residual(v.norm()); } // TODO: these are really robust iterated re-weighting support functions @@ -696,6 +704,14 @@ namespace gtsam { virtual void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const; virtual void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const; + virtual Vector unweightedWhiten(const Vector& v) const { + return noise_->unweightedWhiten(v); + } + virtual double weight(const Vector& v) const { + // Todo(mikebosse): make the robust weight function input a vector. + return robust_->weight(v.norm()); + } + static shared_ptr Create( const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise); diff --git a/gtsam/nonlinear/NonlinearFactor.cpp b/gtsam/nonlinear/NonlinearFactor.cpp index 5c89425c8..ee14e8073 100644 --- a/gtsam/nonlinear/NonlinearFactor.cpp +++ b/gtsam/nonlinear/NonlinearFactor.cpp @@ -93,6 +93,28 @@ Vector NoiseModelFactor::whitenedError(const Values& c) const { return noiseModel_ ? noiseModel_->whiten(b) : b; } +/* ************************************************************************* */ +Vector NoiseModelFactor::unweightedWhitenedError(const Values& c) const { + const Vector b = unwhitenedError(c); + check(noiseModel_, b.size()); + return noiseModel_ ? noiseModel_->unweightedWhiten(b) : b; +} + +/* ************************************************************************* */ +double NoiseModelFactor::weight(const Values& c) const { + if (active(c)) { + if (noiseModel_) { + const Vector b = unwhitenedError(c); + check(noiseModel_, b.size()); + return 0.5 * noiseModel_->weight(b); + } + else + return 1.0; + } else { + return 0.0; + } +} + /* ************************************************************************* */ double NoiseModelFactor::error(const Values& c) const { if (active(c)) { diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 1942734c5..63547a248 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -226,6 +226,16 @@ public: */ Vector whitenedError(const Values& c) const; + /** + * Vector of errors, whitened, but unweighted by any loss function + */ + Vector unweightedWhitenedError(const Values& c) const; + + /** + * Compute the effective weight of the factor from the noise model. + */ + double weight(const Values& c) const; + /** * Calculate the error of the factor. * This is the log-likelihood, e.g. \f$ 0.5(h(x)-z)^2/\sigma^2 \f$ in case of Gaussian. From 96f90c3f13dbecae8469be714f6156ac55c73f01 Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Tue, 12 Nov 2019 19:16:34 -0500 Subject: [PATCH 0092/1152] Fix doxygen "Creating a new factor" I think NonlinearFactor1, NonlinearFactor2, ... is supposed to say NoiseModelFactor1, NoiseModelFactor2, ... --- gtsam/mainpage.dox | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/mainpage.dox b/gtsam/mainpage.dox index db42b1277..59e7f9fa6 100644 --- a/gtsam/mainpage.dox +++ b/gtsam/mainpage.dox @@ -17,11 +17,11 @@ To use GTSAM to solve your own problems, you will often have to create new facto -# The number of variables your factor involves is unknown at compile time - derive from NoiseModelFactor and implement NoiseModelFactor::unwhitenedError() - This is a factor expressing the sum-of-squares error between a measurement \f$ z \f$ and a measurement prediction function \f$ h(x) \f$, on which the errors are expected to follow some distribution specified by a noise model (see noiseModel). --# The number of variables your factor involves is known at compile time and is between 1 and 6 - derive from NonlinearFactor1, NonlinearFactor2, NonlinearFactor3, NonlinearFactor4, NonlinearFactor5, or NonlinearFactor6, and implement \c evaluateError() +-# The number of variables your factor involves is known at compile time and is between 1 and 6 - derive from NoiseModelFactor1, NoiseModelFactor2, NoiseModelFactor3, NoiseModelFactor4, NoiseModelFactor5, or NoiseModelFactor6, and implement \c evaluateError() - This factor expresses the same sum-of-squares error with a noise model, but makes the implementation task slightly easier than with %NoiseModelFactor. -# Derive from NonlinearFactor - This is more advanced and allows creating factors without an explicit noise model, or that linearize to HessianFactor instead of JacobianFactor. */ -} \ No newline at end of file +} From 8cdb009af953a26f5b079722dcc397a89fa69331 Mon Sep 17 00:00:00 2001 From: Michael Bosse Date: Wed, 13 Nov 2019 13:13:48 -0800 Subject: [PATCH 0093/1152] missing iosteam header include --- gtsam/linear/LossFunctions.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/gtsam/linear/LossFunctions.cpp b/gtsam/linear/LossFunctions.cpp index 80b3e3312..2a82122cd 100644 --- a/gtsam/linear/LossFunctions.cpp +++ b/gtsam/linear/LossFunctions.cpp @@ -18,6 +18,8 @@ #include +#include + using namespace std; namespace gtsam { From 78af8894f20ee09f4f98a019181516b360790375 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Mon, 18 Nov 2019 11:27:08 -0500 Subject: [PATCH 0094/1152] Fix alignment on SO --- gtsam/geometry/SOn.h | 3 +++ gtsam/linear/GaussianBayesNet.cpp | 4 ++-- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index a827b3a63..06031b093 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -53,6 +53,9 @@ class SO : public LieGroup, internal::DimensionSO(N)> { using VectorN2 = Eigen::Matrix; using MatrixDD = Eigen::Matrix; + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + protected: MatrixNN matrix_; ///< Rotation matrix diff --git a/gtsam/linear/GaussianBayesNet.cpp b/gtsam/linear/GaussianBayesNet.cpp index bc96452b9..4118d8f71 100644 --- a/gtsam/linear/GaussianBayesNet.cpp +++ b/gtsam/linear/GaussianBayesNet.cpp @@ -194,9 +194,9 @@ namespace gtsam { if(cg->get_model()) { Vector diag = cg->R().diagonal(); cg->get_model()->whitenInPlace(diag); - logDet += diag.unaryExpr(ptr_fun(log)).sum(); + logDet += diag.unaryExpr([](double c){return log(c);}).sum(); } else { - logDet += cg->R().diagonal().unaryExpr(ptr_fun(log)).sum(); + logDet += cg->R().diagonal().unaryExpr([](double c){return log(c);}).sum(); } } return logDet; From 8fe843513614927797138f65c6e97f8346a08832 Mon Sep 17 00:00:00 2001 From: Lukas Solanka Date: Tue, 19 Nov 2019 09:56:08 +0100 Subject: [PATCH 0095/1152] make include_directories relative for install interface --- gtsam/CMakeLists.txt | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 97f7a2c41..82cdf2bad 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -136,13 +136,13 @@ endif() target_include_directories(gtsam BEFORE PUBLIC # SuiteSparse_config $ - $ + $ # CCOLAMD $ - $ + $ # main gtsam includes: $ - $ + $ # config.h $ # unit tests: From 041c4518bf6258caad9013d4db7bcd5b71c8135c Mon Sep 17 00:00:00 2001 From: Erik Nelson Date: Fri, 22 Nov 2019 13:04:48 -0800 Subject: [PATCH 0096/1152] Fix an infinite loop in GTSAM's nonlinear optimizer --- gtsam/nonlinear/NonlinearOptimizer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/NonlinearOptimizer.cpp b/gtsam/nonlinear/NonlinearOptimizer.cpp index ad3b9c4cc..0c5d99c0f 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.cpp +++ b/gtsam/nonlinear/NonlinearOptimizer.cpp @@ -101,7 +101,7 @@ void NonlinearOptimizer::defaultOptimize() { cout << "newError: " << error() << endl; } while (iterations() < params.maxIterations && !checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, params.errorTol, - currentError, error(), params.verbosity)); + currentError, error(), params.verbosity) && std::isfinite(currentError)); // Printing if verbose if (params.verbosity >= NonlinearOptimizerParams::TERMINATION) { From 30a139c1180fd8d61b706b95230b676cb26853a4 Mon Sep 17 00:00:00 2001 From: Erik Nelson Date: Fri, 22 Nov 2019 13:18:53 -0800 Subject: [PATCH 0097/1152] Add missing boost::shared_ptr include to Values.h --- gtsam/nonlinear/Values.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 4b0fceaf9..e48b11b32 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -39,6 +39,7 @@ #pragma GCC diagnostic pop #endif #include +#include #include #include From 660234e4ad7790d6e32c177c06b968c247d18ac6 Mon Sep 17 00:00:00 2001 From: Erik Nelson Date: Fri, 22 Nov 2019 13:39:09 -0800 Subject: [PATCH 0098/1152] Make attitude factor copy and move assignable --- gtsam/navigation/AttitudeFactor.h | 25 ++++++++++--------------- 1 file changed, 10 insertions(+), 15 deletions(-) diff --git a/gtsam/navigation/AttitudeFactor.h b/gtsam/navigation/AttitudeFactor.h index 19c1f8139..db588008e 100644 --- a/gtsam/navigation/AttitudeFactor.h +++ b/gtsam/navigation/AttitudeFactor.h @@ -35,7 +35,7 @@ class AttitudeFactor { protected: - const Unit3 nZ_, bRef_; ///< Position measurement in + Unit3 nZ_, bRef_; ///< Position measurement in public: @@ -56,12 +56,19 @@ public: Vector attitudeError(const Rot3& p, OptionalJacobian<2,3> H = boost::none) const; + const Unit3& nZ() const { + return nZ_; + } + const Unit3& bRef() const { + return bRef_; + } + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & boost::serialization::make_nvp("nZ_", const_cast(nZ_)); - ar & boost::serialization::make_nvp("bRef_", const_cast(bRef_)); + ar & boost::serialization::make_nvp("nZ_", nZ_); + ar & boost::serialization::make_nvp("bRef_", bRef_); } }; @@ -118,12 +125,6 @@ public: boost::optional H = boost::none) const { return attitudeError(nRb, H); } - Unit3 nZ() const { - return nZ_; - } - Unit3 bRef() const { - return bRef_; - } private: @@ -204,12 +205,6 @@ public: } return e; } - Unit3 nZ() const { - return nZ_; - } - Unit3 bRef() const { - return bRef_; - } private: From cb5de5be5813a42be89e1c4ee5ed42d6df70c6c5 Mon Sep 17 00:00:00 2001 From: Erik Nelson Date: Fri, 22 Nov 2019 13:41:55 -0800 Subject: [PATCH 0099/1152] Add unit tests --- gtsam/navigation/tests/testAttitudeFactor.cpp | 30 +++++++++++++++++++ 1 file changed, 30 insertions(+) diff --git a/gtsam/navigation/tests/testAttitudeFactor.cpp b/gtsam/navigation/tests/testAttitudeFactor.cpp index 70b78c916..24b7f2311 100644 --- a/gtsam/navigation/tests/testAttitudeFactor.cpp +++ b/gtsam/navigation/tests/testAttitudeFactor.cpp @@ -75,6 +75,21 @@ TEST(Rot3AttitudeFactor, Serialization) { EXPECT(serializationTestHelpers::equalsBinary(factor)); } +/* ************************************************************************* */ +TEST(Rot3AttitudeFactor, CopyAndMove) { + Unit3 nDown(0, 0, -1); + SharedNoiseModel model = noiseModel::Isotropic::Sigma(2, 0.25); + Rot3AttitudeFactor factor(0, nDown, model); + + // Copy assignable. + Rot3AttitudeFactor factor_copied = factor; + EXPECT(assert_equal(factor, factor_copied)); + + // Move assignable. + Rot3AttitudeFactor factor_moved = std::move(factor_copied); + EXPECT(assert_equal(factor, factor_moved)); +} + // ************************************************************************* TEST( Pose3AttitudeFactor, Constructor ) { @@ -119,6 +134,21 @@ TEST(Pose3AttitudeFactor, Serialization) { EXPECT(serializationTestHelpers::equalsBinary(factor)); } +/* ************************************************************************* */ +TEST(Pose3AttitudeFactor, CopyAndMove) { + Unit3 nDown(0, 0, -1); + SharedNoiseModel model = noiseModel::Isotropic::Sigma(2, 0.25); + Pose3AttitudeFactor factor(0, nDown, model); + + // Copy assignable. + Pose3AttitudeFactor factor_copied = factor; + EXPECT(assert_equal(factor, factor_copied)); + + // Move assignable. + Pose3AttitudeFactor factor_moved = std::move(factor_copied); + EXPECT(assert_equal(factor, factor_moved)); +} + // ************************************************************************* int main() { TestResult tr; From 3f064894c4fdf80163f2945075acb51050b4782a Mon Sep 17 00:00:00 2001 From: Erik Nelson Date: Fri, 22 Nov 2019 13:59:23 -0800 Subject: [PATCH 0100/1152] Explicitly check for copy and move assignable --- gtsam/navigation/tests/testAttitudeFactor.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/gtsam/navigation/tests/testAttitudeFactor.cpp b/gtsam/navigation/tests/testAttitudeFactor.cpp index 24b7f2311..38f16f55f 100644 --- a/gtsam/navigation/tests/testAttitudeFactor.cpp +++ b/gtsam/navigation/tests/testAttitudeFactor.cpp @@ -82,10 +82,12 @@ TEST(Rot3AttitudeFactor, CopyAndMove) { Rot3AttitudeFactor factor(0, nDown, model); // Copy assignable. + EXPECT(std::is_copy_assignable::value); Rot3AttitudeFactor factor_copied = factor; EXPECT(assert_equal(factor, factor_copied)); // Move assignable. + EXPECT(std::is_move_assignable::value); Rot3AttitudeFactor factor_moved = std::move(factor_copied); EXPECT(assert_equal(factor, factor_moved)); } @@ -141,10 +143,12 @@ TEST(Pose3AttitudeFactor, CopyAndMove) { Pose3AttitudeFactor factor(0, nDown, model); // Copy assignable. + EXPECT(std::is_copy_assignable::value); Pose3AttitudeFactor factor_copied = factor; EXPECT(assert_equal(factor, factor_copied)); // Move assignable. + EXPECT(std::is_move_assignable::value); Pose3AttitudeFactor factor_moved = std::move(factor_copied); EXPECT(assert_equal(factor, factor_moved)); } From 13250d5bd75b64b70cd61aa69a1e98bdf9d9e907 Mon Sep 17 00:00:00 2001 From: Ruffin Date: Sun, 24 Nov 2019 13:50:21 -0800 Subject: [PATCH 0101/1152] Include build dependencies --- package.xml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/package.xml b/package.xml index e14e77f2a..1aa729c03 100644 --- a/package.xml +++ b/package.xml @@ -8,6 +8,11 @@ BSD cmake + + boost + eigen + tbb + cmake From 9b402e478c2544d5316ed98c328225969b9297a3 Mon Sep 17 00:00:00 2001 From: Cong Li Date: Mon, 25 Nov 2019 14:49:40 -0800 Subject: [PATCH 0102/1152] compute numerical derivative for 6-argument function and add test code for this, also fix bugs in computing numerical derivative in 5-argument function --- gtsam/base/numericalDerivative.h | 180 ++++++++++++++++++- gtsam/base/tests/testNumericalDerivative.cpp | 80 +++++++++ 2 files changed, 257 insertions(+), 3 deletions(-) diff --git a/gtsam/base/numericalDerivative.h b/gtsam/base/numericalDerivative.h index a9a088108..831bb6bcc 100644 --- a/gtsam/base/numericalDerivative.h +++ b/gtsam/base/numericalDerivative.h @@ -453,7 +453,7 @@ typename internal::FixedSizeMatrix::type numericalDerivative52( } template -inline typename internal::FixedSizeMatrix::type numericalDerivative51(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&), +inline typename internal::FixedSizeMatrix::type numericalDerivative52(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&), const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, double delta = 1e-5) { return numericalDerivative52(boost::bind(h, _1, _2, _3, _4, _5), x1, x2, x3, x4, x5); } @@ -509,7 +509,7 @@ typename internal::FixedSizeMatrix::type numericalDerivative54( } template -inline typename internal::FixedSizeMatrix::type numericalDerivative53(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&), +inline typename internal::FixedSizeMatrix::type numericalDerivative54(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&), const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, double delta = 1e-5) { return numericalDerivative54(boost::bind(h, _1, _2, _3, _4, _5), x1, x2, x3, x4, x5); } @@ -537,11 +537,185 @@ typename internal::FixedSizeMatrix::type numericalDerivative55( } template -inline typename internal::FixedSizeMatrix::type numericalDerivative53(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&), +inline typename internal::FixedSizeMatrix::type numericalDerivative55(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&), const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, double delta = 1e-5) { return numericalDerivative55(boost::bind(h, _1, _2, _3, _4, _5), x1, x2, x3, x4, x5); } +/** + * Compute numerical derivative in argument 1 of 6-argument function + * @param h quintic function yielding m-vector + * @param x1 n-dimensional first argument value + * @param x2 second argument value + * @param x3 third argument value + * @param x4 fourth argument value + * @param x5 fifth argument value + * @param x6 sixth argument value + * @param delta increment for numerical derivative + * @return m*n Jacobian computed via central differencing + */ +template +typename internal::FixedSizeMatrix::type numericalDerivative61( + boost::function h, const X1& x1, + const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) { + BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), + "Template argument Y must be a manifold type."); + BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), + "Template argument X1 must be a manifold type."); + return numericalDerivative11(boost::bind(h, _1, boost::cref(x2), boost::cref(x3), boost::cref(x4), boost::cref(x5), boost::cref(x6)), x1, delta); +} + +template +inline typename internal::FixedSizeMatrix::type numericalDerivative61(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&), + const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) { + return numericalDerivative61(boost::bind(h, _1, _2, _3, _4, _5, _6), x1, x2, x3, x4, x5, x6); +} + +/** + * Compute numerical derivative in argument 2 of 6-argument function + * @param h quintic function yielding m-vector + * @param x1 n-dimensional first argument value + * @param x2 second argument value + * @param x3 third argument value + * @param x4 fourth argument value + * @param x5 fifth argument value + * @param x6 sixth argument value + * @param delta increment for numerical derivative + * @return m*n Jacobian computed via central differencing + */ +template +typename internal::FixedSizeMatrix::type numericalDerivative62( + boost::function h, const X1& x1, + const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) { + BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), + "Template argument Y must be a manifold type."); + BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), + "Template argument X1 must be a manifold type."); + return numericalDerivative11(boost::bind(h, boost::cref(x1), _1, boost::cref(x3), boost::cref(x4), boost::cref(x5), boost::cref(x6)), x2, delta); +} + +template +inline typename internal::FixedSizeMatrix::type numericalDerivative62(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&), + const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) { + return numericalDerivative62(boost::bind(h, _1, _2, _3, _4, _5, _6), x1, x2, x3, x4, x5, x6); +} + +/** + * Compute numerical derivative in argument 3 of 6-argument function + * @param h quintic function yielding m-vector + * @param x1 n-dimensional first argument value + * @param x2 second argument value + * @param x3 third argument value + * @param x4 fourth argument value + * @param x5 fifth argument value + * @param x6 sixth argument value + * @param delta increment for numerical derivative + * @return m*n Jacobian computed via central differencing + */ +template +typename internal::FixedSizeMatrix::type numericalDerivative63( + boost::function h, const X1& x1, + const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) { + BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), + "Template argument Y must be a manifold type."); + BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), + "Template argument X1 must be a manifold type."); + return numericalDerivative11(boost::bind(h, boost::cref(x1), boost::cref(x2), _1, boost::cref(x4), boost::cref(x5), boost::cref(x6)), x3, delta); +} + +template +inline typename internal::FixedSizeMatrix::type numericalDerivative63(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&), + const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) { + return numericalDerivative63(boost::bind(h, _1, _2, _3, _4, _5, _6), x1, x2, x3, x4, x5, x6); +} + +/** + * Compute numerical derivative in argument 4 of 6-argument function + * @param h quintic function yielding m-vector + * @param x1 n-dimensional first argument value + * @param x2 second argument value + * @param x3 third argument value + * @param x4 fourth argument value + * @param x5 fifth argument value + * @param x6 sixth argument value + * @param delta increment for numerical derivative + * @return m*n Jacobian computed via central differencing + */ +template +typename internal::FixedSizeMatrix::type numericalDerivative64( + boost::function h, const X1& x1, + const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) { + BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), + "Template argument Y must be a manifold type."); + BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), + "Template argument X1 must be a manifold type."); + return numericalDerivative11(boost::bind(h, boost::cref(x1), boost::cref(x2), boost::cref(x3), _1, boost::cref(x5), boost::cref(x6)), x4, delta); +} + +template +inline typename internal::FixedSizeMatrix::type numericalDerivative64(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&), + const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) { + return numericalDerivative64(boost::bind(h, _1, _2, _3, _4, _5, _6), x1, x2, x3, x4, x5, x6); +} + +/** + * Compute numerical derivative in argument 5 of 6-argument function + * @param h quintic function yielding m-vector + * @param x1 n-dimensional first argument value + * @param x2 second argument value + * @param x3 third argument value + * @param x4 fourth argument value + * @param x5 fifth argument value + * @param x6 sixth argument value + * @param delta increment for numerical derivative + * @return m*n Jacobian computed via central differencing + */ +template +typename internal::FixedSizeMatrix::type numericalDerivative65( + boost::function h, const X1& x1, + const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) { + BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), + "Template argument Y must be a manifold type."); + BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), + "Template argument X1 must be a manifold type."); + return numericalDerivative11(boost::bind(h, boost::cref(x1), boost::cref(x2), boost::cref(x3), boost::cref(x4), _1, boost::cref(x6)), x5, delta); +} + +template +inline typename internal::FixedSizeMatrix::type numericalDerivative65(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&), + const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) { + return numericalDerivative65(boost::bind(h, _1, _2, _3, _4, _5, _6), x1, x2, x3, x4, x5, x6); +} + +/** + * Compute numerical derivative in argument 6 of 6-argument function + * @param h quintic function yielding m-vector + * @param x1 n-dimensional first argument value + * @param x2 second argument value + * @param x3 third argument value + * @param x4 fourth argument value + * @param x5 fifth argument value + * @param x6 sixth argument value + * @param delta increment for numerical derivative + * @return m*n Jacobian computed via central differencing + */ +template +typename internal::FixedSizeMatrix::type numericalDerivative66( + boost::function h, const X1& x1, + const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) { + BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), + "Template argument Y must be a manifold type."); + BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), + "Template argument X1 must be a manifold type."); + return numericalDerivative11(boost::bind(h, boost::cref(x1), boost::cref(x2), boost::cref(x3), boost::cref(x4), boost::cref(x5), _1), x6, delta); +} + +template +inline typename internal::FixedSizeMatrix::type numericalDerivative66(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&), + const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) { + return numericalDerivative66(boost::bind(h, _1, _2, _3, _4, _5, _6), x1, x2, x3, x4, x5, x6); +} + /** * Compute numerical Hessian matrix. Requires a single-argument Lie->scalar * function. This is implemented simply as the derivative of the gradient. diff --git a/gtsam/base/tests/testNumericalDerivative.cpp b/gtsam/base/tests/testNumericalDerivative.cpp index 1cbf71e1f..d27e43040 100644 --- a/gtsam/base/tests/testNumericalDerivative.cpp +++ b/gtsam/base/tests/testNumericalDerivative.cpp @@ -135,6 +135,86 @@ TEST(testNumericalDerivative, numericalHessian311) { EXPECT(assert_equal(expected33, actual33, 1e-5)); } +/* ************************************************************************* */ +Vector6 f6(const double x1, const double x2, const double x3, const double x4, + const double x5, const double x6) { + Vector6 result; + result << sin(x1), cos(x2), x3 * x3, x4 * x4 * x4, sqrt(x5), sin(x6) - cos(x6); + return result; +} + +/* ************************************************************************* */ +// +TEST(testNumericalDerivative, numeriDerivative61) { + double x1 = 1, x2 = 2, x3 = 3 , x4 = 4, x5 = 5, x6 = 6; + + Matrix expected61 = (Matrix(6, 1) << cos(x1), 0, 0, 0, 0, 0).finished(); + Matrix61 actual61 = numericalDerivative61(f6, x1, x2, x3, x4, x5, x6); + + EXPECT(assert_equal(expected61, actual61, 1e-5)); +} + +/* ************************************************************************* */ +// +TEST(testNumericalDerivative, numeriDerivative62) { + double x1 = 1, x2 = 2, x3 = 3 , x4 = 4, x5 = 5, x6 = 6; + + Matrix expected62 = (Matrix(6, 1) << 0, -sin(x2), 0, 0, 0, 0).finished(); + Matrix61 actual62 = numericalDerivative62(f6, x1, x2, x3, x4, x5, x6); + + EXPECT(assert_equal(expected62, actual62, 1e-5)); +} + +/* ************************************************************************* */ +// +TEST(testNumericalDerivative, numeriDerivative63) { + double x1 = 1, x2 = 2, x3 = 3 , x4 = 4, x5 = 5, x6 = 6; + + Matrix expected63 = (Matrix(6, 1) << 0, 0, 2 * x3, 0, 0, 0).finished(); + Matrix61 actual63 = numericalDerivative63(f6, x1, x2, x3, x4, x5, x6); + + EXPECT(assert_equal(expected63, actual63, 1e-5)); +} + +/* ************************************************************************* */ +// +TEST(testNumericalDerivative, numeriDerivative64) { + double x1 = 1, x2 = 2, x3 = 3 , x4 = 4, x5 = 5, x6 = 6; + + Matrix expected64 = (Matrix(6, 1) << 0, 0, 0, 3 * x4 * x4, 0, 0).finished(); + Matrix61 actual64 = numericalDerivative64(f6, x1, x2, x3, x4, x5, x6); + + EXPECT(assert_equal(expected64, actual64, 1e-5)); +} + +/* ************************************************************************* */ +// +TEST(testNumericalDerivative, numeriDerivative65) { + double x1 = 1, x2 = 2, x3 = 3 , x4 = 4, x5 = 5, x6 = 6; + + Matrix expected65 = (Matrix(6, 1) << 0, 0, 0, 0, 0.5 / sqrt(x5), 0).finished(); + Matrix61 actual65 = numericalDerivative65(f6, x1, x2, x3, x4, x5, x6); + + EXPECT(assert_equal(expected65, actual65, 1e-5)); +} + +/* ************************************************************************* */ +// +TEST(testNumericalDerivative, numeriDerivative66) { + double x1 = 1, x2 = 2, x3 = 3 , x4 = 4, x5 = 5, x6 = 6; + + Matrix expected66 = (Matrix(6, 1) << 0, 0, 0, 0, 0, cos(x6) + sin(x6)).finished(); + Matrix61 actual66 = numericalDerivative66(f6, x1, x2, x3, x4, x5, x6); + + EXPECT(assert_equal(expected66, actual66, 1e-5)); +} + /* ************************************************************************* */ int main() { TestResult tr; From fb4dc7ccb9d1b4eebdab6a3f17a601b4c05e2890 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 26 Nov 2019 16:48:28 -0800 Subject: [PATCH 0103/1152] Trigger travis --- gtsam/mainpage.dox | 2 -- 1 file changed, 2 deletions(-) diff --git a/gtsam/mainpage.dox b/gtsam/mainpage.dox index 59e7f9fa6..ee7bd9924 100644 --- a/gtsam/mainpage.dox +++ b/gtsam/mainpage.dox @@ -1,7 +1,6 @@ // This causes Doxygen to find classes inside the gtsam namespace without // explicitly specifying it when writing class names. namespace gtsam { - /** \mainpage GTSAM @@ -23,5 +22,4 @@ To use GTSAM to solve your own problems, you will often have to create new facto - This is more advanced and allows creating factors without an explicit noise model, or that linearize to HessianFactor instead of JacobianFactor. */ - } From 516ccf532cedd28c793332e8387fd6b1f3044bcb Mon Sep 17 00:00:00 2001 From: Michael Bosse Date: Wed, 27 Nov 2019 13:17:59 -0800 Subject: [PATCH 0104/1152] Improve numerical precision of residual functions --- gtsam/linear/LossFunctions.cpp | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/gtsam/linear/LossFunctions.cpp b/gtsam/linear/LossFunctions.cpp index 2a82122cd..6bc737e2c 100644 --- a/gtsam/linear/LossFunctions.cpp +++ b/gtsam/linear/LossFunctions.cpp @@ -145,7 +145,7 @@ double Fair::residual(double error) const { const double absError = std::abs(error); const double normalizedError = absError / c_; const double c_2 = c_ * c_; - return c_2 * (normalizedError - std::log(1 + normalizedError)); + return c_2 * (normalizedError - std::log1p(normalizedError)); } void Fair::print(const std::string &s="") const @@ -213,8 +213,7 @@ double Cauchy::weight(double error) const { } double Cauchy::residual(double error) const { - const double xc2 = error / k_; - const double val = std::log(1 + (xc2*xc2)); + const double val = std::log1p(error * error / ksquared_); return ksquared_ * val * 0.5; } @@ -244,8 +243,8 @@ Tukey::Tukey(double c, const ReweightScheme reweight) : Base(reweight), c_(c), c double Tukey::weight(double error) const { if (std::abs(error) <= c_) { - const double xc2 = error*error/csquared_; - return (1.0-xc2)*(1.0-xc2); + const double one_minus_xc2 = 1.0 - error*error/csquared_; + return one_minus_xc2 * one_minus_xc2; } return 0.0; } @@ -253,8 +252,8 @@ double Tukey::weight(double error) const { double Tukey::residual(double error) const { double absError = std::abs(error); if (absError <= c_) { - const double xc2 = error*error/csquared_; - const double t = (1 - xc2)*(1 - xc2)*(1 - xc2); + const double one_minus_xc2 = 1.0 - error*error/csquared_; + const double t = one_minus_xc2*one_minus_xc2*one_minus_xc2; return csquared_ * (1 - t) / 6.0; } else { return csquared_ / 6.0; @@ -288,7 +287,7 @@ double Welsch::weight(double error) const { double Welsch::residual(double error) const { const double xc2 = (error*error)/csquared_; - return csquared_ * 0.5 * (1 - std::exp(-xc2) ); + return csquared_ * 0.5 * -std::expm1(-xc2); } void Welsch::print(const std::string &s="") const { From 520bb970f381d6ab2284749ca5efcf3363eda0f9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 28 Nov 2019 17:35:46 -0800 Subject: [PATCH 0105/1152] Addressed Duy's comments --- gtsam/geometry/SOn-inl.h | 7 ++++++- gtsam/geometry/SOn.h | 10 ++++------ gtsam/geometry/tests/testRot3.cpp | 1 - gtsam/geometry/tests/testSO3.cpp | 7 ++++--- gtsam/geometry/tests/testSOn.cpp | 11 +++++++++++ gtsam/slam/KarcherMeanFactor.h | 10 +++++----- 6 files changed, 30 insertions(+), 16 deletions(-) diff --git a/gtsam/geometry/SOn-inl.h b/gtsam/geometry/SOn-inl.h index 1c05eac47..344822c1f 100644 --- a/gtsam/geometry/SOn-inl.h +++ b/gtsam/geometry/SOn-inl.h @@ -36,15 +36,18 @@ typename SO::TangentVector SO::Vee(const MatrixNN& X) { template SO SO::ChartAtOrigin::Retract(const TangentVector& xi, ChartJacobian H) { + if (H) throw std::runtime_error("SO::Retract jacobian not implemented."); const Matrix X = Hat(xi / 2.0); size_t n = AmbientDim(xi.size()); const auto I = Eigen::MatrixXd::Identity(n, n); + // https://pdfs.semanticscholar.org/6165/0347b2ccac34b5f423081d1ce4dbc4d09475.pdf return SO((I + X) * (I - X).inverse()); } template typename SO::TangentVector SO::ChartAtOrigin::Local(const SO& R, ChartJacobian H) { + if (H) throw std::runtime_error("SO::Local jacobian not implemented."); const size_t n = R.rows(); const auto I = Eigen::MatrixXd::Identity(n, n); const Matrix X = (I - R.matrix_) * (I + R.matrix_).inverse(); @@ -87,9 +90,11 @@ typename SO::VectorN2 SO::vec( VectorN2 X(n2); X << Eigen::Map(matrix_.data(), n2, 1); - // If requested, calculate H as (I \oplus Q) * P + // If requested, calculate H as (I \oplus Q) * P, + // where Q is the N*N rotation matrix, and P is calculated below. if (H) { // Calculate P matrix of vectorized generators + // TODO(duy): Should we refactor this as the jacobian of Hat? const size_t d = dim(); Matrix P(n2, d); for (size_t j = 0; j < d; j++) { diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 06031b093..7954c4d6c 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -11,8 +11,7 @@ /** * @file SOn.h - * @brief n*n matrix representation of SO(n), template on N, which can be - * Eigen::Dynamic + * @brief N*N matrix representation of SO(N). N can be Eigen::Dynamic * @author Frank Dellaert * @date March 2019 */ @@ -43,7 +42,7 @@ constexpr int NSquaredSO(int N) { return (N < 0) ? Eigen::Dynamic : N * N; } /** * Manifold of special orthogonal rotation matrices SO. - * Template paramater N can be a fizxed integer or can be Eigen::Dynamic + * Template paramater N can be a fixed integer or can be Eigen::Dynamic */ template class SO : public LieGroup, internal::DimensionSO(N)> { @@ -53,7 +52,6 @@ class SO : public LieGroup, internal::DimensionSO(N)> { using VectorN2 = Eigen::Matrix; using MatrixDD = Eigen::Matrix; - public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW protected: @@ -100,7 +98,7 @@ class SO : public LieGroup, internal::DimensionSO(N)> { /// Constructor from AngleAxisd template > - SO(const Eigen::AngleAxisd& angleAxis) : matrix_(angleAxis) {} + explicit SO(const Eigen::AngleAxisd& angleAxis) : matrix_(angleAxis) {} /// Constructor from axis and angle. Only defined for SO3 static SO AxisAngle(const Vector3& axis, double theta); @@ -117,7 +115,7 @@ class SO : public LieGroup, internal::DimensionSO(N)> { template > static SO Random(boost::mt19937& rng, size_t n = 0) { if (n == 0) throw std::runtime_error("SO: Dimensionality not known."); - // This needs to be re-thought! + // TODO(frank): This needs to be re-thought! static boost::uniform_real randomAngle(-M_PI, M_PI); const size_t d = SO::Dimension(n); Vector xi(d); diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index 0365bc659..c95b85f21 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -647,7 +647,6 @@ TEST(Rot3 , ChartDerivatives) { /* ************************************************************************* */ TEST(Rot3, ClosestTo) { - // Example top-left of SO(4) matrix not quite on SO(3) manifold Matrix3 M; M << 0.79067393, 0.6051136, -0.0930814, // 0.4155925, -0.64214347, -0.64324489, // diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp index 3c5b947ba..b2c781b35 100644 --- a/gtsam/geometry/tests/testSO3.cpp +++ b/gtsam/geometry/tests/testSO3.cpp @@ -15,10 +15,12 @@ * @author Frank Dellaert **/ -#include +#include + #include #include -#include + +#include using namespace std; using namespace gtsam; @@ -51,7 +53,6 @@ TEST(SO3, Constructors) { /* ************************************************************************* */ TEST(SO3, ClosestTo) { - // Example top-left of SO(4) matrix not quite on SO(3) manifold Matrix3 M; M << 0.79067393, 0.6051136, -0.0930814, // 0.4155925, -0.64214347, -0.64324489, // diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index 384150c52..4e5f12c0c 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -39,6 +39,17 @@ using namespace std; using namespace gtsam; +//****************************************************************************** +// Test dhynamic with n=0 +TEST(SOn, SO0) { + const auto R = SOn(0); + EXPECT_LONGS_EQUAL(0, R.rows()); + EXPECT_LONGS_EQUAL(Eigen::Dynamic, SOn::dimension); + EXPECT_LONGS_EQUAL(Eigen::Dynamic, SOn::Dim()); + EXPECT_LONGS_EQUAL(0, R.dim()); + EXPECT_LONGS_EQUAL(-1, traits::GetDimension(R)); +} + //****************************************************************************** TEST(SOn, SO5) { const auto R = SOn(5); diff --git a/gtsam/slam/KarcherMeanFactor.h b/gtsam/slam/KarcherMeanFactor.h index d0f2f57db..c098c9665 100644 --- a/gtsam/slam/KarcherMeanFactor.h +++ b/gtsam/slam/KarcherMeanFactor.h @@ -12,7 +12,7 @@ /* * @file KarcherMeanFactor.h * @author Frank Dellaert - * @date March 2019ƒ + * @date March 2019 */ #pragma once @@ -26,18 +26,18 @@ namespace gtsam { /** * Optimize for the Karcher mean, minimizing the geodesic distance to each of - * the given rotations, ,by constructing a factor graph out of simple + * the given rotations, by constructing a factor graph out of simple * PriorFactors. */ template T FindKarcherMean(const std::vector& rotations); /** - * The KarcherMeanFactor creates a constraint on all SO(3) variables with + * The KarcherMeanFactor creates a constraint on all SO(n) variables with * given keys that the Karcher mean (see above) will stay the same. Note the * mean itself is irrelevant to the constraint and is not a parameter: the * constraint is implemented as enforcing that the sum of local updates is - * equal to zero, hence creating a rank-3 constraint. Note it is implemented as + * equal to zero, hence creating a rank-dim constraint. Note it is implemented as * a soft constraint, as typically it is used to fix a gauge freedom. * */ template @@ -67,4 +67,4 @@ class KarcherMeanFactor : public NonlinearFactor { } }; // \KarcherMeanFactor -} // namespace gtsam \ No newline at end of file +} // namespace gtsam From 044582ca4a0ac3604975dfb42f4799788dde22f1 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Tue, 3 Dec 2019 13:41:37 +0100 Subject: [PATCH 0106/1152] also update gtsam version in ROS package.xml --- package.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/package.xml b/package.xml index 1aa729c03..f8554729e 100644 --- a/package.xml +++ b/package.xml @@ -1,18 +1,18 @@ gtsam - 4.0.0 + 4.0.2 gtsam Frank Dellaert BSD cmake - + boost eigen tbb - + cmake From 522dbc00f66d54770e93ed21cd4a39aedae493b4 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Tue, 3 Dec 2019 13:51:37 -0500 Subject: [PATCH 0107/1152] Use aligned_allocator for static allocation --- gtsam/geometry/SO4.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/SO4.cpp b/gtsam/geometry/SO4.cpp index 93fb05386..dd15807c3 100644 --- a/gtsam/geometry/SO4.cpp +++ b/gtsam/geometry/SO4.cpp @@ -138,7 +138,7 @@ static SO4::VectorN2 vec4(const Matrix4& Q) { } // so<4> generators -static std::vector G4( +static std::vector > G4( {SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))}); From c7111dbbd30c6d628856dc7599d8567116ff002b Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 3 Dec 2019 15:41:49 -0500 Subject: [PATCH 0108/1152] install GtsamPrinting.cmake as part of installation --- cmake/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/cmake/CMakeLists.txt b/cmake/CMakeLists.txt index f2ca9933e..d612e2fae 100644 --- a/cmake/CMakeLists.txt +++ b/cmake/CMakeLists.txt @@ -20,6 +20,7 @@ install(FILES GtsamPythonWrap.cmake GtsamCythonWrap.cmake GtsamTesting.cmake + GtsamPrinting.cmake FindCython.cmake FindNumPy.cmake README.html From 1ab21c0ed3810a229d6cfc62937c5b611df8f156 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Wed, 4 Dec 2019 15:53:57 -0500 Subject: [PATCH 0109/1152] Workaround for upstream boost issue #119 --- gtsam/inference/BayesTreeCliqueBase.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index 317ba1c44..cd8157a26 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -166,7 +166,9 @@ namespace gtsam { template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { ar & BOOST_SERIALIZATION_NVP(conditional_); - ar & BOOST_SERIALIZATION_NVP(parent_); + if (parent_) { // TODO(fan): Workaround for boost/serialization #119 + ar & BOOST_SERIALIZATION_NVP(parent_); + } ar & BOOST_SERIALIZATION_NVP(children); } From 1b4b292a6ed21363882920f6b247174d7672dc42 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Fri, 6 Dec 2019 14:08:04 -0500 Subject: [PATCH 0110/1152] Refine workaround --- gtsam/inference/BayesTreeCliqueBase.h | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index cd8157a26..6266e961c 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -86,6 +86,8 @@ namespace gtsam { FastVector children; int problemSize_; + bool is_root = false; + /// Fill the elimination result produced during elimination. Here this just stores the /// conditional and ignores the remaining factor, but this is overridden in ISAM2Clique /// to also cache the remaining factor. @@ -165,8 +167,12 @@ namespace gtsam { friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + if(!parent_.lock()) { + is_root = true; + } + ar & BOOST_SERIALIZATION_NVP(is_root); ar & BOOST_SERIALIZATION_NVP(conditional_); - if (parent_) { // TODO(fan): Workaround for boost/serialization #119 + if (!is_root) { // TODO(fan): Workaround for boost/serialization #119 ar & BOOST_SERIALIZATION_NVP(parent_); } ar & BOOST_SERIALIZATION_NVP(children); From 7fa705e6095d6fd23091c273e68318b67035161e Mon Sep 17 00:00:00 2001 From: chrisbeall Date: Sat, 7 Dec 2019 14:07:56 -0800 Subject: [PATCH 0111/1152] Eigen alignment fix in ExpressionNode and RotateFactor --- gtsam/nonlinear/internal/ExpressionNode.h | 2 ++ gtsam/slam/RotateFactor.h | 2 ++ 2 files changed, 4 insertions(+) diff --git a/gtsam/nonlinear/internal/ExpressionNode.h b/gtsam/nonlinear/internal/ExpressionNode.h index d11908b54..6752d7fc0 100644 --- a/gtsam/nonlinear/internal/ExpressionNode.h +++ b/gtsam/nonlinear/internal/ExpressionNode.h @@ -149,6 +149,8 @@ public: ExecutionTraceStorage* traceStorage) const { return constant_; } + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; //----------------------------------------------------------------------------- diff --git a/gtsam/slam/RotateFactor.h b/gtsam/slam/RotateFactor.h index 9d0975df3..b6ccc36a2 100644 --- a/gtsam/slam/RotateFactor.h +++ b/gtsam/slam/RotateFactor.h @@ -112,6 +112,8 @@ public: } return error; } + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; } // namespace gtsam From 6d0705c5dc41031bc3f4a143027dbe09f8d1c48e Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Sun, 8 Dec 2019 00:50:30 -0500 Subject: [PATCH 0112/1152] Workaround for boost serialization bug for NULL shared_ptrs version < 1.66.0 --- gtsam/linear/JacobianFactor.h | 42 ++++++++++++++++++++++++++++++----- 1 file changed, 37 insertions(+), 5 deletions(-) diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index c8d77c554..53ce4b9ca 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -25,6 +25,8 @@ #include #include +#include +#include namespace gtsam { @@ -406,13 +408,41 @@ namespace gtsam { /** Serialization function */ friend class boost::serialization::access; template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(Ab_); - ar & BOOST_SERIALIZATION_NVP(model_); + void save(ARCHIVE & ar, const unsigned int version) const { + // TODO(fan): This is a hack for Boost < 1.66 + // We really need to introduce proper versioning in the archives + // As otherwise this will not read objects serialized by older + // versions of GTSAM + ar << BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar << BOOST_SERIALIZATION_NVP(Ab_); + bool model_null = false; + if(model_.get() == nullptr) { + model_null = true; + ar << boost::serialization::make_nvp("model_null", model_null); + } else { + ar << boost::serialization::make_nvp("model_null", model_null); + ar << BOOST_SERIALIZATION_NVP(model_); + } } - }; // JacobianFactor + template + void load(ARCHIVE & ar, const unsigned int version) { + // invoke serialization of the base class + ar >> BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar >> BOOST_SERIALIZATION_NVP(Ab_); + if (version < 1) { + ar >> BOOST_SERIALIZATION_NVP(model_); + } else { + bool model_null; + ar >> BOOST_SERIALIZATION_NVP(model_null); + if (!model_null) { + ar >> BOOST_SERIALIZATION_NVP(model_); + } + } + } + + BOOST_SERIALIZATION_SPLIT_MEMBER() + }; // JacobianFactor /// traits template<> struct traits : public Testable { @@ -420,6 +450,8 @@ struct traits : public Testable { } // \ namespace gtsam +BOOST_CLASS_VERSION(gtsam::JacobianFactor, 1) + #include From b156a6498e67e06dafc4015ccc7235fd18bfa99b Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Tue, 10 Dec 2019 12:19:38 -0500 Subject: [PATCH 0113/1152] Fix KarcherMeanFactor --- gtsam/slam/KarcherMeanFactor-inl.h | 14 ++++++++++++-- gtsam/slam/KarcherMeanFactor.h | 5 ++++- gtsam/slam/tests/testKarcherMeanFactor.cpp | 4 +++- 3 files changed, 19 insertions(+), 4 deletions(-) diff --git a/gtsam/slam/KarcherMeanFactor-inl.h b/gtsam/slam/KarcherMeanFactor-inl.h index cfe071ee5..8ff61d796 100644 --- a/gtsam/slam/KarcherMeanFactor-inl.h +++ b/gtsam/slam/KarcherMeanFactor-inl.h @@ -26,8 +26,8 @@ using namespace std; namespace gtsam { -template -T FindKarcherMean(const vector& rotations) { +template +T FindKarcherMeanImpl(const vector& rotations) { // Cost function C(R) = \sum PriorFactor(R_i)::error(R) // No closed form solution. NonlinearFactorGraph graph; @@ -41,6 +41,16 @@ T FindKarcherMean(const vector& rotations) { return result.at(kKey); } +template +T FindKarcherMean(const vector& rotations) { + return FindKarcherMeanImpl(rotations); +} + +template +T FindKarcherMean(std::initializer_list&& rotations) { + return FindKarcherMeanImpl(std::vector >(rotations)); +} + template template KarcherMeanFactor::KarcherMeanFactor(const CONTAINER& keys, int d) diff --git a/gtsam/slam/KarcherMeanFactor.h b/gtsam/slam/KarcherMeanFactor.h index c098c9665..f62cb8904 100644 --- a/gtsam/slam/KarcherMeanFactor.h +++ b/gtsam/slam/KarcherMeanFactor.h @@ -29,8 +29,11 @@ namespace gtsam { * the given rotations, by constructing a factor graph out of simple * PriorFactors. */ +template > +T FindKarcherMean(const std::vector& rotations); + template -T FindKarcherMean(const std::vector& rotations); +T FindKarcherMean(std::initializer_list&& rotations); /** * The KarcherMeanFactor creates a constraint on all SO(n) variables with diff --git a/gtsam/slam/tests/testKarcherMeanFactor.cpp b/gtsam/slam/tests/testKarcherMeanFactor.cpp index a3e52e64d..64cdb1682 100644 --- a/gtsam/slam/tests/testKarcherMeanFactor.cpp +++ b/gtsam/slam/tests/testKarcherMeanFactor.cpp @@ -91,7 +91,9 @@ TEST(KarcherMean, FactorSO4) { Values initial; initial.insert(1, Q.inverse()); initial.insert(2, Q); - const auto expected = FindKarcherMean({Q, Q.inverse()}); + + std::vector > rotations = {Q, Q.inverse()}; + const auto expected = FindKarcherMean(rotations); auto result = GaussNewtonOptimizer(graph, initial).optimize(); const auto actual = From 4d256eae0fd134cd1ca236a5e15fee9d07959e50 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Tue, 10 Dec 2019 15:10:32 -0500 Subject: [PATCH 0114/1152] Additional Fixes for Rot3 --- gtsam/slam/KarcherMeanFactor-inl.h | 10 ++++++++-- gtsam/slam/KarcherMeanFactor.h | 4 ++-- gtsam/slam/tests/testKarcherMeanFactor.cpp | 2 +- 3 files changed, 11 insertions(+), 5 deletions(-) diff --git a/gtsam/slam/KarcherMeanFactor-inl.h b/gtsam/slam/KarcherMeanFactor-inl.h index 8ff61d796..076b0ff0c 100644 --- a/gtsam/slam/KarcherMeanFactor-inl.h +++ b/gtsam/slam/KarcherMeanFactor-inl.h @@ -41,8 +41,14 @@ T FindKarcherMeanImpl(const vector& rotations) { return result.at(kKey); } -template -T FindKarcherMean(const vector& rotations) { +template ::value >::type > +T FindKarcherMean(const std::vector& rotations) { + return FindKarcherMeanImpl(rotations); +} + +template +T FindKarcherMean(const std::vector>& rotations) { return FindKarcherMeanImpl(rotations); } diff --git a/gtsam/slam/KarcherMeanFactor.h b/gtsam/slam/KarcherMeanFactor.h index f62cb8904..54b3930d4 100644 --- a/gtsam/slam/KarcherMeanFactor.h +++ b/gtsam/slam/KarcherMeanFactor.h @@ -29,8 +29,8 @@ namespace gtsam { * the given rotations, by constructing a factor graph out of simple * PriorFactors. */ -template > -T FindKarcherMean(const std::vector& rotations); +template +T FindKarcherMean(const std::vector>& rotations); template T FindKarcherMean(std::initializer_list&& rotations); diff --git a/gtsam/slam/tests/testKarcherMeanFactor.cpp b/gtsam/slam/tests/testKarcherMeanFactor.cpp index 64cdb1682..c129b8fa3 100644 --- a/gtsam/slam/tests/testKarcherMeanFactor.cpp +++ b/gtsam/slam/tests/testKarcherMeanFactor.cpp @@ -75,7 +75,7 @@ static const SO4 Q = SO4::Expmap((Vector6() << 1, 2, 3, 4, 5, 6).finished()); /* ************************************************************************* */ TEST(KarcherMean, FindSO4) { - std::vector rotations = {Q, Q.inverse()}; + std::vector> rotations = {Q, Q.inverse()}; auto expected = SO4(); //::ChordalMean(rotations); auto actual = FindKarcherMean(rotations); EXPECT(assert_equal(expected, actual)); From 087221ac955c9d66a15c07f383562dec64dc38ea Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Wed, 11 Dec 2019 16:31:43 +0100 Subject: [PATCH 0115/1152] travis: use clang-9 --- .travis.sh | 51 ++++++++++++++------------------ .travis.yml | 80 +++++++++++++++++++++++++++----------------------- CMakeLists.txt | 2 +- 3 files changed, 66 insertions(+), 67 deletions(-) diff --git a/.travis.sh b/.travis.sh index 3cec20f53..5de2d8e69 100755 --- a/.travis.sh +++ b/.travis.sh @@ -1,7 +1,7 @@ #!/bin/bash # common tasks before either build or test -function prepare () +function configure() { set -e # Make sure any error makes the script to return an error code set -x # echo @@ -14,21 +14,23 @@ function prepare () rm -fr $BUILD_DIR || true mkdir $BUILD_DIR && cd $BUILD_DIR - if [ -z "$CMAKE_BUILD_TYPE" ]; then - CMAKE_BUILD_TYPE=Debug - fi - - if [ -z "$GTSAM_ALLOW_DEPRECATED_SINCE_V4" ]; then - GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF - fi - if [ ! -z "$GCC_VERSION" ]; then - sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-$GCC_VERSION 60 \ - --slave /usr/bin/g++ g++ /usr/bin/g++-$GCC_VERSION - sudo update-alternatives --set gcc /usr/bin/gcc-$GCC_VERSION + export CC=gcc-$GCC_VERSION + export CXX=g++-$GCC_VERSION fi + + # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs + cmake $SOURCE_DIR \ + -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \ + -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \ + -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \ + -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \ + -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \ + -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ + -DCMAKE_VERBOSE_MAKEFILE=ON } + # common tasks after either build or test function finish () { @@ -41,17 +43,12 @@ function finish () # compile the code with the intent of populating the cache function build () { - prepare + export GTSAM_BUILD_EXAMPLES_ALWAYS=ON + export GTSAM_BUILD_TESTS=OFF - cmake $SOURCE_DIR \ - -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \ - -DGTSAM_BUILD_TESTS=OFF \ - -DGTSAM_BUILD_UNSTABLE=$GTSAM_BUILD_UNSTABLE \ - -DGTSAM_BUILD_EXAMPLES_ALWAYS=ON \ - -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=$GTSAM_ALLOW_DEPRECATED_SINCE_V4 + configure - # Actual build: - VERBOSE=1 make -j2 + make -j2 finish } @@ -59,14 +56,10 @@ function build () # run the tests function test () { - prepare + export GTSAM_BUILD_EXAMPLES_ALWAYS=OFF + export GTSAM_BUILD_TESTS=ON - cmake $SOURCE_DIR \ - -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \ - -DGTSAM_BUILD_TESTS=ON \ - -DGTSAM_BUILD_UNSTABLE=$GTSAM_BUILD_UNSTABLE \ - -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ - -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF + configure # Actual build: make -j2 check @@ -79,7 +72,7 @@ case $1 in -b) build ;; - -t) + -t) test ;; esac diff --git a/.travis.yml b/.travis.yml index 1e2d6760a..bcb6ceb4a 100644 --- a/.travis.yml +++ b/.travis.yml @@ -7,11 +7,12 @@ addons: apt: sources: - ubuntu-toolchain-r-test + - sourceline: 'deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-9 main' + key_url: 'https://apt.llvm.org/llvm-snapshot.gpg.key' packages: - - g++-8 - - clang-3.8 - - build-essential - - pkg-config + - g++-9 + - clang-9 + - build-essential pkg-config - cmake - libpython-dev python-numpy - libboost-all-dev @@ -28,8 +29,14 @@ stages: - compile - test +env: + global: + - MAKEFLAGS="-j2" + - CCACHE_SLOPPINESS=pch_defines,time_macros + # Compile stage without building examples/tests to populate the caches. jobs: +# -------- STAGE 1: COMPILE ----------- include: # on Mac, GCC - stage: compile @@ -68,46 +75,45 @@ jobs: - stage: compile os: linux compiler: clang - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF + env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF script: bash .travis.sh -b - stage: compile os: linux compiler: clang - env: CMAKE_BUILD_TYPE=Release + env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release script: bash .travis.sh -b # on Linux, with deprecated ON to make sure that path still compiles - stage: compile os: linux compiler: clang - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON + env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON script: bash .travis.sh -b - -# Matrix configuration: -os: - - osx - - linux -compiler: - - gcc - - clang -env: - global: - - MAKEFLAGS="-j2" - - CCACHE_SLOPPINESS=pch_defines,time_macros - - GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF - - GTSAM_BUILD_UNSTABLE=ON - matrix: - - CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF - - CMAKE_BUILD_TYPE=Release -script: - - bash .travis.sh -t - -matrix: - exclude: - # Exclude g++ debug on Linux as it consistently times out - - os: linux - compiler: gcc - env : CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF - # Exclude clang on Linux/clang in release until issue #57 is solved - - os: linux - compiler: clang - env : CMAKE_BUILD_TYPE=Release +# -------- STAGE 2: TESTS ----------- +# on Mac, GCC + - stage: test + os: osx + compiler: clang + env: CMAKE_BUILD_TYPE=Release + script: bash .travis.sh -t + - stage: test + os: osx + compiler: clang + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF + script: bash .travis.sh -t + - stage: test + os: linux + compiler: gcc + env: CMAKE_BUILD_TYPE=Release + script: bash .travis.sh -t +# Exclude g++ debug on Linux as it consistently times out +# - stage: test +# os: linux +# compiler: gcc +# env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF +# script: bash .travis.sh -t +# Exclude clang on Linux/clang in release until issue #57 is solved +# - stage: test +# os: linux +# compiler: clang +# env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release +# script: bash .travis.sh -t diff --git a/CMakeLists.txt b/CMakeLists.txt index 732717141..2af6341ea 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -434,7 +434,7 @@ add_subdirectory(timing) # Build gtsam_unstable if (GTSAM_BUILD_UNSTABLE) add_subdirectory(gtsam_unstable) -endif(GTSAM_BUILD_UNSTABLE) +endif() # Matlab toolbox if (GTSAM_INSTALL_MATLAB_TOOLBOX) From 981f1851c9fcafc7980f5d930662317f5f182299 Mon Sep 17 00:00:00 2001 From: Peter Mullen Date: Thu, 12 Dec 2019 22:55:55 -0800 Subject: [PATCH 0116/1152] add rotate Pose2 and Pose3 covariance tests --- gtsam/geometry/tests/testPose2.cpp | 131 +++++++++++++++++++++ gtsam/geometry/tests/testPose3.cpp | 178 +++++++++++++++++++++++++++++ 2 files changed, 309 insertions(+) diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index b8b3fc52c..6fc850fdd 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -835,6 +835,137 @@ TEST(Pose2 , ChartDerivatives) { CHECK_CHART_DERIVATIVES(T2,T1); } +//****************************************************************************** +namespace transform_covariance3 { + const double degree = M_PI / 180; + + template + static typename TPose::Jacobian generate_full_covariance( + std::array sigma_values) + { + typename TPose::TangentVector sigmas(&sigma_values.front()); + return typename TPose::Jacobian{sigmas * sigmas.transpose()}; + } + + template + static typename TPose::Jacobian generate_one_variable_covariance(int idx, double sigma) + { + typename TPose::Jacobian cov = TPose::Jacobian::Zero(); + cov(idx, idx) = sigma * sigma; + return cov; + } + + template + static typename TPose::Jacobian transform_covariance( + const TPose &wTb, + const typename TPose::Jacobian &cov) + { + // transform the covariance with the AdjointMap + auto adjointMap = wTb.AdjointMap(); + return adjointMap * cov * adjointMap.transpose(); + } + + static typename Pose2::Jacobian rotate_only( + const std::array r, + const typename Pose2::Jacobian &cov) + { + // Create a rotation only transform + Pose2 wTb{Pose2::Rotation{r[0] * degree}, Pose2::Translation{}}; + return transform_covariance(wTb, cov); + } + + static Pose2::Jacobian translate_only( + const std::array t, + const Pose2::Jacobian &cov) + { + // Create a translation only transform + Pose2 wTb{Pose2::Rotation{}, Pose2::Translation{t[0], t[1]}}; + return transform_covariance(wTb, cov); + } + + static Pose2::Jacobian rotate_translate( + const std::array r, + const std::array t, + const Pose2::Jacobian &cov) + { + // Create a translation only transform + Pose2 wTb{Pose2::Rotation{r[0] * degree}, Pose2::Translation{t[0], t[1]}}; + return transform_covariance(wTb, cov); + } +} +TEST(Pose2 , TransformCovariance3) { + using namespace transform_covariance3; + + // rotate + { + auto cov = generate_full_covariance({0.1, 0.3, 0.7}); + auto cov_trans = rotate_only({90.}, cov); + // interchange x and y axes + EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), cov(0, 0), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), cov(1, 1), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), cov(2, 2), 1e-9); + + EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), -cov(1, 0), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), -cov(2, 1), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 1), cov(2, 0), 1e-9); + } + + // translate along x with uncertainty in x + { + auto cov = generate_one_variable_covariance(0, 0.1); + auto cov_trans = translate_only({20., 0.}, cov); + EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), 0.1 * 0.1, 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), 0., 1e-9); + + EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), 0., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), 0., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 1), 0., 1e-9); + } + + // translate along x with uncertainty in y + { + auto cov = generate_one_variable_covariance(1, 0.1); + auto cov_trans = translate_only({20., 0.}, cov); + EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), 0., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0.1 * 0.1, 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), 0., 1e-9); + + EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), 0., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), 0., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 1), 0., 1e-9); + } + + // translate along x with uncertainty in theta + { + auto cov = generate_one_variable_covariance(2, 0.1); + auto cov_trans = translate_only({20., 0.}, cov); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 1), -0.1 * 0.1 * 20., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0.1 * 0.1 * 20. * 20., 1e-9); + } + + // rotate and translate along x with uncertainty in x + { + auto cov = generate_one_variable_covariance(0, 0.1); + auto cov_trans = rotate_translate({90.}, {20., 0.}, cov); + EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), 0., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0.1 * 0.1, 1e-9); + } + + // rotate and translate along x with uncertainty in theta + { + auto cov = generate_one_variable_covariance(2, 0.1); + auto cov_trans = rotate_translate({90.}, {20., 0.}, cov); + EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), 0., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0.1 * 0.1 * 20. * 20., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), 0.1 * 0.1, 1e-9); + + EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), 0., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), 0., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 1), -0.1 * 0.1 * 20., 1e-9); + } +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 0b2f59773..66f67f7c5 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -878,6 +878,184 @@ TEST(Pose3 , ChartDerivatives) { } } +//****************************************************************************** +namespace transform_covariance6 { + const double degree = M_PI / 180; + + template + static typename TPose::Jacobian generate_full_covariance( + std::array sigma_values) + { + typename TPose::TangentVector sigmas(&sigma_values.front()); + return typename TPose::Jacobian{sigmas * sigmas.transpose()}; + } + + template + static typename TPose::Jacobian generate_one_variable_covariance(int idx, double sigma) + { + typename TPose::Jacobian cov = TPose::Jacobian::Zero(); + cov(idx, idx) = sigma * sigma; + return cov; + } + + template + static typename TPose::Jacobian generate_two_variable_covariance(int idx0, int idx1, double sigma0, double sigma1) + { + typename TPose::Jacobian cov = TPose::Jacobian::Zero(); + cov(idx0, idx0) = sigma0 * sigma0; + cov(idx1, idx1) = sigma1 * sigma1; + cov(idx0, idx1) = cov(idx1, idx0) = sigma0 * sigma1; + return cov; + } + + template + static typename TPose::Jacobian transform_covariance( + const TPose &wTb, + const typename TPose::Jacobian &cov) + { + // transform the covariance with the AdjointMap + auto adjointMap = wTb.AdjointMap(); + return adjointMap * cov * adjointMap.transpose(); + } + + static Pose2::Jacobian rotate_translate( + const std::array r, + const std::array t, + const Pose2::Jacobian &cov) + { + // Create a translation only transform + Pose2 wTb{Pose2::Rotation{r[0] * degree}, Pose2::Translation{t[0], t[1]}}; + return transform_covariance(wTb, cov); + } + + static typename Pose3::Jacobian rotate_only( + const std::array r, + const typename Pose3::Jacobian &cov) + { + // Create a rotation only transform + Pose3 wTb{Pose3::Rotation::RzRyRx(r[0] * degree, r[1] * degree, r[2] * degree), + Pose3::Translation{}}; + return transform_covariance(wTb, cov); + } + + static Pose3::Jacobian translate_only( + const std::array t, + const Pose3::Jacobian &cov) + { + // Create a translation only transform + Pose3 wTb{Pose3::Rotation{}, Pose3::Translation{t[0], t[1], t[2]}}; + return transform_covariance(wTb, cov); + } + + static Pose3::Jacobian rotate_translate( + const std::array r, + const std::array t, + const Pose3::Jacobian &cov) + { + // Create a translation only transform + Pose3 wTb{Pose3::Rotation::RzRyRx(r[0] * degree, r[1] * degree, r[2] * degree), + Pose3::Translation{t[0], t[1], t[2]}}; + return transform_covariance(wTb, cov); + } +} +TEST(Pose3, TransformCovariance6MapTo2d) { + using namespace transform_covariance6; + std::array s{{0.1, 0.3, 0.7}}; + std::array r{{31.}}; + std::array t{{1.1, 1.5}}; + auto cov2 = generate_full_covariance({0.1, 0.3, 0.7}); + auto cov2_trans = rotate_translate(r, t, cov2); + + auto match_cov3_to_cov2 = [&](int r_axis, int spatial_axis0, int spatial_axis1, + const Pose2::Jacobian &cov2, const Pose3::Jacobian &cov3) -> void + { + EXPECT_DOUBLES_EQUAL(cov2(0, 0), cov3(spatial_axis0, spatial_axis0), 1e-9); + EXPECT_DOUBLES_EQUAL(cov2(1, 1), cov3(spatial_axis1, spatial_axis1), 1e-9); + EXPECT_DOUBLES_EQUAL(cov2(2, 2), cov3(r_axis, r_axis), 1e-9); + + EXPECT_DOUBLES_EQUAL(cov2(1, 0), cov3(spatial_axis1, spatial_axis0), 1e-9); + EXPECT_DOUBLES_EQUAL(cov2(2, 1), cov3(r_axis, spatial_axis1), 1e-9); + EXPECT_DOUBLES_EQUAL(cov2(2, 0), cov3(r_axis, spatial_axis0), 1e-9); + }; + + // rotate around x axis + { + auto cov3 = generate_full_covariance({s[2], 0., 0., 0., s[0], s[1]}); + auto cov3_trans = rotate_translate({r[0], 0., 0.}, {0., t[0], t[1]}, cov3); + match_cov3_to_cov2(0, 4, 5, cov2_trans, cov3_trans); + } + + // rotate around y axis + { + auto cov3 = generate_full_covariance({0., s[2], 0., s[1], 0., s[0]}); + auto cov3_trans = rotate_translate({0., r[0], 0.}, {t[1], 0., t[0]}, cov3); + match_cov3_to_cov2(1, 5, 3, cov2_trans, cov3_trans); + } + + // rotate around z axis + { + auto cov3 = generate_full_covariance({0., 0., s[2], s[0], s[1], 0.}); + auto cov3_trans = rotate_translate({0., 0., r[0]}, {t[0], t[1], 0.}, cov3); + match_cov3_to_cov2(2, 3, 4, cov2_trans, cov3_trans); + } +} + +/* ************************************************************************* */ +TEST(Pose3, TransformCovariance6) { + using namespace transform_covariance6; + // rotate 90 around z axis and then 90 around y axis + { + auto cov = generate_full_covariance({0.1, 0.2, 0.3, 0.5, 0.7, 1.1}); + auto cov_trans = rotate_only({0., 90., 90.}, cov); + // x from y, y from z, z from x + EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), cov(1, 1), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), cov(2, 2), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), cov(0, 0), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(3, 3), cov(4, 4), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(4, 4), cov(5, 5), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(5, 5), cov(3, 3), 1e-9); + + // Both the x and z axes are pointing in the negative direction. + EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), -cov(2, 1), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), cov(0, 1), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(3, 0), cov(4, 1), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(4, 0), -cov(5, 1), 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(5, 0), cov(3, 1), 1e-9); + } + + // translate along the x axis with uncertainty in roty and rotz + { + auto cov = generate_two_variable_covariance(1, 2, 0.7, 0.3); + auto cov_trans = translate_only({20., 0., 0.}, cov); + // The variance in roty and rotz causes off-diagonal covariances + EXPECT_DOUBLES_EQUAL(cov_trans(5, 1), 0.7 * 0.7 * 20., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(5, 5), 0.7 * 0.7 * 20. * 20., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(4, 2), -0.3 * 0.3 * 20., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(4, 4), 0.3 * 0.3 * 20. * 20., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(4, 1), -0.3 * 0.7 * 20., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(5, 2), 0.3 * 0.7 * 20., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(5, 4), -0.3 * 0.7 * 20. * 20., 1e-9); + } + + // rotate around x axis and translate along the x axis with uncertainty in rotx + { + auto cov = generate_one_variable_covariance(0, 0.1); + auto cov_trans = rotate_translate({90., 0., 0.}, {20., 0., 0.}, cov); + EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), 0., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), 0., 1e-9); + } + + // rotate around x axis and translate along the x axis with uncertainty in roty + { + auto cov = generate_one_variable_covariance(1, 0.1); + auto cov_trans = rotate_translate({90., 0., 0.}, {20., 0., 0.}, cov); + // interchange the y and z axes. + EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), 0.1 * 0.1, 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(4, 2), -0.1 * 0.1 * 20., 1e-9); + EXPECT_DOUBLES_EQUAL(cov_trans(4, 4), 0.1 * 0.1 * 20. * 20., 1e-9); + } +} + /* ************************************************************************* */ TEST(Pose3, interpolate) { EXPECT(assert_equal(T2, interpolate(T2,T3, 0.0))); From 4f37ad3057c10ae5ad2ae1e0bf98bbab8e83036b Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Wed, 11 Dec 2019 19:05:44 -0500 Subject: [PATCH 0117/1152] Change to normal allocator --- gtsam/base/GenericValue.h | 19 +++---------------- 1 file changed, 3 insertions(+), 16 deletions(-) diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h index 52899fe45..aee6c0e62 100644 --- a/gtsam/base/GenericValue.h +++ b/gtsam/base/GenericValue.h @@ -89,12 +89,9 @@ public: /** * Create a duplicate object returned as a pointer to the generic Value interface. - * For the sake of performance, this function use singleton pool allocator instead of the normal heap allocator. - * The result must be deleted with Value::deallocate_, not with the 'delete' operator. */ virtual Value* clone_() const { - void *place = boost::singleton_pool::malloc(); - GenericValue* ptr = new (place) GenericValue(*this); // calls copy constructor to fill in + GenericValue* ptr = new GenericValue(*this); // calls copy constructor to fill in return ptr; } @@ -102,8 +99,7 @@ public: * Destroy and deallocate this object, only if it was originally allocated using clone_(). */ virtual void deallocate_() const { - this->~GenericValue(); // Virtual destructor cleans up the derived object - boost::singleton_pool::free((void*) this); // Release memory from pool + delete this; } /** @@ -118,10 +114,7 @@ public: // Call retract on the derived class using the retract trait function const T retractResult = traits::Retract(GenericValue::value(), delta); - // Create a Value pointer copy of the result - void* resultAsValuePlace = - boost::singleton_pool::malloc(); - Value* resultAsValue = new (resultAsValuePlace) GenericValue(retractResult); + Value* resultAsValue = new GenericValue(retractResult); // Return the pointer to the Value base class return resultAsValue; @@ -172,12 +165,6 @@ public: return *this; } - private: - - /// Fake Tag struct for singleton pool allocator. In fact, it is never used! - struct PoolTag { - }; - private: /** Serialization function */ From 323a9ab9f234cbba87687607945ac0e8628853d7 Mon Sep 17 00:00:00 2001 From: Peter Mullen Date: Fri, 13 Dec 2019 07:57:43 -0800 Subject: [PATCH 0118/1152] a few comments --- gtsam/geometry/tests/testPose2.cpp | 2 ++ gtsam/geometry/tests/testPose3.cpp | 4 ++++ 2 files changed, 6 insertions(+) diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index 6fc850fdd..a98c4472f 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -894,6 +894,8 @@ namespace transform_covariance3 { } } TEST(Pose2 , TransformCovariance3) { + // Use simple covariance matrices and transforms to create tests that can be + // validated with simple computations. using namespace transform_covariance3; // rotate diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 66f67f7c5..b7f5a553c 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -959,6 +959,7 @@ namespace transform_covariance6 { } } TEST(Pose3, TransformCovariance6MapTo2d) { + // Create 3d scenarios that map to 2d configurations and compare with Pose2 results. using namespace transform_covariance6; std::array s{{0.1, 0.3, 0.7}}; std::array r{{31.}}; @@ -1002,7 +1003,10 @@ TEST(Pose3, TransformCovariance6MapTo2d) { /* ************************************************************************* */ TEST(Pose3, TransformCovariance6) { + // Use simple covariance matrices and transforms to create tests that can be + // validated with simple computations. using namespace transform_covariance6; + // rotate 90 around z axis and then 90 around y axis { auto cov = generate_full_covariance({0.1, 0.2, 0.3, 0.5, 0.7, 1.1}); From d0971104ced62c288e26d5e5c6e17ddc4cb68c1d Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Tue, 10 Dec 2019 12:20:31 +0100 Subject: [PATCH 0119/1152] Fix broken 64bit hash in tbb Fixes #181 --- gtsam/base/ConcurrentMap.h | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/gtsam/base/ConcurrentMap.h b/gtsam/base/ConcurrentMap.h index b8388057d..2d7cbd6db 100644 --- a/gtsam/base/ConcurrentMap.h +++ b/gtsam/base/ConcurrentMap.h @@ -29,14 +29,22 @@ # undef max # undef ERROR +#include // std::hash() + // Use TBB concurrent_unordered_map for ConcurrentMap -# define CONCURRENT_MAP_BASE tbb::concurrent_unordered_map +template +using ConcurrentMapBase = tbb::concurrent_unordered_map< + KEY, + VALUE, + std::hash + >; #else // If we're not using TBB, use a FastMap for ConcurrentMap -# include -# define CONCURRENT_MAP_BASE gtsam::FastMap +#include +template +using ConcurrentMapBase = gtsam::FastMap; #endif @@ -57,11 +65,11 @@ namespace gtsam { * @addtogroup base */ template -class ConcurrentMap : public CONCURRENT_MAP_BASE { +class ConcurrentMap : public ConcurrentMapBase { public: - typedef CONCURRENT_MAP_BASE Base; + typedef ConcurrentMapBase Base; /** Default constructor */ ConcurrentMap() {} From fb05fa6bd70853d0853b77bd99338b413f79d702 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Sat, 14 Dec 2019 23:26:22 +0100 Subject: [PATCH 0120/1152] Fix MSVC link errors (missing DLLEXPORTs) --- gtsam/base/DSFMap.h | 4 ++-- gtsam/base/ThreadsafeException.h | 3 ++- gtsam/base/timing.h | 2 +- gtsam/nonlinear/NonlinearOptimizerParams.h | 16 ++++++++-------- gtsam/symbolic/SymbolicBayesTree.h | 6 +++--- 5 files changed, 16 insertions(+), 15 deletions(-) diff --git a/gtsam/base/DSFMap.h b/gtsam/base/DSFMap.h index dfce185dc..1d6bfdefa 100644 --- a/gtsam/base/DSFMap.h +++ b/gtsam/base/DSFMap.h @@ -115,8 +115,8 @@ class DSFMap { /// Small utility class for representing a wrappable pairs of ints. class IndexPair : public std::pair { public: - IndexPair(): std::pair(0,0) {} - IndexPair(size_t i, size_t j) : std::pair(i,j) {} + inline IndexPair(): std::pair(0,0) {} + inline IndexPair(size_t i, size_t j) : std::pair(i,j) {} inline size_t i() const { return first; }; inline size_t j() const { return second; }; }; diff --git a/gtsam/base/ThreadsafeException.h b/gtsam/base/ThreadsafeException.h index ff82ff27c..15a76fbf1 100644 --- a/gtsam/base/ThreadsafeException.h +++ b/gtsam/base/ThreadsafeException.h @@ -22,6 +22,7 @@ #include // for GTSAM_USE_TBB #include +#include #include #include @@ -117,7 +118,7 @@ public: }; /// Thread-safe runtime error exception -class RuntimeErrorThreadsafe: public ThreadsafeException { +class GTSAM_EXPORT RuntimeErrorThreadsafe: public ThreadsafeException { public: /// Construct with a string describing the exception RuntimeErrorThreadsafe(const std::string& description) : diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index 557500e73..972bb45f7 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -196,7 +196,7 @@ namespace gtsam { /** * Small class that calls internal::tic at construction, and internol::toc when destroyed */ - class AutoTicToc { + class GTSAM_EXPORT AutoTicToc { private: size_t id_; const char* label_; diff --git a/gtsam/nonlinear/NonlinearOptimizerParams.h b/gtsam/nonlinear/NonlinearOptimizerParams.h index 9757cca73..65fdd1c92 100644 --- a/gtsam/nonlinear/NonlinearOptimizerParams.h +++ b/gtsam/nonlinear/NonlinearOptimizerParams.h @@ -31,7 +31,7 @@ namespace gtsam { /** The common parameters for Nonlinear optimizers. Most optimizers * deriving from NonlinearOptimizer also subclass the parameters. */ -class NonlinearOptimizerParams { +class GTSAM_EXPORT NonlinearOptimizerParams { public: /** See NonlinearOptimizerParams::verbosity */ enum Verbosity { @@ -52,7 +52,7 @@ public: virtual ~NonlinearOptimizerParams() { } - GTSAM_EXPORT virtual void print(const std::string& str = "") const; + virtual void print(const std::string& str = "") const; size_t getMaxIterations() const { return maxIterations; } double getRelativeErrorTol() const { return relativeErrorTol; } @@ -68,8 +68,8 @@ public: verbosity = verbosityTranslator(src); } - GTSAM_EXPORT static Verbosity verbosityTranslator(const std::string &s) ; - GTSAM_EXPORT static std::string verbosityTranslator(Verbosity value) ; + static Verbosity verbosityTranslator(const std::string &s) ; + static std::string verbosityTranslator(Verbosity value) ; /** See NonlinearOptimizerParams::linearSolverType */ enum LinearSolverType { @@ -144,10 +144,10 @@ public: } private: - GTSAM_EXPORT std::string linearSolverTranslator(LinearSolverType linearSolverType) const; - GTSAM_EXPORT LinearSolverType linearSolverTranslator(const std::string& linearSolverType) const; - GTSAM_EXPORT std::string orderingTypeTranslator(Ordering::OrderingType type) const; - GTSAM_EXPORT Ordering::OrderingType orderingTypeTranslator(const std::string& type) const; + std::string linearSolverTranslator(LinearSolverType linearSolverType) const; + LinearSolverType linearSolverTranslator(const std::string& linearSolverType) const; + std::string orderingTypeTranslator(Ordering::OrderingType type) const; + Ordering::OrderingType orderingTypeTranslator(const std::string& type) const; }; // For backward compatibility: diff --git a/gtsam/symbolic/SymbolicBayesTree.h b/gtsam/symbolic/SymbolicBayesTree.h index 5f7bdde7e..e28f28764 100644 --- a/gtsam/symbolic/SymbolicBayesTree.h +++ b/gtsam/symbolic/SymbolicBayesTree.h @@ -30,7 +30,7 @@ namespace gtsam { /* ************************************************************************* */ /// A clique in a SymbolicBayesTree - class SymbolicBayesTreeClique : + class GTSAM_EXPORT SymbolicBayesTreeClique : public BayesTreeCliqueBase { public: @@ -45,7 +45,7 @@ namespace gtsam { /* ************************************************************************* */ /// A Bayes tree that represents the connectivity between variables but is not associated with any /// probability functions. - class SymbolicBayesTree : + class GTSAM_EXPORT SymbolicBayesTree : public BayesTree { private: @@ -59,7 +59,7 @@ namespace gtsam { SymbolicBayesTree() {} /** check equality */ - GTSAM_EXPORT bool equals(const This& other, double tol = 1e-9) const; + bool equals(const This& other, double tol = 1e-9) const; private: /** Serialization function */ From 46eb35ecffeac3f883238067693450ce88d2c7ca Mon Sep 17 00:00:00 2001 From: Peter Mullen Date: Sun, 15 Dec 2019 20:17:56 -0800 Subject: [PATCH 0121/1152] Attempt to fix clang compile warnings and execution failures. Change function names. Add a few comments. --- gtsam/geometry/tests/testPose2.cpp | 100 +++++++++++------------ gtsam/geometry/tests/testPose3.cpp | 123 +++++++++++++---------------- 2 files changed, 104 insertions(+), 119 deletions(-) diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index a98c4472f..fec3fe426 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -839,59 +839,59 @@ TEST(Pose2 , ChartDerivatives) { namespace transform_covariance3 { const double degree = M_PI / 180; - template - static typename TPose::Jacobian generate_full_covariance( - std::array sigma_values) + // Create a covariance matrix for type T. Use sigma_values^2 on the diagonal + // and fill in non-diagonal entries with a correlation coefficient of 1. Note: + // a covariance matrix for T has the same dimensions as a Jacobian for T. + template + static typename T::Jacobian GenerateFullCovariance( + std::array sigma_values) { - typename TPose::TangentVector sigmas(&sigma_values.front()); - return typename TPose::Jacobian{sigmas * sigmas.transpose()}; + typename T::TangentVector sigmas(&sigma_values.front()); + return typename T::Jacobian{sigmas * sigmas.transpose()}; } - template - static typename TPose::Jacobian generate_one_variable_covariance(int idx, double sigma) + // Create a covariance matrix with one non-zero element on the diagonal. + template + static typename T::Jacobian GenerateOneVariableCovariance(int idx, double sigma) { - typename TPose::Jacobian cov = TPose::Jacobian::Zero(); + typename T::Jacobian cov = T::Jacobian::Zero(); cov(idx, idx) = sigma * sigma; return cov; } + // Create a covariance matrix with two non-zero elements on the diagonal with + // a correlation of 1.0 + template + static typename T::Jacobian GenerateTwoVariableCovariance(int idx0, int idx1, double sigma0, double sigma1) + { + typename T::Jacobian cov = T::Jacobian::Zero(); + cov(idx0, idx0) = sigma0 * sigma0; + cov(idx1, idx1) = sigma1 * sigma1; + cov(idx0, idx1) = cov(idx1, idx0) = sigma0 * sigma1; + return cov; + } + + // Overloaded function to create a Rot2 from one angle. + static Rot2 RotFromArray(const std::array &r) + { + return Rot2{r[0] * degree}; + } + + // Transform a covariance matrix with a rotation and a translation template - static typename TPose::Jacobian transform_covariance( - const TPose &wTb, + static typename TPose::Jacobian RotateTranslate( + std::array r, + std::array t, const typename TPose::Jacobian &cov) { + // Construct a pose object + typename TPose::Rotation rot{RotFromArray(r)}; + TPose wTb{rot, typename TPose::Translation{&t.front()}}; + // transform the covariance with the AdjointMap auto adjointMap = wTb.AdjointMap(); return adjointMap * cov * adjointMap.transpose(); } - - static typename Pose2::Jacobian rotate_only( - const std::array r, - const typename Pose2::Jacobian &cov) - { - // Create a rotation only transform - Pose2 wTb{Pose2::Rotation{r[0] * degree}, Pose2::Translation{}}; - return transform_covariance(wTb, cov); - } - - static Pose2::Jacobian translate_only( - const std::array t, - const Pose2::Jacobian &cov) - { - // Create a translation only transform - Pose2 wTb{Pose2::Rotation{}, Pose2::Translation{t[0], t[1]}}; - return transform_covariance(wTb, cov); - } - - static Pose2::Jacobian rotate_translate( - const std::array r, - const std::array t, - const Pose2::Jacobian &cov) - { - // Create a translation only transform - Pose2 wTb{Pose2::Rotation{r[0] * degree}, Pose2::Translation{t[0], t[1]}}; - return transform_covariance(wTb, cov); - } } TEST(Pose2 , TransformCovariance3) { // Use simple covariance matrices and transforms to create tests that can be @@ -900,8 +900,8 @@ TEST(Pose2 , TransformCovariance3) { // rotate { - auto cov = generate_full_covariance({0.1, 0.3, 0.7}); - auto cov_trans = rotate_only({90.}, cov); + auto cov = GenerateFullCovariance({0.1, 0.3, 0.7}); + auto cov_trans = RotateTranslate({{90.}}, {{}}, cov); // interchange x and y axes EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), cov(0, 0), 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), cov(1, 1), 1e-9); @@ -914,8 +914,8 @@ TEST(Pose2 , TransformCovariance3) { // translate along x with uncertainty in x { - auto cov = generate_one_variable_covariance(0, 0.1); - auto cov_trans = translate_only({20., 0.}, cov); + auto cov = GenerateOneVariableCovariance(0, 0.1); + auto cov_trans = RotateTranslate({{}}, {{20., 0.}}, cov); EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), 0.1 * 0.1, 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0., 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), 0., 1e-9); @@ -927,8 +927,8 @@ TEST(Pose2 , TransformCovariance3) { // translate along x with uncertainty in y { - auto cov = generate_one_variable_covariance(1, 0.1); - auto cov_trans = translate_only({20., 0.}, cov); + auto cov = GenerateOneVariableCovariance(1, 0.1); + auto cov_trans = RotateTranslate({{}}, {{20., 0.}}, cov); EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), 0., 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0.1 * 0.1, 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), 0., 1e-9); @@ -940,24 +940,24 @@ TEST(Pose2 , TransformCovariance3) { // translate along x with uncertainty in theta { - auto cov = generate_one_variable_covariance(2, 0.1); - auto cov_trans = translate_only({20., 0.}, cov); + auto cov = GenerateOneVariableCovariance(2, 0.1); + auto cov_trans = RotateTranslate({{}}, {{20., 0.}}, cov); EXPECT_DOUBLES_EQUAL(cov_trans(2, 1), -0.1 * 0.1 * 20., 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0.1 * 0.1 * 20. * 20., 1e-9); } // rotate and translate along x with uncertainty in x { - auto cov = generate_one_variable_covariance(0, 0.1); - auto cov_trans = rotate_translate({90.}, {20., 0.}, cov); + auto cov = GenerateOneVariableCovariance(0, 0.1); + auto cov_trans = RotateTranslate({{90.}}, {{20., 0.}}, cov); EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), 0., 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0.1 * 0.1, 1e-9); } // rotate and translate along x with uncertainty in theta { - auto cov = generate_one_variable_covariance(2, 0.1); - auto cov_trans = rotate_translate({90.}, {20., 0.}, cov); + auto cov = GenerateOneVariableCovariance(2, 0.1); + auto cov_trans = RotateTranslate({{90.}}, {{20., 0.}}, cov); EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), 0., 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0.1 * 0.1 * 20. * 20., 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), 0.1 * 0.1, 1e-9); diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index b7f5a553c..14abe3d8c 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -882,90 +882,75 @@ TEST(Pose3 , ChartDerivatives) { namespace transform_covariance6 { const double degree = M_PI / 180; - template - static typename TPose::Jacobian generate_full_covariance( - std::array sigma_values) + // Create a covariance matrix for type T. Use sigma_values^2 on the diagonal + // and fill in non-diagonal entries with a correlation coefficient of 1. Note: + // a covariance matrix for T has the same dimensions as a Jacobian for T. + template + static typename T::Jacobian GenerateFullCovariance( + std::array sigma_values) { - typename TPose::TangentVector sigmas(&sigma_values.front()); - return typename TPose::Jacobian{sigmas * sigmas.transpose()}; + typename T::TangentVector sigmas(&sigma_values.front()); + return typename T::Jacobian{sigmas * sigmas.transpose()}; } - template - static typename TPose::Jacobian generate_one_variable_covariance(int idx, double sigma) + // Create a covariance matrix with one non-zero element on the diagonal. + template + static typename T::Jacobian GenerateOneVariableCovariance(int idx, double sigma) { - typename TPose::Jacobian cov = TPose::Jacobian::Zero(); + typename T::Jacobian cov = T::Jacobian::Zero(); cov(idx, idx) = sigma * sigma; return cov; } - template - static typename TPose::Jacobian generate_two_variable_covariance(int idx0, int idx1, double sigma0, double sigma1) + // Create a covariance matrix with two non-zero elements on the diagonal with + // a correlation of 1.0 + template + static typename T::Jacobian GenerateTwoVariableCovariance(int idx0, int idx1, double sigma0, double sigma1) { - typename TPose::Jacobian cov = TPose::Jacobian::Zero(); + typename T::Jacobian cov = T::Jacobian::Zero(); cov(idx0, idx0) = sigma0 * sigma0; cov(idx1, idx1) = sigma1 * sigma1; cov(idx0, idx1) = cov(idx1, idx0) = sigma0 * sigma1; return cov; } + // Overloaded function to create a Rot2 from one angle. + static Rot2 RotFromArray(const std::array &r) + { + return Rot2{r[0] * degree}; + } + + // Overloaded function to create a Rot3 from three angles. + static Rot3 RotFromArray(const std::array &r) + { + return Rot3::RzRyRx(r[0] * degree, r[1] * degree, r[2] * degree); + } + + // Transform a covariance matrix with a rotation and a translation template - static typename TPose::Jacobian transform_covariance( - const TPose &wTb, + static typename TPose::Jacobian RotateTranslate( + std::array r, + std::array t, const typename TPose::Jacobian &cov) { + // Construct a pose object + typename TPose::Rotation rot{RotFromArray(r)}; + TPose wTb{rot, typename TPose::Translation{&t.front()}}; + // transform the covariance with the AdjointMap auto adjointMap = wTb.AdjointMap(); return adjointMap * cov * adjointMap.transpose(); } - - static Pose2::Jacobian rotate_translate( - const std::array r, - const std::array t, - const Pose2::Jacobian &cov) - { - // Create a translation only transform - Pose2 wTb{Pose2::Rotation{r[0] * degree}, Pose2::Translation{t[0], t[1]}}; - return transform_covariance(wTb, cov); - } - - static typename Pose3::Jacobian rotate_only( - const std::array r, - const typename Pose3::Jacobian &cov) - { - // Create a rotation only transform - Pose3 wTb{Pose3::Rotation::RzRyRx(r[0] * degree, r[1] * degree, r[2] * degree), - Pose3::Translation{}}; - return transform_covariance(wTb, cov); - } - - static Pose3::Jacobian translate_only( - const std::array t, - const Pose3::Jacobian &cov) - { - // Create a translation only transform - Pose3 wTb{Pose3::Rotation{}, Pose3::Translation{t[0], t[1], t[2]}}; - return transform_covariance(wTb, cov); - } - - static Pose3::Jacobian rotate_translate( - const std::array r, - const std::array t, - const Pose3::Jacobian &cov) - { - // Create a translation only transform - Pose3 wTb{Pose3::Rotation::RzRyRx(r[0] * degree, r[1] * degree, r[2] * degree), - Pose3::Translation{t[0], t[1], t[2]}}; - return transform_covariance(wTb, cov); - } } TEST(Pose3, TransformCovariance6MapTo2d) { // Create 3d scenarios that map to 2d configurations and compare with Pose2 results. using namespace transform_covariance6; + std::array s{{0.1, 0.3, 0.7}}; std::array r{{31.}}; std::array t{{1.1, 1.5}}; - auto cov2 = generate_full_covariance({0.1, 0.3, 0.7}); - auto cov2_trans = rotate_translate(r, t, cov2); + auto cov2 = GenerateFullCovariance({{0.1, 0.3, 0.7}}); + auto cov2_trans = RotateTranslate(r, t, cov2); auto match_cov3_to_cov2 = [&](int r_axis, int spatial_axis0, int spatial_axis1, const Pose2::Jacobian &cov2, const Pose3::Jacobian &cov3) -> void @@ -981,22 +966,22 @@ TEST(Pose3, TransformCovariance6MapTo2d) { // rotate around x axis { - auto cov3 = generate_full_covariance({s[2], 0., 0., 0., s[0], s[1]}); - auto cov3_trans = rotate_translate({r[0], 0., 0.}, {0., t[0], t[1]}, cov3); + auto cov3 = GenerateFullCovariance({{s[2], 0., 0., 0., s[0], s[1]}}); + auto cov3_trans = RotateTranslate({{r[0], 0., 0.}}, {{0., t[0], t[1]}}, cov3); match_cov3_to_cov2(0, 4, 5, cov2_trans, cov3_trans); } // rotate around y axis { - auto cov3 = generate_full_covariance({0., s[2], 0., s[1], 0., s[0]}); - auto cov3_trans = rotate_translate({0., r[0], 0.}, {t[1], 0., t[0]}, cov3); + auto cov3 = GenerateFullCovariance({{0., s[2], 0., s[1], 0., s[0]}}); + auto cov3_trans = RotateTranslate({{0., r[0], 0.}}, {{t[1], 0., t[0]}}, cov3); match_cov3_to_cov2(1, 5, 3, cov2_trans, cov3_trans); } // rotate around z axis { - auto cov3 = generate_full_covariance({0., 0., s[2], s[0], s[1], 0.}); - auto cov3_trans = rotate_translate({0., 0., r[0]}, {t[0], t[1], 0.}, cov3); + auto cov3 = GenerateFullCovariance({{0., 0., s[2], s[0], s[1], 0.}}); + auto cov3_trans = RotateTranslate({{0., 0., r[0]}}, {{t[0], t[1], 0.}}, cov3); match_cov3_to_cov2(2, 3, 4, cov2_trans, cov3_trans); } } @@ -1009,8 +994,8 @@ TEST(Pose3, TransformCovariance6) { // rotate 90 around z axis and then 90 around y axis { - auto cov = generate_full_covariance({0.1, 0.2, 0.3, 0.5, 0.7, 1.1}); - auto cov_trans = rotate_only({0., 90., 90.}, cov); + auto cov = GenerateFullCovariance({{0.1, 0.2, 0.3, 0.5, 0.7, 1.1}}); + auto cov_trans = RotateTranslate({{0., 90., 90.}}, {{}}, cov); // x from y, y from z, z from x EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), cov(1, 1), 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), cov(2, 2), 1e-9); @@ -1029,8 +1014,8 @@ TEST(Pose3, TransformCovariance6) { // translate along the x axis with uncertainty in roty and rotz { - auto cov = generate_two_variable_covariance(1, 2, 0.7, 0.3); - auto cov_trans = translate_only({20., 0., 0.}, cov); + auto cov = GenerateTwoVariableCovariance(1, 2, 0.7, 0.3); + auto cov_trans = RotateTranslate({{}}, {{20., 0., 0.}}, cov); // The variance in roty and rotz causes off-diagonal covariances EXPECT_DOUBLES_EQUAL(cov_trans(5, 1), 0.7 * 0.7 * 20., 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(5, 5), 0.7 * 0.7 * 20. * 20., 1e-9); @@ -1043,16 +1028,16 @@ TEST(Pose3, TransformCovariance6) { // rotate around x axis and translate along the x axis with uncertainty in rotx { - auto cov = generate_one_variable_covariance(0, 0.1); - auto cov_trans = rotate_translate({90., 0., 0.}, {20., 0., 0.}, cov); + auto cov = GenerateOneVariableCovariance(0, 0.1); + auto cov_trans = RotateTranslate({{90., 0., 0.}}, {{20., 0., 0.}}, cov); EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), 0., 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), 0., 1e-9); } // rotate around x axis and translate along the x axis with uncertainty in roty { - auto cov = generate_one_variable_covariance(1, 0.1); - auto cov_trans = rotate_translate({90., 0., 0.}, {20., 0., 0.}, cov); + auto cov = GenerateOneVariableCovariance(1, 0.1); + auto cov_trans = RotateTranslate({{90., 0., 0.}}, {{20., 0., 0.}}, cov); // interchange the y and z axes. EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), 0.1 * 0.1, 1e-9); EXPECT_DOUBLES_EQUAL(cov_trans(4, 2), -0.1 * 0.1 * 20., 1e-9); From f33a77234f5418216affe19240494a8efd8841ed Mon Sep 17 00:00:00 2001 From: Peter Mullen Date: Sun, 15 Dec 2019 22:16:01 -0800 Subject: [PATCH 0122/1152] Fix another compiler warning. Change function arguments to const ref --- gtsam/geometry/tests/testPose2.cpp | 6 +++--- gtsam/geometry/tests/testPose3.cpp | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index fec3fe426..0d53dc4e0 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -880,8 +880,8 @@ namespace transform_covariance3 { // Transform a covariance matrix with a rotation and a translation template static typename TPose::Jacobian RotateTranslate( - std::array r, - std::array t, + const std::array &r, + const std::array &t, const typename TPose::Jacobian &cov) { // Construct a pose object @@ -900,7 +900,7 @@ TEST(Pose2 , TransformCovariance3) { // rotate { - auto cov = GenerateFullCovariance({0.1, 0.3, 0.7}); + auto cov = GenerateFullCovariance({{0.1, 0.3, 0.7}}); auto cov_trans = RotateTranslate({{90.}}, {{}}, cov); // interchange x and y axes EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), cov(0, 0), 1e-9); diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 14abe3d8c..f9b388b9b 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -929,8 +929,8 @@ namespace transform_covariance6 { // Transform a covariance matrix with a rotation and a translation template static typename TPose::Jacobian RotateTranslate( - std::array r, - std::array t, + const std::array &r, + const std::array &t, const typename TPose::Jacobian &cov) { // Construct a pose object From 1f4297a0ec5a0250271916becc3561a36feced49 Mon Sep 17 00:00:00 2001 From: Peter Mullen Date: Sun, 15 Dec 2019 22:59:11 -0800 Subject: [PATCH 0123/1152] Move shared code into a header file --- gtsam/geometry/tests/testPose2.cpp | 59 +-------------- gtsam/geometry/tests/testPose3.cpp | 67 +---------------- gtsam/geometry/tests/testPoseAdjointMap.h | 87 +++++++++++++++++++++++ 3 files changed, 92 insertions(+), 121 deletions(-) create mode 100644 gtsam/geometry/tests/testPoseAdjointMap.h diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index 0d53dc4e0..4343b5408 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -836,67 +836,12 @@ TEST(Pose2 , ChartDerivatives) { } //****************************************************************************** -namespace transform_covariance3 { - const double degree = M_PI / 180; +#include "testPoseAdjointMap.h" - // Create a covariance matrix for type T. Use sigma_values^2 on the diagonal - // and fill in non-diagonal entries with a correlation coefficient of 1. Note: - // a covariance matrix for T has the same dimensions as a Jacobian for T. - template - static typename T::Jacobian GenerateFullCovariance( - std::array sigma_values) - { - typename T::TangentVector sigmas(&sigma_values.front()); - return typename T::Jacobian{sigmas * sigmas.transpose()}; - } - - // Create a covariance matrix with one non-zero element on the diagonal. - template - static typename T::Jacobian GenerateOneVariableCovariance(int idx, double sigma) - { - typename T::Jacobian cov = T::Jacobian::Zero(); - cov(idx, idx) = sigma * sigma; - return cov; - } - - // Create a covariance matrix with two non-zero elements on the diagonal with - // a correlation of 1.0 - template - static typename T::Jacobian GenerateTwoVariableCovariance(int idx0, int idx1, double sigma0, double sigma1) - { - typename T::Jacobian cov = T::Jacobian::Zero(); - cov(idx0, idx0) = sigma0 * sigma0; - cov(idx1, idx1) = sigma1 * sigma1; - cov(idx0, idx1) = cov(idx1, idx0) = sigma0 * sigma1; - return cov; - } - - // Overloaded function to create a Rot2 from one angle. - static Rot2 RotFromArray(const std::array &r) - { - return Rot2{r[0] * degree}; - } - - // Transform a covariance matrix with a rotation and a translation - template - static typename TPose::Jacobian RotateTranslate( - const std::array &r, - const std::array &t, - const typename TPose::Jacobian &cov) - { - // Construct a pose object - typename TPose::Rotation rot{RotFromArray(r)}; - TPose wTb{rot, typename TPose::Translation{&t.front()}}; - - // transform the covariance with the AdjointMap - auto adjointMap = wTb.AdjointMap(); - return adjointMap * cov * adjointMap.transpose(); - } -} TEST(Pose2 , TransformCovariance3) { // Use simple covariance matrices and transforms to create tests that can be // validated with simple computations. - using namespace transform_covariance3; + using namespace test_pose_adjoint_map; // rotate { diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index f9b388b9b..97153238a 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -879,72 +879,11 @@ TEST(Pose3 , ChartDerivatives) { } //****************************************************************************** -namespace transform_covariance6 { - const double degree = M_PI / 180; +#include "testPoseAdjointMap.h" - // Create a covariance matrix for type T. Use sigma_values^2 on the diagonal - // and fill in non-diagonal entries with a correlation coefficient of 1. Note: - // a covariance matrix for T has the same dimensions as a Jacobian for T. - template - static typename T::Jacobian GenerateFullCovariance( - std::array sigma_values) - { - typename T::TangentVector sigmas(&sigma_values.front()); - return typename T::Jacobian{sigmas * sigmas.transpose()}; - } - - // Create a covariance matrix with one non-zero element on the diagonal. - template - static typename T::Jacobian GenerateOneVariableCovariance(int idx, double sigma) - { - typename T::Jacobian cov = T::Jacobian::Zero(); - cov(idx, idx) = sigma * sigma; - return cov; - } - - // Create a covariance matrix with two non-zero elements on the diagonal with - // a correlation of 1.0 - template - static typename T::Jacobian GenerateTwoVariableCovariance(int idx0, int idx1, double sigma0, double sigma1) - { - typename T::Jacobian cov = T::Jacobian::Zero(); - cov(idx0, idx0) = sigma0 * sigma0; - cov(idx1, idx1) = sigma1 * sigma1; - cov(idx0, idx1) = cov(idx1, idx0) = sigma0 * sigma1; - return cov; - } - - // Overloaded function to create a Rot2 from one angle. - static Rot2 RotFromArray(const std::array &r) - { - return Rot2{r[0] * degree}; - } - - // Overloaded function to create a Rot3 from three angles. - static Rot3 RotFromArray(const std::array &r) - { - return Rot3::RzRyRx(r[0] * degree, r[1] * degree, r[2] * degree); - } - - // Transform a covariance matrix with a rotation and a translation - template - static typename TPose::Jacobian RotateTranslate( - const std::array &r, - const std::array &t, - const typename TPose::Jacobian &cov) - { - // Construct a pose object - typename TPose::Rotation rot{RotFromArray(r)}; - TPose wTb{rot, typename TPose::Translation{&t.front()}}; - - // transform the covariance with the AdjointMap - auto adjointMap = wTb.AdjointMap(); - return adjointMap * cov * adjointMap.transpose(); - } -} TEST(Pose3, TransformCovariance6MapTo2d) { // Create 3d scenarios that map to 2d configurations and compare with Pose2 results. - using namespace transform_covariance6; + using namespace test_pose_adjoint_map; std::array s{{0.1, 0.3, 0.7}}; std::array r{{31.}}; @@ -990,7 +929,7 @@ TEST(Pose3, TransformCovariance6MapTo2d) { TEST(Pose3, TransformCovariance6) { // Use simple covariance matrices and transforms to create tests that can be // validated with simple computations. - using namespace transform_covariance6; + using namespace test_pose_adjoint_map; // rotate 90 around z axis and then 90 around y axis { diff --git a/gtsam/geometry/tests/testPoseAdjointMap.h b/gtsam/geometry/tests/testPoseAdjointMap.h new file mode 100644 index 000000000..1263a807c --- /dev/null +++ b/gtsam/geometry/tests/testPoseAdjointMap.h @@ -0,0 +1,87 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file testPoseAdjointMap.h + * @brief Support utilities for using AdjointMap for transforming Pose2 and Pose3 covariance matrices + * @author Peter Mulllen + * @author Frank Dellaert + */ + +#pragma once + +#include +#include + +namespace test_pose_adjoint_map +{ + const double degree = M_PI / 180; + + // Create a covariance matrix for type T. Use sigma_values^2 on the diagonal + // and fill in non-diagonal entries with correlation coefficient of 1. Note: + // a covariance matrix for T has the same dimensions as a Jacobian for T. + template + typename T::Jacobian GenerateFullCovariance( + std::array sigma_values) + { + typename T::TangentVector sigmas(&sigma_values.front()); + return typename T::Jacobian{sigmas * sigmas.transpose()}; + } + + // Create a covariance matrix with one non-zero element on the diagonal. + template + typename T::Jacobian GenerateOneVariableCovariance(int idx, double sigma) + { + typename T::Jacobian cov = T::Jacobian::Zero(); + cov(idx, idx) = sigma * sigma; + return cov; + } + + // Create a covariance matrix with two non-zero elements on the diagonal with + // a correlation of 1.0 + template + typename T::Jacobian GenerateTwoVariableCovariance(int idx0, int idx1, double sigma0, double sigma1) + { + typename T::Jacobian cov = T::Jacobian::Zero(); + cov(idx0, idx0) = sigma0 * sigma0; + cov(idx1, idx1) = sigma1 * sigma1; + cov(idx0, idx1) = cov(idx1, idx0) = sigma0 * sigma1; + return cov; + } + + // Overloaded function to create a Rot2 from one angle. + Rot2 RotFromArray(const std::array &r) + { + return Rot2{r[0] * degree}; + } + + // Overloaded function to create a Rot3 from three angles. + Rot3 RotFromArray(const std::array &r) + { + return Rot3::RzRyRx(r[0] * degree, r[1] * degree, r[2] * degree); + } + + // Transform a covariance matrix with a rotation and a translation + template + typename Pose::Jacobian RotateTranslate( + std::array r, + std::array t, + const typename Pose::Jacobian &cov) + { + // Construct a pose object + typename Pose::Rotation rot{RotFromArray(r)}; + Pose wTb{rot, typename Pose::Translation{&t.front()}}; + + // transform the covariance with the AdjointMap + auto adjointMap = wTb.AdjointMap(); + return adjointMap * cov * adjointMap.transpose(); + } +} \ No newline at end of file From 63ef77156e2c724f9d0b82b47fd96141ef2d2eb8 Mon Sep 17 00:00:00 2001 From: Michael Bosse Date: Tue, 10 Dec 2019 13:05:18 -0800 Subject: [PATCH 0124/1152] Fix LM linearizedCostChange for robust noise models When robust noise models are used, the linearized error is not the same as the nonlinear error even at zero delta. In the L2 loss case, the rho(error) = 0.5 * error^2 which is the same as 0.5 *(sqrt(weight)*error)^2 since weight is always 1.0; However this is not the case with other loss functions since in general, rho(error) != 0.5 * weight * error^2 This PR fixes the LevenbergMarquardtOptimizer to explicityly compute the linear cost change. --- gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index c85891af2..e889f260e 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -152,6 +152,9 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear, systemSolvedSuccessfully = false; } + // Compute the old linearized error as it is not the same + // as the nonlinear error when robust noise models are used. + double oldLinearizedError = linear.error(VectorValues::Zero(delta)); if (systemSolvedSuccessfully) { if (verbose) cout << "linear delta norm = " << delta.norm() << endl; @@ -161,7 +164,7 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear, // cost change in the linearized system (old - new) double newlinearizedError = linear.error(delta); - double linearizedCostChange = currentState->error - newlinearizedError; + double linearizedCostChange = oldLinearizedError - newlinearizedError; if (verbose) cout << "newlinearizedError = " << newlinearizedError << " linearizedCostChange = " << linearizedCostChange << endl; @@ -188,8 +191,8 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear, // cost change in the original, nonlinear system (old - new) costChange = currentState->error - newError; - if (linearizedCostChange > - 1e-20) { // the (linear) error has to decrease to satisfy this condition + if (linearizedCostChange > std::numeric_limits::epsilon() * oldLinearizedError) { + // the (linear) error has to decrease to satisfy this condition // fidelity of linearized model VS original system between modelFidelity = costChange / linearizedCostChange; // if we decrease the error in the nonlinear system and modelFidelity is above threshold From 1f43d73b34ff9863ec2e5919a299297175aab4ec Mon Sep 17 00:00:00 2001 From: Mike Bosse Date: Mon, 16 Dec 2019 15:52:24 -0800 Subject: [PATCH 0125/1152] make jacobian factor use noise model distance when available --- gtsam/linear/JacobianFactor.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 9be010ff5..2310d88f0 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -513,8 +513,10 @@ Vector JacobianFactor::error_vector(const VectorValues& c) const { /* ************************************************************************* */ double JacobianFactor::error(const VectorValues& c) const { - Vector weighted = error_vector(c); - return 0.5 * weighted.dot(weighted); + Vector e = unweighted_error(c); + // Use the noise model distance function to get the correct error if available. + if (model_) return 0.5 * model_->distance(e); + return 0.5 * e.dot(e); } /* ************************************************************************* */ From d76fc052b03fdd31ae124a58d40fc098a9c2f33d Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Fri, 20 Dec 2019 10:06:15 +0100 Subject: [PATCH 0126/1152] fix missing include --- gtsam_unstable/partition/GenericGraph.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam_unstable/partition/GenericGraph.h b/gtsam_unstable/partition/GenericGraph.h index ec0027635..3dc640e97 100644 --- a/gtsam_unstable/partition/GenericGraph.h +++ b/gtsam_unstable/partition/GenericGraph.h @@ -12,6 +12,7 @@ #include #include #include +#include #include #include "PartitionWorkSpace.h" From f2376a644ea86a6fd546e7877bbcc5625faeee2b Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 20 Dec 2019 15:23:40 -0500 Subject: [PATCH 0127/1152] install gtsam_unstable correctly on APPLE devices --- gtsam/CMakeLists.txt | 2 +- gtsam_unstable/CMakeLists.txt | 6 ++++++ 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 82cdf2bad..11ec5510d 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -168,7 +168,7 @@ if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with set_target_properties(gtsam PROPERTIES PREFIX "" DEFINE_SYMBOL GTSAM_EXPORTS - RUNTIME_OUTPUT_DIRECTORY "${GTSAM_BINARY_DIR}/bin") + RUNTIME_OUTPUT_DIRECTORY "${GTSAM_BINARY_DIR}/bin") endif() endif() diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 53ba83fad..95e6c2293 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -98,6 +98,12 @@ if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with endif() endif() +if (APPLE AND BUILD_SHARED_LIBS) + set_target_properties(gtsam_unstable PROPERTIES + INSTALL_NAME_DIR + "${CMAKE_INSTALL_PREFIX}/lib") +endif() + install( TARGETS gtsam_unstable EXPORT GTSAM-exports From 1236ab6c8e3f29869949213463aab10944c86567 Mon Sep 17 00:00:00 2001 From: Peter Mullen Date: Fri, 20 Dec 2019 23:15:56 -0800 Subject: [PATCH 0128/1152] Move TransformCovariance functor into lie.h --- gtsam/base/Lie.h | 10 +++ gtsam/geometry/tests/testPose2.cpp | 85 +++++++++--------- gtsam/geometry/tests/testPose3.cpp | 105 ++++++++++------------ gtsam/geometry/tests/testPoseAdjointMap.h | 52 +++-------- 4 files changed, 112 insertions(+), 140 deletions(-) diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h index bb49a84d6..b6ec6a724 100644 --- a/gtsam/base/Lie.h +++ b/gtsam/base/Lie.h @@ -161,6 +161,16 @@ struct LieGroup { return v; } + // Functor for transforming covariance of Class + class TransformCovariance + { + private: + typename Class::Jacobian adjointMap_; + public: + explicit TransformCovariance(const Class &X) : adjointMap_{X.AdjointMap()} {} + typename Class::Jacobian operator()(const typename Class::Jacobian &covariance) + { return adjointMap_ * covariance * adjointMap_.transpose(); } + }; }; /// tag to assert a type is a Lie group diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index 4343b5408..81f097bd9 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -845,71 +845,68 @@ TEST(Pose2 , TransformCovariance3) { // rotate { - auto cov = GenerateFullCovariance({{0.1, 0.3, 0.7}}); - auto cov_trans = RotateTranslate({{90.}}, {{}}, cov); + auto cov = FullCovarianceFromSigmas({0.1, 0.3, 0.7}); + auto transformed = Pose2::TransformCovariance{{0., 0., 90 * degree}}(cov); // interchange x and y axes - EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), cov(0, 0), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), cov(1, 1), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), cov(2, 2), 1e-9); - - EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), -cov(1, 0), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), -cov(2, 1), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 1), cov(2, 0), 1e-9); + EXPECT(assert_equal( + Vector3{cov(1, 1), cov(0, 0), cov(2, 2)}, + Vector3{transformed.diagonal()})); + EXPECT(assert_equal( + Vector3{-cov(1, 0), -cov(2, 1), cov(2, 0)}, + Vector3{transformed(1, 0), transformed(2, 0), transformed(2, 1)})); } // translate along x with uncertainty in x { - auto cov = GenerateOneVariableCovariance(0, 0.1); - auto cov_trans = RotateTranslate({{}}, {{20., 0.}}, cov); - EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), 0.1 * 0.1, 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), 0., 1e-9); - - EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), 0., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), 0., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 1), 0., 1e-9); + auto cov = SingleVariableCovarianceFromSigma(0, 0.1); + auto transformed = Pose2::TransformCovariance{{20., 0., 0.}}(cov); + // No change + EXPECT(assert_equal(cov, transformed)); } // translate along x with uncertainty in y { - auto cov = GenerateOneVariableCovariance(1, 0.1); - auto cov_trans = RotateTranslate({{}}, {{20., 0.}}, cov); - EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), 0., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0.1 * 0.1, 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), 0., 1e-9); - - EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), 0., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), 0., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 1), 0., 1e-9); + auto cov = SingleVariableCovarianceFromSigma(1, 0.1); + auto transformed = Pose2::TransformCovariance{{20., 0., 0.}}(cov); + // No change + EXPECT(assert_equal(cov, transformed)); } // translate along x with uncertainty in theta { - auto cov = GenerateOneVariableCovariance(2, 0.1); - auto cov_trans = RotateTranslate({{}}, {{20., 0.}}, cov); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 1), -0.1 * 0.1 * 20., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0.1 * 0.1 * 20. * 20., 1e-9); + auto cov = SingleVariableCovarianceFromSigma(2, 0.1); + auto transformed = Pose2::TransformCovariance{{20., 0., 0.}}(cov); + EXPECT(assert_equal( + Vector3{0., 0.1 * 0.1 * 20. * 20., 0.1 * 0.1}, + Vector3{transformed.diagonal()})); + EXPECT(assert_equal( + Vector3{0., 0., -0.1 * 0.1 * 20.}, + Vector3{transformed(1, 0), transformed(2, 0), transformed(2, 1)})); } // rotate and translate along x with uncertainty in x { - auto cov = GenerateOneVariableCovariance(0, 0.1); - auto cov_trans = RotateTranslate({{90.}}, {{20., 0.}}, cov); - EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), 0., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0.1 * 0.1, 1e-9); + auto cov = SingleVariableCovarianceFromSigma(0, 0.1); + auto transformed = Pose2::TransformCovariance{{20., 0., 90 * degree}}(cov); + // interchange x and y axes + EXPECT(assert_equal( + Vector3{cov(1, 1), cov(0, 0), cov(2, 2)}, + Vector3{transformed.diagonal()})); + EXPECT(assert_equal( + Vector3{Z_3x1}, + Vector3{transformed(1, 0), transformed(2, 0), transformed(2, 1)})); } // rotate and translate along x with uncertainty in theta { - auto cov = GenerateOneVariableCovariance(2, 0.1); - auto cov_trans = RotateTranslate({{90.}}, {{20., 0.}}, cov); - EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), 0., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), 0.1 * 0.1 * 20. * 20., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), 0.1 * 0.1, 1e-9); - - EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), 0., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), 0., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 1), -0.1 * 0.1 * 20., 1e-9); + auto cov = SingleVariableCovarianceFromSigma(2, 0.1); + auto transformed = Pose2::TransformCovariance{{20., 0., 90 * degree}}(cov); + EXPECT(assert_equal( + Vector3{0., 0.1 * 0.1 * 20. * 20., 0.1 * 0.1}, + Vector3{transformed.diagonal()})); + EXPECT(assert_equal( + Vector3{0., 0., -0.1 * 0.1 * 20.}, + Vector3{transformed(1, 0), transformed(2, 0), transformed(2, 1)})); } } diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 97153238a..fc702d3b3 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -885,43 +885,41 @@ TEST(Pose3, TransformCovariance6MapTo2d) { // Create 3d scenarios that map to 2d configurations and compare with Pose2 results. using namespace test_pose_adjoint_map; - std::array s{{0.1, 0.3, 0.7}}; - std::array r{{31.}}; - std::array t{{1.1, 1.5}}; - auto cov2 = GenerateFullCovariance({{0.1, 0.3, 0.7}}); - auto cov2_trans = RotateTranslate(r, t, cov2); + Vector3 s2{0.1, 0.3, 0.7}; + Pose2 p2{1.1, 1.5, 31. * degree}; + auto cov2 = FullCovarianceFromSigmas(s2); + auto transformed2 = Pose2::TransformCovariance{p2}(cov2); - auto match_cov3_to_cov2 = [&](int r_axis, int spatial_axis0, int spatial_axis1, + auto match_cov3_to_cov2 = [&](int spatial_axis0, int spatial_axis1, int r_axis, const Pose2::Jacobian &cov2, const Pose3::Jacobian &cov3) -> void { - EXPECT_DOUBLES_EQUAL(cov2(0, 0), cov3(spatial_axis0, spatial_axis0), 1e-9); - EXPECT_DOUBLES_EQUAL(cov2(1, 1), cov3(spatial_axis1, spatial_axis1), 1e-9); - EXPECT_DOUBLES_EQUAL(cov2(2, 2), cov3(r_axis, r_axis), 1e-9); - - EXPECT_DOUBLES_EQUAL(cov2(1, 0), cov3(spatial_axis1, spatial_axis0), 1e-9); - EXPECT_DOUBLES_EQUAL(cov2(2, 1), cov3(r_axis, spatial_axis1), 1e-9); - EXPECT_DOUBLES_EQUAL(cov2(2, 0), cov3(r_axis, spatial_axis0), 1e-9); + EXPECT(assert_equal( + Vector3{cov2.diagonal()}, + Vector3{cov3(spatial_axis0, spatial_axis0), cov3(spatial_axis1, spatial_axis1), cov3(r_axis, r_axis)})); + EXPECT(assert_equal( + Vector3{cov2(1, 0), cov2(2, 0), cov2(2, 1)}, + Vector3{cov3(spatial_axis1, spatial_axis0), cov3(r_axis, spatial_axis0), cov3(r_axis, spatial_axis1)})); }; // rotate around x axis { - auto cov3 = GenerateFullCovariance({{s[2], 0., 0., 0., s[0], s[1]}}); - auto cov3_trans = RotateTranslate({{r[0], 0., 0.}}, {{0., t[0], t[1]}}, cov3); - match_cov3_to_cov2(0, 4, 5, cov2_trans, cov3_trans); + auto cov3 = FullCovarianceFromSigmas((Vector6{} << s2(2), 0., 0., 0., s2(0), s2(1)).finished()); + auto transformed3 = Pose3::TransformCovariance{{Rot3::RzRyRx(p2.theta(), 0., 0.), {0., p2.x(), p2.y()}}}(cov3); + match_cov3_to_cov2(4, 5, 0, transformed2, transformed3); } // rotate around y axis { - auto cov3 = GenerateFullCovariance({{0., s[2], 0., s[1], 0., s[0]}}); - auto cov3_trans = RotateTranslate({{0., r[0], 0.}}, {{t[1], 0., t[0]}}, cov3); - match_cov3_to_cov2(1, 5, 3, cov2_trans, cov3_trans); + auto cov3 = FullCovarianceFromSigmas((Vector6{} << 0., s2(2), 0., s2(1), 0., s2(0)).finished()); + auto transformed3 = Pose3::TransformCovariance{{Rot3::RzRyRx(0., p2.theta(), 0.), {p2.y(), 0., p2.x()}}}(cov3); + match_cov3_to_cov2(5, 3, 1, transformed2, transformed3); } // rotate around z axis { - auto cov3 = GenerateFullCovariance({{0., 0., s[2], s[0], s[1], 0.}}); - auto cov3_trans = RotateTranslate({{0., 0., r[0]}}, {{t[0], t[1], 0.}}, cov3); - match_cov3_to_cov2(2, 3, 4, cov2_trans, cov3_trans); + auto cov3 = FullCovarianceFromSigmas((Vector6{} << 0., 0., s2(2), s2(0), s2(1), 0.).finished()); + auto transformed3 = Pose3::TransformCovariance{{Rot3::RzRyRx(0., 0., p2.theta()), {p2.x(), p2.y(), 0.}}}(cov3); + match_cov3_to_cov2(3, 4, 2, transformed2, transformed3); } } @@ -933,54 +931,49 @@ TEST(Pose3, TransformCovariance6) { // rotate 90 around z axis and then 90 around y axis { - auto cov = GenerateFullCovariance({{0.1, 0.2, 0.3, 0.5, 0.7, 1.1}}); - auto cov_trans = RotateTranslate({{0., 90., 90.}}, {{}}, cov); + auto cov = FullCovarianceFromSigmas((Vector6{} << 0.1, 0.2, 0.3, 0.5, 0.7, 1.1).finished()); + auto transformed = Pose3::TransformCovariance{{Rot3::RzRyRx(0., 90 * degree, 90 * degree), {0., 0., 0.}}}(cov); // x from y, y from z, z from x - EXPECT_DOUBLES_EQUAL(cov_trans(0, 0), cov(1, 1), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(1, 1), cov(2, 2), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), cov(0, 0), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(3, 3), cov(4, 4), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(4, 4), cov(5, 5), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(5, 5), cov(3, 3), 1e-9); - + EXPECT(assert_equal( + (Vector6{} << cov(1, 1), cov(2, 2), cov(0, 0), cov(4, 4), cov(5, 5), cov(3, 3)).finished(), + Vector6{transformed.diagonal()})); // Both the x and z axes are pointing in the negative direction. - EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), -cov(2, 1), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), cov(0, 1), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(3, 0), cov(4, 1), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(4, 0), -cov(5, 1), 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(5, 0), cov(3, 1), 1e-9); + EXPECT(assert_equal( + (Vector5{} << -cov(2, 1), cov(0, 1), cov(4, 1), -cov(5, 1), cov(3, 1)).finished(), + (Vector5{} << transformed(1, 0), transformed(2, 0), transformed(3, 0), + transformed(4, 0), transformed(5, 0)).finished())); } // translate along the x axis with uncertainty in roty and rotz { - auto cov = GenerateTwoVariableCovariance(1, 2, 0.7, 0.3); - auto cov_trans = RotateTranslate({{}}, {{20., 0., 0.}}, cov); - // The variance in roty and rotz causes off-diagonal covariances - EXPECT_DOUBLES_EQUAL(cov_trans(5, 1), 0.7 * 0.7 * 20., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(5, 5), 0.7 * 0.7 * 20. * 20., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(4, 2), -0.3 * 0.3 * 20., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(4, 4), 0.3 * 0.3 * 20. * 20., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(4, 1), -0.3 * 0.7 * 20., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(5, 2), 0.3 * 0.7 * 20., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(5, 4), -0.3 * 0.7 * 20. * 20., 1e-9); + auto cov = TwoVariableCovarianceFromSigmas(1, 2, 0.7, 0.3); + auto transformed = Pose3::TransformCovariance{{Rot3::RzRyRx(0., 0., 0.), {20., 0., 0.}}}(cov); + // The uncertainty in roty and rotz causes off-diagonal covariances + EXPECT(assert_equal(0.7 * 0.7 * 20., transformed(5, 1))); + EXPECT(assert_equal(0.7 * 0.7 * 20. * 20., transformed(5, 5))); + EXPECT(assert_equal(-0.3 * 0.3 * 20., transformed(4, 2))); + EXPECT(assert_equal(0.3 * 0.3 * 20. * 20., transformed(4, 4))); + EXPECT(assert_equal(-0.3 * 0.7 * 20., transformed(4, 1))); + EXPECT(assert_equal(0.3 * 0.7 * 20., transformed(5, 2))); + EXPECT(assert_equal(-0.3 * 0.7 * 20. * 20., transformed(5, 4))); } // rotate around x axis and translate along the x axis with uncertainty in rotx { - auto cov = GenerateOneVariableCovariance(0, 0.1); - auto cov_trans = RotateTranslate({{90., 0., 0.}}, {{20., 0., 0.}}, cov); - EXPECT_DOUBLES_EQUAL(cov_trans(1, 0), 0., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(2, 0), 0., 1e-9); + auto cov = SingleVariableCovarianceFromSigma(0, 0.1); + auto transformed = Pose3::TransformCovariance{{Rot3::RzRyRx(90 * degree, 0., 0.), {20., 0., 0.}}}(cov); + // No change + EXPECT(assert_equal(cov, transformed)); } // rotate around x axis and translate along the x axis with uncertainty in roty { - auto cov = GenerateOneVariableCovariance(1, 0.1); - auto cov_trans = RotateTranslate({{90., 0., 0.}}, {{20., 0., 0.}}, cov); - // interchange the y and z axes. - EXPECT_DOUBLES_EQUAL(cov_trans(2, 2), 0.1 * 0.1, 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(4, 2), -0.1 * 0.1 * 20., 1e-9); - EXPECT_DOUBLES_EQUAL(cov_trans(4, 4), 0.1 * 0.1 * 20. * 20., 1e-9); + auto cov = SingleVariableCovarianceFromSigma(1, 0.1); + auto transformed = Pose3::TransformCovariance{{Rot3::RzRyRx(90 * degree, 0., 0.), {20., 0., 0.}}}(cov); + // Uncertainty is spread to other dimensions. + EXPECT(assert_equal( + (Vector6{} << 0., 0., 0.1 * 0.1, 0., 0.1 * 0.1 * 20. * 20., 0.).finished(), + Vector6{transformed.diagonal()})); } } diff --git a/gtsam/geometry/tests/testPoseAdjointMap.h b/gtsam/geometry/tests/testPoseAdjointMap.h index 1263a807c..1d006c3d9 100644 --- a/gtsam/geometry/tests/testPoseAdjointMap.h +++ b/gtsam/geometry/tests/testPoseAdjointMap.h @@ -25,30 +25,30 @@ namespace test_pose_adjoint_map { const double degree = M_PI / 180; - // Create a covariance matrix for type T. Use sigma_values^2 on the diagonal - // and fill in non-diagonal entries with correlation coefficient of 1. Note: - // a covariance matrix for T has the same dimensions as a Jacobian for T. + // Return a covariance matrix for type T with non-zero values for every element. + // Use sigma_values^2 on the diagonal and fill in non-diagonal entries with + // correlation coefficient of 1. Note: a covariance matrix for T has the same + // dimensions as a Jacobian for T, the returned matrix is not a Jacobian. template - typename T::Jacobian GenerateFullCovariance( - std::array sigma_values) + typename T::Jacobian FullCovarianceFromSigmas( + const typename T::TangentVector &sigmas) { - typename T::TangentVector sigmas(&sigma_values.front()); - return typename T::Jacobian{sigmas * sigmas.transpose()}; + return sigmas * sigmas.transpose(); } - // Create a covariance matrix with one non-zero element on the diagonal. + // Return a covariance matrix with one non-zero element on the diagonal. template - typename T::Jacobian GenerateOneVariableCovariance(int idx, double sigma) + typename T::Jacobian SingleVariableCovarianceFromSigma(int idx, double sigma) { typename T::Jacobian cov = T::Jacobian::Zero(); cov(idx, idx) = sigma * sigma; return cov; } - // Create a covariance matrix with two non-zero elements on the diagonal with - // a correlation of 1.0 + // Return a covariance matrix with two non-zero elements on the diagonal and + // a correlation of 1.0 between the two variables. template - typename T::Jacobian GenerateTwoVariableCovariance(int idx0, int idx1, double sigma0, double sigma1) + typename T::Jacobian TwoVariableCovarianceFromSigmas(int idx0, int idx1, double sigma0, double sigma1) { typename T::Jacobian cov = T::Jacobian::Zero(); cov(idx0, idx0) = sigma0 * sigma0; @@ -56,32 +56,4 @@ namespace test_pose_adjoint_map cov(idx0, idx1) = cov(idx1, idx0) = sigma0 * sigma1; return cov; } - - // Overloaded function to create a Rot2 from one angle. - Rot2 RotFromArray(const std::array &r) - { - return Rot2{r[0] * degree}; - } - - // Overloaded function to create a Rot3 from three angles. - Rot3 RotFromArray(const std::array &r) - { - return Rot3::RzRyRx(r[0] * degree, r[1] * degree, r[2] * degree); - } - - // Transform a covariance matrix with a rotation and a translation - template - typename Pose::Jacobian RotateTranslate( - std::array r, - std::array t, - const typename Pose::Jacobian &cov) - { - // Construct a pose object - typename Pose::Rotation rot{RotFromArray(r)}; - Pose wTb{rot, typename Pose::Translation{&t.front()}}; - - // transform the covariance with the AdjointMap - auto adjointMap = wTb.AdjointMap(); - return adjointMap * cov * adjointMap.transpose(); - } } \ No newline at end of file From 74e0647bed878d60598ab2c816546892b429fa8f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 21 Dec 2019 10:41:29 -0500 Subject: [PATCH 0129/1152] add top level path for installation on macOS devices --- CMakeLists.txt | 6 ++++++ gtsam/CMakeLists.txt | 6 ------ gtsam_unstable/CMakeLists.txt | 6 ------ 3 files changed, 6 insertions(+), 12 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2af6341ea..9eae4567e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -345,6 +345,12 @@ if (MSVC) 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(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib" + CACHE PATH + "Default install directory on macOS") +endif() + ############################################################################### # Global compile options diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 11ec5510d..48bb14f1b 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -172,12 +172,6 @@ if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with endif() endif() -if (APPLE AND BUILD_SHARED_LIBS) - set_target_properties(gtsam PROPERTIES - INSTALL_NAME_DIR - "${CMAKE_INSTALL_PREFIX}/lib") -endif() - install( TARGETS gtsam EXPORT GTSAM-exports diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 95e6c2293..53ba83fad 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -98,12 +98,6 @@ if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with endif() endif() -if (APPLE AND BUILD_SHARED_LIBS) - set_target_properties(gtsam_unstable PROPERTIES - INSTALL_NAME_DIR - "${CMAKE_INSTALL_PREFIX}/lib") -endif() - install( TARGETS gtsam_unstable EXPORT GTSAM-exports From 523d0a937f5870322d19be9b7c4f1a28db00bf9a Mon Sep 17 00:00:00 2001 From: Peter Mullen Date: Sat, 21 Dec 2019 12:22:32 -0800 Subject: [PATCH 0130/1152] Move TransformCovariance functor out of LieGroup class --- gtsam/base/Lie.h | 26 +++++++++++++++----------- gtsam/geometry/tests/testPose2.cpp | 12 ++++++------ gtsam/geometry/tests/testPose3.cpp | 16 ++++++++-------- 3 files changed, 29 insertions(+), 25 deletions(-) diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h index b6ec6a724..bbed26992 100644 --- a/gtsam/base/Lie.h +++ b/gtsam/base/Lie.h @@ -160,17 +160,6 @@ struct LieGroup { if (H2) *H2 = D_v_h; return v; } - - // Functor for transforming covariance of Class - class TransformCovariance - { - private: - typename Class::Jacobian adjointMap_; - public: - explicit TransformCovariance(const Class &X) : adjointMap_{X.AdjointMap()} {} - typename Class::Jacobian operator()(const typename Class::Jacobian &covariance) - { return adjointMap_ * covariance * adjointMap_.transpose(); } - }; }; /// tag to assert a type is a Lie group @@ -346,6 +335,21 @@ T interpolate(const T& X, const T& Y, double t) { return traits::Compose(X, traits::Expmap(t * traits::Logmap(traits::Between(X, Y)))); } +/** + * Functor for transforming covariance of T. + * T needs to satisfy the Lie group concept. + */ +template +class TransformCovariance +{ +private: + typename T::Jacobian adjointMap_; +public: + explicit TransformCovariance(const T &X) : adjointMap_{X.AdjointMap()} {} + typename T::Jacobian operator()(const typename T::Jacobian &covariance) + { return adjointMap_ * covariance * adjointMap_.transpose(); } +}; + } // namespace gtsam /** diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index 81f097bd9..3d821502d 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -846,7 +846,7 @@ TEST(Pose2 , TransformCovariance3) { // rotate { auto cov = FullCovarianceFromSigmas({0.1, 0.3, 0.7}); - auto transformed = Pose2::TransformCovariance{{0., 0., 90 * degree}}(cov); + auto transformed = TransformCovariance{{0., 0., 90 * degree}}(cov); // interchange x and y axes EXPECT(assert_equal( Vector3{cov(1, 1), cov(0, 0), cov(2, 2)}, @@ -859,7 +859,7 @@ TEST(Pose2 , TransformCovariance3) { // translate along x with uncertainty in x { auto cov = SingleVariableCovarianceFromSigma(0, 0.1); - auto transformed = Pose2::TransformCovariance{{20., 0., 0.}}(cov); + auto transformed = TransformCovariance{{20., 0., 0.}}(cov); // No change EXPECT(assert_equal(cov, transformed)); } @@ -867,7 +867,7 @@ TEST(Pose2 , TransformCovariance3) { // translate along x with uncertainty in y { auto cov = SingleVariableCovarianceFromSigma(1, 0.1); - auto transformed = Pose2::TransformCovariance{{20., 0., 0.}}(cov); + auto transformed = TransformCovariance{{20., 0., 0.}}(cov); // No change EXPECT(assert_equal(cov, transformed)); } @@ -875,7 +875,7 @@ TEST(Pose2 , TransformCovariance3) { // translate along x with uncertainty in theta { auto cov = SingleVariableCovarianceFromSigma(2, 0.1); - auto transformed = Pose2::TransformCovariance{{20., 0., 0.}}(cov); + auto transformed = TransformCovariance{{20., 0., 0.}}(cov); EXPECT(assert_equal( Vector3{0., 0.1 * 0.1 * 20. * 20., 0.1 * 0.1}, Vector3{transformed.diagonal()})); @@ -887,7 +887,7 @@ TEST(Pose2 , TransformCovariance3) { // rotate and translate along x with uncertainty in x { auto cov = SingleVariableCovarianceFromSigma(0, 0.1); - auto transformed = Pose2::TransformCovariance{{20., 0., 90 * degree}}(cov); + auto transformed = TransformCovariance{{20., 0., 90 * degree}}(cov); // interchange x and y axes EXPECT(assert_equal( Vector3{cov(1, 1), cov(0, 0), cov(2, 2)}, @@ -900,7 +900,7 @@ TEST(Pose2 , TransformCovariance3) { // rotate and translate along x with uncertainty in theta { auto cov = SingleVariableCovarianceFromSigma(2, 0.1); - auto transformed = Pose2::TransformCovariance{{20., 0., 90 * degree}}(cov); + auto transformed = TransformCovariance{{20., 0., 90 * degree}}(cov); EXPECT(assert_equal( Vector3{0., 0.1 * 0.1 * 20. * 20., 0.1 * 0.1}, Vector3{transformed.diagonal()})); diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index fc702d3b3..fedd47620 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -888,7 +888,7 @@ TEST(Pose3, TransformCovariance6MapTo2d) { Vector3 s2{0.1, 0.3, 0.7}; Pose2 p2{1.1, 1.5, 31. * degree}; auto cov2 = FullCovarianceFromSigmas(s2); - auto transformed2 = Pose2::TransformCovariance{p2}(cov2); + auto transformed2 = TransformCovariance{p2}(cov2); auto match_cov3_to_cov2 = [&](int spatial_axis0, int spatial_axis1, int r_axis, const Pose2::Jacobian &cov2, const Pose3::Jacobian &cov3) -> void @@ -904,21 +904,21 @@ TEST(Pose3, TransformCovariance6MapTo2d) { // rotate around x axis { auto cov3 = FullCovarianceFromSigmas((Vector6{} << s2(2), 0., 0., 0., s2(0), s2(1)).finished()); - auto transformed3 = Pose3::TransformCovariance{{Rot3::RzRyRx(p2.theta(), 0., 0.), {0., p2.x(), p2.y()}}}(cov3); + auto transformed3 = TransformCovariance{{Rot3::RzRyRx(p2.theta(), 0., 0.), {0., p2.x(), p2.y()}}}(cov3); match_cov3_to_cov2(4, 5, 0, transformed2, transformed3); } // rotate around y axis { auto cov3 = FullCovarianceFromSigmas((Vector6{} << 0., s2(2), 0., s2(1), 0., s2(0)).finished()); - auto transformed3 = Pose3::TransformCovariance{{Rot3::RzRyRx(0., p2.theta(), 0.), {p2.y(), 0., p2.x()}}}(cov3); + auto transformed3 = TransformCovariance{{Rot3::RzRyRx(0., p2.theta(), 0.), {p2.y(), 0., p2.x()}}}(cov3); match_cov3_to_cov2(5, 3, 1, transformed2, transformed3); } // rotate around z axis { auto cov3 = FullCovarianceFromSigmas((Vector6{} << 0., 0., s2(2), s2(0), s2(1), 0.).finished()); - auto transformed3 = Pose3::TransformCovariance{{Rot3::RzRyRx(0., 0., p2.theta()), {p2.x(), p2.y(), 0.}}}(cov3); + auto transformed3 = TransformCovariance{{Rot3::RzRyRx(0., 0., p2.theta()), {p2.x(), p2.y(), 0.}}}(cov3); match_cov3_to_cov2(3, 4, 2, transformed2, transformed3); } } @@ -932,7 +932,7 @@ TEST(Pose3, TransformCovariance6) { // rotate 90 around z axis and then 90 around y axis { auto cov = FullCovarianceFromSigmas((Vector6{} << 0.1, 0.2, 0.3, 0.5, 0.7, 1.1).finished()); - auto transformed = Pose3::TransformCovariance{{Rot3::RzRyRx(0., 90 * degree, 90 * degree), {0., 0., 0.}}}(cov); + auto transformed = TransformCovariance{{Rot3::RzRyRx(0., 90 * degree, 90 * degree), {0., 0., 0.}}}(cov); // x from y, y from z, z from x EXPECT(assert_equal( (Vector6{} << cov(1, 1), cov(2, 2), cov(0, 0), cov(4, 4), cov(5, 5), cov(3, 3)).finished(), @@ -947,7 +947,7 @@ TEST(Pose3, TransformCovariance6) { // translate along the x axis with uncertainty in roty and rotz { auto cov = TwoVariableCovarianceFromSigmas(1, 2, 0.7, 0.3); - auto transformed = Pose3::TransformCovariance{{Rot3::RzRyRx(0., 0., 0.), {20., 0., 0.}}}(cov); + auto transformed = TransformCovariance{{Rot3::RzRyRx(0., 0., 0.), {20., 0., 0.}}}(cov); // The uncertainty in roty and rotz causes off-diagonal covariances EXPECT(assert_equal(0.7 * 0.7 * 20., transformed(5, 1))); EXPECT(assert_equal(0.7 * 0.7 * 20. * 20., transformed(5, 5))); @@ -961,7 +961,7 @@ TEST(Pose3, TransformCovariance6) { // rotate around x axis and translate along the x axis with uncertainty in rotx { auto cov = SingleVariableCovarianceFromSigma(0, 0.1); - auto transformed = Pose3::TransformCovariance{{Rot3::RzRyRx(90 * degree, 0., 0.), {20., 0., 0.}}}(cov); + auto transformed = TransformCovariance{{Rot3::RzRyRx(90 * degree, 0., 0.), {20., 0., 0.}}}(cov); // No change EXPECT(assert_equal(cov, transformed)); } @@ -969,7 +969,7 @@ TEST(Pose3, TransformCovariance6) { // rotate around x axis and translate along the x axis with uncertainty in roty { auto cov = SingleVariableCovarianceFromSigma(1, 0.1); - auto transformed = Pose3::TransformCovariance{{Rot3::RzRyRx(90 * degree, 0., 0.), {20., 0., 0.}}}(cov); + auto transformed = TransformCovariance{{Rot3::RzRyRx(90 * degree, 0., 0.), {20., 0., 0.}}}(cov); // Uncertainty is spread to other dimensions. EXPECT(assert_equal( (Vector6{} << 0., 0., 0.1 * 0.1, 0., 0.1 * 0.1 * 20. * 20., 0.).finished(), From e0fb001702c45199d2953b72d9994e87999d0179 Mon Sep 17 00:00:00 2001 From: Toni Date: Wed, 18 Dec 2019 21:48:38 -0500 Subject: [PATCH 0131/1152] Remove ugly preprocessor directives, still hardcoded though --- examples/ImuFactorsExample.cpp | 60 +++++++++++++++++++--------------- 1 file changed, 33 insertions(+), 27 deletions(-) diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp index f04b73f6b..1e8704d1b 100644 --- a/examples/ImuFactorsExample.cpp +++ b/examples/ImuFactorsExample.cpp @@ -43,9 +43,6 @@ #include #include -// Uncomment line below to use the CombinedIMUFactor as opposed to the standard ImuFactor. -// #define USE_COMBINED - using namespace gtsam; using namespace std; @@ -139,11 +136,16 @@ int main(int argc, char* argv[]) p->biasOmegaCovariance = bias_omega_cov; // gyro bias in continuous p->biasAccOmegaInt = bias_acc_omega_int; -#ifdef USE_COMBINED - imu_preintegrated_ = new PreintegratedCombinedMeasurements(p, prior_imu_bias); -#else - imu_preintegrated_ = new PreintegratedImuMeasurements(p, prior_imu_bias); -#endif + static constexpr bool use_combined_preint = false; + std::shared_ptr imu_preintegrated_ = nullptr; + if (use_combined_preint) { + imu_preintegrated_ = + std::make_shared(p, prior_imu_bias); + } else { + imu_preintegrated_ = + std::make_shared(p, prior_imu_bias); + } + assert(imu_preintegrated_); // Store previous state for the imu integration and the latest predicted outcome. NavState prev_state(prior_pose, prior_velocity); @@ -188,25 +190,29 @@ int main(int argc, char* argv[]) correction_count++; // Adding IMU factor and GPS factor and optimizing. -#ifdef USE_COMBINED - PreintegratedCombinedMeasurements *preint_imu_combined = dynamic_cast(imu_preintegrated_); - CombinedImuFactor imu_factor(X(correction_count-1), V(correction_count-1), - X(correction_count ), V(correction_count ), - B(correction_count-1), B(correction_count ), - *preint_imu_combined); - graph->add(imu_factor); -#else - PreintegratedImuMeasurements *preint_imu = dynamic_cast(imu_preintegrated_); - ImuFactor imu_factor(X(correction_count-1), V(correction_count-1), - X(correction_count ), V(correction_count ), - B(correction_count-1), - *preint_imu); - graph->add(imu_factor); - imuBias::ConstantBias zero_bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); - graph->add(BetweenFactor(B(correction_count-1), - B(correction_count ), - zero_bias, bias_noise_model)); -#endif + if (use_combined_preint) { + const PreintegratedCombinedMeasurements& preint_imu_combined = + dynamic_cast( + *imu_preintegrated_); + CombinedImuFactor imu_factor(X(correction_count-1), V(correction_count-1), + X(correction_count ), V(correction_count ), + B(correction_count-1), B(correction_count ), + preint_imu_combined); + graph->add(imu_factor); + } else { + const PreintegratedImuMeasurements& preint_imu = + dynamic_cast( + *imu_preintegrated_); + ImuFactor imu_factor(X(correction_count-1), V(correction_count-1), + X(correction_count ), V(correction_count ), + B(correction_count-1), + preint_imu); + graph->add(imu_factor); + imuBias::ConstantBias zero_bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); + graph->add(BetweenFactor(B(correction_count-1), + B(correction_count ), + zero_bias, bias_noise_model)); + } noiseModel::Diagonal::shared_ptr correction_noise = noiseModel::Isotropic::Sigma(3,1.0); GPSFactor gps_factor(X(correction_count), From a607bf65264255faffbfe06a02ebcf1e82f07f84 Mon Sep 17 00:00:00 2001 From: Toni Rosinol Date: Fri, 20 Dec 2019 02:01:37 -0500 Subject: [PATCH 0132/1152] Add flag for CombinedImu --- examples/ImuFactorsExample.cpp | 30 +++++++++++++++++++++++++----- 1 file changed, 25 insertions(+), 5 deletions(-) diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp index 1e8704d1b..e038f5117 100644 --- a/examples/ImuFactorsExample.cpp +++ b/examples/ImuFactorsExample.cpp @@ -17,8 +17,8 @@ /** * Example of use of the imuFactors (imuFactor and combinedImuFactor) in conjunction with GPS - * - you can test imuFactor (resp. combinedImuFactor) by commenting (resp. uncommenting) - * the line #define USE_COMBINED (few lines below) + * - imuFactor is used by default. You can test combinedImuFactor by + * appending a `-c` flag at the end (see below for example command). * - we read IMU and GPS data from a CSV file, with the following format: * A row starting with "i" is the first initial position formatted with * N, E, D, qx, qY, qZ, qW, velN, velE, velD @@ -28,6 +28,11 @@ * N, E, D, qX, qY, qZ, qW * Note that for GPS correction, we're only using the position not the rotation. The * rotation is provided in the file for ground truth comparison. + * + * Usage: ./ImuFactorsExample [data_csv_path] [-c] + * optional arguments: + * data_csv_path path to the CSV file with the IMU data. + * -c use CombinedImuFactor */ // GTSAM related includes. @@ -40,6 +45,7 @@ #include #include #include +#include #include #include @@ -51,6 +57,7 @@ using symbol_shorthand::V; // Vel (xdot,ydot,zdot) using symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz) const string output_filename = "imuFactorExampleResults.csv"; +const string use_combined_imu_flag = "-c"; // This will either be PreintegratedImuMeasurements (for ImuFactor) or // PreintegratedCombinedMeasurements (for CombinedImuFactor). @@ -59,11 +66,25 @@ PreintegrationType *imu_preintegrated_; int main(int argc, char* argv[]) { string data_filename; + bool use_combined_imu = false; if (argc < 2) { printf("using default CSV file\n"); data_filename = findExampleDataFile("imuAndGPSdata.csv"); + } else if (argc < 3){ + if (strcmp(argv[1], use_combined_imu_flag.c_str()) == 0) { // strcmp returns 0 for a match + printf("using CombinedImuFactor\n"); + use_combined_imu = true; + printf("using default CSV file\n"); + data_filename = findExampleDataFile("imuAndGPSdata.csv"); + } else { + data_filename = argv[1]; + } } else { data_filename = argv[1]; + if (strcmp(argv[2], use_combined_imu_flag.c_str()) == 0) { // strcmp returns 0 for a match + printf("using CombinedImuFactor\n"); + use_combined_imu = true; + } } // Set up output file for plotting errors @@ -136,9 +157,8 @@ int main(int argc, char* argv[]) p->biasOmegaCovariance = bias_omega_cov; // gyro bias in continuous p->biasAccOmegaInt = bias_acc_omega_int; - static constexpr bool use_combined_preint = false; std::shared_ptr imu_preintegrated_ = nullptr; - if (use_combined_preint) { + if (use_combined_imu) { imu_preintegrated_ = std::make_shared(p, prior_imu_bias); } else { @@ -190,7 +210,7 @@ int main(int argc, char* argv[]) correction_count++; // Adding IMU factor and GPS factor and optimizing. - if (use_combined_preint) { + if (use_combined_imu) { const PreintegratedCombinedMeasurements& preint_imu_combined = dynamic_cast( *imu_preintegrated_); From 2fe2e0b7548332f22447d295ea7a6f321efa6b90 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 22 Dec 2019 10:13:23 -0500 Subject: [PATCH 0133/1152] don't add CMAKE_INSTALL_NAME_DIR to cmake cache, allowing it to be updated by ccmake --- CMakeLists.txt | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9eae4567e..4d2ee55e4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -346,9 +346,8 @@ if (MSVC) endif() if (APPLE AND BUILD_SHARED_LIBS) - set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib" - CACHE PATH - "Default install directory on macOS") + # Set the default install directory on macOS + set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib") endif() ############################################################################### From 1f6c1dfb8527cfadbce1c786708e9844d38209d1 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Sun, 22 Dec 2019 17:09:50 +0100 Subject: [PATCH 0134/1152] More consistent (not) use of CMAKE_INSTALL_PREFIX. --- cmake/GtsamMakeConfigFile.cmake | 2 +- gtsam/CMakeLists.txt | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cmake/GtsamMakeConfigFile.cmake b/cmake/GtsamMakeConfigFile.cmake index 2fff888ef..0479a2524 100644 --- a/cmake/GtsamMakeConfigFile.cmake +++ b/cmake/GtsamMakeConfigFile.cmake @@ -15,7 +15,7 @@ function(GtsamMakeConfigFile PACKAGE_NAME) get_filename_component(name "${ARGV1}" NAME_WE) set(EXTRA_FILE "${name}.cmake") configure_file(${ARGV1} "${PROJECT_BINARY_DIR}/${EXTRA_FILE}" @ONLY) - install(FILES "${PROJECT_BINARY_DIR}/${EXTRA_FILE}" DESTINATION "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}") + install(FILES "${PROJECT_BINARY_DIR}/${EXTRA_FILE}" DESTINATION "${DEF_INSTALL_CMAKE_DIR}") else() set(EXTRA_FILE "_does_not_exist_") endif() diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 48bb14f1b..1079b845f 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -153,7 +153,7 @@ if(GTSAM_SUPPORT_NESTED_DISSECTION) $ $ $ - $ + $ ) endif() From 1b697b197152ae0f17c7fc9ae1e57cf5544e3b0a Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Mon, 23 Dec 2019 07:45:19 +0100 Subject: [PATCH 0135/1152] fix Key as size_t (Closes #182) --- gtsam/linear/IterativeSolver.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/IterativeSolver.cpp b/gtsam/linear/IterativeSolver.cpp index c7d4e5405..c5007206d 100644 --- a/gtsam/linear/IterativeSolver.cpp +++ b/gtsam/linear/IterativeSolver.cpp @@ -115,8 +115,11 @@ void KeyInfo::initialize(const GaussianFactorGraph &fg) { size_t start = 0; for (size_t i = 0; i < n; ++i) { - const size_t key = ordering_[i]; - const size_t dim = colspec.find(key)->second; + const Key key = ordering_[i]; + const auto it_key = colspec.find(key); + if (it_key==colspec.end()) + throw std::runtime_error("KeyInfo: Inconsistency in key-dim map"); + const size_t dim = it_key->second; this->emplace(key, KeyInfoEntry(i, dim, start)); start += dim; } From 21d1af0edfad945e2726dc5158c96e05d3b8f1d1 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Mon, 23 Dec 2019 09:21:34 -0800 Subject: [PATCH 0136/1152] Fix travis.sh --- .travis.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.sh b/.travis.sh index 8b2b21e66..bc9029595 100755 --- a/.travis.sh +++ b/.travis.sh @@ -24,7 +24,7 @@ function configure() -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \ -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \ -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \ - -DGTSAM_USE_QUATERNIONS=${GTSAM_BUILD_UNSTABLE:-OFF} \ + -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \ -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \ -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ From cf1afedd9f3e8428804b20ef89e91dd4bc15253c Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Mon, 23 Dec 2019 12:58:00 -0800 Subject: [PATCH 0137/1152] Remove the override allowing boost::optional binding to rvalues --- CMakeLists.txt | 6 ------ 1 file changed, 6 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 4d2ee55e4..c712127ad 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -193,12 +193,6 @@ else() endif() endif() - -if(NOT (${Boost_VERSION} LESS 105600)) - message("Ignoring Boost restriction on optional lvalue assignment from rvalues") - list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_OPTIONAL_ALLOW_BINDING_TO_RVALUES BOOST_OPTIONAL_CONFIG_ALLOW_BINDING_TO_RVALUES) -endif() - ############################################################################### # Find TBB find_package(TBB 4.4 COMPONENTS tbb tbbmalloc) From 6c9fa5194d90a56d08bc9ba2ffdaf90eb41f3a2c Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Sat, 14 Dec 2019 16:35:27 +0100 Subject: [PATCH 0138/1152] Add AppVeyor CI for MSVC --- README.md | 2 +- appveyor.yml | 25 +++++++++++++++++++++++++ 2 files changed, 26 insertions(+), 1 deletion(-) create mode 100644 appveyor.yml diff --git a/README.md b/README.md index 381b56ba3..c675bcf8e 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -[![Build Status](https://travis-ci.com/borglab/gtsam.svg?branch=develop)](https://travis-ci.com/borglab/gtsam/) +gcc/clang: [![Build Status](https://travis-ci.com/borglab/gtsam.svg?branch=develop)](https://travis-ci.com/borglab/gtsam/) MSVC: [![Build status](https://ci.appveyor.com/api/projects/status/3enllitj52jsxwfg/branch/develop?svg=true)](https://ci.appveyor.com/project/dellaert/gtsam) # README - Georgia Tech Smoothing and Mapping library diff --git a/appveyor.yml b/appveyor.yml new file mode 100644 index 000000000..9484c775a --- /dev/null +++ b/appveyor.yml @@ -0,0 +1,25 @@ +# version format +version: 4.0.2-{branch}-build{build} + +os: Visual Studio 2019 + +clone_folder: c:\projects\gtsam + +platform: x64 +configuration: Release + +environment: + CTEST_OUTPUT_ON_FAILURE: 1 + BOOST_ROOT: C:/Libraries/boost_1_71_0 + +build_script: + - cd c:\projects\gtsam\build + - cmake --build . + - cmake --build . --target check + +before_build: + - cd c:\projects\gtsam + - mkdir build + - cd build + # Disable examples to avoid AppVeyor timeout + - cmake -G "Visual Studio 16 2019" .. -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF From e658aed6bd631a5b6ded0b3317396f7cc91d8807 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Fri, 27 Dec 2019 20:42:41 +0100 Subject: [PATCH 0139/1152] MSVC build fixes --- cmake/GtsamBuildTypes.cmake | 5 +++++ gtsam/nonlinear/Values-inl.h | 4 +++- 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake index 06b25ab06..15a02b6e8 100644 --- a/cmake/GtsamBuildTypes.cmake +++ b/cmake/GtsamBuildTypes.cmake @@ -81,6 +81,11 @@ if(MSVC) WINDOWS_LEAN_AND_MEAN NOMINMAX ) + # Avoid literally hundreds to thousands of warnings: + list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC + /wd4267 # warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data + ) + endif() # Other (non-preprocessor macros) compiler flags: diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h index ff220044a..d0f8a4790 100644 --- a/gtsam/nonlinear/Values-inl.h +++ b/gtsam/nonlinear/Values-inl.h @@ -348,7 +348,9 @@ namespace gtsam { throw ValuesKeyDoesNotExist("at", j); // Check the type and throw exception if incorrect - return internal::handle()(j,item->second); + // h() split in two lines to avoid internal compiler error (MSVC2017) + auto h = internal::handle(); + return h(j,item->second); } /* ************************************************************************* */ From 7e5c5c21acead35bfc8b582041db8f45f6a3c95f Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Fri, 27 Dec 2019 22:52:39 +0100 Subject: [PATCH 0140/1152] fix missing DLLEXPORT --- gtsam/inference/LabeledSymbol.cpp | 2 +- gtsam/inference/LabeledSymbol.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/inference/LabeledSymbol.cpp b/gtsam/inference/LabeledSymbol.cpp index 6d34883fa..e67c56e5e 100644 --- a/gtsam/inference/LabeledSymbol.cpp +++ b/gtsam/inference/LabeledSymbol.cpp @@ -123,7 +123,7 @@ boost::function LabeledSymbol::TypeLabelTest(unsigned char c, } /* ************************************************************************* */ -std::ostream &operator<<(std::ostream &os, const LabeledSymbol &symbol) { +GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const LabeledSymbol &symbol) { os << StreamedKey(symbol); return os; } diff --git a/gtsam/inference/LabeledSymbol.h b/gtsam/inference/LabeledSymbol.h index 5b3ec8766..d46425bb4 100644 --- a/gtsam/inference/LabeledSymbol.h +++ b/gtsam/inference/LabeledSymbol.h @@ -107,7 +107,7 @@ public: LabeledSymbol newLabel(unsigned char label) const { return LabeledSymbol(c_, label, j_); } /// Output stream operator that can be used with key_formatter (see Key.h). - friend std::ostream &operator<<(std::ostream &, const LabeledSymbol &); + friend GTSAM_EXPORT std::ostream &operator<<(std::ostream &, const LabeledSymbol &); private: From 7aeb153da8adc0f62f58b9f66fcae438c4199b23 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Fri, 27 Dec 2019 23:28:27 +0100 Subject: [PATCH 0141/1152] Fix build errors in examples/tests --- gtsam/3rdparty/metis/CMakeLists.txt | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/gtsam/3rdparty/metis/CMakeLists.txt b/gtsam/3rdparty/metis/CMakeLists.txt index 8fca88e26..8ff69dde3 100644 --- a/gtsam/3rdparty/metis/CMakeLists.txt +++ b/gtsam/3rdparty/metis/CMakeLists.txt @@ -47,3 +47,17 @@ if(GTSAM_BUILD_METIS_EXECUTABLES) endif() set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) +# Export macros assumed in metis public headers to clients of the library. +# This was added to solve MSVC build errors. +if (TARGET metis AND GKlib_COPTIONS) + # Remove (possibly) duplicated symbols: + string(REPLACE -DLINUX "" GKlib_COPTIONS ${GKlib_COPTIONS}) + string(REPLACE -DWIN32 "" GKlib_COPTIONS ${GKlib_COPTIONS}) + string(REPLACE -DNDEBUG2 "" GKlib_COPTIONS ${GKlib_COPTIONS}) + string(REPLACE -DNDEBUG "" GKlib_COPTIONS ${GKlib_COPTIONS}) + string(REPLACE -pedantic "" GKlib_COPTIONS ${GKlib_COPTIONS}) + string(REPLACE -std=c99 "" GKlib_COPTIONS ${GKlib_COPTIONS}) + separate_arguments(GKlib_COPTIONS) + # Declare those flags as to-be-imported in "client libraries", i.e. "gtsam" + target_compile_options(metis INTERFACE ${GKlib_COPTIONS}) +endif() From c5681d8e5930b51e98aee3157d808b997e3ba009 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Fri, 27 Dec 2019 23:57:32 +0100 Subject: [PATCH 0142/1152] Missing DLL EXPORT macros --- gtsam/geometry/SO3.cpp | 17 +++++++++++++++-- gtsam/geometry/SO3.h | 17 +++++++++++++++-- gtsam/geometry/SO4.cpp | 11 +++++++++-- gtsam/geometry/SO4.h | 12 ++++++++++-- gtsam/geometry/SOn.cpp | 2 ++ gtsam/geometry/SOn.h | 3 +++ gtsam/inference/Symbol.cpp | 2 +- gtsam/inference/Symbol.h | 2 +- gtsam/linear/Scatter.h | 8 ++++---- gtsam/linear/VectorValues.cpp | 2 +- gtsam/linear/VectorValues.h | 2 +- 11 files changed, 62 insertions(+), 16 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index 7ea9dfb07..19c016795 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -32,7 +32,7 @@ namespace gtsam { //****************************************************************************** namespace so3 { -Matrix99 Dcompose(const SO3& Q) { +GTSAM_EXPORT Matrix99 Dcompose(const SO3& Q) { Matrix99 H; auto R = Q.matrix(); H << I_3x3 * R(0, 0), I_3x3 * R(1, 0), I_3x3 * R(2, 0), // @@ -41,7 +41,7 @@ Matrix99 Dcompose(const SO3& Q) { return H; } -Matrix3 compose(const Matrix3& M, const SO3& R, OptionalJacobian<9, 9> H) { +GTSAM_EXPORT Matrix3 compose(const Matrix3& M, const SO3& R, OptionalJacobian<9, 9> H) { Matrix3 MR = M * R.matrix(); if (H) *H = Dcompose(R); return MR; @@ -134,12 +134,14 @@ Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, //****************************************************************************** template <> +GTSAM_EXPORT SO3 SO3::AxisAngle(const Vector3& axis, double theta) { return so3::ExpmapFunctor(axis, theta).expmap(); } //****************************************************************************** template <> +GTSAM_EXPORT SO3 SO3::ClosestTo(const Matrix3& M) { Eigen::JacobiSVD svd(M, Eigen::ComputeFullU | Eigen::ComputeFullV); const auto& U = svd.matrixU(); @@ -150,6 +152,7 @@ SO3 SO3::ClosestTo(const Matrix3& M) { //****************************************************************************** template <> +GTSAM_EXPORT SO3 SO3::ChordalMean(const std::vector& rotations) { // See Hartley13ijcv: // Cost function C(R) = \sum sqr(|R-R_i|_F) @@ -163,6 +166,7 @@ SO3 SO3::ChordalMean(const std::vector& rotations) { //****************************************************************************** template <> +GTSAM_EXPORT Matrix3 SO3::Hat(const Vector3& xi) { // skew symmetric matrix X = xi^ Matrix3 Y = Z_3x3; @@ -174,6 +178,7 @@ Matrix3 SO3::Hat(const Vector3& xi) { //****************************************************************************** template <> +GTSAM_EXPORT Vector3 SO3::Vee(const Matrix3& X) { Vector3 xi; xi(0) = -X(1, 2); @@ -184,12 +189,14 @@ Vector3 SO3::Vee(const Matrix3& X) { //****************************************************************************** template <> +GTSAM_EXPORT Matrix3 SO3::AdjointMap() const { return matrix_; } //****************************************************************************** template <> +GTSAM_EXPORT SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { if (H) { so3::DexpFunctor impl(omega); @@ -201,6 +208,7 @@ SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { } template <> +GTSAM_EXPORT Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { return so3::DexpFunctor(omega).dexp(); } @@ -217,6 +225,7 @@ Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { omega) */ template <> +GTSAM_EXPORT Matrix3 SO3::LogmapDerivative(const Vector3& omega) { using std::cos; using std::sin; @@ -234,6 +243,7 @@ Matrix3 SO3::LogmapDerivative(const Vector3& omega) { //****************************************************************************** template <> +GTSAM_EXPORT Vector3 SO3::Logmap(const SO3& Q, ChartJacobian H) { using std::sin; using std::sqrt; @@ -281,11 +291,13 @@ Vector3 SO3::Logmap(const SO3& Q, ChartJacobian H) { // Chart at origin for SO3 is *not* Cayley but actual Expmap/Logmap template <> +GTSAM_EXPORT SO3 SO3::ChartAtOrigin::Retract(const Vector3& omega, ChartJacobian H) { return Expmap(omega, H); } template <> +GTSAM_EXPORT Vector3 SO3::ChartAtOrigin::Local(const SO3& R, ChartJacobian H) { return Logmap(R, H); } @@ -307,6 +319,7 @@ static const Matrix93 P3 = //****************************************************************************** template <> +GTSAM_EXPORT Vector9 SO3::vec(OptionalJacobian<9, 3> H) const { const Matrix3& R = matrix_; if (H) { diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index eb6129ac8..0463bc2e8 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -24,6 +24,7 @@ #include #include +#include #include #include @@ -36,18 +37,23 @@ using SO3 = SO<3>; // They are *defined* in SO3.cpp. template <> +GTSAM_EXPORT SO3 SO3::AxisAngle(const Vector3& axis, double theta); template <> +GTSAM_EXPORT SO3 SO3::ClosestTo(const Matrix3& M); template <> +GTSAM_EXPORT SO3 SO3::ChordalMean(const std::vector& rotations); template <> +GTSAM_EXPORT Matrix3 SO3::Hat(const Vector3& xi); ///< make skew symmetric matrix template <> +GTSAM_EXPORT Vector3 SO3::Vee(const Matrix3& X); ///< inverse of Hat /// Adjoint map @@ -59,10 +65,12 @@ Matrix3 SO3::AdjointMap() const; * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula */ template <> +GTSAM_EXPORT SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H); /// Derivative of Expmap template <> +GTSAM_EXPORT Matrix3 SO3::ExpmapDerivative(const Vector3& omega); /** @@ -70,20 +78,25 @@ Matrix3 SO3::ExpmapDerivative(const Vector3& omega); * \f$ [R_x,R_y,R_z] \f$ of this rotation */ template <> +GTSAM_EXPORT Vector3 SO3::Logmap(const SO3& R, ChartJacobian H); /// Derivative of Logmap template <> +GTSAM_EXPORT Matrix3 SO3::LogmapDerivative(const Vector3& omega); // Chart at origin for SO3 is *not* Cayley but actual Expmap/Logmap template <> +GTSAM_EXPORT SO3 SO3::ChartAtOrigin::Retract(const Vector3& omega, ChartJacobian H); template <> +GTSAM_EXPORT Vector3 SO3::ChartAtOrigin::Local(const SO3& R, ChartJacobian H); template <> +GTSAM_EXPORT Vector9 SO3::vec(OptionalJacobian<9, 3> H) const; /** Serialization function */ @@ -107,11 +120,11 @@ namespace so3 { * Compose general matrix with an SO(3) element. * We only provide the 9*9 derivative in the first argument M. */ -Matrix3 compose(const Matrix3& M, const SO3& R, +GTSAM_EXPORT Matrix3 compose(const Matrix3& M, const SO3& R, OptionalJacobian<9, 9> H = boost::none); /// (constant) Jacobian of compose wrpt M -Matrix99 Dcompose(const SO3& R); +GTSAM_EXPORT Matrix99 Dcompose(const SO3& R); // Below are two functors that allow for saving computation when exponential map // and its derivatives are needed at the same location in so<3>. The second diff --git a/gtsam/geometry/SO4.cpp b/gtsam/geometry/SO4.cpp index dd15807c3..3e6ae485e 100644 --- a/gtsam/geometry/SO4.cpp +++ b/gtsam/geometry/SO4.cpp @@ -50,6 +50,7 @@ namespace gtsam { //****************************************************************************** template <> +GTSAM_EXPORT Matrix4 SO4::Hat(const Vector6& xi) { // skew symmetric matrix X = xi^ // Unlike Luca, makes upper-left the SO(3) subgroup. @@ -65,6 +66,7 @@ Matrix4 SO4::Hat(const Vector6& xi) { //****************************************************************************** template <> +GTSAM_EXPORT Vector6 SO4::Vee(const Matrix4& X) { Vector6 xi; xi(5) = -X(0, 1); @@ -81,6 +83,7 @@ Vector6 SO4::Vee(const Matrix4& X) { * "SOME REMARKS ON THE EXPONENTIAL MAP ON THE GROUPS SO(n) AND SE(n)" by * Ramona-Andreaa Rohan */ template <> +GTSAM_EXPORT SO4 SO4::Expmap(const Vector6& xi, ChartJacobian H) { using namespace std; if (H) throw std::runtime_error("SO4::Expmap Jacobian"); @@ -151,6 +154,7 @@ static const Eigen::Matrix P4 = //****************************************************************************** template <> +GTSAM_EXPORT Matrix6 SO4::AdjointMap() const { // Elaborate way of calculating the AdjointMap // TODO(frank): find a closed form solution. In SO(3) is just R :-/ @@ -166,6 +170,7 @@ Matrix6 SO4::AdjointMap() const { //****************************************************************************** template <> +GTSAM_EXPORT SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const { const Matrix& Q = matrix_; if (H) { @@ -178,6 +183,7 @@ SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const { ///****************************************************************************** template <> +GTSAM_EXPORT SO4 SO4::ChartAtOrigin::Retract(const Vector6& xi, ChartJacobian H) { if (H) throw std::runtime_error("SO4::ChartAtOrigin::Retract Jacobian"); gttic(SO4_Retract); @@ -187,6 +193,7 @@ SO4 SO4::ChartAtOrigin::Retract(const Vector6& xi, ChartJacobian H) { //****************************************************************************** template <> +GTSAM_EXPORT Vector6 SO4::ChartAtOrigin::Local(const SO4& Q, ChartJacobian H) { if (H) throw std::runtime_error("SO4::ChartAtOrigin::Retract Jacobian"); const Matrix4& R = Q.matrix(); @@ -195,7 +202,7 @@ Vector6 SO4::ChartAtOrigin::Local(const SO4& Q, ChartJacobian H) { } //****************************************************************************** -Matrix3 topLeft(const SO4& Q, OptionalJacobian<9, 6> H) { +GTSAM_EXPORT Matrix3 topLeft(const SO4& Q, OptionalJacobian<9, 6> H) { const Matrix4& R = Q.matrix(); const Matrix3 M = R.topLeftCorner<3, 3>(); if (H) { @@ -209,7 +216,7 @@ Matrix3 topLeft(const SO4& Q, OptionalJacobian<9, 6> H) { } //****************************************************************************** -Matrix43 stiefel(const SO4& Q, OptionalJacobian<12, 6> H) { +GTSAM_EXPORT Matrix43 stiefel(const SO4& Q, OptionalJacobian<12, 6> H) { const Matrix4& R = Q.matrix(); const Matrix43 M = R.leftCols<3>(); if (H) { diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h index c8e85b63f..e8e1bc017 100644 --- a/gtsam/geometry/SO4.h +++ b/gtsam/geometry/SO4.h @@ -25,6 +25,7 @@ #include #include #include +#include #include @@ -41,36 +42,43 @@ using SO4 = SO<4>; // They are *defined* in SO4.cpp. template <> +GTSAM_EXPORT Matrix4 SO4::Hat(const TangentVector &xi); template <> +GTSAM_EXPORT Vector6 SO4::Vee(const Matrix4 &X); template <> +GTSAM_EXPORT SO4 SO4::Expmap(const Vector6 &xi, ChartJacobian H); template <> +GTSAM_EXPORT Matrix6 SO4::AdjointMap() const; template <> +GTSAM_EXPORT SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const; template <> +GTSAM_EXPORT SO4 SO4::ChartAtOrigin::Retract(const Vector6 &omega, ChartJacobian H); template <> +GTSAM_EXPORT Vector6 SO4::ChartAtOrigin::Local(const SO4 &Q, ChartJacobian H); /** * Project to top-left 3*3 matrix. Note this is *not* in general \in SO(3). */ -Matrix3 topLeft(const SO4 &Q, OptionalJacobian<9, 6> H = boost::none); +GTSAM_EXPORT Matrix3 topLeft(const SO4 &Q, OptionalJacobian<9, 6> H = boost::none); /** * Project to Stiefel manifold of 4*3 orthonormal 3-frames in R^4, i.e., pi(Q) * -> S \in St(3,4). */ -Matrix43 stiefel(const SO4 &Q, OptionalJacobian<12, 6> H = boost::none); +GTSAM_EXPORT Matrix43 stiefel(const SO4 &Q, OptionalJacobian<12, 6> H = boost::none); /** Serialization function */ template diff --git a/gtsam/geometry/SOn.cpp b/gtsam/geometry/SOn.cpp index 06d24472e..be5acc23b 100644 --- a/gtsam/geometry/SOn.cpp +++ b/gtsam/geometry/SOn.cpp @@ -21,6 +21,7 @@ namespace gtsam { template <> +GTSAM_EXPORT Matrix SOn::Hat(const Vector& xi) { size_t n = AmbientDim(xi.size()); if (n < 2) throw std::invalid_argument("SO::Hat: n<2 not supported"); @@ -49,6 +50,7 @@ Matrix SOn::Hat(const Vector& xi) { } template <> +GTSAM_EXPORT Vector SOn::Vee(const Matrix& X) { const size_t n = X.rows(); if (n < 2) throw std::invalid_argument("SO::Hat: n<2 not supported"); diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 7954c4d6c..945d94bdc 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -20,6 +20,7 @@ #include #include +#include #include #include @@ -297,9 +298,11 @@ using SOn = SO; */ template <> +GTSAM_EXPORT Matrix SOn::Hat(const Vector& xi); template <> +GTSAM_EXPORT Vector SOn::Vee(const Matrix& X); /* diff --git a/gtsam/inference/Symbol.cpp b/gtsam/inference/Symbol.cpp index 5e41b3eac..e6a2beee0 100644 --- a/gtsam/inference/Symbol.cpp +++ b/gtsam/inference/Symbol.cpp @@ -66,7 +66,7 @@ boost::function Symbol::ChrTest(unsigned char c) { return bind(&Symbol::chr, bind(make, _1)) == c; } -std::ostream &operator<<(std::ostream &os, const Symbol &symbol) { +GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const Symbol &symbol) { os << StreamedKey(symbol); return os; } diff --git a/gtsam/inference/Symbol.h b/gtsam/inference/Symbol.h index 86574f70d..5be195db3 100644 --- a/gtsam/inference/Symbol.h +++ b/gtsam/inference/Symbol.h @@ -113,7 +113,7 @@ public: static boost::function ChrTest(unsigned char c); /// Output stream operator that can be used with key_formatter (see Key.h). - friend std::ostream &operator<<(std::ostream &, const Symbol &); + GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &, const Symbol &); private: diff --git a/gtsam/linear/Scatter.h b/gtsam/linear/Scatter.h index 3b34d170c..b05d191bc 100644 --- a/gtsam/linear/Scatter.h +++ b/gtsam/linear/Scatter.h @@ -49,16 +49,16 @@ struct GTSAM_EXPORT SlotEntry { class Scatter : public FastVector { public: /// Default Constructor - Scatter() {} + GTSAM_EXPORT Scatter() {} /// Construct from gaussian factor graph, without ordering - explicit Scatter(const GaussianFactorGraph& gfg); + GTSAM_EXPORT explicit Scatter(const GaussianFactorGraph& gfg); /// Construct from gaussian factor graph, with (partial or complete) ordering - explicit Scatter(const GaussianFactorGraph& gfg, const Ordering& ordering); + GTSAM_EXPORT explicit Scatter(const GaussianFactorGraph& gfg, const Ordering& ordering); /// Add a key/dim pair - void add(Key key, size_t dim); + GTSAM_EXPORT void add(Key key, size_t dim); private: /// Find the SlotEntry with the right key (linear time worst case) diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp index cd3ae815b..f18ad9c5f 100644 --- a/gtsam/linear/VectorValues.cpp +++ b/gtsam/linear/VectorValues.cpp @@ -129,7 +129,7 @@ namespace gtsam { } /* ************************************************************************* */ - ostream& operator<<(ostream& os, const VectorValues& v) { + GTSAM_EXPORT ostream& operator<<(ostream& os, const VectorValues& v) { // Change print depending on whether we are using TBB #ifdef GTSAM_USE_TBB map sorted; diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index fe6b5fcb2..46da2d5f9 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -230,7 +230,7 @@ namespace gtsam { const_iterator find(Key j) const { return values_.find(j); } /// overload operator << to print to stringstream - friend std::ostream& operator<<(std::ostream&, const VectorValues&); + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream&, const VectorValues&); /** print required by Testable for unit testing */ void print(const std::string& str = "VectorValues", From c101e83b4ba35535c09a099939597f3523d7dce8 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Sat, 28 Dec 2019 19:22:36 +0100 Subject: [PATCH 0143/1152] Fix cmake policy CMP0054 warning --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index c712127ad..c84835d82 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -88,7 +88,7 @@ if(NOT MSVC AND NOT XCODE_VERSION) # Set the GTSAM_BUILD_TAG variable. # If build type is Release, set to blank (""), else set to the build type. - if("${CMAKE_BUILD_TYPE_UPPER}" STREQUAL "RELEASE") + if(${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}") From 7d3b3f1172b7650fcbff401c17524499290f3b65 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Sat, 28 Dec 2019 23:39:54 +0100 Subject: [PATCH 0144/1152] Fix use of non-standard array of non-constant length --- gtsam_unstable/partition/FindSeparator-inl.h | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/gtsam_unstable/partition/FindSeparator-inl.h b/gtsam_unstable/partition/FindSeparator-inl.h index 297057e3f..af5415469 100644 --- a/gtsam_unstable/partition/FindSeparator-inl.h +++ b/gtsam_unstable/partition/FindSeparator-inl.h @@ -12,6 +12,7 @@ #include #include +#include #include #include #include @@ -40,14 +41,14 @@ namespace gtsam { namespace partition { const sharedInts& adjncy, const sharedInts& adjwgt, bool verbose) { // control parameters - idx_t vwgt[n]; // the weights of the vertices + std::vector vwgt; // the weights of the vertices idx_t options[METIS_NOPTIONS]; METIS_SetDefaultOptions(options); // use defaults idx_t sepsize; // the size of the separator, output sharedInts part_(new idx_t[n]); // the partition of each vertex, output // set uniform weights on the vertices - std::fill(vwgt, vwgt+n, 1); + vwgt.assign(n, 1); // TODO: Fix at later time //boost::timer::cpu_timer TOTALTmr; @@ -61,7 +62,7 @@ namespace gtsam { namespace partition { // call metis parition routine METIS_ComputeVertexSeparator(&n, xadj.get(), adjncy.get(), - vwgt, options, &sepsize, part_.get()); + &vwgt[0], options, &sepsize, part_.get()); if (verbose) { //boost::cpu_times const elapsed_times(timer.elapsed()); @@ -127,14 +128,14 @@ namespace gtsam { namespace partition { const sharedInts& adjwgt, bool verbose) { // control parameters - idx_t vwgt[n]; // the weights of the vertices + std::vector vwgt; // the weights of the vertices idx_t options[METIS_NOPTIONS]; METIS_SetDefaultOptions(options); // use defaults idx_t edgecut; // the number of edge cuts, output sharedInts part_(new idx_t[n]); // the partition of each vertex, output // set uniform weights on the vertices - std::fill(vwgt, vwgt+n, 1); + vwgt.assign(n, 1); //TODO: Fix later //boost::timer TOTALTmr; @@ -150,7 +151,7 @@ namespace gtsam { namespace partition { //int wgtflag = 1; // only edge weights //int numflag = 0; // c style numbering starting from 0 //int nparts = 2; // partition the graph to 2 submaps - modefied_EdgeComputeSeparator(&n, xadj.get(), adjncy.get(), vwgt, adjwgt.get(), + modefied_EdgeComputeSeparator(&n, xadj.get(), adjncy.get(), &vwgt[0], adjwgt.get(), options, &edgecut, part_.get()); From 6ce889a1cd736cf80a3213569eaa12b42595adb1 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Sat, 28 Dec 2019 23:51:02 +0100 Subject: [PATCH 0145/1152] Enable only a few unit tests for MSVC This should be undone someday when *all* build and link problems in MSVC are solved. --- appveyor.yml | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/appveyor.yml b/appveyor.yml index 9484c775a..2c78ca1f2 100644 --- a/appveyor.yml +++ b/appveyor.yml @@ -14,8 +14,16 @@ environment: build_script: - cd c:\projects\gtsam\build - - cmake --build . - - cmake --build . --target check + # As of Dec 2019, not all unit tests build cleanly for MSVC, so we'll just + # check that parts of GTSAM build correctly: + #- cmake --build . + - cmake --build . --config Release --target gtsam + - cmake --build . --config Release --target gtsam_unstable + - cmake --build . --config Release --target wrap + #- cmake --build . --target check + - cmake --build . --config Release --target check.base + - cmake --build . --config Release --target check.base_unstable + - cmake --build . --config Release --target check.linear before_build: - cd c:\projects\gtsam From 762788efa3428f02520076cf7fcb1ad4d2523554 Mon Sep 17 00:00:00 2001 From: Ayush Baid Date: Sun, 29 Dec 2019 15:30:38 -0500 Subject: [PATCH 0146/1152] Fixing the test for merging two sets in the DSF I am not super sure with the code, but I think the intention behind the test is to check pair1 with pair2 after it has been merged. Hence changing it. --- cython/gtsam/tests/test_dsf_map.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/cython/gtsam/tests/test_dsf_map.py b/cython/gtsam/tests/test_dsf_map.py index 6eb551034..b2ede57bf 100644 --- a/cython/gtsam/tests/test_dsf_map.py +++ b/cython/gtsam/tests/test_dsf_map.py @@ -30,8 +30,10 @@ class TestDSFMap(GtsamTestCase): pair1 = gtsam.IndexPair(1, 18) self.assertEqual(key(dsf.find(pair1)), key(pair1)) pair2 = gtsam.IndexPair(2, 2) + + # testing the merge feature of dsf dsf.merge(pair1, pair2) - self.assertTrue(dsf.find(pair1), dsf.find(pair1)) + self.assertEquals(key(dsf.find(pair1)), key(dsf.find(pair2))) if __name__ == '__main__': From a99610b77aabe06e0e5e234c7a18d9d2e1d7c8a6 Mon Sep 17 00:00:00 2001 From: Peter Mullen Date: Sat, 4 Jan 2020 16:57:22 -0800 Subject: [PATCH 0147/1152] make code match comments when creating Pose3 noiseModel instances --- cython/gtsam/examples/ImuFactorExample2.py | 2 +- cython/gtsam/examples/VisualISAM2Example.py | 2 +- examples/ISAM2Example_SmartFactor.cpp | 2 +- examples/SFMExample.cpp | 2 +- examples/SFMExample_SmartFactor.cpp | 2 +- examples/SFMExample_SmartFactorPCG.cpp | 2 +- examples/SelfCalibrationExample.cpp | 2 +- examples/VisualISAM2Example.cpp | 2 +- examples/VisualISAMExample.cpp | 2 +- matlab/unstable_examples/+imuSimulator/OdometryExample3D.m | 4 ++-- tests/testVisualISAM2.cpp | 2 +- 11 files changed, 12 insertions(+), 12 deletions(-) diff --git a/cython/gtsam/examples/ImuFactorExample2.py b/cython/gtsam/examples/ImuFactorExample2.py index 10bd3de11..1f6732f49 100644 --- a/cython/gtsam/examples/ImuFactorExample2.py +++ b/cython/gtsam/examples/ImuFactorExample2.py @@ -106,7 +106,7 @@ def IMU_example(): # Add a prior on pose x0. This indirectly specifies where the origin is. # 30cm std on x,y,z 0.1 rad on roll,pitch,yaw noise = gtsam.noiseModel_Diagonal.Sigmas( - np.array([0.3, 0.3, 0.3, 0.1, 0.1, 0.1])) + np.array([0.1, 0.1, 0.1, 0.3, 0.3, 0.3])) newgraph.push_back(gtsam.PriorFactorPose3(X(0), pose_0, noise)) # Add imu priors diff --git a/cython/gtsam/examples/VisualISAM2Example.py b/cython/gtsam/examples/VisualISAM2Example.py index e2caee6d4..c0f4fbd94 100644 --- a/cython/gtsam/examples/VisualISAM2Example.py +++ b/cython/gtsam/examples/VisualISAM2Example.py @@ -120,7 +120,7 @@ def visual_ISAM2_example(): if i == 0: # Add a prior on pose x0 pose_noise = gtsam.noiseModel_Diagonal.Sigmas(np.array( - [0.3, 0.3, 0.3, 0.1, 0.1, 0.1])) # 30cm std on x,y,z 0.1 rad on roll,pitch,yaw + [0.1, 0.1, 0.1, 0.3, 0.3, 0.3])) # 30cm std on x,y,z 0.1 rad on roll,pitch,yaw graph.push_back(gtsam.PriorFactorPose3(X(0), poses[0], pose_noise)) # Add a prior on landmark l0 diff --git a/examples/ISAM2Example_SmartFactor.cpp b/examples/ISAM2Example_SmartFactor.cpp index 8331ade04..d8fee1516 100644 --- a/examples/ISAM2Example_SmartFactor.cpp +++ b/examples/ISAM2Example_SmartFactor.cpp @@ -27,7 +27,7 @@ int main(int argc, char* argv[]) { noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v Vector6 sigmas; - sigmas << Vector3::Constant(0.3), Vector3::Constant(0.1); + sigmas << Vector3::Constant(0.1), Vector3::Constant(0.3); auto noise = noiseModel::Diagonal::Sigmas(sigmas); ISAM2Params parameters; diff --git a/examples/SFMExample.cpp b/examples/SFMExample.cpp index 0e48bb892..8c87fa315 100644 --- a/examples/SFMExample.cpp +++ b/examples/SFMExample.cpp @@ -74,7 +74,7 @@ int main(int argc, char* argv[]) { NonlinearFactorGraph graph; // Add a prior on pose x1. This indirectly specifies where the origin is. - noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1)).finished()); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw + noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw graph.emplace_shared >(Symbol('x', 0), poses[0], poseNoise); // add directly to graph // Simulated measurements from each camera pose, adding them to the factor graph diff --git a/examples/SFMExample_SmartFactor.cpp b/examples/SFMExample_SmartFactor.cpp index e9d02b15c..c5545fc0c 100644 --- a/examples/SFMExample_SmartFactor.cpp +++ b/examples/SFMExample_SmartFactor.cpp @@ -81,7 +81,7 @@ int main(int argc, char* argv[]) { // Add a prior on pose x0. This indirectly specifies where the origin is. // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw noiseModel::Diagonal::shared_ptr noise = noiseModel::Diagonal::Sigmas( - (Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1)).finished()); + (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); graph.emplace_shared >(0, poses[0], noise); // Because the structure-from-motion problem has a scale ambiguity, the problem is diff --git a/examples/SFMExample_SmartFactorPCG.cpp b/examples/SFMExample_SmartFactorPCG.cpp index da7c5ba9b..075e2a653 100644 --- a/examples/SFMExample_SmartFactorPCG.cpp +++ b/examples/SFMExample_SmartFactorPCG.cpp @@ -73,7 +73,7 @@ int main(int argc, char* argv[]) { // Add a prior on pose x0. This indirectly specifies where the origin is. // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw noiseModel::Diagonal::shared_ptr noise = noiseModel::Diagonal::Sigmas( - (Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1)).finished()); + (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); graph.emplace_shared >(0, poses[0], noise); // Fix the scale ambiguity by adding a prior diff --git a/examples/SelfCalibrationExample.cpp b/examples/SelfCalibrationExample.cpp index 93e010543..ba097c074 100644 --- a/examples/SelfCalibrationExample.cpp +++ b/examples/SelfCalibrationExample.cpp @@ -53,7 +53,7 @@ int main(int argc, char* argv[]) { NonlinearFactorGraph graph; // Add a prior on pose x1. - noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1)).finished()); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw + noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw graph.emplace_shared >(Symbol('x', 0), poses[0], poseNoise); // Simulated measurements from each camera pose, adding them to the factor graph diff --git a/examples/VisualISAM2Example.cpp b/examples/VisualISAM2Example.cpp index 751b776f6..35bc9bcf6 100644 --- a/examples/VisualISAM2Example.cpp +++ b/examples/VisualISAM2Example.cpp @@ -108,7 +108,7 @@ int main(int argc, char* argv[]) { if (i == 0) { // Add a prior on pose x0, 30cm std on x,y,z and 0.1 rad on roll,pitch,yaw static auto kPosePrior = noiseModel::Diagonal::Sigmas( - (Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1)) + (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)) .finished()); graph.emplace_shared >(Symbol('x', 0), poses[0], kPosePrior); diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp index 8ca1be596..7a58deeb7 100644 --- a/examples/VisualISAMExample.cpp +++ b/examples/VisualISAMExample.cpp @@ -107,7 +107,7 @@ int main(int argc, char* argv[]) { if (i == 0) { // Add a prior on pose x0, with 30cm std on x,y,z 0.1 rad on roll,pitch,yaw noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas( - (Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1)).finished()); + (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); graph.emplace_shared >(Symbol('x', 0), poses[0], poseNoise); // Add a prior on landmark l0 diff --git a/matlab/unstable_examples/+imuSimulator/OdometryExample3D.m b/matlab/unstable_examples/+imuSimulator/OdometryExample3D.m index d28d3c2cb..71ff20ec2 100644 --- a/matlab/unstable_examples/+imuSimulator/OdometryExample3D.m +++ b/matlab/unstable_examples/+imuSimulator/OdometryExample3D.m @@ -25,12 +25,12 @@ graph = NonlinearFactorGraph; %% Add a Gaussian prior on pose x_1 priorMean = Pose3();%Pose3.Expmap([0.0; 0.0; 0.0; 0.0; 0.0; 0.0]); % prior mean is at origin -priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.3; 0.1; 0.1; 0.1]); % 30cm std on x,y, 0.1 rad on theta +priorNoise = noiseModel.Diagonal.Sigmas([0.1; 0.1; 0.1; 0.3; 0.3; 0.3]); % 30cm std on x,y,z 0.1 rad on roll,pitch,yaw graph.add(PriorFactorPose3(1, priorMean, priorNoise)); % add directly to graph %% Add two odometry factors odometry = Pose3.Expmap([0.0; 0.0; 0.0; 2.0; 0.0; 0.0]); % create a measurement for both factors (the same in this case) -odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.2; 0.1; 0.1; 0.1]); % 20cm std on x,y, 0.1 rad on theta +odometryNoise = noiseModel.Diagonal.Sigmas([0.1; 0.1; 0.1; 0.2; 0.2; 0.2]); % 20cm std on x,y,z 0.1 rad on roll,pitch,yaw graph.add(BetweenFactorPose3(1, 2, odometry, odometryNoise)); graph.add(BetweenFactorPose3(2, 3, odometry, odometryNoise)); diff --git a/tests/testVisualISAM2.cpp b/tests/testVisualISAM2.cpp index 1ced2af23..9c63e1aa8 100644 --- a/tests/testVisualISAM2.cpp +++ b/tests/testVisualISAM2.cpp @@ -76,7 +76,7 @@ TEST(testVisualISAM2, all) { // Add a prior on pose x0, 30cm std on x,y,z and 0.1 rad on roll,pitch,yaw static auto kPosePrior = noiseModel::Diagonal::Sigmas( - (Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1)) + (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)) .finished()); graph.emplace_shared>(Symbol('x', 0), poses[0], kPosePrior); From 4e9dd1292d90eecfed84036e7c838c8bee5d478f Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Sun, 5 Jan 2020 13:15:07 -0500 Subject: [PATCH 0148/1152] Fix library find --- cmake/GtsamCythonWrap.cmake | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index c3cad9d83..d6190447f 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -6,12 +6,16 @@ unset(CYTHON_EXECUTABLE CACHE) unset(PYTHON_INCLUDE_DIR CACHE) unset(PYTHON_MAJOR_VERSION CACHE) -if(GTSAM_PYTHON_VERSION STREQUAL "Default") - find_package(PythonInterp REQUIRED) - find_package(PythonLibs REQUIRED) +if(PYTHON_LIBRARY) + else() - find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT REQUIRED) - find_package(PythonLibs ${GTSAM_PYTHON_VERSION} EXACT REQUIRED) + 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 ${GTSAM_PYTHON_VERSION} EXACT REQUIRED) + endif() endif() find_package(Cython 0.25.2 REQUIRED) From 1319f400ccd5d1817ddbbadfdf523bb857871927 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Sun, 5 Jan 2020 22:58:25 -0500 Subject: [PATCH 0149/1152] Fix error when packaging --- cython/setup.py.in | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/cython/setup.py.in b/cython/setup.py.in index c35e54079..91bfaeb2b 100644 --- a/cython/setup.py.in +++ b/cython/setup.py.in @@ -5,13 +5,13 @@ try: except ImportError: from distutils.core import setup, find_packages -if 'SETUP_PY_NO_CHECK' not in os.environ: - script_path = os.path.abspath(os.path.realpath(__file__)) - install_path = os.path.abspath(os.path.realpath(os.path.join('${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}', 'setup.py'))) - if script_path != install_path: - print('setup.py is being run from an unexpected location: "{}"'.format(script_path)) - print('please run `make install` and run the script from there') - sys.exit(1) +# if 'SETUP_PY_NO_CHECK' not in os.environ: +# script_path = os.path.abspath(os.path.realpath(__file__)) +# install_path = os.path.abspath(os.path.realpath(os.path.join('${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}', 'setup.py'))) +# if script_path != install_path: +# print('setup.py is being run from an unexpected location: "{}"'.format(script_path)) +# print('please run `make install` and run the script from there') +# sys.exit(1) packages = find_packages() From 4f214b5e6bec8b041c3218279e21c4ace20f090c Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Mon, 6 Jan 2020 16:25:33 -0500 Subject: [PATCH 0150/1152] Allow static metis in shared lib --- gtsam/3rdparty/metis/CMakeLists.txt | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam/3rdparty/metis/CMakeLists.txt b/gtsam/3rdparty/metis/CMakeLists.txt index 8ff69dde3..c3b25ef73 100644 --- a/gtsam/3rdparty/metis/CMakeLists.txt +++ b/gtsam/3rdparty/metis/CMakeLists.txt @@ -34,6 +34,11 @@ else() set(METIS_LIBRARY_TYPE STATIC) endif() +# Configure libmetis library. +if(BUILD_STATIC_METIS) + set(METIS_LIBRARY_TYPE STATIC) +endif() + include(${GKLIB_PATH}/GKlibSystem.cmake) # Add include directories. include_directories(${GKLIB_PATH}) From 982c904c1cbb83f36a6728434d36952d18d63c34 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Mon, 6 Jan 2020 18:52:09 -0500 Subject: [PATCH 0151/1152] Cleanup the cmake files --- cmake/GtsamCythonWrap.cmake | 6 +++--- gtsam/3rdparty/metis/CMakeLists.txt | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index d6190447f..51ef4ab92 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -5,10 +5,10 @@ unset(PYTHON_EXECUTABLE CACHE) unset(CYTHON_EXECUTABLE CACHE) unset(PYTHON_INCLUDE_DIR CACHE) unset(PYTHON_MAJOR_VERSION CACHE) +unset(PYTHON_LIBRARY CACHE) -if(PYTHON_LIBRARY) - -else() +# Allow override from command line +if(NOT PYTHON_LIBRARY) if(GTSAM_PYTHON_VERSION STREQUAL "Default") find_package(PythonInterp REQUIRED) find_package(PythonLibs REQUIRED) diff --git a/gtsam/3rdparty/metis/CMakeLists.txt b/gtsam/3rdparty/metis/CMakeLists.txt index c3b25ef73..de46165ff 100644 --- a/gtsam/3rdparty/metis/CMakeLists.txt +++ b/gtsam/3rdparty/metis/CMakeLists.txt @@ -34,7 +34,7 @@ else() set(METIS_LIBRARY_TYPE STATIC) endif() -# Configure libmetis library. +# Allow a static METIS while building GTSAM as dynamic if(BUILD_STATIC_METIS) set(METIS_LIBRARY_TYPE STATIC) endif() From ef8026bc239b39c1d50e20e18d57dd2f77637f5e Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Mon, 6 Jan 2020 22:35:11 -0500 Subject: [PATCH 0152/1152] Regression --- cmake/GtsamCythonWrap.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index 51ef4ab92..93dd2e32d 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -8,7 +8,7 @@ unset(PYTHON_MAJOR_VERSION CACHE) unset(PYTHON_LIBRARY CACHE) # Allow override from command line -if(NOT PYTHON_LIBRARY) +if(NOT DEFINED PYTHON_LIBRARY) if(GTSAM_PYTHON_VERSION STREQUAL "Default") find_package(PythonInterp REQUIRED) find_package(PythonLibs REQUIRED) From cbea85dafdc40be3337550d372150e952ac6c561 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Mon, 6 Jan 2020 22:42:52 -0500 Subject: [PATCH 0153/1152] Regression --- cmake/GtsamCythonWrap.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index 93dd2e32d..e963a0d9c 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -8,7 +8,7 @@ unset(PYTHON_MAJOR_VERSION CACHE) unset(PYTHON_LIBRARY CACHE) # Allow override from command line -if(NOT DEFINED PYTHON_LIBRARY) +if(NOT DEFINED GTSAM_USE_CUSTOM_PYTHON_LIBRARY) if(GTSAM_PYTHON_VERSION STREQUAL "Default") find_package(PythonInterp REQUIRED) find_package(PythonLibs REQUIRED) From 6a4453a16a232d1b5e5563bcc0ef88b285dea727 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Wed, 8 Jan 2020 15:13:40 -0500 Subject: [PATCH 0154/1152] Nuke the commented out check --- cython/setup.py.in | 9 --------- 1 file changed, 9 deletions(-) diff --git a/cython/setup.py.in b/cython/setup.py.in index 91bfaeb2b..127eb9c3f 100644 --- a/cython/setup.py.in +++ b/cython/setup.py.in @@ -5,15 +5,6 @@ try: except ImportError: from distutils.core import setup, find_packages -# if 'SETUP_PY_NO_CHECK' not in os.environ: -# script_path = os.path.abspath(os.path.realpath(__file__)) -# install_path = os.path.abspath(os.path.realpath(os.path.join('${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}', 'setup.py'))) -# if script_path != install_path: -# print('setup.py is being run from an unexpected location: "{}"'.format(script_path)) -# print('please run `make install` and run the script from there') -# sys.exit(1) - - packages = find_packages() setup( From 98a90221ccbaeac1a7a7249e5d61965185d17697 Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Sat, 11 Jan 2020 12:39:44 -0500 Subject: [PATCH 0155/1152] remove execution file mode --- gtsam/geometry/Unit3.cpp | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100755 => 100644 gtsam/geometry/Unit3.cpp diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp old mode 100755 new mode 100644 From eb857624839329a9ad0683b2d8d1051480cc6b96 Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Sat, 11 Jan 2020 13:09:16 -0500 Subject: [PATCH 0156/1152] change from deprecated tbb::mutex to std::mutex --- gtsam/base/debug.cpp | 16 ++++------------ gtsam/geometry/Unit3.cpp | 4 +--- gtsam/geometry/Unit3.h | 8 ++------ 3 files changed, 7 insertions(+), 21 deletions(-) diff --git a/gtsam/base/debug.cpp b/gtsam/base/debug.cpp index d6d2a4fe0..dbea53c7c 100644 --- a/gtsam/base/debug.cpp +++ b/gtsam/base/debug.cpp @@ -19,31 +19,23 @@ #include #include // for GTSAM_USE_TBB -#ifdef GTSAM_USE_TBB -#include -#endif +#include // std::mutex, std::unique_lock namespace gtsam { GTSAM_EXPORT FastMap > debugFlags; -#ifdef GTSAM_USE_TBB -tbb::mutex debugFlagsMutex; -#endif +std::mutex debugFlagsMutex; /* ************************************************************************* */ bool guardedIsDebug(const std::string& s) { -#ifdef GTSAM_USE_TBB - tbb::mutex::scoped_lock lock(debugFlagsMutex); -#endif + std::unique_lock lock(debugFlagsMutex); return gtsam::debugFlags[s]; } /* ************************************************************************* */ void guardedSetDebug(const std::string& s, const bool v) { -#ifdef GTSAM_USE_TBB - tbb::mutex::scoped_lock lock(debugFlagsMutex); -#endif + std::unique_lock lock(debugFlagsMutex); gtsam::debugFlags[s] = v; } diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index 533ee500e..655b94fc3 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -80,12 +80,10 @@ static Point3 CalculateBestAxis(const Point3& n) { /* ************************************************************************* */ const Matrix32& Unit3::basis(OptionalJacobian<6, 2> H) const { -#ifdef GTSAM_USE_TBB // NOTE(hayk): At some point it seemed like this reproducably resulted in // deadlock. However, I don't know why and I can no longer reproduce it. // It either was a red herring or there is still a latent bug left to debug. - tbb::mutex::scoped_lock lock(B_mutex_); -#endif + std::unique_lock lock(B_mutex_); const bool cachedBasis = static_cast(B_); const bool cachedJacobian = static_cast(H_B_); diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h index 211698806..0a43ce59b 100644 --- a/gtsam/geometry/Unit3.h +++ b/gtsam/geometry/Unit3.h @@ -32,9 +32,7 @@ #include -#ifdef GTSAM_USE_TBB -#include -#endif +#include // std::mutex namespace gtsam { @@ -47,9 +45,7 @@ private: mutable boost::optional B_; ///< Cached basis mutable boost::optional H_B_; ///< Cached basis derivative -#ifdef GTSAM_USE_TBB - mutable tbb::mutex B_mutex_; ///< Mutex to protect the cached basis. -#endif + mutable std::mutex B_mutex_; ///< Mutex to protect the cached basis. public: From b2e93311610a38c34c81c4e4ed80b20ae9c661bc Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Sat, 11 Jan 2020 14:04:40 -0500 Subject: [PATCH 0157/1152] remove unnecessary tbb task_scheduler_init --- gtsam/base/types.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam/base/types.h b/gtsam/base/types.h index 3b6c9f337..bf3ed1bc3 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -28,7 +28,6 @@ #include #ifdef GTSAM_USE_TBB -#include #include #include #endif From 1483df7aa000f8416097bab99e317be8323ff43a Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Sat, 11 Jan 2020 15:11:50 -0500 Subject: [PATCH 0158/1152] add TBB guards back for multithread option and potentially breaking changes --- gtsam/base/debug.cpp | 8 ++++++++ gtsam/geometry/Unit3.cpp | 2 ++ gtsam/geometry/Unit3.h | 4 ++++ 3 files changed, 14 insertions(+) diff --git a/gtsam/base/debug.cpp b/gtsam/base/debug.cpp index dbea53c7c..592b42d15 100644 --- a/gtsam/base/debug.cpp +++ b/gtsam/base/debug.cpp @@ -19,23 +19,31 @@ #include #include // for GTSAM_USE_TBB +#ifdef GTSAM_USE_TBB #include // std::mutex, std::unique_lock +#endif namespace gtsam { GTSAM_EXPORT FastMap > debugFlags; +#ifdef GTSAM_USE_TBB std::mutex debugFlagsMutex; +#endif /* ************************************************************************* */ bool guardedIsDebug(const std::string& s) { +#ifdef GTSAM_USE_TBB std::unique_lock lock(debugFlagsMutex); +#endif return gtsam::debugFlags[s]; } /* ************************************************************************* */ void guardedSetDebug(const std::string& s, const bool v) { +#ifdef GTSAM_USE_TBB std::unique_lock lock(debugFlagsMutex); +#endif gtsam::debugFlags[s] = v; } diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index 655b94fc3..f33e08a83 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -80,10 +80,12 @@ static Point3 CalculateBestAxis(const Point3& n) { /* ************************************************************************* */ const Matrix32& Unit3::basis(OptionalJacobian<6, 2> H) const { +#ifdef GTSAM_USE_TBB // NOTE(hayk): At some point it seemed like this reproducably resulted in // deadlock. However, I don't know why and I can no longer reproduce it. // It either was a red herring or there is still a latent bug left to debug. std::unique_lock lock(B_mutex_); +#endif const bool cachedBasis = static_cast(B_); const bool cachedJacobian = static_cast(H_B_); diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h index 0a43ce59b..a4043be85 100644 --- a/gtsam/geometry/Unit3.h +++ b/gtsam/geometry/Unit3.h @@ -32,7 +32,9 @@ #include +#ifdef GTSAM_USE_TBB #include // std::mutex +#endif namespace gtsam { @@ -45,7 +47,9 @@ private: mutable boost::optional B_; ///< Cached basis mutable boost::optional H_B_; ///< Cached basis derivative +#ifdef GTSAM_USE_TBB mutable std::mutex B_mutex_; ///< Mutex to protect the cached basis. +#endif public: From af5d22248b6219a46ca06f35fe1aa0f3c8e15ea4 Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Sat, 11 Jan 2020 16:37:13 -0500 Subject: [PATCH 0159/1152] remove deprecated tbb_exception in favor of std_exception --- gtsam/base/ThreadsafeException.h | 46 ++++---------------------------- gtsam/base/types.h | 3 ++- 2 files changed, 7 insertions(+), 42 deletions(-) diff --git a/gtsam/base/ThreadsafeException.h b/gtsam/base/ThreadsafeException.h index 15a76fbf1..0f7c6131d 100644 --- a/gtsam/base/ThreadsafeException.h +++ b/gtsam/base/ThreadsafeException.h @@ -11,7 +11,7 @@ /** * @file ThreadSafeException.h - * @brief Base exception type that uses tbb_exception if GTSAM is compiled with TBB + * @brief Base exception type that uses tbb_allocator if GTSAM is compiled with TBB * @author Richard Roberts * @date Aug 21, 2010 * @addtogroup base @@ -25,34 +25,28 @@ #include #include #include +#include #ifdef GTSAM_USE_TBB #include -#include #include #include #endif namespace gtsam { -/// Base exception type that uses tbb_exception if GTSAM is compiled with TBB. +/// Base exception type that uses tbb_allocator if GTSAM is compiled with TBB. template class ThreadsafeException: -#ifdef GTSAM_USE_TBB - public tbb::tbb_exception -#else public std::exception -#endif { -#ifdef GTSAM_USE_TBB private: - typedef tbb::tbb_exception Base; + typedef std::exception Base; +#ifdef GTSAM_USE_TBB protected: typedef std::basic_string, tbb::tbb_allocator > String; #else -private: - typedef std::exception Base; protected: typedef std::string String; #endif @@ -82,36 +76,6 @@ protected: } public: - // Implement functions for tbb_exception -#ifdef GTSAM_USE_TBB - virtual tbb::tbb_exception* move() throw () { - void* cloneMemory = scalable_malloc(sizeof(DERIVED)); - if (!cloneMemory) { - std::cerr << "Failed allocating memory to copy thrown exception, exiting now." << std::endl; - exit(-1); - } - DERIVED* clone = ::new(cloneMemory) DERIVED(static_cast(*this)); - clone->dynamic_ = true; - return clone; - } - - virtual void destroy() throw () { - if (dynamic_) { - DERIVED* derivedPtr = static_cast(this); - derivedPtr->~DERIVED(); - scalable_free(derivedPtr); - } - } - - virtual void throw_self() { - throw *static_cast(this); - } - - virtual const char* name() const throw () { - return typeid(DERIVED).name(); - } -#endif - virtual const char* what() const throw () { return description_ ? description_->c_str() : ""; } diff --git a/gtsam/base/types.h b/gtsam/base/types.h index bf3ed1bc3..d12a4209a 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -27,8 +27,9 @@ #include #include +#include + #ifdef GTSAM_USE_TBB -#include #include #endif From aff24bd77b196c6e218dc716351741efbcf3c401 Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Sat, 11 Jan 2020 18:11:59 -0500 Subject: [PATCH 0160/1152] remove tbb.h include and specify individual includes needed remove deprecated tbb::task_scheduler_init --- examples/SolverComparer.cpp | 8 -------- examples/TimeTBB.cpp | 8 ++++---- gtsam/base/treeTraversal/parallelTraversalTasks.h | 7 ++----- 3 files changed, 6 insertions(+), 17 deletions(-) diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp index 80ac08e03..528a441b3 100644 --- a/examples/SolverComparer.cpp +++ b/examples/SolverComparer.cpp @@ -57,12 +57,6 @@ #include #include -#ifdef GTSAM_USE_TBB -#include -#undef max // TBB seems to include windows.h and we don't want these macros -#undef min -#endif - using namespace std; using namespace gtsam; using namespace gtsam::symbol_shorthand; @@ -206,10 +200,8 @@ int main(int argc, char *argv[]) { } #ifdef GTSAM_USE_TBB - std::unique_ptr init; if(nThreads > 0) { cout << "Using " << nThreads << " threads" << endl; - init.reset(new tbb::task_scheduler_init(nThreads)); } else cout << "Using threads for all processors" << endl; #else diff --git a/examples/TimeTBB.cpp b/examples/TimeTBB.cpp index 178fa513f..58da3d67b 100644 --- a/examples/TimeTBB.cpp +++ b/examples/TimeTBB.cpp @@ -28,9 +28,10 @@ using boost::assign::list_of; #ifdef GTSAM_USE_TBB -#include -#undef max // TBB seems to include windows.h and we don't want these macros -#undef min +#include // tbb::blocked_range +#include // tbb::tick_count +#include // tbb::parallel_for +#include // tbb::cache_aligned_allocator static const DenseIndex numberOfProblems = 1000000; static const DenseIndex problemSize = 4; @@ -153,7 +154,6 @@ int main(int argc, char* argv[]) for(size_t n: numThreads) { cout << "With " << n << " threads:" << endl; - tbb::task_scheduler_init init((int)n); results[(int)n].grainSizesWithoutAllocation = testWithoutMemoryAllocation(); results[(int)n].grainSizesWithAllocation = testWithMemoryAllocation(); cout << endl; diff --git a/gtsam/base/treeTraversal/parallelTraversalTasks.h b/gtsam/base/treeTraversal/parallelTraversalTasks.h index 9b2dae3d0..3dd6e307f 100644 --- a/gtsam/base/treeTraversal/parallelTraversalTasks.h +++ b/gtsam/base/treeTraversal/parallelTraversalTasks.h @@ -22,11 +22,8 @@ #include #ifdef GTSAM_USE_TBB -# include -# include -# undef max // TBB seems to include windows.h and we don't want these macros -# undef min -# undef ERROR +#include // tbb::task, tbb::task_list +#include // tbb::scalable_allocator namespace gtsam { From c9bcceef2f01e9eb5e22fa172c6d4cbb6171124e Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Sun, 12 Jan 2020 11:34:02 -0500 Subject: [PATCH 0161/1152] add tbb to travis-ci --- .travis.yml | 21 ++++++++++++++------- 1 file changed, 14 insertions(+), 7 deletions(-) diff --git a/.travis.yml b/.travis.yml index 14fe66ac1..e4e1a3440 100644 --- a/.travis.yml +++ b/.travis.yml @@ -16,6 +16,7 @@ addons: - cmake - libpython-dev python-numpy - libboost-all-dev + - libtbb-dev # before_install: # - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update ; fi @@ -43,7 +44,7 @@ jobs: - stage: compile os: osx compiler: gcc - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF script: bash .travis.sh -b - stage: compile os: osx @@ -54,7 +55,7 @@ jobs: - stage: compile os: osx compiler: clang - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF script: bash .travis.sh -b - stage: compile os: osx @@ -65,7 +66,7 @@ jobs: - stage: compile os: linux compiler: gcc - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF script: bash .travis.sh -b - stage: compile os: linux @@ -76,7 +77,7 @@ jobs: - stage: compile os: linux compiler: clang - env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF + env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF script: bash .travis.sh -b - stage: compile os: linux @@ -87,7 +88,13 @@ jobs: - stage: special os: linux compiler: clang - env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON + env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON GTSAM_WITH_TBB=OFF + script: bash .travis.sh -b +# on Linux, with GTSAM_WITH_TBB not off to make sure GTSAM still compiles/tests + - stage: special + os: linux + compiler: gcc + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF script: bash .travis.sh -b # -------- STAGE 2: TESTS ----------- # on Mac, GCC @@ -99,7 +106,7 @@ jobs: - stage: test os: osx compiler: clang - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF script: bash .travis.sh -t - stage: test os: linux @@ -109,7 +116,7 @@ jobs: - stage: test os: linux compiler: gcc - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF script: bash .travis.sh -t - stage: test os: linux From bfc32e9f69d8b06f2533661ee71bfd04d3196c73 Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Mon, 13 Jan 2020 07:29:41 -0500 Subject: [PATCH 0162/1152] add deprecated task_scheduler_init until alternative is found --- examples/TimeTBB.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/examples/TimeTBB.cpp b/examples/TimeTBB.cpp index 58da3d67b..09a02faaa 100644 --- a/examples/TimeTBB.cpp +++ b/examples/TimeTBB.cpp @@ -32,6 +32,7 @@ using boost::assign::list_of; #include // tbb::tick_count #include // tbb::parallel_for #include // tbb::cache_aligned_allocator +#include // tbb::task_scheduler_init static const DenseIndex numberOfProblems = 1000000; static const DenseIndex problemSize = 4; @@ -154,6 +155,7 @@ int main(int argc, char* argv[]) for(size_t n: numThreads) { cout << "With " << n << " threads:" << endl; + tbb::task_scheduler_init init((int)n); results[(int)n].grainSizesWithoutAllocation = testWithoutMemoryAllocation(); results[(int)n].grainSizesWithAllocation = testWithMemoryAllocation(); cout << endl; From 69e3e91ea8f3718f29663f3397d308b177928faf Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Tue, 14 Jan 2020 18:00:30 -0500 Subject: [PATCH 0163/1152] add Information constructor to python wrapper for gaussian noise model --- gtsam.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam.h b/gtsam.h index 9b4a5501e..7c03a3975 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1364,6 +1364,7 @@ virtual class Base { }; virtual class Gaussian : gtsam::noiseModel::Base { + static gtsam::noiseModel::Gaussian* Information(Matrix R); static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); static gtsam::noiseModel::Gaussian* Covariance(Matrix R); From 41e045580c865706a6bf89c0d104da7195f6e56b Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Tue, 14 Jan 2020 21:28:18 -0500 Subject: [PATCH 0164/1152] python wrapper: access to gaussian conditional matrices --- gtsam.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam.h b/gtsam.h index 7c03a3975..ae6ed4ac8 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1799,6 +1799,9 @@ virtual class GaussianConditional : gtsam::GaussianFactor { gtsam::VectorValues solveOtherRHS(const gtsam::VectorValues& parents, const gtsam::VectorValues& rhs) const; void solveTransposeInPlace(gtsam::VectorValues& gy) const; void scaleFrontalsBySigma(gtsam::VectorValues& gy) const; + Matrix R() const; + Matrix S() const; + Vector d() const; // enabling serialization functionality void serialize() const; From f3efbe2dd736b521068aa8683fa537b0f258984c Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Mon, 20 Jan 2020 00:57:07 +0100 Subject: [PATCH 0165/1152] Replace c++17 removed classes with c++11 replacements --- gtsam/base/Testable.h | 4 ++-- gtsam/linear/Errors.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/base/Testable.h b/gtsam/base/Testable.h index 73fb320e1..92c464940 100644 --- a/gtsam/base/Testable.h +++ b/gtsam/base/Testable.h @@ -107,7 +107,7 @@ namespace gtsam { * Template to create a binary predicate */ template - struct equals : public std::binary_function { + struct equals : public std::function { double tol_; equals(double tol = 1e-9) : tol_(tol) {} bool operator()(const V& expected, const V& actual) { @@ -119,7 +119,7 @@ namespace gtsam { * Binary predicate on shared pointers */ template - struct equals_star : public std::binary_function&, const boost::shared_ptr&, bool> { + struct equals_star : public std::function&, const boost::shared_ptr&)> { double tol_; equals_star(double tol = 1e-9) : tol_(tol) {} bool operator()(const boost::shared_ptr& expected, const boost::shared_ptr& actual) { diff --git a/gtsam/linear/Errors.cpp b/gtsam/linear/Errors.cpp index 42164d540..3fe2f3307 100644 --- a/gtsam/linear/Errors.cpp +++ b/gtsam/linear/Errors.cpp @@ -43,7 +43,7 @@ void Errors::print(const std::string& s) const { } /* ************************************************************************* */ -struct equalsVector : public std::binary_function { +struct equalsVector : public std::function { double tol_; equalsVector(double tol = 1e-9) : tol_(tol) {} bool operator()(const Vector& expected, const Vector& actual) { From f1e167db7ec29bed8a8775ebab560089e7b7a122 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 21 Jan 2020 17:59:44 -0500 Subject: [PATCH 0166/1152] retrieve Point3 from Unit3 in wrapper code --- gtsam.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam.h b/gtsam.h index ae6ed4ac8..68367393f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -814,6 +814,7 @@ class Unit3 { // Other functionality Matrix basis() const; Matrix skew() const; + gtsam::Point3 point3() const; // Manifold static size_t Dim(); From 1324cfd283d6c183d299c33300e2cd8db33718b1 Mon Sep 17 00:00:00 2001 From: Michael Bosse Date: Thu, 23 Jan 2020 19:13:41 -0800 Subject: [PATCH 0167/1152] Only compute old error when solved successfully When the LM system has not been solved successfully, an exception may be thrown when computing the old error, so this change makes sure the old error is computed after checking. --- gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index e889f260e..9b894db25 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -152,18 +152,18 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear, systemSolvedSuccessfully = false; } - // Compute the old linearized error as it is not the same - // as the nonlinear error when robust noise models are used. - double oldLinearizedError = linear.error(VectorValues::Zero(delta)); if (systemSolvedSuccessfully) { if (verbose) cout << "linear delta norm = " << delta.norm() << endl; if (params_.verbosityLM >= LevenbergMarquardtParams::TRYDELTA) delta.print("delta"); - // cost change in the linearized system (old - new) + // Compute the old linearized error as it is not the same + // as the nonlinear error when robust noise models are used. + double oldLinearizedError = linear.error(VectorValues::Zero(delta)); double newlinearizedError = linear.error(delta); + // cost change in the linearized system (old - new) double linearizedCostChange = oldLinearizedError - newlinearizedError; if (verbose) cout << "newlinearizedError = " << newlinearizedError From cf76820cab3f6e0427568cc63ed9059af4563567 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Thu, 23 Jan 2020 15:25:12 -0500 Subject: [PATCH 0168/1152] Add pybind11 --- wrap/python/pybind11/.appveyor.yml | 70 + wrap/python/pybind11/.gitignore | 38 + wrap/python/pybind11/.gitmodules | 3 + wrap/python/pybind11/.readthedocs.yml | 3 + wrap/python/pybind11/.travis.yml | 280 +++ wrap/python/pybind11/CMakeLists.txt | 157 ++ wrap/python/pybind11/CONTRIBUTING.md | 49 + wrap/python/pybind11/ISSUE_TEMPLATE.md | 17 + wrap/python/pybind11/LICENSE | 29 + wrap/python/pybind11/MANIFEST.in | 2 + wrap/python/pybind11/README.md | 129 + wrap/python/pybind11/docs/Doxyfile | 20 + 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wrap/python/pybind11/tools/libsize.py create mode 100755 wrap/python/pybind11/tools/mkdoc.py create mode 100644 wrap/python/pybind11/tools/pybind11Config.cmake.in create mode 100644 wrap/python/pybind11/tools/pybind11Tools.cmake diff --git a/wrap/python/pybind11/.appveyor.yml b/wrap/python/pybind11/.appveyor.yml new file mode 100644 index 000000000..8fbb72610 --- /dev/null +++ b/wrap/python/pybind11/.appveyor.yml @@ -0,0 +1,70 @@ +version: 1.0.{build} +image: +- Visual Studio 2017 +- Visual Studio 2015 +test: off +skip_branch_with_pr: true +build: + parallel: true +platform: +- x64 +- x86 +environment: + matrix: + - PYTHON: 36 + CPP: 14 + CONFIG: Debug + - PYTHON: 27 + CPP: 14 + CONFIG: Debug + - CONDA: 36 + CPP: latest + CONFIG: Release +matrix: + exclude: + - image: Visual Studio 2015 + platform: x86 + - image: Visual Studio 2015 + CPP: latest + - image: Visual Studio 2017 + CPP: latest + platform: x86 +install: +- ps: | + if ($env:PLATFORM -eq "x64") { $env:CMAKE_ARCH = "x64" } + if ($env:APPVEYOR_JOB_NAME -like "*Visual Studio 2017*") { + $env:CMAKE_GENERATOR = "Visual Studio 15 2017" + $env:CMAKE_INCLUDE_PATH = "C:\Libraries\boost_1_64_0" + $env:CXXFLAGS = "-permissive-" + } else { + $env:CMAKE_GENERATOR = "Visual Studio 14 2015" + } + if ($env:PYTHON) { + if ($env:PLATFORM -eq "x64") { $env:PYTHON = "$env:PYTHON-x64" } + $env:PATH = "C:\Python$env:PYTHON\;C:\Python$env:PYTHON\Scripts\;$env:PATH" + python -W ignore -m pip install --upgrade pip wheel + python -W ignore -m pip install pytest numpy --no-warn-script-location + } elseif ($env:CONDA) { + if ($env:CONDA -eq "27") { $env:CONDA = "" } + if ($env:PLATFORM -eq "x64") { $env:CONDA = "$env:CONDA-x64" } + $env:PATH = "C:\Miniconda$env:CONDA\;C:\Miniconda$env:CONDA\Scripts\;$env:PATH" + $env:PYTHONHOME = "C:\Miniconda$env:CONDA" + conda --version + conda install -y -q pytest numpy scipy + } +- ps: | + Start-FileDownload 'http://bitbucket.org/eigen/eigen/get/3.3.3.zip' + 7z x 3.3.3.zip -y > $null + $env:CMAKE_INCLUDE_PATH = "eigen-eigen-67e894c6cd8f;$env:CMAKE_INCLUDE_PATH" +build_script: +- cmake -G "%CMAKE_GENERATOR%" -A "%CMAKE_ARCH%" + -DPYBIND11_CPP_STANDARD=/std:c++%CPP% + -DPYBIND11_WERROR=ON + -DDOWNLOAD_CATCH=ON + -DCMAKE_SUPPRESS_REGENERATION=1 + . +- set MSBuildLogger="C:\Program Files\AppVeyor\BuildAgent\Appveyor.MSBuildLogger.dll" +- cmake --build . --config %CONFIG% --target pytest -- /m /v:m /logger:%MSBuildLogger% +- cmake --build . --config %CONFIG% --target cpptest -- /m /v:m /logger:%MSBuildLogger% +- if "%CPP%"=="latest" (cmake --build . --config %CONFIG% --target test_cmake_build -- /m /v:m /logger:%MSBuildLogger%) +on_failure: if exist "tests\test_cmake_build" type tests\test_cmake_build\*.log* diff --git a/wrap/python/pybind11/.gitignore b/wrap/python/pybind11/.gitignore new file mode 100644 index 000000000..979fd4431 --- /dev/null +++ b/wrap/python/pybind11/.gitignore @@ -0,0 +1,38 @@ +CMakeCache.txt +CMakeFiles +Makefile +cmake_install.cmake +.DS_Store +*.so +*.pyd +*.dll +*.sln +*.sdf +*.opensdf +*.vcxproj +*.filters +example.dir +Win32 +x64 +Release +Debug +.vs +CTestTestfile.cmake +Testing +autogen +MANIFEST +/.ninja_* +/*.ninja +/docs/.build +*.py[co] +*.egg-info +*~ +.*.swp +.DS_Store +/dist +/build +/cmake/ +.cache/ +sosize-*.txt +pybind11Config*.cmake +pybind11Targets.cmake diff --git a/wrap/python/pybind11/.gitmodules b/wrap/python/pybind11/.gitmodules new file mode 100644 index 000000000..d063a8e89 --- /dev/null +++ b/wrap/python/pybind11/.gitmodules @@ -0,0 +1,3 @@ +[submodule "tools/clang"] + path = tools/clang + url = ../../wjakob/clang-cindex-python3 diff --git a/wrap/python/pybind11/.readthedocs.yml b/wrap/python/pybind11/.readthedocs.yml new file mode 100644 index 000000000..c9c61617c --- /dev/null +++ b/wrap/python/pybind11/.readthedocs.yml @@ -0,0 +1,3 @@ +python: + version: 3 +requirements_file: docs/requirements.txt diff --git a/wrap/python/pybind11/.travis.yml b/wrap/python/pybind11/.travis.yml new file mode 100644 index 000000000..4cc5cf07c --- /dev/null +++ b/wrap/python/pybind11/.travis.yml @@ -0,0 +1,280 @@ +language: cpp +matrix: + include: + # This config does a few things: + # - Checks C++ and Python code styles (check-style.sh and flake8). + # - Makes sure sphinx can build the docs without any errors or warnings. + # - Tests setup.py sdist and install (all header files should be present). + # - Makes sure that everything still works without optional deps (numpy/scipy/eigen) and + # also tests the automatic discovery functions in CMake (Python version, C++ standard). + - os: linux + dist: xenial # Necessary to run doxygen 1.8.15 + name: Style, docs, and pip + cache: false + before_install: + - pyenv global $(pyenv whence 2to3) # activate all python versions + - PY_CMD=python3 + - $PY_CMD -m pip install --user --upgrade pip wheel setuptools + install: + - $PY_CMD -m pip install --user --upgrade sphinx sphinx_rtd_theme breathe flake8 pep8-naming pytest + - curl -fsSL https://sourceforge.net/projects/doxygen/files/rel-1.8.15/doxygen-1.8.15.linux.bin.tar.gz/download | tar xz + - export PATH="$PWD/doxygen-1.8.15/bin:$PATH" + script: + - tools/check-style.sh + - flake8 + - $PY_CMD -m sphinx -W -b html docs docs/.build + - | + # Make sure setup.py distributes and installs all the headers + $PY_CMD setup.py sdist + $PY_CMD -m pip install --user -U ./dist/* + installed=$($PY_CMD -c "import pybind11; print(pybind11.get_include(True) + '/pybind11')") + diff -rq $installed ./include/pybind11 + - | + # Barebones build + cmake -DCMAKE_BUILD_TYPE=Debug -DPYBIND11_WERROR=ON -DDOWNLOAD_CATCH=ON -DPYTHON_EXECUTABLE=$(which $PY_CMD) . + make pytest -j 2 + make cpptest -j 2 + # The following are regular test configurations, including optional dependencies. + # With regard to each other they differ in Python version, C++ standard and compiler. + - os: linux + dist: trusty + name: Python 2.7, c++11, gcc 4.8 + env: PYTHON=2.7 CPP=11 GCC=4.8 + addons: + apt: + packages: + - cmake=2.\* + - cmake-data=2.\* + - os: linux + dist: trusty + name: Python 3.6, c++11, gcc 4.8 + env: PYTHON=3.6 CPP=11 GCC=4.8 + addons: + apt: + sources: + - deadsnakes + packages: + - python3.6-dev + - python3.6-venv + - cmake=2.\* + - cmake-data=2.\* + - os: linux + dist: trusty + env: PYTHON=2.7 CPP=14 GCC=6 CMAKE=1 + name: Python 2.7, c++14, gcc 4.8, CMake test + addons: + apt: + sources: + - ubuntu-toolchain-r-test + packages: + - g++-6 + - os: linux + dist: trusty + name: Python 3.5, c++14, gcc 6, Debug build + # N.B. `ensurepip` could be installed transitively by `python3.5-venv`, but + # seems to have apt conflicts (at least for Trusty). Use Docker instead. + services: docker + env: DOCKER=debian:stretch PYTHON=3.5 CPP=14 GCC=6 DEBUG=1 + - os: linux + dist: xenial + env: PYTHON=3.6 CPP=17 GCC=7 + name: Python 3.6, c++17, gcc 7 + addons: + apt: + sources: + - deadsnakes + - ubuntu-toolchain-r-test + packages: + - g++-7 + - python3.6-dev + - python3.6-venv + - os: linux + dist: xenial + env: PYTHON=3.6 CPP=17 CLANG=7 + name: Python 3.6, c++17, Clang 7 + addons: + apt: + sources: + - deadsnakes + - llvm-toolchain-xenial-7 + packages: + - python3.6-dev + - python3.6-venv + - clang-7 + - libclang-7-dev + - llvm-7-dev + - lld-7 + - libc++-7-dev + - libc++abi-7-dev # Why is this necessary??? + - os: osx + name: Python 2.7, c++14, AppleClang 7.3, CMake test + osx_image: xcode7.3 + env: PYTHON=2.7 CPP=14 CLANG CMAKE=1 + - os: osx + name: Python 3.7, c++14, AppleClang 9, Debug build + osx_image: xcode9 + env: PYTHON=3.7 CPP=14 CLANG DEBUG=1 + # Test a PyPy 2.7 build + - os: linux + dist: trusty + env: PYPY=5.8 PYTHON=2.7 CPP=11 GCC=4.8 + name: PyPy 5.8, Python 2.7, c++11, gcc 4.8 + addons: + apt: + packages: + - libblas-dev + - liblapack-dev + - gfortran + # Build in 32-bit mode and tests against the CMake-installed version + - os: linux + dist: trusty + services: docker + env: DOCKER=i386/debian:stretch PYTHON=3.5 CPP=14 GCC=6 INSTALL=1 + name: Python 3.4, c++14, gcc 6, 32-bit + script: + - | + # Consolidated 32-bit Docker Build + Install + set -ex + $SCRIPT_RUN_PREFIX sh -c " + set -ex + cmake ${CMAKE_EXTRA_ARGS} -DPYBIND11_INSTALL=1 -DPYBIND11_TEST=0 . + make install + cp -a tests /pybind11-tests + mkdir /build-tests && cd /build-tests + cmake ../pybind11-tests ${CMAKE_EXTRA_ARGS} -DPYBIND11_WERROR=ON + make pytest -j 2" + set +ex +cache: + directories: + - $HOME/.local/bin + - $HOME/.local/lib + - $HOME/.local/include + - $HOME/Library/Python +before_install: +- | + # Configure build variables + set -ex + if [ "$TRAVIS_OS_NAME" = "linux" ]; then + if [ -n "$CLANG" ]; then + export CXX=clang++-$CLANG CC=clang-$CLANG + EXTRA_PACKAGES+=" clang-$CLANG llvm-$CLANG-dev" + else + if [ -z "$GCC" ]; then GCC=4.8 + else EXTRA_PACKAGES+=" g++-$GCC" + fi + export CXX=g++-$GCC CC=gcc-$GCC + fi + elif [ "$TRAVIS_OS_NAME" = "osx" ]; then + export CXX=clang++ CC=clang; + fi + if [ -n "$CPP" ]; then CPP=-std=c++$CPP; fi + if [ "${PYTHON:0:1}" = "3" ]; then PY=3; fi + if [ -n "$DEBUG" ]; then CMAKE_EXTRA_ARGS+=" -DCMAKE_BUILD_TYPE=Debug"; fi + set +ex +- | + # Initialize environment + set -ex + if [ -n "$DOCKER" ]; then + docker pull $DOCKER + + containerid=$(docker run --detach --tty \ + --volume="$PWD":/pybind11 --workdir=/pybind11 \ + --env="CC=$CC" --env="CXX=$CXX" --env="DEBIAN_FRONTEND=$DEBIAN_FRONTEND" \ + --env=GCC_COLORS=\ \ + $DOCKER) + SCRIPT_RUN_PREFIX="docker exec --tty $containerid" + $SCRIPT_RUN_PREFIX sh -c 'for s in 0 15; do sleep $s; apt-get update && apt-get -qy dist-upgrade && break; done' + else + if [ "$PYPY" = "5.8" ]; then + curl -fSL https://bitbucket.org/pypy/pypy/downloads/pypy2-v5.8.0-linux64.tar.bz2 | tar xj + PY_CMD=$(echo `pwd`/pypy2-v5.8.0-linux64/bin/pypy) + CMAKE_EXTRA_ARGS+=" -DPYTHON_EXECUTABLE:FILEPATH=$PY_CMD" + else + PY_CMD=python$PYTHON + if [ "$TRAVIS_OS_NAME" = "osx" ]; then + if [ "$PY" = "3" ]; then + brew update && brew upgrade python + else + curl -fsSL https://bootstrap.pypa.io/get-pip.py | $PY_CMD - --user + fi + fi + fi + if [ "$PY" = 3 ] || [ -n "$PYPY" ]; then + $PY_CMD -m ensurepip --user + fi + $PY_CMD --version + $PY_CMD -m pip install --user --upgrade pip wheel + fi + set +ex +install: +- | + # Install dependencies + set -ex + cmake --version + if [ -n "$DOCKER" ]; then + if [ -n "$DEBUG" ]; then + PY_DEBUG="python$PYTHON-dbg python$PY-scipy-dbg" + CMAKE_EXTRA_ARGS+=" -DPYTHON_EXECUTABLE=/usr/bin/python${PYTHON}dm" + fi + $SCRIPT_RUN_PREFIX sh -c "for s in 0 15; do sleep \$s; \ + apt-get -qy --no-install-recommends install \ + $PY_DEBUG python$PYTHON-dev python$PY-pytest python$PY-scipy \ + libeigen3-dev libboost-dev cmake make ${EXTRA_PACKAGES} && break; done" + else + + if [ "$CLANG" = "7" ]; then + export CXXFLAGS="-stdlib=libc++" + fi + + export NPY_NUM_BUILD_JOBS=2 + echo "Installing pytest, numpy, scipy..." + local PIP_CMD="" + if [ -n $PYPY ]; then + # For expediency, install only versions that are available on the extra index. + travis_wait 30 \ + $PY_CMD -m pip install --user --upgrade --extra-index-url https://imaginary.ca/trusty-pypi \ + pytest numpy==1.15.4 scipy==1.2.0 + else + $PY_CMD -m pip install --user --upgrade pytest numpy scipy + fi + echo "done." + + mkdir eigen + curl -fsSL https://bitbucket.org/eigen/eigen/get/3.3.4.tar.bz2 | \ + tar --extract -j --directory=eigen --strip-components=1 + export CMAKE_INCLUDE_PATH="${CMAKE_INCLUDE_PATH:+$CMAKE_INCLUDE_PATH:}$PWD/eigen" + fi + set +ex +script: +- | + # CMake Configuration + set -ex + $SCRIPT_RUN_PREFIX cmake ${CMAKE_EXTRA_ARGS} \ + -DPYBIND11_PYTHON_VERSION=$PYTHON \ + -DPYBIND11_CPP_STANDARD=$CPP \ + -DPYBIND11_WERROR=${WERROR:-ON} \ + -DDOWNLOAD_CATCH=${DOWNLOAD_CATCH:-ON} \ + . + set +ex +- | + # pytest + set -ex + $SCRIPT_RUN_PREFIX make pytest -j 2 VERBOSE=1 + set +ex +- | + # cpptest + set -ex + $SCRIPT_RUN_PREFIX make cpptest -j 2 + set +ex +- | + # CMake Build Interface + set -ex + if [ -n "$CMAKE" ]; then $SCRIPT_RUN_PREFIX make test_cmake_build; fi + set +ex +after_failure: cat tests/test_cmake_build/*.log* +after_script: +- | + # Cleanup (Docker) + set -ex + if [ -n "$DOCKER" ]; then docker stop "$containerid"; docker rm "$containerid"; fi + set +ex diff --git a/wrap/python/pybind11/CMakeLists.txt b/wrap/python/pybind11/CMakeLists.txt new file mode 100644 index 000000000..85ecd9028 --- /dev/null +++ b/wrap/python/pybind11/CMakeLists.txt @@ -0,0 +1,157 @@ +# CMakeLists.txt -- Build system for the pybind11 modules +# +# Copyright (c) 2015 Wenzel Jakob +# +# All rights reserved. Use of this source code is governed by a +# BSD-style license that can be found in the LICENSE file. + +cmake_minimum_required(VERSION 2.8.12) + +if (POLICY CMP0048) + # cmake warns if loaded from a min-3.0-required parent dir, so silence the warning: + cmake_policy(SET CMP0048 NEW) +endif() + +# CMake versions < 3.4.0 do not support try_compile/pthread checks without C as active language. +if(CMAKE_VERSION VERSION_LESS 3.4.0) + project(pybind11) +else() + project(pybind11 CXX) +endif() + +# Check if pybind11 is being used directly or via add_subdirectory +set(PYBIND11_MASTER_PROJECT OFF) +if (CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR) + set(PYBIND11_MASTER_PROJECT ON) +endif() + +option(PYBIND11_INSTALL "Install pybind11 header files?" ${PYBIND11_MASTER_PROJECT}) +option(PYBIND11_TEST "Build pybind11 test suite?" ${PYBIND11_MASTER_PROJECT}) + +list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/tools") + +include(pybind11Tools) + +# Cache variables so pybind11_add_module can be used in parent projects +set(PYBIND11_INCLUDE_DIR "${CMAKE_CURRENT_LIST_DIR}/include" CACHE INTERNAL "") +set(PYTHON_INCLUDE_DIRS ${PYTHON_INCLUDE_DIRS} CACHE INTERNAL "") +set(PYTHON_LIBRARIES ${PYTHON_LIBRARIES} CACHE INTERNAL "") +set(PYTHON_MODULE_PREFIX ${PYTHON_MODULE_PREFIX} CACHE INTERNAL "") +set(PYTHON_MODULE_EXTENSION ${PYTHON_MODULE_EXTENSION} CACHE INTERNAL "") +set(PYTHON_VERSION_MAJOR ${PYTHON_VERSION_MAJOR} CACHE INTERNAL "") +set(PYTHON_VERSION_MINOR ${PYTHON_VERSION_MINOR} CACHE INTERNAL "") + +# NB: when adding a header don't forget to also add it to setup.py +set(PYBIND11_HEADERS + include/pybind11/detail/class.h + include/pybind11/detail/common.h + include/pybind11/detail/descr.h + include/pybind11/detail/init.h + include/pybind11/detail/internals.h + include/pybind11/detail/typeid.h + include/pybind11/attr.h + include/pybind11/buffer_info.h + include/pybind11/cast.h + include/pybind11/chrono.h + include/pybind11/common.h + include/pybind11/complex.h + include/pybind11/options.h + include/pybind11/eigen.h + include/pybind11/embed.h + include/pybind11/eval.h + include/pybind11/functional.h + include/pybind11/numpy.h + include/pybind11/operators.h + include/pybind11/pybind11.h + include/pybind11/pytypes.h + include/pybind11/stl.h + include/pybind11/stl_bind.h +) +string(REPLACE "include/" "${CMAKE_CURRENT_SOURCE_DIR}/include/" + PYBIND11_HEADERS "${PYBIND11_HEADERS}") + +if (PYBIND11_TEST) + add_subdirectory(tests) +endif() + +include(GNUInstallDirs) +include(CMakePackageConfigHelpers) + +# extract project version from source +file(STRINGS "${PYBIND11_INCLUDE_DIR}/pybind11/detail/common.h" pybind11_version_defines + REGEX "#define PYBIND11_VERSION_(MAJOR|MINOR|PATCH) ") +foreach(ver ${pybind11_version_defines}) + if (ver MATCHES "#define PYBIND11_VERSION_(MAJOR|MINOR|PATCH) +([^ ]+)$") + set(PYBIND11_VERSION_${CMAKE_MATCH_1} "${CMAKE_MATCH_2}" CACHE INTERNAL "") + endif() +endforeach() +set(${PROJECT_NAME}_VERSION ${PYBIND11_VERSION_MAJOR}.${PYBIND11_VERSION_MINOR}.${PYBIND11_VERSION_PATCH}) +message(STATUS "pybind11 v${${PROJECT_NAME}_VERSION}") + +option (USE_PYTHON_INCLUDE_DIR "Install pybind11 headers in Python include directory instead of default installation prefix" OFF) +if (USE_PYTHON_INCLUDE_DIR) + file(RELATIVE_PATH CMAKE_INSTALL_INCLUDEDIR ${CMAKE_INSTALL_PREFIX} ${PYTHON_INCLUDE_DIRS}) +endif() + +if(NOT (CMAKE_VERSION VERSION_LESS 3.0)) # CMake >= 3.0 + # Build an interface library target: + add_library(pybind11 INTERFACE) + add_library(pybind11::pybind11 ALIAS pybind11) # to match exported target + target_include_directories(pybind11 INTERFACE $ + $ + $) + target_compile_options(pybind11 INTERFACE $) + + add_library(module INTERFACE) + add_library(pybind11::module ALIAS module) + if(NOT MSVC) + target_compile_options(module INTERFACE -fvisibility=hidden) + endif() + target_link_libraries(module INTERFACE pybind11::pybind11) + if(WIN32 OR CYGWIN) + target_link_libraries(module INTERFACE $) + elseif(APPLE) + target_link_libraries(module INTERFACE "-undefined dynamic_lookup") + endif() + + add_library(embed INTERFACE) + add_library(pybind11::embed ALIAS embed) + target_link_libraries(embed INTERFACE pybind11::pybind11 $) +endif() + +if (PYBIND11_INSTALL) + install(DIRECTORY ${PYBIND11_INCLUDE_DIR}/pybind11 DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) + # GNUInstallDirs "DATADIR" wrong here; CMake search path wants "share". + set(PYBIND11_CMAKECONFIG_INSTALL_DIR "share/cmake/${PROJECT_NAME}" CACHE STRING "install path for pybind11Config.cmake") + + configure_package_config_file(tools/${PROJECT_NAME}Config.cmake.in + "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" + INSTALL_DESTINATION ${PYBIND11_CMAKECONFIG_INSTALL_DIR}) + # Remove CMAKE_SIZEOF_VOID_P from ConfigVersion.cmake since the library does + # not depend on architecture specific settings or libraries. + set(_PYBIND11_CMAKE_SIZEOF_VOID_P ${CMAKE_SIZEOF_VOID_P}) + unset(CMAKE_SIZEOF_VOID_P) + write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake + VERSION ${${PROJECT_NAME}_VERSION} + COMPATIBILITY AnyNewerVersion) + set(CMAKE_SIZEOF_VOID_P ${_PYBIND11_CMAKE_SIZEOF_VOID_P}) + install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake + ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake + tools/FindPythonLibsNew.cmake + tools/pybind11Tools.cmake + DESTINATION ${PYBIND11_CMAKECONFIG_INSTALL_DIR}) + + if(NOT (CMAKE_VERSION VERSION_LESS 3.0)) + if(NOT PYBIND11_EXPORT_NAME) + set(PYBIND11_EXPORT_NAME "${PROJECT_NAME}Targets") + endif() + + install(TARGETS pybind11 module embed + EXPORT "${PYBIND11_EXPORT_NAME}") + if(PYBIND11_MASTER_PROJECT) + install(EXPORT "${PYBIND11_EXPORT_NAME}" + NAMESPACE "${PROJECT_NAME}::" + DESTINATION ${PYBIND11_CMAKECONFIG_INSTALL_DIR}) + endif() + endif() +endif() diff --git a/wrap/python/pybind11/CONTRIBUTING.md b/wrap/python/pybind11/CONTRIBUTING.md new file mode 100644 index 000000000..01596d94f --- /dev/null +++ b/wrap/python/pybind11/CONTRIBUTING.md @@ -0,0 +1,49 @@ +Thank you for your interest in this project! Please refer to the following +sections on how to contribute code and bug reports. + +### Reporting bugs + +At the moment, this project is run in the spare time of a single person +([Wenzel Jakob](http://rgl.epfl.ch/people/wjakob)) with very limited resources +for issue tracker tickets. Thus, before submitting a question or bug report, +please take a moment of your time and ensure that your issue isn't already +discussed in the project documentation provided at +[http://pybind11.readthedocs.org/en/latest](http://pybind11.readthedocs.org/en/latest). + +Assuming that you have identified a previously unknown problem or an important +question, it's essential that you submit a self-contained and minimal piece of +code that reproduces the problem. In other words: no external dependencies, +isolate the function(s) that cause breakage, submit matched and complete C++ +and Python snippets that can be easily compiled and run on my end. + +## Pull requests +Contributions are submitted, reviewed, and accepted using Github pull requests. +Please refer to [this +article](https://help.github.com/articles/using-pull-requests) for details and +adhere to the following rules to make the process as smooth as possible: + +* Make a new branch for every feature you're working on. +* Make small and clean pull requests that are easy to review but make sure they + do add value by themselves. +* Add tests for any new functionality and run the test suite (``make pytest``) + to ensure that no existing features break. +* Please run ``flake8`` and ``tools/check-style.sh`` to check your code matches + the project style. (Note that ``check-style.sh`` requires ``gawk``.) +* This project has a strong focus on providing general solutions using a + minimal amount of code, thus small pull requests are greatly preferred. + +### Licensing of contributions + +pybind11 is provided under a BSD-style license that can be found in the +``LICENSE`` file. By using, distributing, or contributing to this project, you +agree to the terms and conditions of this license. + +You are under no obligation whatsoever to provide any bug fixes, patches, or +upgrades to the features, functionality or performance of the source code +("Enhancements") to anyone; however, if you choose to make your Enhancements +available either publicly, or directly to the author of this software, without +imposing a separate written license agreement for such Enhancements, then you +hereby grant the following license: a non-exclusive, royalty-free perpetual +license to install, use, modify, prepare derivative works, incorporate into +other computer software, distribute, and sublicense such enhancements or +derivative works thereof, in binary and source code form. diff --git a/wrap/python/pybind11/ISSUE_TEMPLATE.md b/wrap/python/pybind11/ISSUE_TEMPLATE.md new file mode 100644 index 000000000..75df39981 --- /dev/null +++ b/wrap/python/pybind11/ISSUE_TEMPLATE.md @@ -0,0 +1,17 @@ +Make sure you've completed the following steps before submitting your issue -- thank you! + +1. Check if your question has already been answered in the [FAQ](http://pybind11.readthedocs.io/en/latest/faq.html) section. +2. Make sure you've read the [documentation](http://pybind11.readthedocs.io/en/latest/). Your issue may be addressed there. +3. If those resources didn't help and you only have a short question (not a bug report), consider asking in the [Gitter chat room](https://gitter.im/pybind/Lobby). +4. If you have a genuine bug report or a more complex question which is not answered in the previous items (or not suitable for chat), please fill in the details below. +5. Include a self-contained and minimal piece of code that reproduces the problem. If that's not possible, try to make the description as clear as possible. + +*After reading, remove this checklist and the template text in parentheses below.* + +## Issue description + +(Provide a short description, state the expected behavior and what actually happens.) + +## Reproducible example code + +(The code should be minimal, have no external dependencies, isolate the function(s) that cause breakage. Submit matched and complete C++ and Python snippets that can be easily compiled and run to diagnose the issue.) diff --git a/wrap/python/pybind11/LICENSE b/wrap/python/pybind11/LICENSE new file mode 100644 index 000000000..6f15578cc --- /dev/null +++ b/wrap/python/pybind11/LICENSE @@ -0,0 +1,29 @@ +Copyright (c) 2016 Wenzel Jakob , All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +Please also refer to the file CONTRIBUTING.md, which clarifies licensing of +external contributions to this project including patches, pull requests, etc. diff --git a/wrap/python/pybind11/MANIFEST.in b/wrap/python/pybind11/MANIFEST.in new file mode 100644 index 000000000..6e57baeee --- /dev/null +++ b/wrap/python/pybind11/MANIFEST.in @@ -0,0 +1,2 @@ +recursive-include include/pybind11 *.h +include LICENSE README.md CONTRIBUTING.md diff --git a/wrap/python/pybind11/README.md b/wrap/python/pybind11/README.md new file mode 100644 index 000000000..35d2d76ff --- /dev/null +++ b/wrap/python/pybind11/README.md @@ -0,0 +1,129 @@ +![pybind11 logo](https://github.com/pybind/pybind11/raw/master/docs/pybind11-logo.png) + +# pybind11 — Seamless operability between C++11 and Python + +[![Documentation Status](https://readthedocs.org/projects/pybind11/badge/?version=master)](http://pybind11.readthedocs.org/en/master/?badge=master) +[![Documentation Status](https://readthedocs.org/projects/pybind11/badge/?version=stable)](http://pybind11.readthedocs.org/en/stable/?badge=stable) +[![Gitter chat](https://img.shields.io/gitter/room/gitterHQ/gitter.svg)](https://gitter.im/pybind/Lobby) +[![Build Status](https://travis-ci.org/pybind/pybind11.svg?branch=master)](https://travis-ci.org/pybind/pybind11) +[![Build status](https://ci.appveyor.com/api/projects/status/riaj54pn4h08xy40?svg=true)](https://ci.appveyor.com/project/wjakob/pybind11) + +**pybind11** is a lightweight header-only library that exposes C++ types in Python +and vice versa, mainly to create Python bindings of existing C++ code. Its +goals and syntax are similar to the excellent +[Boost.Python](http://www.boost.org/doc/libs/1_58_0/libs/python/doc/) library +by David Abrahams: to minimize boilerplate code in traditional extension +modules by inferring type information using compile-time introspection. + +The main issue with Boost.Python—and the reason for creating such a similar +project—is Boost. Boost is an enormously large and complex suite of utility +libraries that works with almost every C++ compiler in existence. This +compatibility has its cost: arcane template tricks and workarounds are +necessary to support the oldest and buggiest of compiler specimens. Now that +C++11-compatible compilers are widely available, this heavy machinery has +become an excessively large and unnecessary dependency. + +Think of this library as a tiny self-contained version of Boost.Python with +everything stripped away that isn't relevant for binding generation. Without +comments, the core header files only require ~4K lines of code and depend on +Python (2.7 or 3.x, or PyPy2.7 >= 5.7) and the C++ standard library. This +compact implementation was possible thanks to some of the new C++11 language +features (specifically: tuples, lambda functions and variadic templates). Since +its creation, this library has grown beyond Boost.Python in many ways, leading +to dramatically simpler binding code in many common situations. + +Tutorial and reference documentation is provided at +[http://pybind11.readthedocs.org/en/master](http://pybind11.readthedocs.org/en/master). +A PDF version of the manual is available +[here](https://media.readthedocs.org/pdf/pybind11/master/pybind11.pdf). + +## Core features +pybind11 can map the following core C++ features to Python + +- Functions accepting and returning custom data structures per value, reference, or pointer +- Instance methods and static methods +- Overloaded functions +- Instance attributes and static attributes +- Arbitrary exception types +- Enumerations +- Callbacks +- Iterators and ranges +- Custom operators +- Single and multiple inheritance +- STL data structures +- Smart pointers with reference counting like ``std::shared_ptr`` +- Internal references with correct reference counting +- C++ classes with virtual (and pure virtual) methods can be extended in Python + +## Goodies +In addition to the core functionality, pybind11 provides some extra goodies: + +- Python 2.7, 3.x, and PyPy (PyPy2.7 >= 5.7) are supported with an + implementation-agnostic interface. + +- It is possible to bind C++11 lambda functions with captured variables. The + lambda capture data is stored inside the resulting Python function object. + +- pybind11 uses C++11 move constructors and move assignment operators whenever + possible to efficiently transfer custom data types. + +- It's easy to expose the internal storage of custom data types through + Pythons' buffer protocols. This is handy e.g. for fast conversion between + C++ matrix classes like Eigen and NumPy without expensive copy operations. + +- pybind11 can automatically vectorize functions so that they are transparently + applied to all entries of one or more NumPy array arguments. + +- Python's slice-based access and assignment operations can be supported with + just a few lines of code. + +- Everything is contained in just a few header files; there is no need to link + against any additional libraries. + +- Binaries are generally smaller by a factor of at least 2 compared to + equivalent bindings generated by Boost.Python. A recent pybind11 conversion + of PyRosetta, an enormous Boost.Python binding project, + [reported](http://graylab.jhu.edu/RosettaCon2016/PyRosetta-4.pdf) a binary + size reduction of **5.4x** and compile time reduction by **5.8x**. + +- Function signatures are precomputed at compile time (using ``constexpr``), + leading to smaller binaries. + +- With little extra effort, C++ types can be pickled and unpickled similar to + regular Python objects. + +## Supported compilers + +1. Clang/LLVM 3.3 or newer (for Apple Xcode's clang, this is 5.0.0 or newer) +2. GCC 4.8 or newer +3. Microsoft Visual Studio 2015 Update 3 or newer +4. Intel C++ compiler 17 or newer (16 with pybind11 v2.0 and 15 with pybind11 v2.0 and a [workaround](https://github.com/pybind/pybind11/issues/276)) +5. Cygwin/GCC (tested on 2.5.1) + +## About + +This project was created by [Wenzel Jakob](http://rgl.epfl.ch/people/wjakob). +Significant features and/or improvements to the code were contributed by +Jonas Adler, +Lori A. Burns, +Sylvain Corlay, +Trent Houliston, +Axel Huebl, +@hulucc, +Sergey Lyskov +Johan Mabille, +Tomasz Miąsko, +Dean Moldovan, +Ben Pritchard, +Jason Rhinelander, +Boris Schäling, +Pim Schellart, +Henry Schreiner, +Ivan Smirnov, and +Patrick Stewart. + +### License + +pybind11 is provided under a BSD-style license that can be found in the +``LICENSE`` file. By using, distributing, or contributing to this project, +you agree to the terms and conditions of this license. diff --git a/wrap/python/pybind11/docs/Doxyfile b/wrap/python/pybind11/docs/Doxyfile new file mode 100644 index 000000000..1b9d1297c --- /dev/null +++ b/wrap/python/pybind11/docs/Doxyfile @@ -0,0 +1,20 @@ +PROJECT_NAME = pybind11 +INPUT = ../include/pybind11/ +RECURSIVE = YES + +GENERATE_HTML = NO +GENERATE_LATEX = NO +GENERATE_XML = YES +XML_OUTPUT = .build/doxygenxml +XML_PROGRAMLISTING = YES + +MACRO_EXPANSION = YES +EXPAND_ONLY_PREDEF = YES +EXPAND_AS_DEFINED = PYBIND11_RUNTIME_EXCEPTION + +ALIASES = "rst=\verbatim embed:rst" +ALIASES += "endrst=\endverbatim" + +QUIET = YES +WARNINGS = YES +WARN_IF_UNDOCUMENTED = NO diff --git a/wrap/python/pybind11/docs/_static/theme_overrides.css b/wrap/python/pybind11/docs/_static/theme_overrides.css new file mode 100644 index 000000000..1071809fa --- /dev/null +++ b/wrap/python/pybind11/docs/_static/theme_overrides.css @@ -0,0 +1,11 @@ +.wy-table-responsive table td, +.wy-table-responsive table th { + white-space: initial !important; +} +.rst-content table.docutils td { + vertical-align: top !important; +} +div[class^='highlight'] pre { + white-space: pre; + white-space: pre-wrap; +} diff --git a/wrap/python/pybind11/docs/advanced/cast/chrono.rst b/wrap/python/pybind11/docs/advanced/cast/chrono.rst new file mode 100644 index 000000000..8c6b3d7e5 --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/cast/chrono.rst @@ -0,0 +1,81 @@ +Chrono +====== + +When including the additional header file :file:`pybind11/chrono.h` conversions +from C++11 chrono datatypes to python datetime objects are automatically enabled. +This header also enables conversions of python floats (often from sources such +as ``time.monotonic()``, ``time.perf_counter()`` and ``time.process_time()``) +into durations. + +An overview of clocks in C++11 +------------------------------ + +A point of confusion when using these conversions is the differences between +clocks provided in C++11. There are three clock types defined by the C++11 +standard and users can define their own if needed. Each of these clocks have +different properties and when converting to and from python will give different +results. + +The first clock defined by the standard is ``std::chrono::system_clock``. This +clock measures the current date and time. However, this clock changes with to +updates to the operating system time. For example, if your time is synchronised +with a time server this clock will change. This makes this clock a poor choice +for timing purposes but good for measuring the wall time. + +The second clock defined in the standard is ``std::chrono::steady_clock``. +This clock ticks at a steady rate and is never adjusted. This makes it excellent +for timing purposes, however the value in this clock does not correspond to the +current date and time. Often this clock will be the amount of time your system +has been on, although it does not have to be. This clock will never be the same +clock as the system clock as the system clock can change but steady clocks +cannot. + +The third clock defined in the standard is ``std::chrono::high_resolution_clock``. +This clock is the clock that has the highest resolution out of the clocks in the +system. It is normally a typedef to either the system clock or the steady clock +but can be its own independent clock. This is important as when using these +conversions as the types you get in python for this clock might be different +depending on the system. +If it is a typedef of the system clock, python will get datetime objects, but if +it is a different clock they will be timedelta objects. + +Provided conversions +-------------------- + +.. rubric:: C++ to Python + +- ``std::chrono::system_clock::time_point`` → ``datetime.datetime`` + System clock times are converted to python datetime instances. They are + in the local timezone, but do not have any timezone information attached + to them (they are naive datetime objects). + +- ``std::chrono::duration`` → ``datetime.timedelta`` + Durations are converted to timedeltas, any precision in the duration + greater than microseconds is lost by rounding towards zero. + +- ``std::chrono::[other_clocks]::time_point`` → ``datetime.timedelta`` + Any clock time that is not the system clock is converted to a time delta. + This timedelta measures the time from the clocks epoch to now. + +.. rubric:: Python to C++ + +- ``datetime.datetime`` → ``std::chrono::system_clock::time_point`` + Date/time objects are converted into system clock timepoints. Any + timezone information is ignored and the type is treated as a naive + object. + +- ``datetime.timedelta`` → ``std::chrono::duration`` + Time delta are converted into durations with microsecond precision. + +- ``datetime.timedelta`` → ``std::chrono::[other_clocks]::time_point`` + Time deltas that are converted into clock timepoints are treated as + the amount of time from the start of the clocks epoch. + +- ``float`` → ``std::chrono::duration`` + Floats that are passed to C++ as durations be interpreted as a number of + seconds. These will be converted to the duration using ``duration_cast`` + from the float. + +- ``float`` → ``std::chrono::[other_clocks]::time_point`` + Floats that are passed to C++ as time points will be interpreted as the + number of seconds from the start of the clocks epoch. diff --git a/wrap/python/pybind11/docs/advanced/cast/custom.rst b/wrap/python/pybind11/docs/advanced/cast/custom.rst new file mode 100644 index 000000000..e4f99ac5b --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/cast/custom.rst @@ -0,0 +1,91 @@ +Custom type casters +=================== + +In very rare cases, applications may require custom type casters that cannot be +expressed using the abstractions provided by pybind11, thus requiring raw +Python C API calls. This is fairly advanced usage and should only be pursued by +experts who are familiar with the intricacies of Python reference counting. + +The following snippets demonstrate how this works for a very simple ``inty`` +type that that should be convertible from Python types that provide a +``__int__(self)`` method. + +.. code-block:: cpp + + struct inty { long long_value; }; + + void print(inty s) { + std::cout << s.long_value << std::endl; + } + +The following Python snippet demonstrates the intended usage from the Python side: + +.. code-block:: python + + class A: + def __int__(self): + return 123 + + from example import print + print(A()) + +To register the necessary conversion routines, it is necessary to add +a partial overload to the ``pybind11::detail::type_caster`` template. +Although this is an implementation detail, adding partial overloads to this +type is explicitly allowed. + +.. code-block:: cpp + + namespace pybind11 { namespace detail { + template <> struct type_caster { + public: + /** + * This macro establishes the name 'inty' in + * function signatures and declares a local variable + * 'value' of type inty + */ + PYBIND11_TYPE_CASTER(inty, _("inty")); + + /** + * Conversion part 1 (Python->C++): convert a PyObject into a inty + * instance or return false upon failure. The second argument + * indicates whether implicit conversions should be applied. + */ + bool load(handle src, bool) { + /* Extract PyObject from handle */ + PyObject *source = src.ptr(); + /* Try converting into a Python integer value */ + PyObject *tmp = PyNumber_Long(source); + if (!tmp) + return false; + /* Now try to convert into a C++ int */ + value.long_value = PyLong_AsLong(tmp); + Py_DECREF(tmp); + /* Ensure return code was OK (to avoid out-of-range errors etc) */ + return !(value.long_value == -1 && !PyErr_Occurred()); + } + + /** + * Conversion part 2 (C++ -> Python): convert an inty instance into + * a Python object. The second and third arguments are used to + * indicate the return value policy and parent object (for + * ``return_value_policy::reference_internal``) and are generally + * ignored by implicit casters. + */ + static handle cast(inty src, return_value_policy /* policy */, handle /* parent */) { + return PyLong_FromLong(src.long_value); + } + }; + }} // namespace pybind11::detail + +.. note:: + + A ``type_caster`` defined with ``PYBIND11_TYPE_CASTER(T, ...)`` requires + that ``T`` is default-constructible (``value`` is first default constructed + and then ``load()`` assigns to it). + +.. warning:: + + When using custom type casters, it's important to declare them consistently + in every compilation unit of the Python extension module. Otherwise, + undefined behavior can ensue. diff --git a/wrap/python/pybind11/docs/advanced/cast/eigen.rst b/wrap/python/pybind11/docs/advanced/cast/eigen.rst new file mode 100644 index 000000000..59ba08c3c --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/cast/eigen.rst @@ -0,0 +1,310 @@ +Eigen +##### + +`Eigen `_ is C++ header-based library for dense and +sparse linear algebra. Due to its popularity and widespread adoption, pybind11 +provides transparent conversion and limited mapping support between Eigen and +Scientific Python linear algebra data types. + +To enable the built-in Eigen support you must include the optional header file +:file:`pybind11/eigen.h`. + +Pass-by-value +============= + +When binding a function with ordinary Eigen dense object arguments (for +example, ``Eigen::MatrixXd``), pybind11 will accept any input value that is +already (or convertible to) a ``numpy.ndarray`` with dimensions compatible with +the Eigen type, copy its values into a temporary Eigen variable of the +appropriate type, then call the function with this temporary variable. + +Sparse matrices are similarly copied to or from +``scipy.sparse.csr_matrix``/``scipy.sparse.csc_matrix`` objects. + +Pass-by-reference +================= + +One major limitation of the above is that every data conversion implicitly +involves a copy, which can be both expensive (for large matrices) and disallows +binding functions that change their (Matrix) arguments. Pybind11 allows you to +work around this by using Eigen's ``Eigen::Ref`` class much as you +would when writing a function taking a generic type in Eigen itself (subject to +some limitations discussed below). + +When calling a bound function accepting a ``Eigen::Ref`` +type, pybind11 will attempt to avoid copying by using an ``Eigen::Map`` object +that maps into the source ``numpy.ndarray`` data: this requires both that the +data types are the same (e.g. ``dtype='float64'`` and ``MatrixType::Scalar`` is +``double``); and that the storage is layout compatible. The latter limitation +is discussed in detail in the section below, and requires careful +consideration: by default, numpy matrices and Eigen matrices are *not* storage +compatible. + +If the numpy matrix cannot be used as is (either because its types differ, e.g. +passing an array of integers to an Eigen parameter requiring doubles, or +because the storage is incompatible), pybind11 makes a temporary copy and +passes the copy instead. + +When a bound function parameter is instead ``Eigen::Ref`` (note the +lack of ``const``), pybind11 will only allow the function to be called if it +can be mapped *and* if the numpy array is writeable (that is +``a.flags.writeable`` is true). Any access (including modification) made to +the passed variable will be transparently carried out directly on the +``numpy.ndarray``. + +This means you can can write code such as the following and have it work as +expected: + +.. code-block:: cpp + + void scale_by_2(Eigen::Ref v) { + v *= 2; + } + +Note, however, that you will likely run into limitations due to numpy and +Eigen's difference default storage order for data; see the below section on +:ref:`storage_orders` for details on how to bind code that won't run into such +limitations. + +.. note:: + + Passing by reference is not supported for sparse types. + +Returning values to Python +========================== + +When returning an ordinary dense Eigen matrix type to numpy (e.g. +``Eigen::MatrixXd`` or ``Eigen::RowVectorXf``) pybind11 keeps the matrix and +returns a numpy array that directly references the Eigen matrix: no copy of the +data is performed. The numpy array will have ``array.flags.owndata`` set to +``False`` to indicate that it does not own the data, and the lifetime of the +stored Eigen matrix will be tied to the returned ``array``. + +If you bind a function with a non-reference, ``const`` return type (e.g. +``const Eigen::MatrixXd``), the same thing happens except that pybind11 also +sets the numpy array's ``writeable`` flag to false. + +If you return an lvalue reference or pointer, the usual pybind11 rules apply, +as dictated by the binding function's return value policy (see the +documentation on :ref:`return_value_policies` for full details). That means, +without an explicit return value policy, lvalue references will be copied and +pointers will be managed by pybind11. In order to avoid copying, you should +explicitly specify an appropriate return value policy, as in the following +example: + +.. code-block:: cpp + + class MyClass { + Eigen::MatrixXd big_mat = Eigen::MatrixXd::Zero(10000, 10000); + public: + Eigen::MatrixXd &getMatrix() { return big_mat; } + const Eigen::MatrixXd &viewMatrix() { return big_mat; } + }; + + // Later, in binding code: + py::class_(m, "MyClass") + .def(py::init<>()) + .def("copy_matrix", &MyClass::getMatrix) // Makes a copy! + .def("get_matrix", &MyClass::getMatrix, py::return_value_policy::reference_internal) + .def("view_matrix", &MyClass::viewMatrix, py::return_value_policy::reference_internal) + ; + +.. code-block:: python + + a = MyClass() + m = a.get_matrix() # flags.writeable = True, flags.owndata = False + v = a.view_matrix() # flags.writeable = False, flags.owndata = False + c = a.copy_matrix() # flags.writeable = True, flags.owndata = True + # m[5,6] and v[5,6] refer to the same element, c[5,6] does not. + +Note in this example that ``py::return_value_policy::reference_internal`` is +used to tie the life of the MyClass object to the life of the returned arrays. + +You may also return an ``Eigen::Ref``, ``Eigen::Map`` or other map-like Eigen +object (for example, the return value of ``matrix.block()`` and related +methods) that map into a dense Eigen type. When doing so, the default +behaviour of pybind11 is to simply reference the returned data: you must take +care to ensure that this data remains valid! You may ask pybind11 to +explicitly *copy* such a return value by using the +``py::return_value_policy::copy`` policy when binding the function. You may +also use ``py::return_value_policy::reference_internal`` or a +``py::keep_alive`` to ensure the data stays valid as long as the returned numpy +array does. + +When returning such a reference of map, pybind11 additionally respects the +readonly-status of the returned value, marking the numpy array as non-writeable +if the reference or map was itself read-only. + +.. note:: + + Sparse types are always copied when returned. + +.. _storage_orders: + +Storage orders +============== + +Passing arguments via ``Eigen::Ref`` has some limitations that you must be +aware of in order to effectively pass matrices by reference. First and +foremost is that the default ``Eigen::Ref`` class requires +contiguous storage along columns (for column-major types, the default in Eigen) +or rows if ``MatrixType`` is specifically an ``Eigen::RowMajor`` storage type. +The former, Eigen's default, is incompatible with ``numpy``'s default row-major +storage, and so you will not be able to pass numpy arrays to Eigen by reference +without making one of two changes. + +(Note that this does not apply to vectors (or column or row matrices): for such +types the "row-major" and "column-major" distinction is meaningless). + +The first approach is to change the use of ``Eigen::Ref`` to the +more general ``Eigen::Ref>`` (or similar type with a fully dynamic stride type in the +third template argument). Since this is a rather cumbersome type, pybind11 +provides a ``py::EigenDRef`` type alias for your convenience (along +with EigenDMap for the equivalent Map, and EigenDStride for just the stride +type). + +This type allows Eigen to map into any arbitrary storage order. This is not +the default in Eigen for performance reasons: contiguous storage allows +vectorization that cannot be done when storage is not known to be contiguous at +compile time. The default ``Eigen::Ref`` stride type allows non-contiguous +storage along the outer dimension (that is, the rows of a column-major matrix +or columns of a row-major matrix), but not along the inner dimension. + +This type, however, has the added benefit of also being able to map numpy array +slices. For example, the following (contrived) example uses Eigen with a numpy +slice to multiply by 2 all coefficients that are both on even rows (0, 2, 4, +...) and in columns 2, 5, or 8: + +.. code-block:: cpp + + m.def("scale", [](py::EigenDRef m, double c) { m *= c; }); + +.. code-block:: python + + # a = np.array(...) + scale_by_2(myarray[0::2, 2:9:3]) + +The second approach to avoid copying is more intrusive: rearranging the +underlying data types to not run into the non-contiguous storage problem in the +first place. In particular, that means using matrices with ``Eigen::RowMajor`` +storage, where appropriate, such as: + +.. code-block:: cpp + + using RowMatrixXd = Eigen::Matrix; + // Use RowMatrixXd instead of MatrixXd + +Now bound functions accepting ``Eigen::Ref`` arguments will be +callable with numpy's (default) arrays without involving a copying. + +You can, alternatively, change the storage order that numpy arrays use by +adding the ``order='F'`` option when creating an array: + +.. code-block:: python + + myarray = np.array(source, order='F') + +Such an object will be passable to a bound function accepting an +``Eigen::Ref`` (or similar column-major Eigen type). + +One major caveat with this approach, however, is that it is not entirely as +easy as simply flipping all Eigen or numpy usage from one to the other: some +operations may alter the storage order of a numpy array. For example, ``a2 = +array.transpose()`` results in ``a2`` being a view of ``array`` that references +the same data, but in the opposite storage order! + +While this approach allows fully optimized vectorized calculations in Eigen, it +cannot be used with array slices, unlike the first approach. + +When *returning* a matrix to Python (either a regular matrix, a reference via +``Eigen::Ref<>``, or a map/block into a matrix), no special storage +consideration is required: the created numpy array will have the required +stride that allows numpy to properly interpret the array, whatever its storage +order. + +Failing rather than copying +=========================== + +The default behaviour when binding ``Eigen::Ref`` Eigen +references is to copy matrix values when passed a numpy array that does not +conform to the element type of ``MatrixType`` or does not have a compatible +stride layout. If you want to explicitly avoid copying in such a case, you +should bind arguments using the ``py::arg().noconvert()`` annotation (as +described in the :ref:`nonconverting_arguments` documentation). + +The following example shows an example of arguments that don't allow data +copying to take place: + +.. code-block:: cpp + + // The method and function to be bound: + class MyClass { + // ... + double some_method(const Eigen::Ref &matrix) { /* ... */ } + }; + float some_function(const Eigen::Ref &big, + const Eigen::Ref &small) { + // ... + } + + // The associated binding code: + using namespace pybind11::literals; // for "arg"_a + py::class_(m, "MyClass") + // ... other class definitions + .def("some_method", &MyClass::some_method, py::arg().noconvert()); + + m.def("some_function", &some_function, + "big"_a.noconvert(), // <- Don't allow copying for this arg + "small"_a // <- This one can be copied if needed + ); + +With the above binding code, attempting to call the the ``some_method(m)`` +method on a ``MyClass`` object, or attempting to call ``some_function(m, m2)`` +will raise a ``RuntimeError`` rather than making a temporary copy of the array. +It will, however, allow the ``m2`` argument to be copied into a temporary if +necessary. + +Note that explicitly specifying ``.noconvert()`` is not required for *mutable* +Eigen references (e.g. ``Eigen::Ref`` without ``const`` on the +``MatrixXd``): mutable references will never be called with a temporary copy. + +Vectors versus column/row matrices +================================== + +Eigen and numpy have fundamentally different notions of a vector. In Eigen, a +vector is simply a matrix with the number of columns or rows set to 1 at +compile time (for a column vector or row vector, respectively). Numpy, in +contrast, has comparable 2-dimensional 1xN and Nx1 arrays, but *also* has +1-dimensional arrays of size N. + +When passing a 2-dimensional 1xN or Nx1 array to Eigen, the Eigen type must +have matching dimensions: That is, you cannot pass a 2-dimensional Nx1 numpy +array to an Eigen value expecting a row vector, or a 1xN numpy array as a +column vector argument. + +On the other hand, pybind11 allows you to pass 1-dimensional arrays of length N +as Eigen parameters. If the Eigen type can hold a column vector of length N it +will be passed as such a column vector. If not, but the Eigen type constraints +will accept a row vector, it will be passed as a row vector. (The column +vector takes precedence when both are supported, for example, when passing a +1D numpy array to a MatrixXd argument). Note that the type need not be +explicitly a vector: it is permitted to pass a 1D numpy array of size 5 to an +Eigen ``Matrix``: you would end up with a 1x5 Eigen matrix. +Passing the same to an ``Eigen::MatrixXd`` would result in a 5x1 Eigen matrix. + +When returning an Eigen vector to numpy, the conversion is ambiguous: a row +vector of length 4 could be returned as either a 1D array of length 4, or as a +2D array of size 1x4. When encountering such a situation, pybind11 compromises +by considering the returned Eigen type: if it is a compile-time vector--that +is, the type has either the number of rows or columns set to 1 at compile +time--pybind11 converts to a 1D numpy array when returning the value. For +instances that are a vector only at run-time (e.g. ``MatrixXd``, +``Matrix``), pybind11 returns the vector as a 2D array to +numpy. If this isn't want you want, you can use ``array.reshape(...)`` to get +a view of the same data in the desired dimensions. + +.. seealso:: + + The file :file:`tests/test_eigen.cpp` contains a complete example that + shows how to pass Eigen sparse and dense data types in more detail. diff --git a/wrap/python/pybind11/docs/advanced/cast/functional.rst b/wrap/python/pybind11/docs/advanced/cast/functional.rst new file mode 100644 index 000000000..d9b460575 --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/cast/functional.rst @@ -0,0 +1,109 @@ +Functional +########## + +The following features must be enabled by including :file:`pybind11/functional.h`. + + +Callbacks and passing anonymous functions +========================================= + +The C++11 standard brought lambda functions and the generic polymorphic +function wrapper ``std::function<>`` to the C++ programming language, which +enable powerful new ways of working with functions. Lambda functions come in +two flavors: stateless lambda function resemble classic function pointers that +link to an anonymous piece of code, while stateful lambda functions +additionally depend on captured variables that are stored in an anonymous +*lambda closure object*. + +Here is a simple example of a C++ function that takes an arbitrary function +(stateful or stateless) with signature ``int -> int`` as an argument and runs +it with the value 10. + +.. code-block:: cpp + + int func_arg(const std::function &f) { + return f(10); + } + +The example below is more involved: it takes a function of signature ``int -> int`` +and returns another function of the same kind. The return value is a stateful +lambda function, which stores the value ``f`` in the capture object and adds 1 to +its return value upon execution. + +.. code-block:: cpp + + std::function func_ret(const std::function &f) { + return [f](int i) { + return f(i) + 1; + }; + } + +This example demonstrates using python named parameters in C++ callbacks which +requires using ``py::cpp_function`` as a wrapper. Usage is similar to defining +methods of classes: + +.. code-block:: cpp + + py::cpp_function func_cpp() { + return py::cpp_function([](int i) { return i+1; }, + py::arg("number")); + } + +After including the extra header file :file:`pybind11/functional.h`, it is almost +trivial to generate binding code for all of these functions. + +.. code-block:: cpp + + #include + + PYBIND11_MODULE(example, m) { + m.def("func_arg", &func_arg); + m.def("func_ret", &func_ret); + m.def("func_cpp", &func_cpp); + } + +The following interactive session shows how to call them from Python. + +.. code-block:: pycon + + $ python + >>> import example + >>> def square(i): + ... return i * i + ... + >>> example.func_arg(square) + 100L + >>> square_plus_1 = example.func_ret(square) + >>> square_plus_1(4) + 17L + >>> plus_1 = func_cpp() + >>> plus_1(number=43) + 44L + +.. warning:: + + Keep in mind that passing a function from C++ to Python (or vice versa) + will instantiate a piece of wrapper code that translates function + invocations between the two languages. Naturally, this translation + increases the computational cost of each function call somewhat. A + problematic situation can arise when a function is copied back and forth + between Python and C++ many times in a row, in which case the underlying + wrappers will accumulate correspondingly. The resulting long sequence of + C++ -> Python -> C++ -> ... roundtrips can significantly decrease + performance. + + There is one exception: pybind11 detects case where a stateless function + (i.e. a function pointer or a lambda function without captured variables) + is passed as an argument to another C++ function exposed in Python. In this + case, there is no overhead. Pybind11 will extract the underlying C++ + function pointer from the wrapped function to sidestep a potential C++ -> + Python -> C++ roundtrip. This is demonstrated in :file:`tests/test_callbacks.cpp`. + +.. note:: + + This functionality is very useful when generating bindings for callbacks in + C++ libraries (e.g. GUI libraries, asynchronous networking libraries, etc.). + + The file :file:`tests/test_callbacks.cpp` contains a complete example + that demonstrates how to work with callbacks and anonymous functions in + more detail. diff --git a/wrap/python/pybind11/docs/advanced/cast/index.rst b/wrap/python/pybind11/docs/advanced/cast/index.rst new file mode 100644 index 000000000..54c10570b --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/cast/index.rst @@ -0,0 +1,42 @@ +Type conversions +################ + +Apart from enabling cross-language function calls, a fundamental problem +that a binding tool like pybind11 must address is to provide access to +native Python types in C++ and vice versa. There are three fundamentally +different ways to do this—which approach is preferable for a particular type +depends on the situation at hand. + +1. Use a native C++ type everywhere. In this case, the type must be wrapped + using pybind11-generated bindings so that Python can interact with it. + +2. Use a native Python type everywhere. It will need to be wrapped so that + C++ functions can interact with it. + +3. Use a native C++ type on the C++ side and a native Python type on the + Python side. pybind11 refers to this as a *type conversion*. + + Type conversions are the most "natural" option in the sense that native + (non-wrapped) types are used everywhere. The main downside is that a copy + of the data must be made on every Python ↔ C++ transition: this is + needed since the C++ and Python versions of the same type generally won't + have the same memory layout. + + pybind11 can perform many kinds of conversions automatically. An overview + is provided in the table ":ref:`conversion_table`". + +The following subsections discuss the differences between these options in more +detail. The main focus in this section is on type conversions, which represent +the last case of the above list. + +.. toctree:: + :maxdepth: 1 + + overview + strings + stl + functional + chrono + eigen + custom + diff --git a/wrap/python/pybind11/docs/advanced/cast/overview.rst b/wrap/python/pybind11/docs/advanced/cast/overview.rst new file mode 100644 index 000000000..b0e32a52f --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/cast/overview.rst @@ -0,0 +1,165 @@ +Overview +######## + +.. rubric:: 1. Native type in C++, wrapper in Python + +Exposing a custom C++ type using :class:`py::class_` was covered in detail +in the :doc:`/classes` section. There, the underlying data structure is +always the original C++ class while the :class:`py::class_` wrapper provides +a Python interface. Internally, when an object like this is sent from C++ to +Python, pybind11 will just add the outer wrapper layer over the native C++ +object. Getting it back from Python is just a matter of peeling off the +wrapper. + +.. rubric:: 2. Wrapper in C++, native type in Python + +This is the exact opposite situation. Now, we have a type which is native to +Python, like a ``tuple`` or a ``list``. One way to get this data into C++ is +with the :class:`py::object` family of wrappers. These are explained in more +detail in the :doc:`/advanced/pycpp/object` section. We'll just give a quick +example here: + +.. code-block:: cpp + + void print_list(py::list my_list) { + for (auto item : my_list) + std::cout << item << " "; + } + +.. code-block:: pycon + + >>> print_list([1, 2, 3]) + 1 2 3 + +The Python ``list`` is not converted in any way -- it's just wrapped in a C++ +:class:`py::list` class. At its core it's still a Python object. Copying a +:class:`py::list` will do the usual reference-counting like in Python. +Returning the object to Python will just remove the thin wrapper. + +.. rubric:: 3. Converting between native C++ and Python types + +In the previous two cases we had a native type in one language and a wrapper in +the other. Now, we have native types on both sides and we convert between them. + +.. code-block:: cpp + + void print_vector(const std::vector &v) { + for (auto item : v) + std::cout << item << "\n"; + } + +.. code-block:: pycon + + >>> print_vector([1, 2, 3]) + 1 2 3 + +In this case, pybind11 will construct a new ``std::vector`` and copy each +element from the Python ``list``. The newly constructed object will be passed +to ``print_vector``. The same thing happens in the other direction: a new +``list`` is made to match the value returned from C++. + +Lots of these conversions are supported out of the box, as shown in the table +below. They are very convenient, but keep in mind that these conversions are +fundamentally based on copying data. This is perfectly fine for small immutable +types but it may become quite expensive for large data structures. This can be +avoided by overriding the automatic conversion with a custom wrapper (i.e. the +above-mentioned approach 1). This requires some manual effort and more details +are available in the :ref:`opaque` section. + +.. _conversion_table: + +List of all builtin conversions +------------------------------- + +The following basic data types are supported out of the box (some may require +an additional extension header to be included). To pass other data structures +as arguments and return values, refer to the section on binding :ref:`classes`. + ++------------------------------------+---------------------------+-------------------------------+ +| Data type | Description | Header file | ++====================================+===========================+===============================+ +| ``int8_t``, ``uint8_t`` | 8-bit integers | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``int16_t``, ``uint16_t`` | 16-bit integers | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``int32_t``, ``uint32_t`` | 32-bit integers | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``int64_t``, ``uint64_t`` | 64-bit integers | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``ssize_t``, ``size_t`` | Platform-dependent size | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``float``, ``double`` | Floating point types | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``bool`` | Two-state Boolean type | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``char`` | Character literal | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``char16_t`` | UTF-16 character literal | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``char32_t`` | UTF-32 character literal | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``wchar_t`` | Wide character literal | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``const char *`` | UTF-8 string literal | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``const char16_t *`` | UTF-16 string literal | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``const char32_t *`` | UTF-32 string literal | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``const wchar_t *`` | Wide string literal | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::string`` | STL dynamic UTF-8 string | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::u16string`` | STL dynamic UTF-16 string | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::u32string`` | STL dynamic UTF-32 string | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::wstring`` | STL dynamic wide string | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::string_view``, | STL C++17 string views | :file:`pybind11/pybind11.h` | +| ``std::u16string_view``, etc. | | | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::pair`` | Pair of two custom types | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::tuple<...>`` | Arbitrary tuple of types | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::reference_wrapper<...>`` | Reference type wrapper | :file:`pybind11/pybind11.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::complex`` | Complex numbers | :file:`pybind11/complex.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::array`` | STL static array | :file:`pybind11/stl.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::vector`` | STL dynamic array | :file:`pybind11/stl.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::deque`` | STL double-ended queue | :file:`pybind11/stl.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::valarray`` | STL value array | :file:`pybind11/stl.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::list`` | STL linked list | :file:`pybind11/stl.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::map`` | STL ordered map | :file:`pybind11/stl.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::unordered_map`` | STL unordered map | :file:`pybind11/stl.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::set`` | STL ordered set | :file:`pybind11/stl.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::unordered_set`` | STL unordered set | :file:`pybind11/stl.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::optional`` | STL optional type (C++17) | :file:`pybind11/stl.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::experimental::optional`` | STL optional type (exp.) | :file:`pybind11/stl.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::variant<...>`` | Type-safe union (C++17) | :file:`pybind11/stl.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::function<...>`` | STL polymorphic function | :file:`pybind11/functional.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::chrono::duration<...>`` | STL time duration | :file:`pybind11/chrono.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``std::chrono::time_point<...>`` | STL date/time | :file:`pybind11/chrono.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``Eigen::Matrix<...>`` | Eigen: dense matrix | :file:`pybind11/eigen.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``Eigen::Map<...>`` | Eigen: mapped memory | :file:`pybind11/eigen.h` | ++------------------------------------+---------------------------+-------------------------------+ +| ``Eigen::SparseMatrix<...>`` | Eigen: sparse matrix | :file:`pybind11/eigen.h` | ++------------------------------------+---------------------------+-------------------------------+ diff --git a/wrap/python/pybind11/docs/advanced/cast/stl.rst b/wrap/python/pybind11/docs/advanced/cast/stl.rst new file mode 100644 index 000000000..e48409f02 --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/cast/stl.rst @@ -0,0 +1,240 @@ +STL containers +############## + +Automatic conversion +==================== + +When including the additional header file :file:`pybind11/stl.h`, conversions +between ``std::vector<>``/``std::deque<>``/``std::list<>``/``std::array<>``, +``std::set<>``/``std::unordered_set<>``, and +``std::map<>``/``std::unordered_map<>`` and the Python ``list``, ``set`` and +``dict`` data structures are automatically enabled. The types ``std::pair<>`` +and ``std::tuple<>`` are already supported out of the box with just the core +:file:`pybind11/pybind11.h` header. + +The major downside of these implicit conversions is that containers must be +converted (i.e. copied) on every Python->C++ and C++->Python transition, which +can have implications on the program semantics and performance. Please read the +next sections for more details and alternative approaches that avoid this. + +.. note:: + + Arbitrary nesting of any of these types is possible. + +.. seealso:: + + The file :file:`tests/test_stl.cpp` contains a complete + example that demonstrates how to pass STL data types in more detail. + +.. _cpp17_container_casters: + +C++17 library containers +======================== + +The :file:`pybind11/stl.h` header also includes support for ``std::optional<>`` +and ``std::variant<>``. These require a C++17 compiler and standard library. +In C++14 mode, ``std::experimental::optional<>`` is supported if available. + +Various versions of these containers also exist for C++11 (e.g. in Boost). +pybind11 provides an easy way to specialize the ``type_caster`` for such +types: + +.. code-block:: cpp + + // `boost::optional` as an example -- can be any `std::optional`-like container + namespace pybind11 { namespace detail { + template + struct type_caster> : optional_caster> {}; + }} + +The above should be placed in a header file and included in all translation units +where automatic conversion is needed. Similarly, a specialization can be provided +for custom variant types: + +.. code-block:: cpp + + // `boost::variant` as an example -- can be any `std::variant`-like container + namespace pybind11 { namespace detail { + template + struct type_caster> : variant_caster> {}; + + // Specifies the function used to visit the variant -- `apply_visitor` instead of `visit` + template <> + struct visit_helper { + template + static auto call(Args &&...args) -> decltype(boost::apply_visitor(args...)) { + return boost::apply_visitor(args...); + } + }; + }} // namespace pybind11::detail + +The ``visit_helper`` specialization is not required if your ``name::variant`` provides +a ``name::visit()`` function. For any other function name, the specialization must be +included to tell pybind11 how to visit the variant. + +.. note:: + + pybind11 only supports the modern implementation of ``boost::variant`` + which makes use of variadic templates. This requires Boost 1.56 or newer. + Additionally, on Windows, MSVC 2017 is required because ``boost::variant`` + falls back to the old non-variadic implementation on MSVC 2015. + +.. _opaque: + +Making opaque types +=================== + +pybind11 heavily relies on a template matching mechanism to convert parameters +and return values that are constructed from STL data types such as vectors, +linked lists, hash tables, etc. This even works in a recursive manner, for +instance to deal with lists of hash maps of pairs of elementary and custom +types, etc. + +However, a fundamental limitation of this approach is that internal conversions +between Python and C++ types involve a copy operation that prevents +pass-by-reference semantics. What does this mean? + +Suppose we bind the following function + +.. code-block:: cpp + + void append_1(std::vector &v) { + v.push_back(1); + } + +and call it from Python, the following happens: + +.. code-block:: pycon + + >>> v = [5, 6] + >>> append_1(v) + >>> print(v) + [5, 6] + +As you can see, when passing STL data structures by reference, modifications +are not propagated back the Python side. A similar situation arises when +exposing STL data structures using the ``def_readwrite`` or ``def_readonly`` +functions: + +.. code-block:: cpp + + /* ... definition ... */ + + class MyClass { + std::vector contents; + }; + + /* ... binding code ... */ + + py::class_(m, "MyClass") + .def(py::init<>()) + .def_readwrite("contents", &MyClass::contents); + +In this case, properties can be read and written in their entirety. However, an +``append`` operation involving such a list type has no effect: + +.. code-block:: pycon + + >>> m = MyClass() + >>> m.contents = [5, 6] + >>> print(m.contents) + [5, 6] + >>> m.contents.append(7) + >>> print(m.contents) + [5, 6] + +Finally, the involved copy operations can be costly when dealing with very +large lists. To deal with all of the above situations, pybind11 provides a +macro named ``PYBIND11_MAKE_OPAQUE(T)`` that disables the template-based +conversion machinery of types, thus rendering them *opaque*. The contents of +opaque objects are never inspected or extracted, hence they *can* be passed by +reference. For instance, to turn ``std::vector`` into an opaque type, add +the declaration + +.. code-block:: cpp + + PYBIND11_MAKE_OPAQUE(std::vector); + +before any binding code (e.g. invocations to ``class_::def()``, etc.). This +macro must be specified at the top level (and outside of any namespaces), since +it instantiates a partial template overload. If your binding code consists of +multiple compilation units, it must be present in every file (typically via a +common header) preceding any usage of ``std::vector``. Opaque types must +also have a corresponding ``class_`` declaration to associate them with a name +in Python, and to define a set of available operations, e.g.: + +.. code-block:: cpp + + py::class_>(m, "IntVector") + .def(py::init<>()) + .def("clear", &std::vector::clear) + .def("pop_back", &std::vector::pop_back) + .def("__len__", [](const std::vector &v) { return v.size(); }) + .def("__iter__", [](std::vector &v) { + return py::make_iterator(v.begin(), v.end()); + }, py::keep_alive<0, 1>()) /* Keep vector alive while iterator is used */ + // .... + +.. seealso:: + + The file :file:`tests/test_opaque_types.cpp` contains a complete + example that demonstrates how to create and expose opaque types using + pybind11 in more detail. + +.. _stl_bind: + +Binding STL containers +====================== + +The ability to expose STL containers as native Python objects is a fairly +common request, hence pybind11 also provides an optional header file named +:file:`pybind11/stl_bind.h` that does exactly this. The mapped containers try +to match the behavior of their native Python counterparts as much as possible. + +The following example showcases usage of :file:`pybind11/stl_bind.h`: + +.. code-block:: cpp + + // Don't forget this + #include + + PYBIND11_MAKE_OPAQUE(std::vector); + PYBIND11_MAKE_OPAQUE(std::map); + + // ... + + // later in binding code: + py::bind_vector>(m, "VectorInt"); + py::bind_map>(m, "MapStringDouble"); + +When binding STL containers pybind11 considers the types of the container's +elements to decide whether the container should be confined to the local module +(via the :ref:`module_local` feature). If the container element types are +anything other than already-bound custom types bound without +``py::module_local()`` the container binding will have ``py::module_local()`` +applied. This includes converting types such as numeric types, strings, Eigen +types; and types that have not yet been bound at the time of the stl container +binding. This module-local binding is designed to avoid potential conflicts +between module bindings (for example, from two separate modules each attempting +to bind ``std::vector`` as a python type). + +It is possible to override this behavior to force a definition to be either +module-local or global. To do so, you can pass the attributes +``py::module_local()`` (to make the binding module-local) or +``py::module_local(false)`` (to make the binding global) into the +``py::bind_vector`` or ``py::bind_map`` arguments: + +.. code-block:: cpp + + py::bind_vector>(m, "VectorInt", py::module_local(false)); + +Note, however, that such a global binding would make it impossible to load this +module at the same time as any other pybind module that also attempts to bind +the same container type (``std::vector`` in the above example). + +See :ref:`module_local` for more details on module-local bindings. + +.. seealso:: + + The file :file:`tests/test_stl_binders.cpp` shows how to use the + convenience STL container wrappers. diff --git a/wrap/python/pybind11/docs/advanced/cast/strings.rst b/wrap/python/pybind11/docs/advanced/cast/strings.rst new file mode 100644 index 000000000..e25701eca --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/cast/strings.rst @@ -0,0 +1,305 @@ +Strings, bytes and Unicode conversions +###################################### + +.. note:: + + This section discusses string handling in terms of Python 3 strings. For + Python 2.7, replace all occurrences of ``str`` with ``unicode`` and + ``bytes`` with ``str``. Python 2.7 users may find it best to use ``from + __future__ import unicode_literals`` to avoid unintentionally using ``str`` + instead of ``unicode``. + +Passing Python strings to C++ +============================= + +When a Python ``str`` is passed from Python to a C++ function that accepts +``std::string`` or ``char *`` as arguments, pybind11 will encode the Python +string to UTF-8. All Python ``str`` can be encoded in UTF-8, so this operation +does not fail. + +The C++ language is encoding agnostic. It is the responsibility of the +programmer to track encodings. It's often easiest to simply `use UTF-8 +everywhere `_. + +.. code-block:: c++ + + m.def("utf8_test", + [](const std::string &s) { + cout << "utf-8 is icing on the cake.\n"; + cout << s; + } + ); + m.def("utf8_charptr", + [](const char *s) { + cout << "My favorite food is\n"; + cout << s; + } + ); + +.. code-block:: python + + >>> utf8_test('🎂') + utf-8 is icing on the cake. + 🎂 + + >>> utf8_charptr('🍕') + My favorite food is + 🍕 + +.. note:: + + Some terminal emulators do not support UTF-8 or emoji fonts and may not + display the example above correctly. + +The results are the same whether the C++ function accepts arguments by value or +reference, and whether or not ``const`` is used. + +Passing bytes to C++ +-------------------- + +A Python ``bytes`` object will be passed to C++ functions that accept +``std::string`` or ``char*`` *without* conversion. On Python 3, in order to +make a function *only* accept ``bytes`` (and not ``str``), declare it as taking +a ``py::bytes`` argument. + + +Returning C++ strings to Python +=============================== + +When a C++ function returns a ``std::string`` or ``char*`` to a Python caller, +**pybind11 will assume that the string is valid UTF-8** and will decode it to a +native Python ``str``, using the same API as Python uses to perform +``bytes.decode('utf-8')``. If this implicit conversion fails, pybind11 will +raise a ``UnicodeDecodeError``. + +.. code-block:: c++ + + m.def("std_string_return", + []() { + return std::string("This string needs to be UTF-8 encoded"); + } + ); + +.. code-block:: python + + >>> isinstance(example.std_string_return(), str) + True + + +Because UTF-8 is inclusive of pure ASCII, there is never any issue with +returning a pure ASCII string to Python. If there is any possibility that the +string is not pure ASCII, it is necessary to ensure the encoding is valid +UTF-8. + +.. warning:: + + Implicit conversion assumes that a returned ``char *`` is null-terminated. + If there is no null terminator a buffer overrun will occur. + +Explicit conversions +-------------------- + +If some C++ code constructs a ``std::string`` that is not a UTF-8 string, one +can perform a explicit conversion and return a ``py::str`` object. Explicit +conversion has the same overhead as implicit conversion. + +.. code-block:: c++ + + // This uses the Python C API to convert Latin-1 to Unicode + m.def("str_output", + []() { + std::string s = "Send your r\xe9sum\xe9 to Alice in HR"; // Latin-1 + py::str py_s = PyUnicode_DecodeLatin1(s.data(), s.length()); + return py_s; + } + ); + +.. code-block:: python + + >>> str_output() + 'Send your résumé to Alice in HR' + +The `Python C API +`_ provides +several built-in codecs. + + +One could also use a third party encoding library such as libiconv to transcode +to UTF-8. + +Return C++ strings without conversion +------------------------------------- + +If the data in a C++ ``std::string`` does not represent text and should be +returned to Python as ``bytes``, then one can return the data as a +``py::bytes`` object. + +.. code-block:: c++ + + m.def("return_bytes", + []() { + std::string s("\xba\xd0\xba\xd0"); // Not valid UTF-8 + return py::bytes(s); // Return the data without transcoding + } + ); + +.. code-block:: python + + >>> example.return_bytes() + b'\xba\xd0\xba\xd0' + + +Note the asymmetry: pybind11 will convert ``bytes`` to ``std::string`` without +encoding, but cannot convert ``std::string`` back to ``bytes`` implicitly. + +.. code-block:: c++ + + m.def("asymmetry", + [](std::string s) { // Accepts str or bytes from Python + return s; // Looks harmless, but implicitly converts to str + } + ); + +.. code-block:: python + + >>> isinstance(example.asymmetry(b"have some bytes"), str) + True + + >>> example.asymmetry(b"\xba\xd0\xba\xd0") # invalid utf-8 as bytes + UnicodeDecodeError: 'utf-8' codec can't decode byte 0xba in position 0: invalid start byte + + +Wide character strings +====================== + +When a Python ``str`` is passed to a C++ function expecting ``std::wstring``, +``wchar_t*``, ``std::u16string`` or ``std::u32string``, the ``str`` will be +encoded to UTF-16 or UTF-32 depending on how the C++ compiler implements each +type, in the platform's native endianness. When strings of these types are +returned, they are assumed to contain valid UTF-16 or UTF-32, and will be +decoded to Python ``str``. + +.. code-block:: c++ + + #define UNICODE + #include + + m.def("set_window_text", + [](HWND hwnd, std::wstring s) { + // Call SetWindowText with null-terminated UTF-16 string + ::SetWindowText(hwnd, s.c_str()); + } + ); + m.def("get_window_text", + [](HWND hwnd) { + const int buffer_size = ::GetWindowTextLength(hwnd) + 1; + auto buffer = std::make_unique< wchar_t[] >(buffer_size); + + ::GetWindowText(hwnd, buffer.data(), buffer_size); + + std::wstring text(buffer.get()); + + // wstring will be converted to Python str + return text; + } + ); + +.. warning:: + + Wide character strings may not work as described on Python 2.7 or Python + 3.3 compiled with ``--enable-unicode=ucs2``. + +Strings in multibyte encodings such as Shift-JIS must transcoded to a +UTF-8/16/32 before being returned to Python. + + +Character literals +================== + +C++ functions that accept character literals as input will receive the first +character of a Python ``str`` as their input. If the string is longer than one +Unicode character, trailing characters will be ignored. + +When a character literal is returned from C++ (such as a ``char`` or a +``wchar_t``), it will be converted to a ``str`` that represents the single +character. + +.. code-block:: c++ + + m.def("pass_char", [](char c) { return c; }); + m.def("pass_wchar", [](wchar_t w) { return w; }); + +.. code-block:: python + + >>> example.pass_char('A') + 'A' + +While C++ will cast integers to character types (``char c = 0x65;``), pybind11 +does not convert Python integers to characters implicitly. The Python function +``chr()`` can be used to convert integers to characters. + +.. code-block:: python + + >>> example.pass_char(0x65) + TypeError + + >>> example.pass_char(chr(0x65)) + 'A' + +If the desire is to work with an 8-bit integer, use ``int8_t`` or ``uint8_t`` +as the argument type. + +Grapheme clusters +----------------- + +A single grapheme may be represented by two or more Unicode characters. For +example 'é' is usually represented as U+00E9 but can also be expressed as the +combining character sequence U+0065 U+0301 (that is, the letter 'e' followed by +a combining acute accent). The combining character will be lost if the +two-character sequence is passed as an argument, even though it renders as a +single grapheme. + +.. code-block:: python + + >>> example.pass_wchar('é') + 'é' + + >>> combining_e_acute = 'e' + '\u0301' + + >>> combining_e_acute + 'é' + + >>> combining_e_acute == 'é' + False + + >>> example.pass_wchar(combining_e_acute) + 'e' + +Normalizing combining characters before passing the character literal to C++ +may resolve *some* of these issues: + +.. code-block:: python + + >>> example.pass_wchar(unicodedata.normalize('NFC', combining_e_acute)) + 'é' + +In some languages (Thai for example), there are `graphemes that cannot be +expressed as a single Unicode code point +`_, so there is +no way to capture them in a C++ character type. + + +C++17 string views +================== + +C++17 string views are automatically supported when compiling in C++17 mode. +They follow the same rules for encoding and decoding as the corresponding STL +string type (for example, a ``std::u16string_view`` argument will be passed +UTF-16-encoded data, and a returned ``std::string_view`` will be decoded as +UTF-8). + +References +========== + +* `The Absolute Minimum Every Software Developer Absolutely, Positively Must Know About Unicode and Character Sets (No Excuses!) `_ +* `C++ - Using STL Strings at Win32 API Boundaries `_ diff --git a/wrap/python/pybind11/docs/advanced/classes.rst b/wrap/python/pybind11/docs/advanced/classes.rst new file mode 100644 index 000000000..c9a0da5a1 --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/classes.rst @@ -0,0 +1,1125 @@ +Classes +####### + +This section presents advanced binding code for classes and it is assumed +that you are already familiar with the basics from :doc:`/classes`. + +.. _overriding_virtuals: + +Overriding virtual functions in Python +====================================== + +Suppose that a C++ class or interface has a virtual function that we'd like to +to override from within Python (we'll focus on the class ``Animal``; ``Dog`` is +given as a specific example of how one would do this with traditional C++ +code). + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() { } + virtual std::string go(int n_times) = 0; + }; + + class Dog : public Animal { + public: + std::string go(int n_times) override { + std::string result; + for (int i=0; igo(3); + } + +Normally, the binding code for these classes would look as follows: + +.. code-block:: cpp + + PYBIND11_MODULE(example, m) { + py::class_(m, "Animal") + .def("go", &Animal::go); + + py::class_(m, "Dog") + .def(py::init<>()); + + m.def("call_go", &call_go); + } + +However, these bindings are impossible to extend: ``Animal`` is not +constructible, and we clearly require some kind of "trampoline" that +redirects virtual calls back to Python. + +Defining a new type of ``Animal`` from within Python is possible but requires a +helper class that is defined as follows: + +.. code-block:: cpp + + class PyAnimal : public Animal { + public: + /* Inherit the constructors */ + using Animal::Animal; + + /* Trampoline (need one for each virtual function) */ + std::string go(int n_times) override { + PYBIND11_OVERLOAD_PURE( + std::string, /* Return type */ + Animal, /* Parent class */ + go, /* Name of function in C++ (must match Python name) */ + n_times /* Argument(s) */ + ); + } + }; + +The macro :c:macro:`PYBIND11_OVERLOAD_PURE` should be used for pure virtual +functions, and :c:macro:`PYBIND11_OVERLOAD` should be used for functions which have +a default implementation. There are also two alternate macros +:c:macro:`PYBIND11_OVERLOAD_PURE_NAME` and :c:macro:`PYBIND11_OVERLOAD_NAME` which +take a string-valued name argument between the *Parent class* and *Name of the +function* slots, which defines the name of function in Python. This is required +when the C++ and Python versions of the +function have different names, e.g. ``operator()`` vs ``__call__``. + +The binding code also needs a few minor adaptations (highlighted): + +.. code-block:: cpp + :emphasize-lines: 2,3 + + PYBIND11_MODULE(example, m) { + py::class_(m, "Animal") + .def(py::init<>()) + .def("go", &Animal::go); + + py::class_(m, "Dog") + .def(py::init<>()); + + m.def("call_go", &call_go); + } + +Importantly, pybind11 is made aware of the trampoline helper class by +specifying it as an extra template argument to :class:`class_`. (This can also +be combined with other template arguments such as a custom holder type; the +order of template types does not matter). Following this, we are able to +define a constructor as usual. + +Bindings should be made against the actual class, not the trampoline helper class. + +.. code-block:: cpp + :emphasize-lines: 3 + + py::class_(m, "Animal"); + .def(py::init<>()) + .def("go", &PyAnimal::go); /* <--- THIS IS WRONG, use &Animal::go */ + +Note, however, that the above is sufficient for allowing python classes to +extend ``Animal``, but not ``Dog``: see :ref:`virtual_and_inheritance` for the +necessary steps required to providing proper overload support for inherited +classes. + +The Python session below shows how to override ``Animal::go`` and invoke it via +a virtual method call. + +.. code-block:: pycon + + >>> from example import * + >>> d = Dog() + >>> call_go(d) + u'woof! woof! woof! ' + >>> class Cat(Animal): + ... def go(self, n_times): + ... return "meow! " * n_times + ... + >>> c = Cat() + >>> call_go(c) + u'meow! meow! meow! ' + +If you are defining a custom constructor in a derived Python class, you *must* +ensure that you explicitly call the bound C++ constructor using ``__init__``, +*regardless* of whether it is a default constructor or not. Otherwise, the +memory for the C++ portion of the instance will be left uninitialized, which +will generally leave the C++ instance in an invalid state and cause undefined +behavior if the C++ instance is subsequently used. + +Here is an example: + +.. code-block:: python + + class Dachshund(Dog): + def __init__(self, name): + Dog.__init__(self) # Without this, undefined behavior may occur if the C++ portions are referenced. + self.name = name + def bark(self): + return "yap!" + +Note that a direct ``__init__`` constructor *should be called*, and ``super()`` +should not be used. For simple cases of linear inheritance, ``super()`` +may work, but once you begin mixing Python and C++ multiple inheritance, +things will fall apart due to differences between Python's MRO and C++'s +mechanisms. + +Please take a look at the :ref:`macro_notes` before using this feature. + +.. note:: + + When the overridden type returns a reference or pointer to a type that + pybind11 converts from Python (for example, numeric values, std::string, + and other built-in value-converting types), there are some limitations to + be aware of: + + - because in these cases there is no C++ variable to reference (the value + is stored in the referenced Python variable), pybind11 provides one in + the PYBIND11_OVERLOAD macros (when needed) with static storage duration. + Note that this means that invoking the overloaded method on *any* + instance will change the referenced value stored in *all* instances of + that type. + + - Attempts to modify a non-const reference will not have the desired + effect: it will change only the static cache variable, but this change + will not propagate to underlying Python instance, and the change will be + replaced the next time the overload is invoked. + +.. seealso:: + + The file :file:`tests/test_virtual_functions.cpp` contains a complete + example that demonstrates how to override virtual functions using pybind11 + in more detail. + +.. _virtual_and_inheritance: + +Combining virtual functions and inheritance +=========================================== + +When combining virtual methods with inheritance, you need to be sure to provide +an override for each method for which you want to allow overrides from derived +python classes. For example, suppose we extend the above ``Animal``/``Dog`` +example as follows: + +.. code-block:: cpp + + class Animal { + public: + virtual std::string go(int n_times) = 0; + virtual std::string name() { return "unknown"; } + }; + class Dog : public Animal { + public: + std::string go(int n_times) override { + std::string result; + for (int i=0; i class PyAnimal : public AnimalBase { + public: + using AnimalBase::AnimalBase; // Inherit constructors + std::string go(int n_times) override { PYBIND11_OVERLOAD_PURE(std::string, AnimalBase, go, n_times); } + std::string name() override { PYBIND11_OVERLOAD(std::string, AnimalBase, name, ); } + }; + template class PyDog : public PyAnimal { + public: + using PyAnimal::PyAnimal; // Inherit constructors + // Override PyAnimal's pure virtual go() with a non-pure one: + std::string go(int n_times) override { PYBIND11_OVERLOAD(std::string, DogBase, go, n_times); } + std::string bark() override { PYBIND11_OVERLOAD(std::string, DogBase, bark, ); } + }; + +This technique has the advantage of requiring just one trampoline method to be +declared per virtual method and pure virtual method override. It does, +however, require the compiler to generate at least as many methods (and +possibly more, if both pure virtual and overridden pure virtual methods are +exposed, as above). + +The classes are then registered with pybind11 using: + +.. code-block:: cpp + + py::class_> animal(m, "Animal"); + py::class_> dog(m, "Dog"); + py::class_> husky(m, "Husky"); + // ... add animal, dog, husky definitions + +Note that ``Husky`` did not require a dedicated trampoline template class at +all, since it neither declares any new virtual methods nor provides any pure +virtual method implementations. + +With either the repeated-virtuals or templated trampoline methods in place, you +can now create a python class that inherits from ``Dog``: + +.. code-block:: python + + class ShihTzu(Dog): + def bark(self): + return "yip!" + +.. seealso:: + + See the file :file:`tests/test_virtual_functions.cpp` for complete examples + using both the duplication and templated trampoline approaches. + +.. _extended_aliases: + +Extended trampoline class functionality +======================================= + +.. _extended_class_functionality_forced_trampoline: + +Forced trampoline class initialisation +-------------------------------------- +The trampoline classes described in the previous sections are, by default, only +initialized when needed. More specifically, they are initialized when a python +class actually inherits from a registered type (instead of merely creating an +instance of the registered type), or when a registered constructor is only +valid for the trampoline class but not the registered class. This is primarily +for performance reasons: when the trampoline class is not needed for anything +except virtual method dispatching, not initializing the trampoline class +improves performance by avoiding needing to do a run-time check to see if the +inheriting python instance has an overloaded method. + +Sometimes, however, it is useful to always initialize a trampoline class as an +intermediate class that does more than just handle virtual method dispatching. +For example, such a class might perform extra class initialization, extra +destruction operations, and might define new members and methods to enable a +more python-like interface to a class. + +In order to tell pybind11 that it should *always* initialize the trampoline +class when creating new instances of a type, the class constructors should be +declared using ``py::init_alias()`` instead of the usual +``py::init()``. This forces construction via the trampoline class, +ensuring member initialization and (eventual) destruction. + +.. seealso:: + + See the file :file:`tests/test_virtual_functions.cpp` for complete examples + showing both normal and forced trampoline instantiation. + +Different method signatures +--------------------------- +The macro's introduced in :ref:`overriding_virtuals` cover most of the standard +use cases when exposing C++ classes to Python. Sometimes it is hard or unwieldy +to create a direct one-on-one mapping between the arguments and method return +type. + +An example would be when the C++ signature contains output arguments using +references (See also :ref:`faq_reference_arguments`). Another way of solving +this is to use the method body of the trampoline class to do conversions to the +input and return of the Python method. + +The main building block to do so is the :func:`get_overload`, this function +allows retrieving a method implemented in Python from within the trampoline's +methods. Consider for example a C++ method which has the signature +``bool myMethod(int32_t& value)``, where the return indicates whether +something should be done with the ``value``. This can be made convenient on the +Python side by allowing the Python function to return ``None`` or an ``int``: + +.. code-block:: cpp + + bool MyClass::myMethod(int32_t& value) + { + pybind11::gil_scoped_acquire gil; // Acquire the GIL while in this scope. + // Try to look up the overloaded method on the Python side. + pybind11::function overload = pybind11::get_overload(this, "myMethod"); + if (overload) { // method is found + auto obj = overload(value); // Call the Python function. + if (py::isinstance(obj)) { // check if it returned a Python integer type + value = obj.cast(); // Cast it and assign it to the value. + return true; // Return true; value should be used. + } else { + return false; // Python returned none, return false. + } + } + return false; // Alternatively return MyClass::myMethod(value); + } + + +.. _custom_constructors: + +Custom constructors +=================== + +The syntax for binding constructors was previously introduced, but it only +works when a constructor of the appropriate arguments actually exists on the +C++ side. To extend this to more general cases, pybind11 makes it possible +to bind factory functions as constructors. For example, suppose you have a +class like this: + +.. code-block:: cpp + + class Example { + private: + Example(int); // private constructor + public: + // Factory function: + static Example create(int a) { return Example(a); } + }; + + py::class_(m, "Example") + .def(py::init(&Example::create)); + +While it is possible to create a straightforward binding of the static +``create`` method, it may sometimes be preferable to expose it as a constructor +on the Python side. This can be accomplished by calling ``.def(py::init(...))`` +with the function reference returning the new instance passed as an argument. +It is also possible to use this approach to bind a function returning a new +instance by raw pointer or by the holder (e.g. ``std::unique_ptr``). + +The following example shows the different approaches: + +.. code-block:: cpp + + class Example { + private: + Example(int); // private constructor + public: + // Factory function - returned by value: + static Example create(int a) { return Example(a); } + + // These constructors are publicly callable: + Example(double); + Example(int, int); + Example(std::string); + }; + + py::class_(m, "Example") + // Bind the factory function as a constructor: + .def(py::init(&Example::create)) + // Bind a lambda function returning a pointer wrapped in a holder: + .def(py::init([](std::string arg) { + return std::unique_ptr(new Example(arg)); + })) + // Return a raw pointer: + .def(py::init([](int a, int b) { return new Example(a, b); })) + // You can mix the above with regular C++ constructor bindings as well: + .def(py::init()) + ; + +When the constructor is invoked from Python, pybind11 will call the factory +function and store the resulting C++ instance in the Python instance. + +When combining factory functions constructors with :ref:`virtual function +trampolines ` there are two approaches. The first is to +add a constructor to the alias class that takes a base value by +rvalue-reference. If such a constructor is available, it will be used to +construct an alias instance from the value returned by the factory function. +The second option is to provide two factory functions to ``py::init()``: the +first will be invoked when no alias class is required (i.e. when the class is +being used but not inherited from in Python), and the second will be invoked +when an alias is required. + +You can also specify a single factory function that always returns an alias +instance: this will result in behaviour similar to ``py::init_alias<...>()``, +as described in the :ref:`extended trampoline class documentation +`. + +The following example shows the different factory approaches for a class with +an alias: + +.. code-block:: cpp + + #include + class Example { + public: + // ... + virtual ~Example() = default; + }; + class PyExample : public Example { + public: + using Example::Example; + PyExample(Example &&base) : Example(std::move(base)) {} + }; + py::class_(m, "Example") + // Returns an Example pointer. If a PyExample is needed, the Example + // instance will be moved via the extra constructor in PyExample, above. + .def(py::init([]() { return new Example(); })) + // Two callbacks: + .def(py::init([]() { return new Example(); } /* no alias needed */, + []() { return new PyExample(); } /* alias needed */)) + // *Always* returns an alias instance (like py::init_alias<>()) + .def(py::init([]() { return new PyExample(); })) + ; + +Brace initialization +-------------------- + +``pybind11::init<>`` internally uses C++11 brace initialization to call the +constructor of the target class. This means that it can be used to bind +*implicit* constructors as well: + +.. code-block:: cpp + + struct Aggregate { + int a; + std::string b; + }; + + py::class_(m, "Aggregate") + .def(py::init()); + +.. note:: + + Note that brace initialization preferentially invokes constructor overloads + taking a ``std::initializer_list``. In the rare event that this causes an + issue, you can work around it by using ``py::init(...)`` with a lambda + function that constructs the new object as desired. + +.. _classes_with_non_public_destructors: + +Non-public destructors +====================== + +If a class has a private or protected destructor (as might e.g. be the case in +a singleton pattern), a compile error will occur when creating bindings via +pybind11. The underlying issue is that the ``std::unique_ptr`` holder type that +is responsible for managing the lifetime of instances will reference the +destructor even if no deallocations ever take place. In order to expose classes +with private or protected destructors, it is possible to override the holder +type via a holder type argument to ``class_``. Pybind11 provides a helper class +``py::nodelete`` that disables any destructor invocations. In this case, it is +crucial that instances are deallocated on the C++ side to avoid memory leaks. + +.. code-block:: cpp + + /* ... definition ... */ + + class MyClass { + private: + ~MyClass() { } + }; + + /* ... binding code ... */ + + py::class_>(m, "MyClass") + .def(py::init<>()) + +.. _implicit_conversions: + +Implicit conversions +==================== + +Suppose that instances of two types ``A`` and ``B`` are used in a project, and +that an ``A`` can easily be converted into an instance of type ``B`` (examples of this +could be a fixed and an arbitrary precision number type). + +.. code-block:: cpp + + py::class_(m, "A") + /// ... members ... + + py::class_(m, "B") + .def(py::init()) + /// ... members ... + + m.def("func", + [](const B &) { /* .... */ } + ); + +To invoke the function ``func`` using a variable ``a`` containing an ``A`` +instance, we'd have to write ``func(B(a))`` in Python. On the other hand, C++ +will automatically apply an implicit type conversion, which makes it possible +to directly write ``func(a)``. + +In this situation (i.e. where ``B`` has a constructor that converts from +``A``), the following statement enables similar implicit conversions on the +Python side: + +.. code-block:: cpp + + py::implicitly_convertible(); + +.. note:: + + Implicit conversions from ``A`` to ``B`` only work when ``B`` is a custom + data type that is exposed to Python via pybind11. + + To prevent runaway recursion, implicit conversions are non-reentrant: an + implicit conversion invoked as part of another implicit conversion of the + same type (i.e. from ``A`` to ``B``) will fail. + +.. _static_properties: + +Static properties +================= + +The section on :ref:`properties` discussed the creation of instance properties +that are implemented in terms of C++ getters and setters. + +Static properties can also be created in a similar way to expose getters and +setters of static class attributes. Note that the implicit ``self`` argument +also exists in this case and is used to pass the Python ``type`` subclass +instance. This parameter will often not be needed by the C++ side, and the +following example illustrates how to instantiate a lambda getter function +that ignores it: + +.. code-block:: cpp + + py::class_(m, "Foo") + .def_property_readonly_static("foo", [](py::object /* self */) { return Foo(); }); + +Operator overloading +==================== + +Suppose that we're given the following ``Vector2`` class with a vector addition +and scalar multiplication operation, all implemented using overloaded operators +in C++. + +.. code-block:: cpp + + class Vector2 { + public: + Vector2(float x, float y) : x(x), y(y) { } + + Vector2 operator+(const Vector2 &v) const { return Vector2(x + v.x, y + v.y); } + Vector2 operator*(float value) const { return Vector2(x * value, y * value); } + Vector2& operator+=(const Vector2 &v) { x += v.x; y += v.y; return *this; } + Vector2& operator*=(float v) { x *= v; y *= v; return *this; } + + friend Vector2 operator*(float f, const Vector2 &v) { + return Vector2(f * v.x, f * v.y); + } + + std::string toString() const { + return "[" + std::to_string(x) + ", " + std::to_string(y) + "]"; + } + private: + float x, y; + }; + +The following snippet shows how the above operators can be conveniently exposed +to Python. + +.. code-block:: cpp + + #include + + PYBIND11_MODULE(example, m) { + py::class_(m, "Vector2") + .def(py::init()) + .def(py::self + py::self) + .def(py::self += py::self) + .def(py::self *= float()) + .def(float() * py::self) + .def(py::self * float()) + .def("__repr__", &Vector2::toString); + } + +Note that a line like + +.. code-block:: cpp + + .def(py::self * float()) + +is really just short hand notation for + +.. code-block:: cpp + + .def("__mul__", [](const Vector2 &a, float b) { + return a * b; + }, py::is_operator()) + +This can be useful for exposing additional operators that don't exist on the +C++ side, or to perform other types of customization. The ``py::is_operator`` +flag marker is needed to inform pybind11 that this is an operator, which +returns ``NotImplemented`` when invoked with incompatible arguments rather than +throwing a type error. + +.. note:: + + To use the more convenient ``py::self`` notation, the additional + header file :file:`pybind11/operators.h` must be included. + +.. seealso:: + + The file :file:`tests/test_operator_overloading.cpp` contains a + complete example that demonstrates how to work with overloaded operators in + more detail. + +.. _pickling: + +Pickling support +================ + +Python's ``pickle`` module provides a powerful facility to serialize and +de-serialize a Python object graph into a binary data stream. To pickle and +unpickle C++ classes using pybind11, a ``py::pickle()`` definition must be +provided. Suppose the class in question has the following signature: + +.. code-block:: cpp + + class Pickleable { + public: + Pickleable(const std::string &value) : m_value(value) { } + const std::string &value() const { return m_value; } + + void setExtra(int extra) { m_extra = extra; } + int extra() const { return m_extra; } + private: + std::string m_value; + int m_extra = 0; + }; + +Pickling support in Python is enabled by defining the ``__setstate__`` and +``__getstate__`` methods [#f3]_. For pybind11 classes, use ``py::pickle()`` +to bind these two functions: + +.. code-block:: cpp + + py::class_(m, "Pickleable") + .def(py::init()) + .def("value", &Pickleable::value) + .def("extra", &Pickleable::extra) + .def("setExtra", &Pickleable::setExtra) + .def(py::pickle( + [](const Pickleable &p) { // __getstate__ + /* Return a tuple that fully encodes the state of the object */ + return py::make_tuple(p.value(), p.extra()); + }, + [](py::tuple t) { // __setstate__ + if (t.size() != 2) + throw std::runtime_error("Invalid state!"); + + /* Create a new C++ instance */ + Pickleable p(t[0].cast()); + + /* Assign any additional state */ + p.setExtra(t[1].cast()); + + return p; + } + )); + +The ``__setstate__`` part of the ``py::picke()`` definition follows the same +rules as the single-argument version of ``py::init()``. The return type can be +a value, pointer or holder type. See :ref:`custom_constructors` for details. + +An instance can now be pickled as follows: + +.. code-block:: python + + try: + import cPickle as pickle # Use cPickle on Python 2.7 + except ImportError: + import pickle + + p = Pickleable("test_value") + p.setExtra(15) + data = pickle.dumps(p, 2) + +Note that only the cPickle module is supported on Python 2.7. The second +argument to ``dumps`` is also crucial: it selects the pickle protocol version +2, since the older version 1 is not supported. Newer versions are also fine—for +instance, specify ``-1`` to always use the latest available version. Beware: +failure to follow these instructions will cause important pybind11 memory +allocation routines to be skipped during unpickling, which will likely lead to +memory corruption and/or segmentation faults. + +.. seealso:: + + The file :file:`tests/test_pickling.cpp` contains a complete example + that demonstrates how to pickle and unpickle types using pybind11 in more + detail. + +.. [#f3] http://docs.python.org/3/library/pickle.html#pickling-class-instances + +Multiple Inheritance +==================== + +pybind11 can create bindings for types that derive from multiple base types +(aka. *multiple inheritance*). To do so, specify all bases in the template +arguments of the ``class_`` declaration: + +.. code-block:: cpp + + py::class_(m, "MyType") + ... + +The base types can be specified in arbitrary order, and they can even be +interspersed with alias types and holder types (discussed earlier in this +document)---pybind11 will automatically find out which is which. The only +requirement is that the first template argument is the type to be declared. + +It is also permitted to inherit multiply from exported C++ classes in Python, +as well as inheriting from multiple Python and/or pybind11-exported classes. + +There is one caveat regarding the implementation of this feature: + +When only one base type is specified for a C++ type that actually has multiple +bases, pybind11 will assume that it does not participate in multiple +inheritance, which can lead to undefined behavior. In such cases, add the tag +``multiple_inheritance`` to the class constructor: + +.. code-block:: cpp + + py::class_(m, "MyType", py::multiple_inheritance()); + +The tag is redundant and does not need to be specified when multiple base types +are listed. + +.. _module_local: + +Module-local class bindings +=========================== + +When creating a binding for a class, pybind11 by default makes that binding +"global" across modules. What this means is that a type defined in one module +can be returned from any module resulting in the same Python type. For +example, this allows the following: + +.. code-block:: cpp + + // In the module1.cpp binding code for module1: + py::class_(m, "Pet") + .def(py::init()) + .def_readonly("name", &Pet::name); + +.. code-block:: cpp + + // In the module2.cpp binding code for module2: + m.def("create_pet", [](std::string name) { return new Pet(name); }); + +.. code-block:: pycon + + >>> from module1 import Pet + >>> from module2 import create_pet + >>> pet1 = Pet("Kitty") + >>> pet2 = create_pet("Doggy") + >>> pet2.name() + 'Doggy' + +When writing binding code for a library, this is usually desirable: this +allows, for example, splitting up a complex library into multiple Python +modules. + +In some cases, however, this can cause conflicts. For example, suppose two +unrelated modules make use of an external C++ library and each provide custom +bindings for one of that library's classes. This will result in an error when +a Python program attempts to import both modules (directly or indirectly) +because of conflicting definitions on the external type: + +.. code-block:: cpp + + // dogs.cpp + + // Binding for external library class: + py::class(m, "Pet") + .def("name", &pets::Pet::name); + + // Binding for local extension class: + py::class(m, "Dog") + .def(py::init()); + +.. code-block:: cpp + + // cats.cpp, in a completely separate project from the above dogs.cpp. + + // Binding for external library class: + py::class(m, "Pet") + .def("get_name", &pets::Pet::name); + + // Binding for local extending class: + py::class(m, "Cat") + .def(py::init()); + +.. code-block:: pycon + + >>> import cats + >>> import dogs + Traceback (most recent call last): + File "", line 1, in + ImportError: generic_type: type "Pet" is already registered! + +To get around this, you can tell pybind11 to keep the external class binding +localized to the module by passing the ``py::module_local()`` attribute into +the ``py::class_`` constructor: + +.. code-block:: cpp + + // Pet binding in dogs.cpp: + py::class(m, "Pet", py::module_local()) + .def("name", &pets::Pet::name); + +.. code-block:: cpp + + // Pet binding in cats.cpp: + py::class(m, "Pet", py::module_local()) + .def("get_name", &pets::Pet::name); + +This makes the Python-side ``dogs.Pet`` and ``cats.Pet`` into distinct classes, +avoiding the conflict and allowing both modules to be loaded. C++ code in the +``dogs`` module that casts or returns a ``Pet`` instance will result in a +``dogs.Pet`` Python instance, while C++ code in the ``cats`` module will result +in a ``cats.Pet`` Python instance. + +This does come with two caveats, however: First, external modules cannot return +or cast a ``Pet`` instance to Python (unless they also provide their own local +bindings). Second, from the Python point of view they are two distinct classes. + +Note that the locality only applies in the C++ -> Python direction. When +passing such a ``py::module_local`` type into a C++ function, the module-local +classes are still considered. This means that if the following function is +added to any module (including but not limited to the ``cats`` and ``dogs`` +modules above) it will be callable with either a ``dogs.Pet`` or ``cats.Pet`` +argument: + +.. code-block:: cpp + + m.def("pet_name", [](const pets::Pet &pet) { return pet.name(); }); + +For example, suppose the above function is added to each of ``cats.cpp``, +``dogs.cpp`` and ``frogs.cpp`` (where ``frogs.cpp`` is some other module that +does *not* bind ``Pets`` at all). + +.. code-block:: pycon + + >>> import cats, dogs, frogs # No error because of the added py::module_local() + >>> mycat, mydog = cats.Cat("Fluffy"), dogs.Dog("Rover") + >>> (cats.pet_name(mycat), dogs.pet_name(mydog)) + ('Fluffy', 'Rover') + >>> (cats.pet_name(mydog), dogs.pet_name(mycat), frogs.pet_name(mycat)) + ('Rover', 'Fluffy', 'Fluffy') + +It is possible to use ``py::module_local()`` registrations in one module even +if another module registers the same type globally: within the module with the +module-local definition, all C++ instances will be cast to the associated bound +Python type. In other modules any such values are converted to the global +Python type created elsewhere. + +.. note:: + + STL bindings (as provided via the optional :file:`pybind11/stl_bind.h` + header) apply ``py::module_local`` by default when the bound type might + conflict with other modules; see :ref:`stl_bind` for details. + +.. note:: + + The localization of the bound types is actually tied to the shared object + or binary generated by the compiler/linker. For typical modules created + with ``PYBIND11_MODULE()``, this distinction is not significant. It is + possible, however, when :ref:`embedding` to embed multiple modules in the + same binary (see :ref:`embedding_modules`). In such a case, the + localization will apply across all embedded modules within the same binary. + +.. seealso:: + + The file :file:`tests/test_local_bindings.cpp` contains additional examples + that demonstrate how ``py::module_local()`` works. + +Binding protected member functions +================================== + +It's normally not possible to expose ``protected`` member functions to Python: + +.. code-block:: cpp + + class A { + protected: + int foo() const { return 42; } + }; + + py::class_(m, "A") + .def("foo", &A::foo); // error: 'foo' is a protected member of 'A' + +On one hand, this is good because non-``public`` members aren't meant to be +accessed from the outside. But we may want to make use of ``protected`` +functions in derived Python classes. + +The following pattern makes this possible: + +.. code-block:: cpp + + class A { + protected: + int foo() const { return 42; } + }; + + class Publicist : public A { // helper type for exposing protected functions + public: + using A::foo; // inherited with different access modifier + }; + + py::class_(m, "A") // bind the primary class + .def("foo", &Publicist::foo); // expose protected methods via the publicist + +This works because ``&Publicist::foo`` is exactly the same function as +``&A::foo`` (same signature and address), just with a different access +modifier. The only purpose of the ``Publicist`` helper class is to make +the function name ``public``. + +If the intent is to expose ``protected`` ``virtual`` functions which can be +overridden in Python, the publicist pattern can be combined with the previously +described trampoline: + +.. code-block:: cpp + + class A { + public: + virtual ~A() = default; + + protected: + virtual int foo() const { return 42; } + }; + + class Trampoline : public A { + public: + int foo() const override { PYBIND11_OVERLOAD(int, A, foo, ); } + }; + + class Publicist : public A { + public: + using A::foo; + }; + + py::class_(m, "A") // <-- `Trampoline` here + .def("foo", &Publicist::foo); // <-- `Publicist` here, not `Trampoline`! + +.. note:: + + MSVC 2015 has a compiler bug (fixed in version 2017) which + requires a more explicit function binding in the form of + ``.def("foo", static_cast(&Publicist::foo));`` + where ``int (A::*)() const`` is the type of ``A::foo``. + +Custom automatic downcasters +============================ + +As explained in :ref:`inheritance`, pybind11 comes with built-in +understanding of the dynamic type of polymorphic objects in C++; that +is, returning a Pet to Python produces a Python object that knows it's +wrapping a Dog, if Pet has virtual methods and pybind11 knows about +Dog and this Pet is in fact a Dog. Sometimes, you might want to +provide this automatic downcasting behavior when creating bindings for +a class hierarchy that does not use standard C++ polymorphism, such as +LLVM [#f4]_. As long as there's some way to determine at runtime +whether a downcast is safe, you can proceed by specializing the +``pybind11::polymorphic_type_hook`` template: + +.. code-block:: cpp + + enum class PetKind { Cat, Dog, Zebra }; + struct Pet { // Not polymorphic: has no virtual methods + const PetKind kind; + int age = 0; + protected: + Pet(PetKind _kind) : kind(_kind) {} + }; + struct Dog : Pet { + Dog() : Pet(PetKind::Dog) {} + std::string sound = "woof!"; + std::string bark() const { return sound; } + }; + + namespace pybind11 { + template<> struct polymorphic_type_hook { + static const void *get(const Pet *src, const std::type_info*& type) { + // note that src may be nullptr + if (src && src->kind == PetKind::Dog) { + type = &typeid(Dog); + return static_cast(src); + } + return src; + } + }; + } // namespace pybind11 + +When pybind11 wants to convert a C++ pointer of type ``Base*`` to a +Python object, it calls ``polymorphic_type_hook::get()`` to +determine if a downcast is possible. The ``get()`` function should use +whatever runtime information is available to determine if its ``src`` +parameter is in fact an instance of some class ``Derived`` that +inherits from ``Base``. If it finds such a ``Derived``, it sets ``type += &typeid(Derived)`` and returns a pointer to the ``Derived`` object +that contains ``src``. Otherwise, it just returns ``src``, leaving +``type`` at its default value of nullptr. If you set ``type`` to a +type that pybind11 doesn't know about, no downcasting will occur, and +the original ``src`` pointer will be used with its static type +``Base*``. + +It is critical that the returned pointer and ``type`` argument of +``get()`` agree with each other: if ``type`` is set to something +non-null, the returned pointer must point to the start of an object +whose type is ``type``. If the hierarchy being exposed uses only +single inheritance, a simple ``return src;`` will achieve this just +fine, but in the general case, you must cast ``src`` to the +appropriate derived-class pointer (e.g. using +``static_cast(src)``) before allowing it to be returned as a +``void*``. + +.. [#f4] https://llvm.org/docs/HowToSetUpLLVMStyleRTTI.html + +.. note:: + + pybind11's standard support for downcasting objects whose types + have virtual methods is implemented using + ``polymorphic_type_hook`` too, using the standard C++ ability to + determine the most-derived type of a polymorphic object using + ``typeid()`` and to cast a base pointer to that most-derived type + (even if you don't know what it is) using ``dynamic_cast``. + +.. seealso:: + + The file :file:`tests/test_tagbased_polymorphic.cpp` contains a + more complete example, including a demonstration of how to provide + automatic downcasting for an entire class hierarchy without + writing one get() function for each class. diff --git a/wrap/python/pybind11/docs/advanced/embedding.rst b/wrap/python/pybind11/docs/advanced/embedding.rst new file mode 100644 index 000000000..393031603 --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/embedding.rst @@ -0,0 +1,261 @@ +.. _embedding: + +Embedding the interpreter +######################### + +While pybind11 is mainly focused on extending Python using C++, it's also +possible to do the reverse: embed the Python interpreter into a C++ program. +All of the other documentation pages still apply here, so refer to them for +general pybind11 usage. This section will cover a few extra things required +for embedding. + +Getting started +=============== + +A basic executable with an embedded interpreter can be created with just a few +lines of CMake and the ``pybind11::embed`` target, as shown below. For more +information, see :doc:`/compiling`. + +.. code-block:: cmake + + cmake_minimum_required(VERSION 3.0) + project(example) + + find_package(pybind11 REQUIRED) # or `add_subdirectory(pybind11)` + + add_executable(example main.cpp) + target_link_libraries(example PRIVATE pybind11::embed) + +The essential structure of the ``main.cpp`` file looks like this: + +.. code-block:: cpp + + #include // everything needed for embedding + namespace py = pybind11; + + int main() { + py::scoped_interpreter guard{}; // start the interpreter and keep it alive + + py::print("Hello, World!"); // use the Python API + } + +The interpreter must be initialized before using any Python API, which includes +all the functions and classes in pybind11. The RAII guard class `scoped_interpreter` +takes care of the interpreter lifetime. After the guard is destroyed, the interpreter +shuts down and clears its memory. No Python functions can be called after this. + +Executing Python code +===================== + +There are a few different ways to run Python code. One option is to use `eval`, +`exec` or `eval_file`, as explained in :ref:`eval`. Here is a quick example in +the context of an executable with an embedded interpreter: + +.. code-block:: cpp + + #include + namespace py = pybind11; + + int main() { + py::scoped_interpreter guard{}; + + py::exec(R"( + kwargs = dict(name="World", number=42) + message = "Hello, {name}! The answer is {number}".format(**kwargs) + print(message) + )"); + } + +Alternatively, similar results can be achieved using pybind11's API (see +:doc:`/advanced/pycpp/index` for more details). + +.. code-block:: cpp + + #include + namespace py = pybind11; + using namespace py::literals; + + int main() { + py::scoped_interpreter guard{}; + + auto kwargs = py::dict("name"_a="World", "number"_a=42); + auto message = "Hello, {name}! The answer is {number}"_s.format(**kwargs); + py::print(message); + } + +The two approaches can also be combined: + +.. code-block:: cpp + + #include + #include + + namespace py = pybind11; + using namespace py::literals; + + int main() { + py::scoped_interpreter guard{}; + + auto locals = py::dict("name"_a="World", "number"_a=42); + py::exec(R"( + message = "Hello, {name}! The answer is {number}".format(**locals()) + )", py::globals(), locals); + + auto message = locals["message"].cast(); + std::cout << message; + } + +Importing modules +================= + +Python modules can be imported using `module::import()`: + +.. code-block:: cpp + + py::module sys = py::module::import("sys"); + py::print(sys.attr("path")); + +For convenience, the current working directory is included in ``sys.path`` when +embedding the interpreter. This makes it easy to import local Python files: + +.. code-block:: python + + """calc.py located in the working directory""" + + def add(i, j): + return i + j + + +.. code-block:: cpp + + py::module calc = py::module::import("calc"); + py::object result = calc.attr("add")(1, 2); + int n = result.cast(); + assert(n == 3); + +Modules can be reloaded using `module::reload()` if the source is modified e.g. +by an external process. This can be useful in scenarios where the application +imports a user defined data processing script which needs to be updated after +changes by the user. Note that this function does not reload modules recursively. + +.. _embedding_modules: + +Adding embedded modules +======================= + +Embedded binary modules can be added using the `PYBIND11_EMBEDDED_MODULE` macro. +Note that the definition must be placed at global scope. They can be imported +like any other module. + +.. code-block:: cpp + + #include + namespace py = pybind11; + + PYBIND11_EMBEDDED_MODULE(fast_calc, m) { + // `m` is a `py::module` which is used to bind functions and classes + m.def("add", [](int i, int j) { + return i + j; + }); + } + + int main() { + py::scoped_interpreter guard{}; + + auto fast_calc = py::module::import("fast_calc"); + auto result = fast_calc.attr("add")(1, 2).cast(); + assert(result == 3); + } + +Unlike extension modules where only a single binary module can be created, on +the embedded side an unlimited number of modules can be added using multiple +`PYBIND11_EMBEDDED_MODULE` definitions (as long as they have unique names). + +These modules are added to Python's list of builtins, so they can also be +imported in pure Python files loaded by the interpreter. Everything interacts +naturally: + +.. code-block:: python + + """py_module.py located in the working directory""" + import cpp_module + + a = cpp_module.a + b = a + 1 + + +.. code-block:: cpp + + #include + namespace py = pybind11; + + PYBIND11_EMBEDDED_MODULE(cpp_module, m) { + m.attr("a") = 1; + } + + int main() { + py::scoped_interpreter guard{}; + + auto py_module = py::module::import("py_module"); + + auto locals = py::dict("fmt"_a="{} + {} = {}", **py_module.attr("__dict__")); + assert(locals["a"].cast() == 1); + assert(locals["b"].cast() == 2); + + py::exec(R"( + c = a + b + message = fmt.format(a, b, c) + )", py::globals(), locals); + + assert(locals["c"].cast() == 3); + assert(locals["message"].cast() == "1 + 2 = 3"); + } + + +Interpreter lifetime +==================== + +The Python interpreter shuts down when `scoped_interpreter` is destroyed. After +this, creating a new instance will restart the interpreter. Alternatively, the +`initialize_interpreter` / `finalize_interpreter` pair of functions can be used +to directly set the state at any time. + +Modules created with pybind11 can be safely re-initialized after the interpreter +has been restarted. However, this may not apply to third-party extension modules. +The issue is that Python itself cannot completely unload extension modules and +there are several caveats with regard to interpreter restarting. In short, not +all memory may be freed, either due to Python reference cycles or user-created +global data. All the details can be found in the CPython documentation. + +.. warning:: + + Creating two concurrent `scoped_interpreter` guards is a fatal error. So is + calling `initialize_interpreter` for a second time after the interpreter + has already been initialized. + + Do not use the raw CPython API functions ``Py_Initialize`` and + ``Py_Finalize`` as these do not properly handle the lifetime of + pybind11's internal data. + + +Sub-interpreter support +======================= + +Creating multiple copies of `scoped_interpreter` is not possible because it +represents the main Python interpreter. Sub-interpreters are something different +and they do permit the existence of multiple interpreters. This is an advanced +feature of the CPython API and should be handled with care. pybind11 does not +currently offer a C++ interface for sub-interpreters, so refer to the CPython +documentation for all the details regarding this feature. + +We'll just mention a couple of caveats the sub-interpreters support in pybind11: + + 1. Sub-interpreters will not receive independent copies of embedded modules. + Instead, these are shared and modifications in one interpreter may be + reflected in another. + + 2. Managing multiple threads, multiple interpreters and the GIL can be + challenging and there are several caveats here, even within the pure + CPython API (please refer to the Python docs for details). As for + pybind11, keep in mind that `gil_scoped_release` and `gil_scoped_acquire` + do not take sub-interpreters into account. diff --git a/wrap/python/pybind11/docs/advanced/exceptions.rst b/wrap/python/pybind11/docs/advanced/exceptions.rst new file mode 100644 index 000000000..75ac24ae9 --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/exceptions.rst @@ -0,0 +1,142 @@ +Exceptions +########## + +Built-in exception translation +============================== + +When C++ code invoked from Python throws an ``std::exception``, it is +automatically converted into a Python ``Exception``. pybind11 defines multiple +special exception classes that will map to different types of Python +exceptions: + +.. tabularcolumns:: |p{0.5\textwidth}|p{0.45\textwidth}| + ++--------------------------------------+--------------------------------------+ +| C++ exception type | Python exception type | ++======================================+======================================+ +| :class:`std::exception` | ``RuntimeError`` | ++--------------------------------------+--------------------------------------+ +| :class:`std::bad_alloc` | ``MemoryError`` | ++--------------------------------------+--------------------------------------+ +| :class:`std::domain_error` | ``ValueError`` | ++--------------------------------------+--------------------------------------+ +| :class:`std::invalid_argument` | ``ValueError`` | ++--------------------------------------+--------------------------------------+ +| :class:`std::length_error` | ``ValueError`` | ++--------------------------------------+--------------------------------------+ +| :class:`std::out_of_range` | ``IndexError`` | ++--------------------------------------+--------------------------------------+ +| :class:`std::range_error` | ``ValueError`` | ++--------------------------------------+--------------------------------------+ +| :class:`pybind11::stop_iteration` | ``StopIteration`` (used to implement | +| | custom iterators) | ++--------------------------------------+--------------------------------------+ +| :class:`pybind11::index_error` | ``IndexError`` (used to indicate out | +| | of bounds access in ``__getitem__``, | +| | ``__setitem__``, etc.) | ++--------------------------------------+--------------------------------------+ +| :class:`pybind11::value_error` | ``ValueError`` (used to indicate | +| | wrong value passed in | +| | ``container.remove(...)``) | ++--------------------------------------+--------------------------------------+ +| :class:`pybind11::key_error` | ``KeyError`` (used to indicate out | +| | of bounds access in ``__getitem__``, | +| | ``__setitem__`` in dict-like | +| | objects, etc.) | ++--------------------------------------+--------------------------------------+ +| :class:`pybind11::error_already_set` | Indicates that the Python exception | +| | flag has already been set via Python | +| | API calls from C++ code; this C++ | +| | exception is used to propagate such | +| | a Python exception back to Python. | ++--------------------------------------+--------------------------------------+ + +When a Python function invoked from C++ throws an exception, it is converted +into a C++ exception of type :class:`error_already_set` whose string payload +contains a textual summary. + +There is also a special exception :class:`cast_error` that is thrown by +:func:`handle::call` when the input arguments cannot be converted to Python +objects. + +Registering custom translators +============================== + +If the default exception conversion policy described above is insufficient, +pybind11 also provides support for registering custom exception translators. +To register a simple exception conversion that translates a C++ exception into +a new Python exception using the C++ exception's ``what()`` method, a helper +function is available: + +.. code-block:: cpp + + py::register_exception(module, "PyExp"); + +This call creates a Python exception class with the name ``PyExp`` in the given +module and automatically converts any encountered exceptions of type ``CppExp`` +into Python exceptions of type ``PyExp``. + +When more advanced exception translation is needed, the function +``py::register_exception_translator(translator)`` can be used to register +functions that can translate arbitrary exception types (and which may include +additional logic to do so). The function takes a stateless callable (e.g. a +function pointer or a lambda function without captured variables) with the call +signature ``void(std::exception_ptr)``. + +When a C++ exception is thrown, the registered exception translators are tried +in reverse order of registration (i.e. the last registered translator gets the +first shot at handling the exception). + +Inside the translator, ``std::rethrow_exception`` should be used within +a try block to re-throw the exception. One or more catch clauses to catch +the appropriate exceptions should then be used with each clause using +``PyErr_SetString`` to set a Python exception or ``ex(string)`` to set +the python exception to a custom exception type (see below). + +To declare a custom Python exception type, declare a ``py::exception`` variable +and use this in the associated exception translator (note: it is often useful +to make this a static declaration when using it inside a lambda expression +without requiring capturing). + + +The following example demonstrates this for a hypothetical exception classes +``MyCustomException`` and ``OtherException``: the first is translated to a +custom python exception ``MyCustomError``, while the second is translated to a +standard python RuntimeError: + +.. code-block:: cpp + + static py::exception exc(m, "MyCustomError"); + py::register_exception_translator([](std::exception_ptr p) { + try { + if (p) std::rethrow_exception(p); + } catch (const MyCustomException &e) { + exc(e.what()); + } catch (const OtherException &e) { + PyErr_SetString(PyExc_RuntimeError, e.what()); + } + }); + +Multiple exceptions can be handled by a single translator, as shown in the +example above. If the exception is not caught by the current translator, the +previously registered one gets a chance. + +If none of the registered exception translators is able to handle the +exception, it is handled by the default converter as described in the previous +section. + +.. seealso:: + + The file :file:`tests/test_exceptions.cpp` contains examples + of various custom exception translators and custom exception types. + +.. note:: + + You must call either ``PyErr_SetString`` or a custom exception's call + operator (``exc(string)``) for every exception caught in a custom exception + translator. Failure to do so will cause Python to crash with ``SystemError: + error return without exception set``. + + Exceptions that you do not plan to handle should simply not be caught, or + may be explicitly (re-)thrown to delegate it to the other, + previously-declared existing exception translators. diff --git a/wrap/python/pybind11/docs/advanced/functions.rst b/wrap/python/pybind11/docs/advanced/functions.rst new file mode 100644 index 000000000..3e1a3ff0e --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/functions.rst @@ -0,0 +1,507 @@ +Functions +######### + +Before proceeding with this section, make sure that you are already familiar +with the basics of binding functions and classes, as explained in :doc:`/basics` +and :doc:`/classes`. The following guide is applicable to both free and member +functions, i.e. *methods* in Python. + +.. _return_value_policies: + +Return value policies +===================== + +Python and C++ use fundamentally different ways of managing the memory and +lifetime of objects managed by them. This can lead to issues when creating +bindings for functions that return a non-trivial type. Just by looking at the +type information, it is not clear whether Python should take charge of the +returned value and eventually free its resources, or if this is handled on the +C++ side. For this reason, pybind11 provides a several *return value policy* +annotations that can be passed to the :func:`module::def` and +:func:`class_::def` functions. The default policy is +:enum:`return_value_policy::automatic`. + +Return value policies are tricky, and it's very important to get them right. +Just to illustrate what can go wrong, consider the following simple example: + +.. code-block:: cpp + + /* Function declaration */ + Data *get_data() { return _data; /* (pointer to a static data structure) */ } + ... + + /* Binding code */ + m.def("get_data", &get_data); // <-- KABOOM, will cause crash when called from Python + +What's going on here? When ``get_data()`` is called from Python, the return +value (a native C++ type) must be wrapped to turn it into a usable Python type. +In this case, the default return value policy (:enum:`return_value_policy::automatic`) +causes pybind11 to assume ownership of the static ``_data`` instance. + +When Python's garbage collector eventually deletes the Python +wrapper, pybind11 will also attempt to delete the C++ instance (via ``operator +delete()``) due to the implied ownership. At this point, the entire application +will come crashing down, though errors could also be more subtle and involve +silent data corruption. + +In the above example, the policy :enum:`return_value_policy::reference` should have +been specified so that the global data instance is only *referenced* without any +implied transfer of ownership, i.e.: + +.. code-block:: cpp + + m.def("get_data", &get_data, return_value_policy::reference); + +On the other hand, this is not the right policy for many other situations, +where ignoring ownership could lead to resource leaks. +As a developer using pybind11, it's important to be familiar with the different +return value policies, including which situation calls for which one of them. +The following table provides an overview of available policies: + +.. tabularcolumns:: |p{0.5\textwidth}|p{0.45\textwidth}| + ++--------------------------------------------------+----------------------------------------------------------------------------+ +| Return value policy | Description | ++==================================================+============================================================================+ +| :enum:`return_value_policy::take_ownership` | Reference an existing object (i.e. do not create a new copy) and take | +| | ownership. Python will call the destructor and delete operator when the | +| | object's reference count reaches zero. Undefined behavior ensues when the | +| | C++ side does the same, or when the data was not dynamically allocated. | ++--------------------------------------------------+----------------------------------------------------------------------------+ +| :enum:`return_value_policy::copy` | Create a new copy of the returned object, which will be owned by Python. | +| | This policy is comparably safe because the lifetimes of the two instances | +| | are decoupled. | ++--------------------------------------------------+----------------------------------------------------------------------------+ +| :enum:`return_value_policy::move` | Use ``std::move`` to move the return value contents into a new instance | +| | that will be owned by Python. This policy is comparably safe because the | +| | lifetimes of the two instances (move source and destination) are decoupled.| ++--------------------------------------------------+----------------------------------------------------------------------------+ +| :enum:`return_value_policy::reference` | Reference an existing object, but do not take ownership. The C++ side is | +| | responsible for managing the object's lifetime and deallocating it when | +| | it is no longer used. Warning: undefined behavior will ensue when the C++ | +| | side deletes an object that is still referenced and used by Python. | ++--------------------------------------------------+----------------------------------------------------------------------------+ +| :enum:`return_value_policy::reference_internal` | Indicates that the lifetime of the return value is tied to the lifetime | +| | of a parent object, namely the implicit ``this``, or ``self`` argument of | +| | the called method or property. Internally, this policy works just like | +| | :enum:`return_value_policy::reference` but additionally applies a | +| | ``keep_alive<0, 1>`` *call policy* (described in the next section) that | +| | prevents the parent object from being garbage collected as long as the | +| | return value is referenced by Python. This is the default policy for | +| | property getters created via ``def_property``, ``def_readwrite``, etc. | ++--------------------------------------------------+----------------------------------------------------------------------------+ +| :enum:`return_value_policy::automatic` | **Default policy.** This policy falls back to the policy | +| | :enum:`return_value_policy::take_ownership` when the return value is a | +| | pointer. Otherwise, it uses :enum:`return_value_policy::move` or | +| | :enum:`return_value_policy::copy` for rvalue and lvalue references, | +| | respectively. See above for a description of what all of these different | +| | policies do. | ++--------------------------------------------------+----------------------------------------------------------------------------+ +| :enum:`return_value_policy::automatic_reference` | As above, but use policy :enum:`return_value_policy::reference` when the | +| | return value is a pointer. This is the default conversion policy for | +| | function arguments when calling Python functions manually from C++ code | +| | (i.e. via handle::operator()). You probably won't need to use this. | ++--------------------------------------------------+----------------------------------------------------------------------------+ + +Return value policies can also be applied to properties: + +.. code-block:: cpp + + class_(m, "MyClass") + .def_property("data", &MyClass::getData, &MyClass::setData, + py::return_value_policy::copy); + +Technically, the code above applies the policy to both the getter and the +setter function, however, the setter doesn't really care about *return* +value policies which makes this a convenient terse syntax. Alternatively, +targeted arguments can be passed through the :class:`cpp_function` constructor: + +.. code-block:: cpp + + class_(m, "MyClass") + .def_property("data" + py::cpp_function(&MyClass::getData, py::return_value_policy::copy), + py::cpp_function(&MyClass::setData) + ); + +.. warning:: + + Code with invalid return value policies might access uninitialized memory or + free data structures multiple times, which can lead to hard-to-debug + non-determinism and segmentation faults, hence it is worth spending the + time to understand all the different options in the table above. + +.. note:: + + One important aspect of the above policies is that they only apply to + instances which pybind11 has *not* seen before, in which case the policy + clarifies essential questions about the return value's lifetime and + ownership. When pybind11 knows the instance already (as identified by its + type and address in memory), it will return the existing Python object + wrapper rather than creating a new copy. + +.. note:: + + The next section on :ref:`call_policies` discusses *call policies* that can be + specified *in addition* to a return value policy from the list above. Call + policies indicate reference relationships that can involve both return values + and parameters of functions. + +.. note:: + + As an alternative to elaborate call policies and lifetime management logic, + consider using smart pointers (see the section on :ref:`smart_pointers` for + details). Smart pointers can tell whether an object is still referenced from + C++ or Python, which generally eliminates the kinds of inconsistencies that + can lead to crashes or undefined behavior. For functions returning smart + pointers, it is not necessary to specify a return value policy. + +.. _call_policies: + +Additional call policies +======================== + +In addition to the above return value policies, further *call policies* can be +specified to indicate dependencies between parameters or ensure a certain state +for the function call. + +Keep alive +---------- + +In general, this policy is required when the C++ object is any kind of container +and another object is being added to the container. ``keep_alive`` +indicates that the argument with index ``Patient`` should be kept alive at least +until the argument with index ``Nurse`` is freed by the garbage collector. Argument +indices start at one, while zero refers to the return value. For methods, index +``1`` refers to the implicit ``this`` pointer, while regular arguments begin at +index ``2``. Arbitrarily many call policies can be specified. When a ``Nurse`` +with value ``None`` is detected at runtime, the call policy does nothing. + +When the nurse is not a pybind11-registered type, the implementation internally +relies on the ability to create a *weak reference* to the nurse object. When +the nurse object is not a pybind11-registered type and does not support weak +references, an exception will be thrown. + +Consider the following example: here, the binding code for a list append +operation ties the lifetime of the newly added element to the underlying +container: + +.. code-block:: cpp + + py::class_(m, "List") + .def("append", &List::append, py::keep_alive<1, 2>()); + +For consistency, the argument indexing is identical for constructors. Index +``1`` still refers to the implicit ``this`` pointer, i.e. the object which is +being constructed. Index ``0`` refers to the return type which is presumed to +be ``void`` when a constructor is viewed like a function. The following example +ties the lifetime of the constructor element to the constructed object: + +.. code-block:: cpp + + py::class_(m, "Nurse") + .def(py::init(), py::keep_alive<1, 2>()); + +.. note:: + + ``keep_alive`` is analogous to the ``with_custodian_and_ward`` (if Nurse, + Patient != 0) and ``with_custodian_and_ward_postcall`` (if Nurse/Patient == + 0) policies from Boost.Python. + +Call guard +---------- + +The ``call_guard`` policy allows any scope guard type ``T`` to be placed +around the function call. For example, this definition: + +.. code-block:: cpp + + m.def("foo", foo, py::call_guard()); + +is equivalent to the following pseudocode: + +.. code-block:: cpp + + m.def("foo", [](args...) { + T scope_guard; + return foo(args...); // forwarded arguments + }); + +The only requirement is that ``T`` is default-constructible, but otherwise any +scope guard will work. This is very useful in combination with `gil_scoped_release`. +See :ref:`gil`. + +Multiple guards can also be specified as ``py::call_guard``. The +constructor order is left to right and destruction happens in reverse. + +.. seealso:: + + The file :file:`tests/test_call_policies.cpp` contains a complete example + that demonstrates using `keep_alive` and `call_guard` in more detail. + +.. _python_objects_as_args: + +Python objects as arguments +=========================== + +pybind11 exposes all major Python types using thin C++ wrapper classes. These +wrapper classes can also be used as parameters of functions in bindings, which +makes it possible to directly work with native Python types on the C++ side. +For instance, the following statement iterates over a Python ``dict``: + +.. code-block:: cpp + + void print_dict(py::dict dict) { + /* Easily interact with Python types */ + for (auto item : dict) + std::cout << "key=" << std::string(py::str(item.first)) << ", " + << "value=" << std::string(py::str(item.second)) << std::endl; + } + +It can be exported: + +.. code-block:: cpp + + m.def("print_dict", &print_dict); + +And used in Python as usual: + +.. code-block:: pycon + + >>> print_dict({'foo': 123, 'bar': 'hello'}) + key=foo, value=123 + key=bar, value=hello + +For more information on using Python objects in C++, see :doc:`/advanced/pycpp/index`. + +Accepting \*args and \*\*kwargs +=============================== + +Python provides a useful mechanism to define functions that accept arbitrary +numbers of arguments and keyword arguments: + +.. code-block:: python + + def generic(*args, **kwargs): + ... # do something with args and kwargs + +Such functions can also be created using pybind11: + +.. code-block:: cpp + + void generic(py::args args, py::kwargs kwargs) { + /// .. do something with args + if (kwargs) + /// .. do something with kwargs + } + + /// Binding code + m.def("generic", &generic); + +The class ``py::args`` derives from ``py::tuple`` and ``py::kwargs`` derives +from ``py::dict``. + +You may also use just one or the other, and may combine these with other +arguments as long as the ``py::args`` and ``py::kwargs`` arguments are the last +arguments accepted by the function. + +Please refer to the other examples for details on how to iterate over these, +and on how to cast their entries into C++ objects. A demonstration is also +available in ``tests/test_kwargs_and_defaults.cpp``. + +.. note:: + + When combining \*args or \*\*kwargs with :ref:`keyword_args` you should + *not* include ``py::arg`` tags for the ``py::args`` and ``py::kwargs`` + arguments. + +Default arguments revisited +=========================== + +The section on :ref:`default_args` previously discussed basic usage of default +arguments using pybind11. One noteworthy aspect of their implementation is that +default arguments are converted to Python objects right at declaration time. +Consider the following example: + +.. code-block:: cpp + + py::class_("MyClass") + .def("myFunction", py::arg("arg") = SomeType(123)); + +In this case, pybind11 must already be set up to deal with values of the type +``SomeType`` (via a prior instantiation of ``py::class_``), or an +exception will be thrown. + +Another aspect worth highlighting is that the "preview" of the default argument +in the function signature is generated using the object's ``__repr__`` method. +If not available, the signature may not be very helpful, e.g.: + +.. code-block:: pycon + + FUNCTIONS + ... + | myFunction(...) + | Signature : (MyClass, arg : SomeType = ) -> NoneType + ... + +The first way of addressing this is by defining ``SomeType.__repr__``. +Alternatively, it is possible to specify the human-readable preview of the +default argument manually using the ``arg_v`` notation: + +.. code-block:: cpp + + py::class_("MyClass") + .def("myFunction", py::arg_v("arg", SomeType(123), "SomeType(123)")); + +Sometimes it may be necessary to pass a null pointer value as a default +argument. In this case, remember to cast it to the underlying type in question, +like so: + +.. code-block:: cpp + + py::class_("MyClass") + .def("myFunction", py::arg("arg") = (SomeType *) nullptr); + +.. _nonconverting_arguments: + +Non-converting arguments +======================== + +Certain argument types may support conversion from one type to another. Some +examples of conversions are: + +* :ref:`implicit_conversions` declared using ``py::implicitly_convertible()`` +* Calling a method accepting a double with an integer argument +* Calling a ``std::complex`` argument with a non-complex python type + (for example, with a float). (Requires the optional ``pybind11/complex.h`` + header). +* Calling a function taking an Eigen matrix reference with a numpy array of the + wrong type or of an incompatible data layout. (Requires the optional + ``pybind11/eigen.h`` header). + +This behaviour is sometimes undesirable: the binding code may prefer to raise +an error rather than convert the argument. This behaviour can be obtained +through ``py::arg`` by calling the ``.noconvert()`` method of the ``py::arg`` +object, such as: + +.. code-block:: cpp + + m.def("floats_only", [](double f) { return 0.5 * f; }, py::arg("f").noconvert()); + m.def("floats_preferred", [](double f) { return 0.5 * f; }, py::arg("f")); + +Attempting the call the second function (the one without ``.noconvert()``) with +an integer will succeed, but attempting to call the ``.noconvert()`` version +will fail with a ``TypeError``: + +.. code-block:: pycon + + >>> floats_preferred(4) + 2.0 + >>> floats_only(4) + Traceback (most recent call last): + File "", line 1, in + TypeError: floats_only(): incompatible function arguments. The following argument types are supported: + 1. (f: float) -> float + + Invoked with: 4 + +You may, of course, combine this with the :var:`_a` shorthand notation (see +:ref:`keyword_args`) and/or :ref:`default_args`. It is also permitted to omit +the argument name by using the ``py::arg()`` constructor without an argument +name, i.e. by specifying ``py::arg().noconvert()``. + +.. note:: + + When specifying ``py::arg`` options it is necessary to provide the same + number of options as the bound function has arguments. Thus if you want to + enable no-convert behaviour for just one of several arguments, you will + need to specify a ``py::arg()`` annotation for each argument with the + no-convert argument modified to ``py::arg().noconvert()``. + +.. _none_arguments: + +Allow/Prohibiting None arguments +================================ + +When a C++ type registered with :class:`py::class_` is passed as an argument to +a function taking the instance as pointer or shared holder (e.g. ``shared_ptr`` +or a custom, copyable holder as described in :ref:`smart_pointers`), pybind +allows ``None`` to be passed from Python which results in calling the C++ +function with ``nullptr`` (or an empty holder) for the argument. + +To explicitly enable or disable this behaviour, using the +``.none`` method of the :class:`py::arg` object: + +.. code-block:: cpp + + py::class_(m, "Dog").def(py::init<>()); + py::class_(m, "Cat").def(py::init<>()); + m.def("bark", [](Dog *dog) -> std::string { + if (dog) return "woof!"; /* Called with a Dog instance */ + else return "(no dog)"; /* Called with None, dog == nullptr */ + }, py::arg("dog").none(true)); + m.def("meow", [](Cat *cat) -> std::string { + // Can't be called with None argument + return "meow"; + }, py::arg("cat").none(false)); + +With the above, the Python call ``bark(None)`` will return the string ``"(no +dog)"``, while attempting to call ``meow(None)`` will raise a ``TypeError``: + +.. code-block:: pycon + + >>> from animals import Dog, Cat, bark, meow + >>> bark(Dog()) + 'woof!' + >>> meow(Cat()) + 'meow' + >>> bark(None) + '(no dog)' + >>> meow(None) + Traceback (most recent call last): + File "", line 1, in + TypeError: meow(): incompatible function arguments. The following argument types are supported: + 1. (cat: animals.Cat) -> str + + Invoked with: None + +The default behaviour when the tag is unspecified is to allow ``None``. + +.. note:: + + Even when ``.none(true)`` is specified for an argument, ``None`` will be converted to a + ``nullptr`` *only* for custom and :ref:`opaque ` types. Pointers to built-in types + (``double *``, ``int *``, ...) and STL types (``std::vector *``, ...; if ``pybind11/stl.h`` + is included) are copied when converted to C++ (see :doc:`/advanced/cast/overview`) and will + not allow ``None`` as argument. To pass optional argument of these copied types consider + using ``std::optional`` + +Overload resolution order +========================= + +When a function or method with multiple overloads is called from Python, +pybind11 determines which overload to call in two passes. The first pass +attempts to call each overload without allowing argument conversion (as if +every argument had been specified as ``py::arg().noconvert()`` as described +above). + +If no overload succeeds in the no-conversion first pass, a second pass is +attempted in which argument conversion is allowed (except where prohibited via +an explicit ``py::arg().noconvert()`` attribute in the function definition). + +If the second pass also fails a ``TypeError`` is raised. + +Within each pass, overloads are tried in the order they were registered with +pybind11. + +What this means in practice is that pybind11 will prefer any overload that does +not require conversion of arguments to an overload that does, but otherwise prefers +earlier-defined overloads to later-defined ones. + +.. note:: + + pybind11 does *not* further prioritize based on the number/pattern of + overloaded arguments. That is, pybind11 does not prioritize a function + requiring one conversion over one requiring three, but only prioritizes + overloads requiring no conversion at all to overloads that require + conversion of at least one argument. diff --git a/wrap/python/pybind11/docs/advanced/misc.rst b/wrap/python/pybind11/docs/advanced/misc.rst new file mode 100644 index 000000000..5b38ec759 --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/misc.rst @@ -0,0 +1,306 @@ +Miscellaneous +############# + +.. _macro_notes: + +General notes regarding convenience macros +========================================== + +pybind11 provides a few convenience macros such as +:func:`PYBIND11_DECLARE_HOLDER_TYPE` and ``PYBIND11_OVERLOAD_*``. Since these +are "just" macros that are evaluated in the preprocessor (which has no concept +of types), they *will* get confused by commas in a template argument; for +example, consider: + +.. code-block:: cpp + + PYBIND11_OVERLOAD(MyReturnType, Class, func) + +The limitation of the C preprocessor interprets this as five arguments (with new +arguments beginning after each comma) rather than three. To get around this, +there are two alternatives: you can use a type alias, or you can wrap the type +using the ``PYBIND11_TYPE`` macro: + +.. code-block:: cpp + + // Version 1: using a type alias + using ReturnType = MyReturnType; + using ClassType = Class; + PYBIND11_OVERLOAD(ReturnType, ClassType, func); + + // Version 2: using the PYBIND11_TYPE macro: + PYBIND11_OVERLOAD(PYBIND11_TYPE(MyReturnType), + PYBIND11_TYPE(Class), func) + +The ``PYBIND11_MAKE_OPAQUE`` macro does *not* require the above workarounds. + +.. _gil: + +Global Interpreter Lock (GIL) +============================= + +When calling a C++ function from Python, the GIL is always held. +The classes :class:`gil_scoped_release` and :class:`gil_scoped_acquire` can be +used to acquire and release the global interpreter lock in the body of a C++ +function call. In this way, long-running C++ code can be parallelized using +multiple Python threads. Taking :ref:`overriding_virtuals` as an example, this +could be realized as follows (important changes highlighted): + +.. code-block:: cpp + :emphasize-lines: 8,9,31,32 + + class PyAnimal : public Animal { + public: + /* Inherit the constructors */ + using Animal::Animal; + + /* Trampoline (need one for each virtual function) */ + std::string go(int n_times) { + /* Acquire GIL before calling Python code */ + py::gil_scoped_acquire acquire; + + PYBIND11_OVERLOAD_PURE( + std::string, /* Return type */ + Animal, /* Parent class */ + go, /* Name of function */ + n_times /* Argument(s) */ + ); + } + }; + + PYBIND11_MODULE(example, m) { + py::class_ animal(m, "Animal"); + animal + .def(py::init<>()) + .def("go", &Animal::go); + + py::class_(m, "Dog", animal) + .def(py::init<>()); + + m.def("call_go", [](Animal *animal) -> std::string { + /* Release GIL before calling into (potentially long-running) C++ code */ + py::gil_scoped_release release; + return call_go(animal); + }); + } + +The ``call_go`` wrapper can also be simplified using the `call_guard` policy +(see :ref:`call_policies`) which yields the same result: + +.. code-block:: cpp + + m.def("call_go", &call_go, py::call_guard()); + + +Binding sequence data types, iterators, the slicing protocol, etc. +================================================================== + +Please refer to the supplemental example for details. + +.. seealso:: + + The file :file:`tests/test_sequences_and_iterators.cpp` contains a + complete example that shows how to bind a sequence data type, including + length queries (``__len__``), iterators (``__iter__``), the slicing + protocol and other kinds of useful operations. + + +Partitioning code over multiple extension modules +================================================= + +It's straightforward to split binding code over multiple extension modules, +while referencing types that are declared elsewhere. Everything "just" works +without any special precautions. One exception to this rule occurs when +extending a type declared in another extension module. Recall the basic example +from Section :ref:`inheritance`. + +.. code-block:: cpp + + py::class_ pet(m, "Pet"); + pet.def(py::init()) + .def_readwrite("name", &Pet::name); + + py::class_(m, "Dog", pet /* <- specify parent */) + .def(py::init()) + .def("bark", &Dog::bark); + +Suppose now that ``Pet`` bindings are defined in a module named ``basic``, +whereas the ``Dog`` bindings are defined somewhere else. The challenge is of +course that the variable ``pet`` is not available anymore though it is needed +to indicate the inheritance relationship to the constructor of ``class_``. +However, it can be acquired as follows: + +.. code-block:: cpp + + py::object pet = (py::object) py::module::import("basic").attr("Pet"); + + py::class_(m, "Dog", pet) + .def(py::init()) + .def("bark", &Dog::bark); + +Alternatively, you can specify the base class as a template parameter option to +``class_``, which performs an automated lookup of the corresponding Python +type. Like the above code, however, this also requires invoking the ``import`` +function once to ensure that the pybind11 binding code of the module ``basic`` +has been executed: + +.. code-block:: cpp + + py::module::import("basic"); + + py::class_(m, "Dog") + .def(py::init()) + .def("bark", &Dog::bark); + +Naturally, both methods will fail when there are cyclic dependencies. + +Note that pybind11 code compiled with hidden-by-default symbol visibility (e.g. +via the command line flag ``-fvisibility=hidden`` on GCC/Clang), which is +required for proper pybind11 functionality, can interfere with the ability to +access types defined in another extension module. Working around this requires +manually exporting types that are accessed by multiple extension modules; +pybind11 provides a macro to do just this: + +.. code-block:: cpp + + class PYBIND11_EXPORT Dog : public Animal { + ... + }; + +Note also that it is possible (although would rarely be required) to share arbitrary +C++ objects between extension modules at runtime. Internal library data is shared +between modules using capsule machinery [#f6]_ which can be also utilized for +storing, modifying and accessing user-defined data. Note that an extension module +will "see" other extensions' data if and only if they were built with the same +pybind11 version. Consider the following example: + +.. code-block:: cpp + + auto data = (MyData *) py::get_shared_data("mydata"); + if (!data) + data = (MyData *) py::set_shared_data("mydata", new MyData(42)); + +If the above snippet was used in several separately compiled extension modules, +the first one to be imported would create a ``MyData`` instance and associate +a ``"mydata"`` key with a pointer to it. Extensions that are imported later +would be then able to access the data behind the same pointer. + +.. [#f6] https://docs.python.org/3/extending/extending.html#using-capsules + +Module Destructors +================== + +pybind11 does not provide an explicit mechanism to invoke cleanup code at +module destruction time. In rare cases where such functionality is required, it +is possible to emulate it using Python capsules or weak references with a +destruction callback. + +.. code-block:: cpp + + auto cleanup_callback = []() { + // perform cleanup here -- this function is called with the GIL held + }; + + m.add_object("_cleanup", py::capsule(cleanup_callback)); + +This approach has the potential downside that instances of classes exposed +within the module may still be alive when the cleanup callback is invoked +(whether this is acceptable will generally depend on the application). + +Alternatively, the capsule may also be stashed within a type object, which +ensures that it not called before all instances of that type have been +collected: + +.. code-block:: cpp + + auto cleanup_callback = []() { /* ... */ }; + m.attr("BaseClass").attr("_cleanup") = py::capsule(cleanup_callback); + +Both approaches also expose a potentially dangerous ``_cleanup`` attribute in +Python, which may be undesirable from an API standpoint (a premature explicit +call from Python might lead to undefined behavior). Yet another approach that +avoids this issue involves weak reference with a cleanup callback: + +.. code-block:: cpp + + // Register a callback function that is invoked when the BaseClass object is colelcted + py::cpp_function cleanup_callback( + [](py::handle weakref) { + // perform cleanup here -- this function is called with the GIL held + + weakref.dec_ref(); // release weak reference + } + ); + + // Create a weak reference with a cleanup callback and initially leak it + (void) py::weakref(m.attr("BaseClass"), cleanup_callback).release(); + +.. note:: + + PyPy (at least version 5.9) does not garbage collect objects when the + interpreter exits. An alternative approach (which also works on CPython) is to use + the :py:mod:`atexit` module [#f7]_, for example: + + .. code-block:: cpp + + auto atexit = py::module::import("atexit"); + atexit.attr("register")(py::cpp_function([]() { + // perform cleanup here -- this function is called with the GIL held + })); + + .. [#f7] https://docs.python.org/3/library/atexit.html + + +Generating documentation using Sphinx +===================================== + +Sphinx [#f4]_ has the ability to inspect the signatures and documentation +strings in pybind11-based extension modules to automatically generate beautiful +documentation in a variety formats. The python_example repository [#f5]_ contains a +simple example repository which uses this approach. + +There are two potential gotchas when using this approach: first, make sure that +the resulting strings do not contain any :kbd:`TAB` characters, which break the +docstring parsing routines. You may want to use C++11 raw string literals, +which are convenient for multi-line comments. Conveniently, any excess +indentation will be automatically be removed by Sphinx. However, for this to +work, it is important that all lines are indented consistently, i.e.: + +.. code-block:: cpp + + // ok + m.def("foo", &foo, R"mydelimiter( + The foo function + + Parameters + ---------- + )mydelimiter"); + + // *not ok* + m.def("foo", &foo, R"mydelimiter(The foo function + + Parameters + ---------- + )mydelimiter"); + +By default, pybind11 automatically generates and prepends a signature to the docstring of a function +registered with ``module::def()`` and ``class_::def()``. Sometimes this +behavior is not desirable, because you want to provide your own signature or remove +the docstring completely to exclude the function from the Sphinx documentation. +The class ``options`` allows you to selectively suppress auto-generated signatures: + +.. code-block:: cpp + + PYBIND11_MODULE(example, m) { + py::options options; + options.disable_function_signatures(); + + m.def("add", [](int a, int b) { return a + b; }, "A function which adds two numbers"); + } + +Note that changes to the settings affect only function bindings created during the +lifetime of the ``options`` instance. When it goes out of scope at the end of the module's init function, +the default settings are restored to prevent unwanted side effects. + +.. [#f4] http://www.sphinx-doc.org +.. [#f5] http://github.com/pybind/python_example diff --git a/wrap/python/pybind11/docs/advanced/pycpp/index.rst b/wrap/python/pybind11/docs/advanced/pycpp/index.rst new file mode 100644 index 000000000..6885bdcff --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/pycpp/index.rst @@ -0,0 +1,13 @@ +Python C++ interface +#################### + +pybind11 exposes Python types and functions using thin C++ wrappers, which +makes it possible to conveniently call Python code from C++ without resorting +to Python's C API. + +.. toctree:: + :maxdepth: 2 + + object + numpy + utilities diff --git a/wrap/python/pybind11/docs/advanced/pycpp/numpy.rst b/wrap/python/pybind11/docs/advanced/pycpp/numpy.rst new file mode 100644 index 000000000..458f99e97 --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/pycpp/numpy.rst @@ -0,0 +1,386 @@ +.. _numpy: + +NumPy +##### + +Buffer protocol +=============== + +Python supports an extremely general and convenient approach for exchanging +data between plugin libraries. Types can expose a buffer view [#f2]_, which +provides fast direct access to the raw internal data representation. Suppose we +want to bind the following simplistic Matrix class: + +.. code-block:: cpp + + class Matrix { + public: + Matrix(size_t rows, size_t cols) : m_rows(rows), m_cols(cols) { + m_data = new float[rows*cols]; + } + float *data() { return m_data; } + size_t rows() const { return m_rows; } + size_t cols() const { return m_cols; } + private: + size_t m_rows, m_cols; + float *m_data; + }; + +The following binding code exposes the ``Matrix`` contents as a buffer object, +making it possible to cast Matrices into NumPy arrays. It is even possible to +completely avoid copy operations with Python expressions like +``np.array(matrix_instance, copy = False)``. + +.. code-block:: cpp + + py::class_(m, "Matrix", py::buffer_protocol()) + .def_buffer([](Matrix &m) -> py::buffer_info { + return py::buffer_info( + m.data(), /* Pointer to buffer */ + sizeof(float), /* Size of one scalar */ + py::format_descriptor::format(), /* Python struct-style format descriptor */ + 2, /* Number of dimensions */ + { m.rows(), m.cols() }, /* Buffer dimensions */ + { sizeof(float) * m.cols(), /* Strides (in bytes) for each index */ + sizeof(float) } + ); + }); + +Supporting the buffer protocol in a new type involves specifying the special +``py::buffer_protocol()`` tag in the ``py::class_`` constructor and calling the +``def_buffer()`` method with a lambda function that creates a +``py::buffer_info`` description record on demand describing a given matrix +instance. The contents of ``py::buffer_info`` mirror the Python buffer protocol +specification. + +.. code-block:: cpp + + struct buffer_info { + void *ptr; + ssize_t itemsize; + std::string format; + ssize_t ndim; + std::vector shape; + std::vector strides; + }; + +To create a C++ function that can take a Python buffer object as an argument, +simply use the type ``py::buffer`` as one of its arguments. Buffers can exist +in a great variety of configurations, hence some safety checks are usually +necessary in the function body. Below, you can see an basic example on how to +define a custom constructor for the Eigen double precision matrix +(``Eigen::MatrixXd``) type, which supports initialization from compatible +buffer objects (e.g. a NumPy matrix). + +.. code-block:: cpp + + /* Bind MatrixXd (or some other Eigen type) to Python */ + typedef Eigen::MatrixXd Matrix; + + typedef Matrix::Scalar Scalar; + constexpr bool rowMajor = Matrix::Flags & Eigen::RowMajorBit; + + py::class_(m, "Matrix", py::buffer_protocol()) + .def("__init__", [](Matrix &m, py::buffer b) { + typedef Eigen::Stride Strides; + + /* Request a buffer descriptor from Python */ + py::buffer_info info = b.request(); + + /* Some sanity checks ... */ + if (info.format != py::format_descriptor::format()) + throw std::runtime_error("Incompatible format: expected a double array!"); + + if (info.ndim != 2) + throw std::runtime_error("Incompatible buffer dimension!"); + + auto strides = Strides( + info.strides[rowMajor ? 0 : 1] / (py::ssize_t)sizeof(Scalar), + info.strides[rowMajor ? 1 : 0] / (py::ssize_t)sizeof(Scalar)); + + auto map = Eigen::Map( + static_cast(info.ptr), info.shape[0], info.shape[1], strides); + + new (&m) Matrix(map); + }); + +For reference, the ``def_buffer()`` call for this Eigen data type should look +as follows: + +.. code-block:: cpp + + .def_buffer([](Matrix &m) -> py::buffer_info { + return py::buffer_info( + m.data(), /* Pointer to buffer */ + sizeof(Scalar), /* Size of one scalar */ + py::format_descriptor::format(), /* Python struct-style format descriptor */ + 2, /* Number of dimensions */ + { m.rows(), m.cols() }, /* Buffer dimensions */ + { sizeof(Scalar) * (rowMajor ? m.cols() : 1), + sizeof(Scalar) * (rowMajor ? 1 : m.rows()) } + /* Strides (in bytes) for each index */ + ); + }) + +For a much easier approach of binding Eigen types (although with some +limitations), refer to the section on :doc:`/advanced/cast/eigen`. + +.. seealso:: + + The file :file:`tests/test_buffers.cpp` contains a complete example + that demonstrates using the buffer protocol with pybind11 in more detail. + +.. [#f2] http://docs.python.org/3/c-api/buffer.html + +Arrays +====== + +By exchanging ``py::buffer`` with ``py::array`` in the above snippet, we can +restrict the function so that it only accepts NumPy arrays (rather than any +type of Python object satisfying the buffer protocol). + +In many situations, we want to define a function which only accepts a NumPy +array of a certain data type. This is possible via the ``py::array_t`` +template. For instance, the following function requires the argument to be a +NumPy array containing double precision values. + +.. code-block:: cpp + + void f(py::array_t array); + +When it is invoked with a different type (e.g. an integer or a list of +integers), the binding code will attempt to cast the input into a NumPy array +of the requested type. Note that this feature requires the +:file:`pybind11/numpy.h` header to be included. + +Data in NumPy arrays is not guaranteed to packed in a dense manner; +furthermore, entries can be separated by arbitrary column and row strides. +Sometimes, it can be useful to require a function to only accept dense arrays +using either the C (row-major) or Fortran (column-major) ordering. This can be +accomplished via a second template argument with values ``py::array::c_style`` +or ``py::array::f_style``. + +.. code-block:: cpp + + void f(py::array_t array); + +The ``py::array::forcecast`` argument is the default value of the second +template parameter, and it ensures that non-conforming arguments are converted +into an array satisfying the specified requirements instead of trying the next +function overload. + +Structured types +================ + +In order for ``py::array_t`` to work with structured (record) types, we first +need to register the memory layout of the type. This can be done via +``PYBIND11_NUMPY_DTYPE`` macro, called in the plugin definition code, which +expects the type followed by field names: + +.. code-block:: cpp + + struct A { + int x; + double y; + }; + + struct B { + int z; + A a; + }; + + // ... + PYBIND11_MODULE(test, m) { + // ... + + PYBIND11_NUMPY_DTYPE(A, x, y); + PYBIND11_NUMPY_DTYPE(B, z, a); + /* now both A and B can be used as template arguments to py::array_t */ + } + +The structure should consist of fundamental arithmetic types, ``std::complex``, +previously registered substructures, and arrays of any of the above. Both C++ +arrays and ``std::array`` are supported. While there is a static assertion to +prevent many types of unsupported structures, it is still the user's +responsibility to use only "plain" structures that can be safely manipulated as +raw memory without violating invariants. + +Vectorizing functions +===================== + +Suppose we want to bind a function with the following signature to Python so +that it can process arbitrary NumPy array arguments (vectors, matrices, general +N-D arrays) in addition to its normal arguments: + +.. code-block:: cpp + + double my_func(int x, float y, double z); + +After including the ``pybind11/numpy.h`` header, this is extremely simple: + +.. code-block:: cpp + + m.def("vectorized_func", py::vectorize(my_func)); + +Invoking the function like below causes 4 calls to be made to ``my_func`` with +each of the array elements. The significant advantage of this compared to +solutions like ``numpy.vectorize()`` is that the loop over the elements runs +entirely on the C++ side and can be crunched down into a tight, optimized loop +by the compiler. The result is returned as a NumPy array of type +``numpy.dtype.float64``. + +.. code-block:: pycon + + >>> x = np.array([[1, 3],[5, 7]]) + >>> y = np.array([[2, 4],[6, 8]]) + >>> z = 3 + >>> result = vectorized_func(x, y, z) + +The scalar argument ``z`` is transparently replicated 4 times. The input +arrays ``x`` and ``y`` are automatically converted into the right types (they +are of type ``numpy.dtype.int64`` but need to be ``numpy.dtype.int32`` and +``numpy.dtype.float32``, respectively). + +.. note:: + + Only arithmetic, complex, and POD types passed by value or by ``const &`` + reference are vectorized; all other arguments are passed through as-is. + Functions taking rvalue reference arguments cannot be vectorized. + +In cases where the computation is too complicated to be reduced to +``vectorize``, it will be necessary to create and access the buffer contents +manually. The following snippet contains a complete example that shows how this +works (the code is somewhat contrived, since it could have been done more +simply using ``vectorize``). + +.. code-block:: cpp + + #include + #include + + namespace py = pybind11; + + py::array_t add_arrays(py::array_t input1, py::array_t input2) { + py::buffer_info buf1 = input1.request(), buf2 = input2.request(); + + if (buf1.ndim != 1 || buf2.ndim != 1) + throw std::runtime_error("Number of dimensions must be one"); + + if (buf1.size != buf2.size) + throw std::runtime_error("Input shapes must match"); + + /* No pointer is passed, so NumPy will allocate the buffer */ + auto result = py::array_t(buf1.size); + + py::buffer_info buf3 = result.request(); + + double *ptr1 = (double *) buf1.ptr, + *ptr2 = (double *) buf2.ptr, + *ptr3 = (double *) buf3.ptr; + + for (size_t idx = 0; idx < buf1.shape[0]; idx++) + ptr3[idx] = ptr1[idx] + ptr2[idx]; + + return result; + } + + PYBIND11_MODULE(test, m) { + m.def("add_arrays", &add_arrays, "Add two NumPy arrays"); + } + +.. seealso:: + + The file :file:`tests/test_numpy_vectorize.cpp` contains a complete + example that demonstrates using :func:`vectorize` in more detail. + +Direct access +============= + +For performance reasons, particularly when dealing with very large arrays, it +is often desirable to directly access array elements without internal checking +of dimensions and bounds on every access when indices are known to be already +valid. To avoid such checks, the ``array`` class and ``array_t`` template +class offer an unchecked proxy object that can be used for this unchecked +access through the ``unchecked`` and ``mutable_unchecked`` methods, +where ``N`` gives the required dimensionality of the array: + +.. code-block:: cpp + + m.def("sum_3d", [](py::array_t x) { + auto r = x.unchecked<3>(); // x must have ndim = 3; can be non-writeable + double sum = 0; + for (ssize_t i = 0; i < r.shape(0); i++) + for (ssize_t j = 0; j < r.shape(1); j++) + for (ssize_t k = 0; k < r.shape(2); k++) + sum += r(i, j, k); + return sum; + }); + m.def("increment_3d", [](py::array_t x) { + auto r = x.mutable_unchecked<3>(); // Will throw if ndim != 3 or flags.writeable is false + for (ssize_t i = 0; i < r.shape(0); i++) + for (ssize_t j = 0; j < r.shape(1); j++) + for (ssize_t k = 0; k < r.shape(2); k++) + r(i, j, k) += 1.0; + }, py::arg().noconvert()); + +To obtain the proxy from an ``array`` object, you must specify both the data +type and number of dimensions as template arguments, such as ``auto r = +myarray.mutable_unchecked()``. + +If the number of dimensions is not known at compile time, you can omit the +dimensions template parameter (i.e. calling ``arr_t.unchecked()`` or +``arr.unchecked()``. This will give you a proxy object that works in the +same way, but results in less optimizable code and thus a small efficiency +loss in tight loops. + +Note that the returned proxy object directly references the array's data, and +only reads its shape, strides, and writeable flag when constructed. You must +take care to ensure that the referenced array is not destroyed or reshaped for +the duration of the returned object, typically by limiting the scope of the +returned instance. + +The returned proxy object supports some of the same methods as ``py::array`` so +that it can be used as a drop-in replacement for some existing, index-checked +uses of ``py::array``: + +- ``r.ndim()`` returns the number of dimensions + +- ``r.data(1, 2, ...)`` and ``r.mutable_data(1, 2, ...)``` returns a pointer to + the ``const T`` or ``T`` data, respectively, at the given indices. The + latter is only available to proxies obtained via ``a.mutable_unchecked()``. + +- ``itemsize()`` returns the size of an item in bytes, i.e. ``sizeof(T)``. + +- ``ndim()`` returns the number of dimensions. + +- ``shape(n)`` returns the size of dimension ``n`` + +- ``size()`` returns the total number of elements (i.e. the product of the shapes). + +- ``nbytes()`` returns the number of bytes used by the referenced elements + (i.e. ``itemsize()`` times ``size()``). + +.. seealso:: + + The file :file:`tests/test_numpy_array.cpp` contains additional examples + demonstrating the use of this feature. + +Ellipsis +======== + +Python 3 provides a convenient ``...`` ellipsis notation that is often used to +slice multidimensional arrays. For instance, the following snippet extracts the +middle dimensions of a tensor with the first and last index set to zero. + +.. code-block:: python + + a = # a NumPy array + b = a[0, ..., 0] + +The function ``py::ellipsis()`` function can be used to perform the same +operation on the C++ side: + +.. code-block:: cpp + + py::array a = /* A NumPy array */; + py::array b = a[py::make_tuple(0, py::ellipsis(), 0)]; diff --git a/wrap/python/pybind11/docs/advanced/pycpp/object.rst b/wrap/python/pybind11/docs/advanced/pycpp/object.rst new file mode 100644 index 000000000..117131edc --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/pycpp/object.rst @@ -0,0 +1,170 @@ +Python types +############ + +Available wrappers +================== + +All major Python types are available as thin C++ wrapper classes. These +can also be used as function parameters -- see :ref:`python_objects_as_args`. + +Available types include :class:`handle`, :class:`object`, :class:`bool_`, +:class:`int_`, :class:`float_`, :class:`str`, :class:`bytes`, :class:`tuple`, +:class:`list`, :class:`dict`, :class:`slice`, :class:`none`, :class:`capsule`, +:class:`iterable`, :class:`iterator`, :class:`function`, :class:`buffer`, +:class:`array`, and :class:`array_t`. + +Casting back and forth +====================== + +In this kind of mixed code, it is often necessary to convert arbitrary C++ +types to Python, which can be done using :func:`py::cast`: + +.. code-block:: cpp + + MyClass *cls = ..; + py::object obj = py::cast(cls); + +The reverse direction uses the following syntax: + +.. code-block:: cpp + + py::object obj = ...; + MyClass *cls = obj.cast(); + +When conversion fails, both directions throw the exception :class:`cast_error`. + +.. _python_libs: + +Accessing Python libraries from C++ +=================================== + +It is also possible to import objects defined in the Python standard +library or available in the current Python environment (``sys.path``) and work +with these in C++. + +This example obtains a reference to the Python ``Decimal`` class. + +.. code-block:: cpp + + // Equivalent to "from decimal import Decimal" + py::object Decimal = py::module::import("decimal").attr("Decimal"); + +.. code-block:: cpp + + // Try to import scipy + py::object scipy = py::module::import("scipy"); + return scipy.attr("__version__"); + +.. _calling_python_functions: + +Calling Python functions +======================== + +It is also possible to call Python classes, functions and methods +via ``operator()``. + +.. code-block:: cpp + + // Construct a Python object of class Decimal + py::object pi = Decimal("3.14159"); + +.. code-block:: cpp + + // Use Python to make our directories + py::object os = py::module::import("os"); + py::object makedirs = os.attr("makedirs"); + makedirs("/tmp/path/to/somewhere"); + +One can convert the result obtained from Python to a pure C++ version +if a ``py::class_`` or type conversion is defined. + +.. code-block:: cpp + + py::function f = <...>; + py::object result_py = f(1234, "hello", some_instance); + MyClass &result = result_py.cast(); + +.. _calling_python_methods: + +Calling Python methods +======================== + +To call an object's method, one can again use ``.attr`` to obtain access to the +Python method. + +.. code-block:: cpp + + // Calculate e^π in decimal + py::object exp_pi = pi.attr("exp")(); + py::print(py::str(exp_pi)); + +In the example above ``pi.attr("exp")`` is a *bound method*: it will always call +the method for that same instance of the class. Alternately one can create an +*unbound method* via the Python class (instead of instance) and pass the ``self`` +object explicitly, followed by other arguments. + +.. code-block:: cpp + + py::object decimal_exp = Decimal.attr("exp"); + + // Compute the e^n for n=0..4 + for (int n = 0; n < 5; n++) { + py::print(decimal_exp(Decimal(n)); + } + +Keyword arguments +================= + +Keyword arguments are also supported. In Python, there is the usual call syntax: + +.. code-block:: python + + def f(number, say, to): + ... # function code + + f(1234, say="hello", to=some_instance) # keyword call in Python + +In C++, the same call can be made using: + +.. code-block:: cpp + + using namespace pybind11::literals; // to bring in the `_a` literal + f(1234, "say"_a="hello", "to"_a=some_instance); // keyword call in C++ + +Unpacking arguments +=================== + +Unpacking of ``*args`` and ``**kwargs`` is also possible and can be mixed with +other arguments: + +.. code-block:: cpp + + // * unpacking + py::tuple args = py::make_tuple(1234, "hello", some_instance); + f(*args); + + // ** unpacking + py::dict kwargs = py::dict("number"_a=1234, "say"_a="hello", "to"_a=some_instance); + f(**kwargs); + + // mixed keywords, * and ** unpacking + py::tuple args = py::make_tuple(1234); + py::dict kwargs = py::dict("to"_a=some_instance); + f(*args, "say"_a="hello", **kwargs); + +Generalized unpacking according to PEP448_ is also supported: + +.. code-block:: cpp + + py::dict kwargs1 = py::dict("number"_a=1234); + py::dict kwargs2 = py::dict("to"_a=some_instance); + f(**kwargs1, "say"_a="hello", **kwargs2); + +.. seealso:: + + The file :file:`tests/test_pytypes.cpp` contains a complete + example that demonstrates passing native Python types in more detail. The + file :file:`tests/test_callbacks.cpp` presents a few examples of calling + Python functions from C++, including keywords arguments and unpacking. + +.. _PEP448: https://www.python.org/dev/peps/pep-0448/ diff --git a/wrap/python/pybind11/docs/advanced/pycpp/utilities.rst b/wrap/python/pybind11/docs/advanced/pycpp/utilities.rst new file mode 100644 index 000000000..369e7c94d --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/pycpp/utilities.rst @@ -0,0 +1,144 @@ +Utilities +######### + +Using Python's print function in C++ +==================================== + +The usual way to write output in C++ is using ``std::cout`` while in Python one +would use ``print``. Since these methods use different buffers, mixing them can +lead to output order issues. To resolve this, pybind11 modules can use the +:func:`py::print` function which writes to Python's ``sys.stdout`` for consistency. + +Python's ``print`` function is replicated in the C++ API including optional +keyword arguments ``sep``, ``end``, ``file``, ``flush``. Everything works as +expected in Python: + +.. code-block:: cpp + + py::print(1, 2.0, "three"); // 1 2.0 three + py::print(1, 2.0, "three", "sep"_a="-"); // 1-2.0-three + + auto args = py::make_tuple("unpacked", true); + py::print("->", *args, "end"_a="<-"); // -> unpacked True <- + +.. _ostream_redirect: + +Capturing standard output from ostream +====================================== + +Often, a library will use the streams ``std::cout`` and ``std::cerr`` to print, +but this does not play well with Python's standard ``sys.stdout`` and ``sys.stderr`` +redirection. Replacing a library's printing with `py::print ` may not +be feasible. This can be fixed using a guard around the library function that +redirects output to the corresponding Python streams: + +.. code-block:: cpp + + #include + + ... + + // Add a scoped redirect for your noisy code + m.def("noisy_func", []() { + py::scoped_ostream_redirect stream( + std::cout, // std::ostream& + py::module::import("sys").attr("stdout") // Python output + ); + call_noisy_func(); + }); + +This method respects flushes on the output streams and will flush if needed +when the scoped guard is destroyed. This allows the output to be redirected in +real time, such as to a Jupyter notebook. The two arguments, the C++ stream and +the Python output, are optional, and default to standard output if not given. An +extra type, `py::scoped_estream_redirect `, is identical +except for defaulting to ``std::cerr`` and ``sys.stderr``; this can be useful with +`py::call_guard`, which allows multiple items, but uses the default constructor: + +.. code-block:: py + + // Alternative: Call single function using call guard + m.def("noisy_func", &call_noisy_function, + py::call_guard()); + +The redirection can also be done in Python with the addition of a context +manager, using the `py::add_ostream_redirect() ` function: + +.. code-block:: cpp + + py::add_ostream_redirect(m, "ostream_redirect"); + +The name in Python defaults to ``ostream_redirect`` if no name is passed. This +creates the following context manager in Python: + +.. code-block:: python + + with ostream_redirect(stdout=True, stderr=True): + noisy_function() + +It defaults to redirecting both streams, though you can use the keyword +arguments to disable one of the streams if needed. + +.. note:: + + The above methods will not redirect C-level output to file descriptors, such + as ``fprintf``. For those cases, you'll need to redirect the file + descriptors either directly in C or with Python's ``os.dup2`` function + in an operating-system dependent way. + +.. _eval: + +Evaluating Python expressions from strings and files +==================================================== + +pybind11 provides the `eval`, `exec` and `eval_file` functions to evaluate +Python expressions and statements. The following example illustrates how they +can be used. + +.. code-block:: cpp + + // At beginning of file + #include + + ... + + // Evaluate in scope of main module + py::object scope = py::module::import("__main__").attr("__dict__"); + + // Evaluate an isolated expression + int result = py::eval("my_variable + 10", scope).cast(); + + // Evaluate a sequence of statements + py::exec( + "print('Hello')\n" + "print('world!');", + scope); + + // Evaluate the statements in an separate Python file on disk + py::eval_file("script.py", scope); + +C++11 raw string literals are also supported and quite handy for this purpose. +The only requirement is that the first statement must be on a new line following +the raw string delimiter ``R"(``, ensuring all lines have common leading indent: + +.. code-block:: cpp + + py::exec(R"( + x = get_answer() + if x == 42: + print('Hello World!') + else: + print('Bye!') + )", scope + ); + +.. note:: + + `eval` and `eval_file` accept a template parameter that describes how the + string/file should be interpreted. Possible choices include ``eval_expr`` + (isolated expression), ``eval_single_statement`` (a single statement, return + value is always ``none``), and ``eval_statements`` (sequence of statements, + return value is always ``none``). `eval` defaults to ``eval_expr``, + `eval_file` defaults to ``eval_statements`` and `exec` is just a shortcut + for ``eval``. diff --git a/wrap/python/pybind11/docs/advanced/smart_ptrs.rst b/wrap/python/pybind11/docs/advanced/smart_ptrs.rst new file mode 100644 index 000000000..da57748ca --- /dev/null +++ b/wrap/python/pybind11/docs/advanced/smart_ptrs.rst @@ -0,0 +1,173 @@ +Smart pointers +############## + +std::unique_ptr +=============== + +Given a class ``Example`` with Python bindings, it's possible to return +instances wrapped in C++11 unique pointers, like so + +.. code-block:: cpp + + std::unique_ptr create_example() { return std::unique_ptr(new Example()); } + +.. code-block:: cpp + + m.def("create_example", &create_example); + +In other words, there is nothing special that needs to be done. While returning +unique pointers in this way is allowed, it is *illegal* to use them as function +arguments. For instance, the following function signature cannot be processed +by pybind11. + +.. code-block:: cpp + + void do_something_with_example(std::unique_ptr ex) { ... } + +The above signature would imply that Python needs to give up ownership of an +object that is passed to this function, which is generally not possible (for +instance, the object might be referenced elsewhere). + +std::shared_ptr +=============== + +The binding generator for classes, :class:`class_`, can be passed a template +type that denotes a special *holder* type that is used to manage references to +the object. If no such holder type template argument is given, the default for +a type named ``Type`` is ``std::unique_ptr``, which means that the object +is deallocated when Python's reference count goes to zero. + +It is possible to switch to other types of reference counting wrappers or smart +pointers, which is useful in codebases that rely on them. For instance, the +following snippet causes ``std::shared_ptr`` to be used instead. + +.. code-block:: cpp + + py::class_ /* <- holder type */> obj(m, "Example"); + +Note that any particular class can only be associated with a single holder type. + +One potential stumbling block when using holder types is that they need to be +applied consistently. Can you guess what's broken about the following binding +code? + +.. code-block:: cpp + + class Child { }; + + class Parent { + public: + Parent() : child(std::make_shared()) { } + Child *get_child() { return child.get(); } /* Hint: ** DON'T DO THIS ** */ + private: + std::shared_ptr child; + }; + + PYBIND11_MODULE(example, m) { + py::class_>(m, "Child"); + + py::class_>(m, "Parent") + .def(py::init<>()) + .def("get_child", &Parent::get_child); + } + +The following Python code will cause undefined behavior (and likely a +segmentation fault). + +.. code-block:: python + + from example import Parent + print(Parent().get_child()) + +The problem is that ``Parent::get_child()`` returns a pointer to an instance of +``Child``, but the fact that this instance is already managed by +``std::shared_ptr<...>`` is lost when passing raw pointers. In this case, +pybind11 will create a second independent ``std::shared_ptr<...>`` that also +claims ownership of the pointer. In the end, the object will be freed **twice** +since these shared pointers have no way of knowing about each other. + +There are two ways to resolve this issue: + +1. For types that are managed by a smart pointer class, never use raw pointers + in function arguments or return values. In other words: always consistently + wrap pointers into their designated holder types (such as + ``std::shared_ptr<...>``). In this case, the signature of ``get_child()`` + should be modified as follows: + +.. code-block:: cpp + + std::shared_ptr get_child() { return child; } + +2. Adjust the definition of ``Child`` by specifying + ``std::enable_shared_from_this`` (see cppreference_ for details) as a + base class. This adds a small bit of information to ``Child`` that allows + pybind11 to realize that there is already an existing + ``std::shared_ptr<...>`` and communicate with it. In this case, the + declaration of ``Child`` should look as follows: + +.. _cppreference: http://en.cppreference.com/w/cpp/memory/enable_shared_from_this + +.. code-block:: cpp + + class Child : public std::enable_shared_from_this { }; + +.. _smart_pointers: + +Custom smart pointers +===================== + +pybind11 supports ``std::unique_ptr`` and ``std::shared_ptr`` right out of the +box. For any other custom smart pointer, transparent conversions can be enabled +using a macro invocation similar to the following. It must be declared at the +top namespace level before any binding code: + +.. code-block:: cpp + + PYBIND11_DECLARE_HOLDER_TYPE(T, SmartPtr); + +The first argument of :func:`PYBIND11_DECLARE_HOLDER_TYPE` should be a +placeholder name that is used as a template parameter of the second argument. +Thus, feel free to use any identifier, but use it consistently on both sides; +also, don't use the name of a type that already exists in your codebase. + +The macro also accepts a third optional boolean parameter that is set to false +by default. Specify + +.. code-block:: cpp + + PYBIND11_DECLARE_HOLDER_TYPE(T, SmartPtr, true); + +if ``SmartPtr`` can always be initialized from a ``T*`` pointer without the +risk of inconsistencies (such as multiple independent ``SmartPtr`` instances +believing that they are the sole owner of the ``T*`` pointer). A common +situation where ``true`` should be passed is when the ``T`` instances use +*intrusive* reference counting. + +Please take a look at the :ref:`macro_notes` before using this feature. + +By default, pybind11 assumes that your custom smart pointer has a standard +interface, i.e. provides a ``.get()`` member function to access the underlying +raw pointer. If this is not the case, pybind11's ``holder_helper`` must be +specialized: + +.. code-block:: cpp + + // Always needed for custom holder types + PYBIND11_DECLARE_HOLDER_TYPE(T, SmartPtr); + + // Only needed if the type's `.get()` goes by another name + namespace pybind11 { namespace detail { + template + struct holder_helper> { // <-- specialization + static const T *get(const SmartPtr &p) { return p.getPointer(); } + }; + }} + +The above specialization informs pybind11 that the custom ``SmartPtr`` class +provides ``.get()`` functionality via ``.getPointer()``. + +.. seealso:: + + The file :file:`tests/test_smart_ptr.cpp` contains a complete example + that demonstrates how to work with custom reference-counting holder types + in more detail. diff --git a/wrap/python/pybind11/docs/basics.rst b/wrap/python/pybind11/docs/basics.rst new file mode 100644 index 000000000..447250ed9 --- /dev/null +++ b/wrap/python/pybind11/docs/basics.rst @@ -0,0 +1,293 @@ +.. _basics: + +First steps +########### + +This sections demonstrates the basic features of pybind11. Before getting +started, make sure that development environment is set up to compile the +included set of test cases. + + +Compiling the test cases +======================== + +Linux/MacOS +----------- + +On Linux you'll need to install the **python-dev** or **python3-dev** packages as +well as **cmake**. On Mac OS, the included python version works out of the box, +but **cmake** must still be installed. + +After installing the prerequisites, run + +.. code-block:: bash + + mkdir build + cd build + cmake .. + make check -j 4 + +The last line will both compile and run the tests. + +Windows +------- + +On Windows, only **Visual Studio 2015** and newer are supported since pybind11 relies +on various C++11 language features that break older versions of Visual Studio. + +To compile and run the tests: + +.. code-block:: batch + + mkdir build + cd build + cmake .. + cmake --build . --config Release --target check + +This will create a Visual Studio project, compile and run the target, all from the +command line. + +.. Note:: + + If all tests fail, make sure that the Python binary and the testcases are compiled + for the same processor type and bitness (i.e. either **i386** or **x86_64**). You + can specify **x86_64** as the target architecture for the generated Visual Studio + project using ``cmake -A x64 ..``. + +.. seealso:: + + Advanced users who are already familiar with Boost.Python may want to skip + the tutorial and look at the test cases in the :file:`tests` directory, + which exercise all features of pybind11. + +Header and namespace conventions +================================ + +For brevity, all code examples assume that the following two lines are present: + +.. code-block:: cpp + + #include + + namespace py = pybind11; + +Some features may require additional headers, but those will be specified as needed. + +.. _simple_example: + +Creating bindings for a simple function +======================================= + +Let's start by creating Python bindings for an extremely simple function, which +adds two numbers and returns their result: + +.. code-block:: cpp + + int add(int i, int j) { + return i + j; + } + +For simplicity [#f1]_, we'll put both this function and the binding code into +a file named :file:`example.cpp` with the following contents: + +.. code-block:: cpp + + #include + + int add(int i, int j) { + return i + j; + } + + PYBIND11_MODULE(example, m) { + m.doc() = "pybind11 example plugin"; // optional module docstring + + m.def("add", &add, "A function which adds two numbers"); + } + +.. [#f1] In practice, implementation and binding code will generally be located + in separate files. + +The :func:`PYBIND11_MODULE` macro creates a function that will be called when an +``import`` statement is issued from within Python. The module name (``example``) +is given as the first macro argument (it should not be in quotes). The second +argument (``m``) defines a variable of type :class:`py::module ` which +is the main interface for creating bindings. The method :func:`module::def` +generates binding code that exposes the ``add()`` function to Python. + +.. note:: + + Notice how little code was needed to expose our function to Python: all + details regarding the function's parameters and return value were + automatically inferred using template metaprogramming. This overall + approach and the used syntax are borrowed from Boost.Python, though the + underlying implementation is very different. + +pybind11 is a header-only library, hence it is not necessary to link against +any special libraries and there are no intermediate (magic) translation steps. +On Linux, the above example can be compiled using the following command: + +.. code-block:: bash + + $ c++ -O3 -Wall -shared -std=c++11 -fPIC `python3 -m pybind11 --includes` example.cpp -o example`python3-config --extension-suffix` + +For more details on the required compiler flags on Linux and MacOS, see +:ref:`building_manually`. For complete cross-platform compilation instructions, +refer to the :ref:`compiling` page. + +The `python_example`_ and `cmake_example`_ repositories are also a good place +to start. They are both complete project examples with cross-platform build +systems. The only difference between the two is that `python_example`_ uses +Python's ``setuptools`` to build the module, while `cmake_example`_ uses CMake +(which may be preferable for existing C++ projects). + +.. _python_example: https://github.com/pybind/python_example +.. _cmake_example: https://github.com/pybind/cmake_example + +Building the above C++ code will produce a binary module file that can be +imported to Python. Assuming that the compiled module is located in the +current directory, the following interactive Python session shows how to +load and execute the example: + +.. code-block:: pycon + + $ python + Python 2.7.10 (default, Aug 22 2015, 20:33:39) + [GCC 4.2.1 Compatible Apple LLVM 7.0.0 (clang-700.0.59.1)] on darwin + Type "help", "copyright", "credits" or "license" for more information. + >>> import example + >>> example.add(1, 2) + 3L + >>> + +.. _keyword_args: + +Keyword arguments +================= + +With a simple modification code, it is possible to inform Python about the +names of the arguments ("i" and "j" in this case). + +.. code-block:: cpp + + m.def("add", &add, "A function which adds two numbers", + py::arg("i"), py::arg("j")); + +:class:`arg` is one of several special tag classes which can be used to pass +metadata into :func:`module::def`. With this modified binding code, we can now +call the function using keyword arguments, which is a more readable alternative +particularly for functions taking many parameters: + +.. code-block:: pycon + + >>> import example + >>> example.add(i=1, j=2) + 3L + +The keyword names also appear in the function signatures within the documentation. + +.. code-block:: pycon + + >>> help(example) + + .... + + FUNCTIONS + add(...) + Signature : (i: int, j: int) -> int + + A function which adds two numbers + +A shorter notation for named arguments is also available: + +.. code-block:: cpp + + // regular notation + m.def("add1", &add, py::arg("i"), py::arg("j")); + // shorthand + using namespace pybind11::literals; + m.def("add2", &add, "i"_a, "j"_a); + +The :var:`_a` suffix forms a C++11 literal which is equivalent to :class:`arg`. +Note that the literal operator must first be made visible with the directive +``using namespace pybind11::literals``. This does not bring in anything else +from the ``pybind11`` namespace except for literals. + +.. _default_args: + +Default arguments +================= + +Suppose now that the function to be bound has default arguments, e.g.: + +.. code-block:: cpp + + int add(int i = 1, int j = 2) { + return i + j; + } + +Unfortunately, pybind11 cannot automatically extract these parameters, since they +are not part of the function's type information. However, they are simple to specify +using an extension of :class:`arg`: + +.. code-block:: cpp + + m.def("add", &add, "A function which adds two numbers", + py::arg("i") = 1, py::arg("j") = 2); + +The default values also appear within the documentation. + +.. code-block:: pycon + + >>> help(example) + + .... + + FUNCTIONS + add(...) + Signature : (i: int = 1, j: int = 2) -> int + + A function which adds two numbers + +The shorthand notation is also available for default arguments: + +.. code-block:: cpp + + // regular notation + m.def("add1", &add, py::arg("i") = 1, py::arg("j") = 2); + // shorthand + m.def("add2", &add, "i"_a=1, "j"_a=2); + +Exporting variables +=================== + +To expose a value from C++, use the ``attr`` function to register it in a +module as shown below. Built-in types and general objects (more on that later) +are automatically converted when assigned as attributes, and can be explicitly +converted using the function ``py::cast``. + +.. code-block:: cpp + + PYBIND11_MODULE(example, m) { + m.attr("the_answer") = 42; + py::object world = py::cast("World"); + m.attr("what") = world; + } + +These are then accessible from Python: + +.. code-block:: pycon + + >>> import example + >>> example.the_answer + 42 + >>> example.what + 'World' + +.. _supported_types: + +Supported data types +==================== + +A large number of data types are supported out of the box and can be used +seamlessly as functions arguments, return values or with ``py::cast`` in general. +For a full overview, see the :doc:`advanced/cast/index` section. diff --git a/wrap/python/pybind11/docs/benchmark.py b/wrap/python/pybind11/docs/benchmark.py new file mode 100644 index 000000000..6dc0604ea --- /dev/null +++ b/wrap/python/pybind11/docs/benchmark.py @@ -0,0 +1,88 @@ +import random +import os +import time +import datetime as dt + +nfns = 4 # Functions per class +nargs = 4 # Arguments per function + + +def generate_dummy_code_pybind11(nclasses=10): + decl = "" + bindings = "" + + for cl in range(nclasses): + decl += "class cl%03i;\n" % cl + decl += '\n' + + for cl in range(nclasses): + decl += "class cl%03i {\n" % cl + decl += "public:\n" + bindings += ' py::class_(m, "cl%03i")\n' % (cl, cl) + for fn in range(nfns): + ret = random.randint(0, nclasses - 1) + params = [random.randint(0, nclasses - 1) for i in range(nargs)] + decl += " cl%03i *fn_%03i(" % (ret, fn) + decl += ", ".join("cl%03i *" % p for p in params) + decl += ");\n" + bindings += ' .def("fn_%03i", &cl%03i::fn_%03i)\n' % \ + (fn, cl, fn) + decl += "};\n\n" + bindings += ' ;\n' + + result = "#include \n\n" + result += "namespace py = pybind11;\n\n" + result += decl + '\n' + result += "PYBIND11_MODULE(example, m) {\n" + result += bindings + result += "}" + return result + + +def generate_dummy_code_boost(nclasses=10): + decl = "" + bindings = "" + + for cl in range(nclasses): + decl += "class cl%03i;\n" % cl + decl += '\n' + + for cl in range(nclasses): + decl += "class cl%03i {\n" % cl + decl += "public:\n" + bindings += ' py::class_("cl%03i")\n' % (cl, cl) + for fn in range(nfns): + ret = random.randint(0, nclasses - 1) + params = [random.randint(0, nclasses - 1) for i in range(nargs)] + decl += " cl%03i *fn_%03i(" % (ret, fn) + decl += ", ".join("cl%03i *" % p for p in params) + decl += ");\n" + bindings += ' .def("fn_%03i", &cl%03i::fn_%03i, py::return_value_policy())\n' % \ + (fn, cl, fn) + decl += "};\n\n" + bindings += ' ;\n' + + result = "#include \n\n" + result += "namespace py = boost::python;\n\n" + result += decl + '\n' + result += "BOOST_PYTHON_MODULE(example) {\n" + result += bindings + result += "}" + return result + + +for codegen in [generate_dummy_code_pybind11, generate_dummy_code_boost]: + print ("{") + for i in range(0, 10): + nclasses = 2 ** i + with open("test.cpp", "w") as f: + f.write(codegen(nclasses)) + n1 = dt.datetime.now() + os.system("g++ -Os -shared -rdynamic -undefined dynamic_lookup " + "-fvisibility=hidden -std=c++14 test.cpp -I include " + "-I /System/Library/Frameworks/Python.framework/Headers -o test.so") + n2 = dt.datetime.now() + elapsed = (n2 - n1).total_seconds() + size = os.stat('test.so').st_size + print(" {%i, %f, %i}," % (nclasses * nfns, elapsed, size)) + print ("}") diff --git a/wrap/python/pybind11/docs/benchmark.rst b/wrap/python/pybind11/docs/benchmark.rst new file mode 100644 index 000000000..59d533df9 --- /dev/null +++ b/wrap/python/pybind11/docs/benchmark.rst @@ -0,0 +1,97 @@ +Benchmark +========= + +The following is the result of a synthetic benchmark comparing both compilation +time and module size of pybind11 against Boost.Python. A detailed report about a +Boost.Python to pybind11 conversion of a real project is available here: [#f1]_. + +.. [#f1] http://graylab.jhu.edu/RosettaCon2016/PyRosetta-4.pdf + +Setup +----- + +A python script (see the ``docs/benchmark.py`` file) was used to generate a set +of files with dummy classes whose count increases for each successive benchmark +(between 1 and 2048 classes in powers of two). Each class has four methods with +a randomly generated signature with a return value and four arguments. (There +was no particular reason for this setup other than the desire to generate many +unique function signatures whose count could be controlled in a simple way.) + +Here is an example of the binding code for one class: + +.. code-block:: cpp + + ... + class cl034 { + public: + cl279 *fn_000(cl084 *, cl057 *, cl065 *, cl042 *); + cl025 *fn_001(cl098 *, cl262 *, cl414 *, cl121 *); + cl085 *fn_002(cl445 *, cl297 *, cl145 *, cl421 *); + cl470 *fn_003(cl200 *, cl323 *, cl332 *, cl492 *); + }; + ... + + PYBIND11_MODULE(example, m) { + ... + py::class_(m, "cl034") + .def("fn_000", &cl034::fn_000) + .def("fn_001", &cl034::fn_001) + .def("fn_002", &cl034::fn_002) + .def("fn_003", &cl034::fn_003) + ... + } + +The Boost.Python version looks almost identical except that a return value +policy had to be specified as an argument to ``def()``. For both libraries, +compilation was done with + +.. code-block:: bash + + Apple LLVM version 7.0.2 (clang-700.1.81) + +and the following compilation flags + +.. code-block:: bash + + g++ -Os -shared -rdynamic -undefined dynamic_lookup -fvisibility=hidden -std=c++14 + +Compilation time +---------------- + +The following log-log plot shows how the compilation time grows for an +increasing number of class and function declarations. pybind11 includes many +fewer headers, which initially leads to shorter compilation times, but the +performance is ultimately fairly similar (pybind11 is 19.8 seconds faster for +the largest largest file with 2048 classes and a total of 8192 methods -- a +modest **1.2x** speedup relative to Boost.Python, which required 116.35 +seconds). + +.. only:: not latex + + .. image:: pybind11_vs_boost_python1.svg + +.. only:: latex + + .. image:: pybind11_vs_boost_python1.png + +Module size +----------- + +Differences between the two libraries become much more pronounced when +considering the file size of the generated Python plugin: for the largest file, +the binary generated by Boost.Python required 16.8 MiB, which was **2.17 +times** / **9.1 megabytes** larger than the output generated by pybind11. For +very small inputs, Boost.Python has an edge in the plot below -- however, note +that it stores many definitions in an external library, whose size was not +included here, hence the comparison is slightly shifted in Boost.Python's +favor. + +.. only:: not latex + + .. image:: pybind11_vs_boost_python2.svg + +.. only:: latex + + .. image:: pybind11_vs_boost_python2.png + + diff --git a/wrap/python/pybind11/docs/changelog.rst b/wrap/python/pybind11/docs/changelog.rst new file mode 100644 index 000000000..f99d3516a --- /dev/null +++ b/wrap/python/pybind11/docs/changelog.rst @@ -0,0 +1,1158 @@ +.. _changelog: + +Changelog +######### + +Starting with version 1.8.0, pybind11 releases use a `semantic versioning +`_ policy. + + +v2.3.1 (Not yet released) +----------------------------------------------------- + +* TBA + +v2.3.0 (June 11, 2019) +----------------------------------------------------- + +* Significantly reduced module binary size (10-20%) when compiled in C++11 mode + with GCC/Clang, or in any mode with MSVC. Function signatures are now always + precomputed at compile time (this was previously only available in C++14 mode + for non-MSVC compilers). + `#934 `_. + +* Add basic support for tag-based static polymorphism, where classes + provide a method to returns the desired type of an instance. + `#1326 `_. + +* Python type wrappers (``py::handle``, ``py::object``, etc.) + now support map Python's number protocol onto C++ arithmetic + operators such as ``operator+``, ``operator/=``, etc. + `#1511 `_. + +* A number of improvements related to enumerations: + + 1. The ``enum_`` implementation was rewritten from scratch to reduce + code bloat. Rather than instantiating a full implementation for each + enumeration, most code is now contained in a generic base class. + `#1511 `_. + + 2. The ``value()`` method of ``py::enum_`` now accepts an optional + docstring that will be shown in the documentation of the associated + enumeration. `#1160 `_. + + 3. check for already existing enum value and throw an error if present. + `#1453 `_. + +* Support for over-aligned type allocation via C++17's aligned ``new`` + statement. `#1582 `_. + +* Added ``py::ellipsis()`` method for slicing of multidimensional NumPy arrays + `#1502 `_. + +* Numerous Improvements to the ``mkdoc.py`` script for extracting documentation + from C++ header files. + `#1788 `_. + +* ``pybind11_add_module()``: allow including Python as a ``SYSTEM`` include path. + `#1416 `_. + +* ``pybind11/stl.h`` does not convert strings to ``vector`` anymore. + `#1258 `_. + +* Mark static methods as such to fix auto-generated Sphinx documentation. + `#1732 `_. + +* Re-throw forced unwind exceptions (e.g. during pthread termination). + `#1208 `_. + +* Added ``__contains__`` method to the bindings of maps (``std::map``, + ``std::unordered_map``). + `#1767 `_. + +* Improvements to ``gil_scoped_acquire``. + `#1211 `_. + +* Type caster support for ``std::deque``. + `#1609 `_. + +* Support for ``std::unique_ptr`` holders, whose deleters differ between a base and derived + class. `#1353 `_. + +* Construction of STL array/vector-like data structures from + iterators. Added an ``extend()`` operation. + `#1709 `_, + +* CMake build system improvements for projects that include non-C++ + files (e.g. plain C, CUDA) in ``pybind11_add_module`` et al. + `#1678 `_. + +* Fixed asynchronous invocation and deallocation of Python functions + wrapped in ``std::function``. + `#1595 `_. + +* Fixes regarding return value policy propagation in STL type casters. + `#1603 `_. + +* Fixed scoped enum comparisons. + `#1571 `_. + +* Fixed iostream redirection for code that releases the GIL. + `#1368 `_, + +* A number of CI-related fixes. + `#1757 `_, + `#1744 `_, + `#1670 `_. + + +v2.2.4 (September 11, 2018) +----------------------------------------------------- + +* Use new Python 3.7 Thread Specific Storage (TSS) implementation if available. + `#1454 `_, + `#1517 `_. + +* Fixes for newer MSVC versions and C++17 mode. + `#1347 `_, + `#1462 `_. + +* Propagate return value policies to type-specific casters + when casting STL containers. + `#1455 `_. + +* Allow ostream-redirection of more than 1024 characters. + `#1479 `_. + +* Set ``Py_DEBUG`` define when compiling against a debug Python build. + `#1438 `_. + +* Untangle integer logic in number type caster to work for custom + types that may only be castable to a restricted set of builtin types. + `#1442 `_. + +* CMake build system: Remember Python version in cache file. + `#1434 `_. + +* Fix for custom smart pointers: use ``std::addressof`` to obtain holder + address instead of ``operator&``. + `#1435 `_. + +* Properly report exceptions thrown during module initialization. + `#1362 `_. + +* Fixed a segmentation fault when creating empty-shaped NumPy array. + `#1371 `_. + +* The version of Intel C++ compiler must be >= 2017, and this is now checked by + the header files. `#1363 `_. + +* A few minor typo fixes and improvements to the test suite, and + patches that silence compiler warnings. + +* Vectors now support construction from generators, as well as ``extend()`` from a + list or generator. + `#1496 `_. + + +v2.2.3 (April 29, 2018) +----------------------------------------------------- + +* The pybind11 header location detection was replaced by a new implementation + that no longer depends on ``pip`` internals (the recently released ``pip`` + 10 has restricted access to this API). + `#1190 `_. + +* Small adjustment to an implementation detail to work around a compiler segmentation fault in Clang 3.3/3.4. + `#1350 `_. + +* The minimal supported version of the Intel compiler was >= 17.0 since + pybind11 v2.1. This check is now explicit, and a compile-time error is raised + if the compiler meet the requirement. + `#1363 `_. + +* Fixed an endianness-related fault in the test suite. + `#1287 `_. + +v2.2.2 (February 7, 2018) +----------------------------------------------------- + +* Fixed a segfault when combining embedded interpreter + shutdown/reinitialization with external loaded pybind11 modules. + `#1092 `_. + +* Eigen support: fixed a bug where Nx1/1xN numpy inputs couldn't be passed as + arguments to Eigen vectors (which for Eigen are simply compile-time fixed + Nx1/1xN matrices). + `#1106 `_. + +* Clarified to license by moving the licensing of contributions from + ``LICENSE`` into ``CONTRIBUTING.md``: the licensing of contributions is not + actually part of the software license as distributed. This isn't meant to be + a substantial change in the licensing of the project, but addresses concerns + that the clause made the license non-standard. + `#1109 `_. + +* Fixed a regression introduced in 2.1 that broke binding functions with lvalue + character literal arguments. + `#1128 `_. + +* MSVC: fix for compilation failures under /permissive-, and added the flag to + the appveyor test suite. + `#1155 `_. + +* Fixed ``__qualname__`` generation, and in turn, fixes how class names + (especially nested class names) are shown in generated docstrings. + `#1171 `_. + +* Updated the FAQ with a suggested project citation reference. + `#1189 `_. + +* Added fixes for deprecation warnings when compiled under C++17 with + ``-Wdeprecated`` turned on, and add ``-Wdeprecated`` to the test suite + compilation flags. + `#1191 `_. + +* Fixed outdated PyPI URLs in ``setup.py``. + `#1213 `_. + +* Fixed a refcount leak for arguments that end up in a ``py::args`` argument + for functions with both fixed positional and ``py::args`` arguments. + `#1216 `_. + +* Fixed a potential segfault resulting from possible premature destruction of + ``py::args``/``py::kwargs`` arguments with overloaded functions. + `#1223 `_. + +* Fixed ``del map[item]`` for a ``stl_bind.h`` bound stl map. + `#1229 `_. + +* Fixed a regression from v2.1.x where the aggregate initialization could + unintentionally end up at a constructor taking a templated + ``std::initializer_list`` argument. + `#1249 `_. + +* Fixed an issue where calling a function with a keep_alive policy on the same + nurse/patient pair would cause the internal patient storage to needlessly + grow (unboundedly, if the nurse is long-lived). + `#1251 `_. + +* Various other minor fixes. + +v2.2.1 (September 14, 2017) +----------------------------------------------------- + +* Added ``py::module::reload()`` member function for reloading a module. + `#1040 `_. + +* Fixed a reference leak in the number converter. + `#1078 `_. + +* Fixed compilation with Clang on host GCC < 5 (old libstdc++ which isn't fully + C++11 compliant). `#1062 `_. + +* Fixed a regression where the automatic ``std::vector`` caster would + fail to compile. The same fix also applies to any container which returns + element proxies instead of references. + `#1053 `_. + +* Fixed a regression where the ``py::keep_alive`` policy could not be applied + to constructors. `#1065 `_. + +* Fixed a nullptr dereference when loading a ``py::module_local`` type + that's only registered in an external module. + `#1058 `_. + +* Fixed implicit conversion of accessors to types derived from ``py::object``. + `#1076 `_. + +* The ``name`` in ``PYBIND11_MODULE(name, variable)`` can now be a macro. + `#1082 `_. + +* Relaxed overly strict ``py::pickle()`` check for matching get and set types. + `#1064 `_. + +* Conversion errors now try to be more informative when it's likely that + a missing header is the cause (e.g. forgetting ````). + `#1077 `_. + +v2.2.0 (August 31, 2017) +----------------------------------------------------- + +* Support for embedding the Python interpreter. See the + :doc:`documentation page ` for a + full overview of the new features. + `#774 `_, + `#889 `_, + `#892 `_, + `#920 `_. + + .. code-block:: cpp + + #include + namespace py = pybind11; + + int main() { + py::scoped_interpreter guard{}; // start the interpreter and keep it alive + + py::print("Hello, World!"); // use the Python API + } + +* Support for inheriting from multiple C++ bases in Python. + `#693 `_. + + .. code-block:: python + + from cpp_module import CppBase1, CppBase2 + + class PyDerived(CppBase1, CppBase2): + def __init__(self): + CppBase1.__init__(self) # C++ bases must be initialized explicitly + CppBase2.__init__(self) + +* ``PYBIND11_MODULE`` is now the preferred way to create module entry points. + ``PYBIND11_PLUGIN`` is deprecated. See :ref:`macros` for details. + `#879 `_. + + .. code-block:: cpp + + // new + PYBIND11_MODULE(example, m) { + m.def("add", [](int a, int b) { return a + b; }); + } + + // old + PYBIND11_PLUGIN(example) { + py::module m("example"); + m.def("add", [](int a, int b) { return a + b; }); + return m.ptr(); + } + +* pybind11's headers and build system now more strictly enforce hidden symbol + visibility for extension modules. This should be seamless for most users, + but see the :doc:`upgrade` if you use a custom build system. + `#995 `_. + +* Support for ``py::module_local`` types which allow multiple modules to + export the same C++ types without conflicts. This is useful for opaque + types like ``std::vector``. ``py::bind_vector`` and ``py::bind_map`` + now default to ``py::module_local`` if their elements are builtins or + local types. See :ref:`module_local` for details. + `#949 `_, + `#981 `_, + `#995 `_, + `#997 `_. + +* Custom constructors can now be added very easily using lambdas or factory + functions which return a class instance by value, pointer or holder. This + supersedes the old placement-new ``__init__`` technique. + See :ref:`custom_constructors` for details. + `#805 `_, + `#1014 `_. + + .. code-block:: cpp + + struct Example { + Example(std::string); + }; + + py::class_(m, "Example") + .def(py::init()) // existing constructor + .def(py::init([](int n) { // custom constructor + return std::make_unique(std::to_string(n)); + })); + +* Similarly to custom constructors, pickling support functions are now bound + using the ``py::pickle()`` adaptor which improves type safety. See the + :doc:`upgrade` and :ref:`pickling` for details. + `#1038 `_. + +* Builtin support for converting C++17 standard library types and general + conversion improvements: + + 1. C++17 ``std::variant`` is supported right out of the box. C++11/14 + equivalents (e.g. ``boost::variant``) can also be added with a simple + user-defined specialization. See :ref:`cpp17_container_casters` for details. + `#811 `_, + `#845 `_, + `#989 `_. + + 2. Out-of-the-box support for C++17 ``std::string_view``. + `#906 `_. + + 3. Improved compatibility of the builtin ``optional`` converter. + `#874 `_. + + 4. The ``bool`` converter now accepts ``numpy.bool_`` and types which + define ``__bool__`` (Python 3.x) or ``__nonzero__`` (Python 2.7). + `#925 `_. + + 5. C++-to-Python casters are now more efficient and move elements out + of rvalue containers whenever possible. + `#851 `_, + `#936 `_, + `#938 `_. + + 6. Fixed ``bytes`` to ``std::string/char*`` conversion on Python 3. + `#817 `_. + + 7. Fixed lifetime of temporary C++ objects created in Python-to-C++ conversions. + `#924 `_. + +* Scope guard call policy for RAII types, e.g. ``py::call_guard()``, + ``py::call_guard()``. See :ref:`call_policies` for details. + `#740 `_. + +* Utility for redirecting C++ streams to Python (e.g. ``std::cout`` -> + ``sys.stdout``). Scope guard ``py::scoped_ostream_redirect`` in C++ and + a context manager in Python. See :ref:`ostream_redirect`. + `#1009 `_. + +* Improved handling of types and exceptions across module boundaries. + `#915 `_, + `#951 `_, + `#995 `_. + +* Fixed destruction order of ``py::keep_alive`` nurse/patient objects + in reference cycles. + `#856 `_. + +* Numpy and buffer protocol related improvements: + + 1. Support for negative strides in Python buffer objects/numpy arrays. This + required changing integers from unsigned to signed for the related C++ APIs. + Note: If you have compiler warnings enabled, you may notice some new conversion + warnings after upgrading. These can be resolved with ``static_cast``. + `#782 `_. + + 2. Support ``std::complex`` and arrays inside ``PYBIND11_NUMPY_DTYPE``. + `#831 `_, + `#832 `_. + + 3. Support for constructing ``py::buffer_info`` and ``py::arrays`` using + arbitrary containers or iterators instead of requiring a ``std::vector``. + `#788 `_, + `#822 `_, + `#860 `_. + + 4. Explicitly check numpy version and require >= 1.7.0. + `#819 `_. + +* Support for allowing/prohibiting ``None`` for specific arguments and improved + ``None`` overload resolution order. See :ref:`none_arguments` for details. + `#843 `_. + `#859 `_. + +* Added ``py::exec()`` as a shortcut for ``py::eval()`` + and support for C++11 raw string literals as input. See :ref:`eval`. + `#766 `_, + `#827 `_. + +* ``py::vectorize()`` ignores non-vectorizable arguments and supports + member functions. + `#762 `_. + +* Support for bound methods as callbacks (``pybind11/functional.h``). + `#815 `_. + +* Allow aliasing pybind11 methods: ``cls.attr("foo") = cls.attr("bar")``. + `#802 `_. + +* Don't allow mixed static/non-static overloads. + `#804 `_. + +* Fixed overriding static properties in derived classes. + `#784 `_. + +* Added support for write only properties. + `#1144 `_. + +* Improved deduction of member functions of a derived class when its bases + aren't registered with pybind11. + `#855 `_. + + .. code-block:: cpp + + struct Base { + int foo() { return 42; } + } + + struct Derived : Base {} + + // Now works, but previously required also binding `Base` + py::class_(m, "Derived") + .def("foo", &Derived::foo); // function is actually from `Base` + +* The implementation of ``py::init<>`` now uses C++11 brace initialization + syntax to construct instances, which permits binding implicit constructors of + aggregate types. `#1015 `_. + + .. code-block:: cpp + + struct Aggregate { + int a; + std::string b; + }; + + py::class_(m, "Aggregate") + .def(py::init()); + +* Fixed issues with multiple inheritance with offset base/derived pointers. + `#812 `_, + `#866 `_, + `#960 `_. + +* Fixed reference leak of type objects. + `#1030 `_. + +* Improved support for the ``/std:c++14`` and ``/std:c++latest`` modes + on MSVC 2017. + `#841 `_, + `#999 `_. + +* Fixed detection of private operator new on MSVC. + `#893 `_, + `#918 `_. + +* Intel C++ compiler compatibility fixes. + `#937 `_. + +* Fixed implicit conversion of `py::enum_` to integer types on Python 2.7. + `#821 `_. + +* Added ``py::hash`` to fetch the hash value of Python objects, and + ``.def(hash(py::self))`` to provide the C++ ``std::hash`` as the Python + ``__hash__`` method. + `#1034 `_. + +* Fixed ``__truediv__`` on Python 2 and ``__itruediv__`` on Python 3. + `#867 `_. + +* ``py::capsule`` objects now support the ``name`` attribute. This is useful + for interfacing with ``scipy.LowLevelCallable``. + `#902 `_. + +* Fixed ``py::make_iterator``'s ``__next__()`` for past-the-end calls. + `#897 `_. + +* Added ``error_already_set::matches()`` for checking Python exceptions. + `#772 `_. + +* Deprecated ``py::error_already_set::clear()``. It's no longer needed + following a simplification of the ``py::error_already_set`` class. + `#954 `_. + +* Deprecated ``py::handle::operator==()`` in favor of ``py::handle::is()`` + `#825 `_. + +* Deprecated ``py::object::borrowed``/``py::object::stolen``. + Use ``py::object::borrowed_t{}``/``py::object::stolen_t{}`` instead. + `#771 `_. + +* Changed internal data structure versioning to avoid conflicts between + modules compiled with different revisions of pybind11. + `#1012 `_. + +* Additional compile-time and run-time error checking and more informative messages. + `#786 `_, + `#794 `_, + `#803 `_. + +* Various minor improvements and fixes. + `#764 `_, + `#791 `_, + `#795 `_, + `#840 `_, + `#844 `_, + `#846 `_, + `#849 `_, + `#858 `_, + `#862 `_, + `#871 `_, + `#872 `_, + `#881 `_, + `#888 `_, + `#899 `_, + `#928 `_, + `#931 `_, + `#944 `_, + `#950 `_, + `#952 `_, + `#962 `_, + `#965 `_, + `#970 `_, + `#978 `_, + `#979 `_, + `#986 `_, + `#1020 `_, + `#1027 `_, + `#1037 `_. + +* Testing improvements. + `#798 `_, + `#882 `_, + `#898 `_, + `#900 `_, + `#921 `_, + `#923 `_, + `#963 `_. + +v2.1.1 (April 7, 2017) +----------------------------------------------------- + +* Fixed minimum version requirement for MSVC 2015u3 + `#773 `_. + +v2.1.0 (March 22, 2017) +----------------------------------------------------- + +* pybind11 now performs function overload resolution in two phases. The first + phase only considers exact type matches, while the second allows for implicit + conversions to take place. A special ``noconvert()`` syntax can be used to + completely disable implicit conversions for specific arguments. + `#643 `_, + `#634 `_, + `#650 `_. + +* Fixed a regression where static properties no longer worked with classes + using multiple inheritance. The ``py::metaclass`` attribute is no longer + necessary (and deprecated as of this release) when binding classes with + static properties. + `#679 `_, + +* Classes bound using ``pybind11`` can now use custom metaclasses. + `#679 `_, + +* ``py::args`` and ``py::kwargs`` can now be mixed with other positional + arguments when binding functions using pybind11. + `#611 `_. + +* Improved support for C++11 unicode string and character types; added + extensive documentation regarding pybind11's string conversion behavior. + `#624 `_, + `#636 `_, + `#715 `_. + +* pybind11 can now avoid expensive copies when converting Eigen arrays to NumPy + arrays (and vice versa). `#610 `_. + +* The "fast path" in ``py::vectorize`` now works for any full-size group of C or + F-contiguous arrays. The non-fast path is also faster since it no longer performs + copies of the input arguments (except when type conversions are necessary). + `#610 `_. + +* Added fast, unchecked access to NumPy arrays via a proxy object. + `#746 `_. + +* Transparent support for class-specific ``operator new`` and + ``operator delete`` implementations. + `#755 `_. + +* Slimmer and more efficient STL-compatible iterator interface for sequence types. + `#662 `_. + +* Improved custom holder type support. + `#607 `_. + +* ``nullptr`` to ``None`` conversion fixed in various builtin type casters. + `#732 `_. + +* ``enum_`` now exposes its members via a special ``__members__`` attribute. + `#666 `_. + +* ``std::vector`` bindings created using ``stl_bind.h`` can now optionally + implement the buffer protocol. `#488 `_. + +* Automated C++ reference documentation using doxygen and breathe. + `#598 `_. + +* Added minimum compiler version assertions. + `#727 `_. + +* Improved compatibility with C++1z. + `#677 `_. + +* Improved ``py::capsule`` API. Can be used to implement cleanup + callbacks that are involved at module destruction time. + `#752 `_. + +* Various minor improvements and fixes. + `#595 `_, + `#588 `_, + `#589 `_, + `#603 `_, + `#619 `_, + `#648 `_, + `#695 `_, + `#720 `_, + `#723 `_, + `#729 `_, + `#724 `_, + `#742 `_, + `#753 `_. + +v2.0.1 (Jan 4, 2017) +----------------------------------------------------- + +* Fix pointer to reference error in type_caster on MSVC + `#583 `_. + +* Fixed a segmentation in the test suite due to a typo + `cd7eac `_. + +v2.0.0 (Jan 1, 2017) +----------------------------------------------------- + +* Fixed a reference counting regression affecting types with custom metaclasses + (introduced in v2.0.0-rc1). + `#571 `_. + +* Quenched a CMake policy warning. + `#570 `_. + +v2.0.0-rc1 (Dec 23, 2016) +----------------------------------------------------- + +The pybind11 developers are excited to issue a release candidate of pybind11 +with a subsequent v2.0.0 release planned in early January next year. + +An incredible amount of effort by went into pybind11 over the last ~5 months, +leading to a release that is jam-packed with exciting new features and numerous +usability improvements. The following list links PRs or individual commits +whenever applicable. + +Happy Christmas! + +* Support for binding C++ class hierarchies that make use of multiple + inheritance. `#410 `_. + +* PyPy support: pybind11 now supports nightly builds of PyPy and will + interoperate with the future 5.7 release. No code changes are necessary, + everything "just" works as usual. Note that we only target the Python 2.7 + branch for now; support for 3.x will be added once its ``cpyext`` extension + support catches up. A few minor features remain unsupported for the time + being (notably dynamic attributes in custom types). + `#527 `_. + +* Significant work on the documentation -- in particular, the monolithic + ``advanced.rst`` file was restructured into a easier to read hierarchical + organization. `#448 `_. + +* Many NumPy-related improvements: + + 1. Object-oriented API to access and modify NumPy ``ndarray`` instances, + replicating much of the corresponding NumPy C API functionality. + `#402 `_. + + 2. NumPy array ``dtype`` array descriptors are now first-class citizens and + are exposed via a new class ``py::dtype``. + + 3. Structured dtypes can be registered using the ``PYBIND11_NUMPY_DTYPE()`` + macro. Special ``array`` constructors accepting dtype objects were also + added. + + One potential caveat involving this change: format descriptor strings + should now be accessed via ``format_descriptor::format()`` (however, for + compatibility purposes, the old syntax ``format_descriptor::value`` will + still work for non-structured data types). `#308 + `_. + + 4. Further improvements to support structured dtypes throughout the system. + `#472 `_, + `#474 `_, + `#459 `_, + `#453 `_, + `#452 `_, and + `#505 `_. + + 5. Fast access operators. `#497 `_. + + 6. Constructors for arrays whose storage is owned by another object. + `#440 `_. + + 7. Added constructors for ``array`` and ``array_t`` explicitly accepting shape + and strides; if strides are not provided, they are deduced assuming + C-contiguity. Also added simplified constructors for 1-dimensional case. + + 8. Added buffer/NumPy support for ``char[N]`` and ``std::array`` types. + + 9. Added ``memoryview`` wrapper type which is constructible from ``buffer_info``. + +* Eigen: many additional conversions and support for non-contiguous + arrays/slices. + `#427 `_, + `#315 `_, + `#316 `_, + `#312 `_, and + `#267 `_ + +* Incompatible changes in ``class_<...>::class_()``: + + 1. Declarations of types that provide access via the buffer protocol must + now include the ``py::buffer_protocol()`` annotation as an argument to + the ``class_`` constructor. + + 2. Declarations of types that require a custom metaclass (i.e. all classes + which include static properties via commands such as + ``def_readwrite_static()``) must now include the ``py::metaclass()`` + annotation as an argument to the ``class_`` constructor. + + These two changes were necessary to make type definitions in pybind11 + future-proof, and to support PyPy via its cpyext mechanism. `#527 + `_. + + + 3. This version of pybind11 uses a redesigned mechanism for instantiating + trampoline classes that are used to override virtual methods from within + Python. This led to the following user-visible syntax change: instead of + + .. code-block:: cpp + + py::class_("MyClass") + .alias() + .... + + write + + .. code-block:: cpp + + py::class_("MyClass") + .... + + Importantly, both the original and the trampoline class are now + specified as an arguments (in arbitrary order) to the ``py::class_`` + template, and the ``alias<..>()`` call is gone. The new scheme has zero + overhead in cases when Python doesn't override any functions of the + underlying C++ class. `rev. 86d825 + `_. + +* Added ``eval`` and ``eval_file`` functions for evaluating expressions and + statements from a string or file. `rev. 0d3fc3 + `_. + +* pybind11 can now create types with a modifiable dictionary. + `#437 `_ and + `#444 `_. + +* Support for translation of arbitrary C++ exceptions to Python counterparts. + `#296 `_ and + `#273 `_. + +* Report full backtraces through mixed C++/Python code, better reporting for + import errors, fixed GIL management in exception processing. + `#537 `_, + `#494 `_, + `rev. e72d95 `_, and + `rev. 099d6e `_. + +* Support for bit-level operations, comparisons, and serialization of C++ + enumerations. `#503 `_, + `#508 `_, + `#380 `_, + `#309 `_. + `#311 `_. + +* The ``class_`` constructor now accepts its template arguments in any order. + `#385 `_. + +* Attribute and item accessors now have a more complete interface which makes + it possible to chain attributes as in + ``obj.attr("a")[key].attr("b").attr("method")(1, 2, 3)``. `#425 + `_. + +* Major redesign of the default and conversion constructors in ``pytypes.h``. + `#464 `_. + +* Added built-in support for ``std::shared_ptr`` holder type. It is no longer + necessary to to include a declaration of the form + ``PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr)`` (though continuing to + do so won't cause an error). + `#454 `_. + +* New ``py::overload_cast`` casting operator to select among multiple possible + overloads of a function. An example: + + .. code-block:: cpp + + py::class_(m, "Pet") + .def("set", py::overload_cast(&Pet::set), "Set the pet's age") + .def("set", py::overload_cast(&Pet::set), "Set the pet's name"); + + This feature only works on C++14-capable compilers. + `#541 `_. + +* C++ types are automatically cast to Python types, e.g. when assigning + them as an attribute. For instance, the following is now legal: + + .. code-block:: cpp + + py::module m = /* ... */ + m.attr("constant") = 123; + + (Previously, a ``py::cast`` call was necessary to avoid a compilation error.) + `#551 `_. + +* Redesigned ``pytest``-based test suite. `#321 `_. + +* Instance tracking to detect reference leaks in test suite. `#324 `_ + +* pybind11 can now distinguish between multiple different instances that are + located at the same memory address, but which have different types. + `#329 `_. + +* Improved logic in ``move`` return value policy. + `#510 `_, + `#297 `_. + +* Generalized unpacking API to permit calling Python functions from C++ using + notation such as ``foo(a1, a2, *args, "ka"_a=1, "kb"_a=2, **kwargs)``. `#372 `_. + +* ``py::print()`` function whose behavior matches that of the native Python + ``print()`` function. `#372 `_. + +* Added ``py::dict`` keyword constructor:``auto d = dict("number"_a=42, + "name"_a="World");``. `#372 `_. + +* Added ``py::str::format()`` method and ``_s`` literal: ``py::str s = "1 + 2 + = {}"_s.format(3);``. `#372 `_. + +* Added ``py::repr()`` function which is equivalent to Python's builtin + ``repr()``. `#333 `_. + +* Improved construction and destruction logic for holder types. It is now + possible to reference instances with smart pointer holder types without + constructing the holder if desired. The ``PYBIND11_DECLARE_HOLDER_TYPE`` + macro now accepts an optional second parameter to indicate whether the holder + type uses intrusive reference counting. + `#533 `_ and + `#561 `_. + +* Mapping a stateless C++ function to Python and back is now "for free" (i.e. + no extra indirections or argument conversion overheads). `rev. 954b79 + `_. + +* Bindings for ``std::valarray``. + `#545 `_. + +* Improved support for C++17 capable compilers. + `#562 `_. + +* Bindings for ``std::optional``. + `#475 `_, + `#476 `_, + `#479 `_, + `#499 `_, and + `#501 `_. + +* ``stl_bind.h``: general improvements and support for ``std::map`` and + ``std::unordered_map``. + `#490 `_, + `#282 `_, + `#235 `_. + +* The ``std::tuple``, ``std::pair``, ``std::list``, and ``std::vector`` type + casters now accept any Python sequence type as input. `rev. 107285 + `_. + +* Improved CMake Python detection on multi-architecture Linux. + `#532 `_. + +* Infrastructure to selectively disable or enable parts of the automatically + generated docstrings. `#486 `_. + +* ``reference`` and ``reference_internal`` are now the default return value + properties for static and non-static properties, respectively. `#473 + `_. (the previous defaults + were ``automatic``). `#473 `_. + +* Support for ``std::unique_ptr`` with non-default deleters or no deleter at + all (``py::nodelete``). `#384 `_. + +* Deprecated ``handle::call()`` method. The new syntax to call Python + functions is simply ``handle()``. It can also be invoked explicitly via + ``handle::operator()``, where ``X`` is an optional return value policy. + +* Print more informative error messages when ``make_tuple()`` or ``cast()`` + fail. `#262 `_. + +* Creation of holder types for classes deriving from + ``std::enable_shared_from_this<>`` now also works for ``const`` values. + `#260 `_. + +* ``make_iterator()`` improvements for better compatibility with various + types (now uses prefix increment operator); it now also accepts iterators + with different begin/end types as long as they are equality comparable. + `#247 `_. + +* ``arg()`` now accepts a wider range of argument types for default values. + `#244 `_. + +* Support ``keep_alive`` where the nurse object may be ``None``. `#341 + `_. + +* Added constructors for ``str`` and ``bytes`` from zero-terminated char + pointers, and from char pointers and length. Added constructors for ``str`` + from ``bytes`` and for ``bytes`` from ``str``, which will perform UTF-8 + decoding/encoding as required. + +* Many other improvements of library internals without user-visible changes + + +1.8.1 (July 12, 2016) +---------------------- +* Fixed a rare but potentially very severe issue when the garbage collector ran + during pybind11 type creation. + +1.8.0 (June 14, 2016) +---------------------- +* Redesigned CMake build system which exports a convenient + ``pybind11_add_module`` function to parent projects. +* ``std::vector<>`` type bindings analogous to Boost.Python's ``indexing_suite`` +* Transparent conversion of sparse and dense Eigen matrices and vectors (``eigen.h``) +* Added an ``ExtraFlags`` template argument to the NumPy ``array_t<>`` wrapper + to disable an enforced cast that may lose precision, e.g. to create overloads + for different precisions and complex vs real-valued matrices. +* Prevent implicit conversion of floating point values to integral types in + function arguments +* Fixed incorrect default return value policy for functions returning a shared + pointer +* Don't allow registering a type via ``class_`` twice +* Don't allow casting a ``None`` value into a C++ lvalue reference +* Fixed a crash in ``enum_::operator==`` that was triggered by the ``help()`` command +* Improved detection of whether or not custom C++ types can be copy/move-constructed +* Extended ``str`` type to also work with ``bytes`` instances +* Added a ``"name"_a`` user defined string literal that is equivalent to ``py::arg("name")``. +* When specifying function arguments via ``py::arg``, the test that verifies + the number of arguments now runs at compile time. +* Added ``[[noreturn]]`` attribute to ``pybind11_fail()`` to quench some + compiler warnings +* List function arguments in exception text when the dispatch code cannot find + a matching overload +* Added ``PYBIND11_OVERLOAD_NAME`` and ``PYBIND11_OVERLOAD_PURE_NAME`` macros which + can be used to override virtual methods whose name differs in C++ and Python + (e.g. ``__call__`` and ``operator()``) +* Various minor ``iterator`` and ``make_iterator()`` improvements +* Transparently support ``__bool__`` on Python 2.x and Python 3.x +* Fixed issue with destructor of unpickled object not being called +* Minor CMake build system improvements on Windows +* New ``pybind11::args`` and ``pybind11::kwargs`` types to create functions which + take an arbitrary number of arguments and keyword arguments +* New syntax to call a Python function from C++ using ``*args`` and ``*kwargs`` +* The functions ``def_property_*`` now correctly process docstring arguments (these + formerly caused a segmentation fault) +* Many ``mkdoc.py`` improvements (enumerations, template arguments, ``DOC()`` + macro accepts more arguments) +* Cygwin support +* Documentation improvements (pickling support, ``keep_alive``, macro usage) + +1.7 (April 30, 2016) +---------------------- +* Added a new ``move`` return value policy that triggers C++11 move semantics. + The automatic return value policy falls back to this case whenever a rvalue + reference is encountered +* Significantly more general GIL state routines that are used instead of + Python's troublesome ``PyGILState_Ensure`` and ``PyGILState_Release`` API +* Redesign of opaque types that drastically simplifies their usage +* Extended ability to pass values of type ``[const] void *`` +* ``keep_alive`` fix: don't fail when there is no patient +* ``functional.h``: acquire the GIL before calling a Python function +* Added Python RAII type wrappers ``none`` and ``iterable`` +* Added ``*args`` and ``*kwargs`` pass-through parameters to + ``pybind11.get_include()`` function +* Iterator improvements and fixes +* Documentation on return value policies and opaque types improved + +1.6 (April 30, 2016) +---------------------- +* Skipped due to upload to PyPI gone wrong and inability to recover + (https://github.com/pypa/packaging-problems/issues/74) + +1.5 (April 21, 2016) +---------------------- +* For polymorphic types, use RTTI to try to return the closest type registered with pybind11 +* Pickling support for serializing and unserializing C++ instances to a byte stream in Python +* Added a convenience routine ``make_iterator()`` which turns a range indicated + by a pair of C++ iterators into a iterable Python object +* Added ``len()`` and a variadic ``make_tuple()`` function +* Addressed a rare issue that could confuse the current virtual function + dispatcher and another that could lead to crashes in multi-threaded + applications +* Added a ``get_include()`` function to the Python module that returns the path + of the directory containing the installed pybind11 header files +* Documentation improvements: import issues, symbol visibility, pickling, limitations +* Added casting support for ``std::reference_wrapper<>`` + +1.4 (April 7, 2016) +-------------------------- +* Transparent type conversion for ``std::wstring`` and ``wchar_t`` +* Allow passing ``nullptr``-valued strings +* Transparent passing of ``void *`` pointers using capsules +* Transparent support for returning values wrapped in ``std::unique_ptr<>`` +* Improved docstring generation for compatibility with Sphinx +* Nicer debug error message when default parameter construction fails +* Support for "opaque" types that bypass the transparent conversion layer for STL containers +* Redesigned type casting interface to avoid ambiguities that could occasionally cause compiler errors +* Redesigned property implementation; fixes crashes due to an unfortunate default return value policy +* Anaconda package generation support + +1.3 (March 8, 2016) +-------------------------- + +* Added support for the Intel C++ compiler (v15+) +* Added support for the STL unordered set/map data structures +* Added support for the STL linked list data structure +* NumPy-style broadcasting support in ``pybind11::vectorize`` +* pybind11 now displays more verbose error messages when ``arg::operator=()`` fails +* pybind11 internal data structures now live in a version-dependent namespace to avoid ABI issues +* Many, many bugfixes involving corner cases and advanced usage + +1.2 (February 7, 2016) +-------------------------- + +* Optional: efficient generation of function signatures at compile time using C++14 +* Switched to a simpler and more general way of dealing with function default + arguments. Unused keyword arguments in function calls are now detected and + cause errors as expected +* New ``keep_alive`` call policy analogous to Boost.Python's ``with_custodian_and_ward`` +* New ``pybind11::base<>`` attribute to indicate a subclass relationship +* Improved interface for RAII type wrappers in ``pytypes.h`` +* Use RAII type wrappers consistently within pybind11 itself. This + fixes various potential refcount leaks when exceptions occur +* Added new ``bytes`` RAII type wrapper (maps to ``string`` in Python 2.7) +* Made handle and related RAII classes const correct, using them more + consistently everywhere now +* Got rid of the ugly ``__pybind11__`` attributes on the Python side---they are + now stored in a C++ hash table that is not visible in Python +* Fixed refcount leaks involving NumPy arrays and bound functions +* Vastly improved handling of shared/smart pointers +* Removed an unnecessary copy operation in ``pybind11::vectorize`` +* Fixed naming clashes when both pybind11 and NumPy headers are included +* Added conversions for additional exception types +* Documentation improvements (using multiple extension modules, smart pointers, + other minor clarifications) +* unified infrastructure for parsing variadic arguments in ``class_`` and cpp_function +* Fixed license text (was: ZLIB, should have been: 3-clause BSD) +* Python 3.2 compatibility +* Fixed remaining issues when accessing types in another plugin module +* Added enum comparison and casting methods +* Improved SFINAE-based detection of whether types are copy-constructible +* Eliminated many warnings about unused variables and the use of ``offsetof()`` +* Support for ``std::array<>`` conversions + +1.1 (December 7, 2015) +-------------------------- + +* Documentation improvements (GIL, wrapping functions, casting, fixed many typos) +* Generalized conversion of integer types +* Improved support for casting function objects +* Improved support for ``std::shared_ptr<>`` conversions +* Initial support for ``std::set<>`` conversions +* Fixed type resolution issue for types defined in a separate plugin module +* Cmake build system improvements +* Factored out generic functionality to non-templated code (smaller code size) +* Added a code size / compile time benchmark vs Boost.Python +* Added an appveyor CI script + +1.0 (October 15, 2015) +------------------------ +* Initial release diff --git a/wrap/python/pybind11/docs/classes.rst b/wrap/python/pybind11/docs/classes.rst new file mode 100644 index 000000000..1deec9b53 --- /dev/null +++ b/wrap/python/pybind11/docs/classes.rst @@ -0,0 +1,521 @@ +.. _classes: + +Object-oriented code +#################### + +Creating bindings for a custom type +=================================== + +Let's now look at a more complex example where we'll create bindings for a +custom C++ data structure named ``Pet``. Its definition is given below: + +.. code-block:: cpp + + struct Pet { + Pet(const std::string &name) : name(name) { } + void setName(const std::string &name_) { name = name_; } + const std::string &getName() const { return name; } + + std::string name; + }; + +The binding code for ``Pet`` looks as follows: + +.. code-block:: cpp + + #include + + namespace py = pybind11; + + PYBIND11_MODULE(example, m) { + py::class_(m, "Pet") + .def(py::init()) + .def("setName", &Pet::setName) + .def("getName", &Pet::getName); + } + +:class:`class_` creates bindings for a C++ *class* or *struct*-style data +structure. :func:`init` is a convenience function that takes the types of a +constructor's parameters as template arguments and wraps the corresponding +constructor (see the :ref:`custom_constructors` section for details). An +interactive Python session demonstrating this example is shown below: + +.. code-block:: pycon + + % python + >>> import example + >>> p = example.Pet('Molly') + >>> print(p) + + >>> p.getName() + u'Molly' + >>> p.setName('Charly') + >>> p.getName() + u'Charly' + +.. seealso:: + + Static member functions can be bound in the same way using + :func:`class_::def_static`. + +Keyword and default arguments +============================= +It is possible to specify keyword and default arguments using the syntax +discussed in the previous chapter. Refer to the sections :ref:`keyword_args` +and :ref:`default_args` for details. + +Binding lambda functions +======================== + +Note how ``print(p)`` produced a rather useless summary of our data structure in the example above: + +.. code-block:: pycon + + >>> print(p) + + +To address this, we could bind an utility function that returns a human-readable +summary to the special method slot named ``__repr__``. Unfortunately, there is no +suitable functionality in the ``Pet`` data structure, and it would be nice if +we did not have to change it. This can easily be accomplished by binding a +Lambda function instead: + +.. code-block:: cpp + + py::class_(m, "Pet") + .def(py::init()) + .def("setName", &Pet::setName) + .def("getName", &Pet::getName) + .def("__repr__", + [](const Pet &a) { + return ""; + } + ); + +Both stateless [#f1]_ and stateful lambda closures are supported by pybind11. +With the above change, the same Python code now produces the following output: + +.. code-block:: pycon + + >>> print(p) + + +.. [#f1] Stateless closures are those with an empty pair of brackets ``[]`` as the capture object. + +.. _properties: + +Instance and static fields +========================== + +We can also directly expose the ``name`` field using the +:func:`class_::def_readwrite` method. A similar :func:`class_::def_readonly` +method also exists for ``const`` fields. + +.. code-block:: cpp + + py::class_(m, "Pet") + .def(py::init()) + .def_readwrite("name", &Pet::name) + // ... remainder ... + +This makes it possible to write + +.. code-block:: pycon + + >>> p = example.Pet('Molly') + >>> p.name + u'Molly' + >>> p.name = 'Charly' + >>> p.name + u'Charly' + +Now suppose that ``Pet::name`` was a private internal variable +that can only be accessed via setters and getters. + +.. code-block:: cpp + + class Pet { + public: + Pet(const std::string &name) : name(name) { } + void setName(const std::string &name_) { name = name_; } + const std::string &getName() const { return name; } + private: + std::string name; + }; + +In this case, the method :func:`class_::def_property` +(:func:`class_::def_property_readonly` for read-only data) can be used to +provide a field-like interface within Python that will transparently call +the setter and getter functions: + +.. code-block:: cpp + + py::class_(m, "Pet") + .def(py::init()) + .def_property("name", &Pet::getName, &Pet::setName) + // ... remainder ... + +Write only properties can be defined by passing ``nullptr`` as the +input for the read function. + +.. seealso:: + + Similar functions :func:`class_::def_readwrite_static`, + :func:`class_::def_readonly_static` :func:`class_::def_property_static`, + and :func:`class_::def_property_readonly_static` are provided for binding + static variables and properties. Please also see the section on + :ref:`static_properties` in the advanced part of the documentation. + +Dynamic attributes +================== + +Native Python classes can pick up new attributes dynamically: + +.. code-block:: pycon + + >>> class Pet: + ... name = 'Molly' + ... + >>> p = Pet() + >>> p.name = 'Charly' # overwrite existing + >>> p.age = 2 # dynamically add a new attribute + +By default, classes exported from C++ do not support this and the only writable +attributes are the ones explicitly defined using :func:`class_::def_readwrite` +or :func:`class_::def_property`. + +.. code-block:: cpp + + py::class_(m, "Pet") + .def(py::init<>()) + .def_readwrite("name", &Pet::name); + +Trying to set any other attribute results in an error: + +.. code-block:: pycon + + >>> p = example.Pet() + >>> p.name = 'Charly' # OK, attribute defined in C++ + >>> p.age = 2 # fail + AttributeError: 'Pet' object has no attribute 'age' + +To enable dynamic attributes for C++ classes, the :class:`py::dynamic_attr` tag +must be added to the :class:`py::class_` constructor: + +.. code-block:: cpp + + py::class_(m, "Pet", py::dynamic_attr()) + .def(py::init<>()) + .def_readwrite("name", &Pet::name); + +Now everything works as expected: + +.. code-block:: pycon + + >>> p = example.Pet() + >>> p.name = 'Charly' # OK, overwrite value in C++ + >>> p.age = 2 # OK, dynamically add a new attribute + >>> p.__dict__ # just like a native Python class + {'age': 2} + +Note that there is a small runtime cost for a class with dynamic attributes. +Not only because of the addition of a ``__dict__``, but also because of more +expensive garbage collection tracking which must be activated to resolve +possible circular references. Native Python classes incur this same cost by +default, so this is not anything to worry about. By default, pybind11 classes +are more efficient than native Python classes. Enabling dynamic attributes +just brings them on par. + +.. _inheritance: + +Inheritance and automatic downcasting +===================================== + +Suppose now that the example consists of two data structures with an +inheritance relationship: + +.. code-block:: cpp + + struct Pet { + Pet(const std::string &name) : name(name) { } + std::string name; + }; + + struct Dog : Pet { + Dog(const std::string &name) : Pet(name) { } + std::string bark() const { return "woof!"; } + }; + +There are two different ways of indicating a hierarchical relationship to +pybind11: the first specifies the C++ base class as an extra template +parameter of the :class:`class_`: + +.. code-block:: cpp + + py::class_(m, "Pet") + .def(py::init()) + .def_readwrite("name", &Pet::name); + + // Method 1: template parameter: + py::class_(m, "Dog") + .def(py::init()) + .def("bark", &Dog::bark); + +Alternatively, we can also assign a name to the previously bound ``Pet`` +:class:`class_` object and reference it when binding the ``Dog`` class: + +.. code-block:: cpp + + py::class_ pet(m, "Pet"); + pet.def(py::init()) + .def_readwrite("name", &Pet::name); + + // Method 2: pass parent class_ object: + py::class_(m, "Dog", pet /* <- specify Python parent type */) + .def(py::init()) + .def("bark", &Dog::bark); + +Functionality-wise, both approaches are equivalent. Afterwards, instances will +expose fields and methods of both types: + +.. code-block:: pycon + + >>> p = example.Dog('Molly') + >>> p.name + u'Molly' + >>> p.bark() + u'woof!' + +The C++ classes defined above are regular non-polymorphic types with an +inheritance relationship. This is reflected in Python: + +.. code-block:: cpp + + // Return a base pointer to a derived instance + m.def("pet_store", []() { return std::unique_ptr(new Dog("Molly")); }); + +.. code-block:: pycon + + >>> p = example.pet_store() + >>> type(p) # `Dog` instance behind `Pet` pointer + Pet # no pointer downcasting for regular non-polymorphic types + >>> p.bark() + AttributeError: 'Pet' object has no attribute 'bark' + +The function returned a ``Dog`` instance, but because it's a non-polymorphic +type behind a base pointer, Python only sees a ``Pet``. In C++, a type is only +considered polymorphic if it has at least one virtual function and pybind11 +will automatically recognize this: + +.. code-block:: cpp + + struct PolymorphicPet { + virtual ~PolymorphicPet() = default; + }; + + struct PolymorphicDog : PolymorphicPet { + std::string bark() const { return "woof!"; } + }; + + // Same binding code + py::class_(m, "PolymorphicPet"); + py::class_(m, "PolymorphicDog") + .def(py::init<>()) + .def("bark", &PolymorphicDog::bark); + + // Again, return a base pointer to a derived instance + m.def("pet_store2", []() { return std::unique_ptr(new PolymorphicDog); }); + +.. code-block:: pycon + + >>> p = example.pet_store2() + >>> type(p) + PolymorphicDog # automatically downcast + >>> p.bark() + u'woof!' + +Given a pointer to a polymorphic base, pybind11 performs automatic downcasting +to the actual derived type. Note that this goes beyond the usual situation in +C++: we don't just get access to the virtual functions of the base, we get the +concrete derived type including functions and attributes that the base type may +not even be aware of. + +.. seealso:: + + For more information about polymorphic behavior see :ref:`overriding_virtuals`. + + +Overloaded methods +================== + +Sometimes there are several overloaded C++ methods with the same name taking +different kinds of input arguments: + +.. code-block:: cpp + + struct Pet { + Pet(const std::string &name, int age) : name(name), age(age) { } + + void set(int age_) { age = age_; } + void set(const std::string &name_) { name = name_; } + + std::string name; + int age; + }; + +Attempting to bind ``Pet::set`` will cause an error since the compiler does not +know which method the user intended to select. We can disambiguate by casting +them to function pointers. Binding multiple functions to the same Python name +automatically creates a chain of function overloads that will be tried in +sequence. + +.. code-block:: cpp + + py::class_(m, "Pet") + .def(py::init()) + .def("set", (void (Pet::*)(int)) &Pet::set, "Set the pet's age") + .def("set", (void (Pet::*)(const std::string &)) &Pet::set, "Set the pet's name"); + +The overload signatures are also visible in the method's docstring: + +.. code-block:: pycon + + >>> help(example.Pet) + + class Pet(__builtin__.object) + | Methods defined here: + | + | __init__(...) + | Signature : (Pet, str, int) -> NoneType + | + | set(...) + | 1. Signature : (Pet, int) -> NoneType + | + | Set the pet's age + | + | 2. Signature : (Pet, str) -> NoneType + | + | Set the pet's name + +If you have a C++14 compatible compiler [#cpp14]_, you can use an alternative +syntax to cast the overloaded function: + +.. code-block:: cpp + + py::class_(m, "Pet") + .def("set", py::overload_cast(&Pet::set), "Set the pet's age") + .def("set", py::overload_cast(&Pet::set), "Set the pet's name"); + +Here, ``py::overload_cast`` only requires the parameter types to be specified. +The return type and class are deduced. This avoids the additional noise of +``void (Pet::*)()`` as seen in the raw cast. If a function is overloaded based +on constness, the ``py::const_`` tag should be used: + +.. code-block:: cpp + + struct Widget { + int foo(int x, float y); + int foo(int x, float y) const; + }; + + py::class_(m, "Widget") + .def("foo_mutable", py::overload_cast(&Widget::foo)) + .def("foo_const", py::overload_cast(&Widget::foo, py::const_)); + + +.. [#cpp14] A compiler which supports the ``-std=c++14`` flag + or Visual Studio 2015 Update 2 and newer. + +.. note:: + + To define multiple overloaded constructors, simply declare one after the + other using the ``.def(py::init<...>())`` syntax. The existing machinery + for specifying keyword and default arguments also works. + +Enumerations and internal types +=============================== + +Let's now suppose that the example class contains an internal enumeration type, +e.g.: + +.. code-block:: cpp + + struct Pet { + enum Kind { + Dog = 0, + Cat + }; + + Pet(const std::string &name, Kind type) : name(name), type(type) { } + + std::string name; + Kind type; + }; + +The binding code for this example looks as follows: + +.. code-block:: cpp + + py::class_ pet(m, "Pet"); + + pet.def(py::init()) + .def_readwrite("name", &Pet::name) + .def_readwrite("type", &Pet::type); + + py::enum_(pet, "Kind") + .value("Dog", Pet::Kind::Dog) + .value("Cat", Pet::Kind::Cat) + .export_values(); + +To ensure that the ``Kind`` type is created within the scope of ``Pet``, the +``pet`` :class:`class_` instance must be supplied to the :class:`enum_`. +constructor. The :func:`enum_::export_values` function exports the enum entries +into the parent scope, which should be skipped for newer C++11-style strongly +typed enums. + +.. code-block:: pycon + + >>> p = Pet('Lucy', Pet.Cat) + >>> p.type + Kind.Cat + >>> int(p.type) + 1L + +The entries defined by the enumeration type are exposed in the ``__members__`` property: + +.. code-block:: pycon + + >>> Pet.Kind.__members__ + {'Dog': Kind.Dog, 'Cat': Kind.Cat} + +The ``name`` property returns the name of the enum value as a unicode string. + +.. note:: + + It is also possible to use ``str(enum)``, however these accomplish different + goals. The following shows how these two approaches differ. + + .. code-block:: pycon + + >>> p = Pet( "Lucy", Pet.Cat ) + >>> pet_type = p.type + >>> pet_type + Pet.Cat + >>> str(pet_type) + 'Pet.Cat' + >>> pet_type.name + 'Cat' + +.. note:: + + When the special tag ``py::arithmetic()`` is specified to the ``enum_`` + constructor, pybind11 creates an enumeration that also supports rudimentary + arithmetic and bit-level operations like comparisons, and, or, xor, negation, + etc. + + .. code-block:: cpp + + py::enum_(pet, "Kind", py::arithmetic()) + ... + + By default, these are omitted to conserve space. diff --git a/wrap/python/pybind11/docs/compiling.rst b/wrap/python/pybind11/docs/compiling.rst new file mode 100644 index 000000000..c50c7d8af --- /dev/null +++ b/wrap/python/pybind11/docs/compiling.rst @@ -0,0 +1,289 @@ +.. _compiling: + +Build systems +############# + +Building with setuptools +======================== + +For projects on PyPI, building with setuptools is the way to go. Sylvain Corlay +has kindly provided an example project which shows how to set up everything, +including automatic generation of documentation using Sphinx. Please refer to +the [python_example]_ repository. + +.. [python_example] https://github.com/pybind/python_example + +Building with cppimport +======================== + +[cppimport]_ is a small Python import hook that determines whether there is a C++ +source file whose name matches the requested module. If there is, the file is +compiled as a Python extension using pybind11 and placed in the same folder as +the C++ source file. Python is then able to find the module and load it. + +.. [cppimport] https://github.com/tbenthompson/cppimport + +.. _cmake: + +Building with CMake +=================== + +For C++ codebases that have an existing CMake-based build system, a Python +extension module can be created with just a few lines of code: + +.. code-block:: cmake + + cmake_minimum_required(VERSION 2.8.12) + project(example) + + add_subdirectory(pybind11) + pybind11_add_module(example example.cpp) + +This assumes that the pybind11 repository is located in a subdirectory named +:file:`pybind11` and that the code is located in a file named :file:`example.cpp`. +The CMake command ``add_subdirectory`` will import the pybind11 project which +provides the ``pybind11_add_module`` function. It will take care of all the +details needed to build a Python extension module on any platform. + +A working sample project, including a way to invoke CMake from :file:`setup.py` for +PyPI integration, can be found in the [cmake_example]_ repository. + +.. [cmake_example] https://github.com/pybind/cmake_example + +pybind11_add_module +------------------- + +To ease the creation of Python extension modules, pybind11 provides a CMake +function with the following signature: + +.. code-block:: cmake + + pybind11_add_module( [MODULE | SHARED] [EXCLUDE_FROM_ALL] + [NO_EXTRAS] [SYSTEM] [THIN_LTO] source1 [source2 ...]) + +This function behaves very much like CMake's builtin ``add_library`` (in fact, +it's a wrapper function around that command). It will add a library target +called ```` to be built from the listed source files. In addition, it +will take care of all the Python-specific compiler and linker flags as well +as the OS- and Python-version-specific file extension. The produced target +```` can be further manipulated with regular CMake commands. + +``MODULE`` or ``SHARED`` may be given to specify the type of library. If no +type is given, ``MODULE`` is used by default which ensures the creation of a +Python-exclusive module. Specifying ``SHARED`` will create a more traditional +dynamic library which can also be linked from elsewhere. ``EXCLUDE_FROM_ALL`` +removes this target from the default build (see CMake docs for details). + +Since pybind11 is a template library, ``pybind11_add_module`` adds compiler +flags to ensure high quality code generation without bloat arising from long +symbol names and duplication of code in different translation units. It +sets default visibility to *hidden*, which is required for some pybind11 +features and functionality when attempting to load multiple pybind11 modules +compiled under different pybind11 versions. It also adds additional flags +enabling LTO (Link Time Optimization) and strip unneeded symbols. See the +:ref:`FAQ entry ` for a more detailed explanation. These +latter optimizations are never applied in ``Debug`` mode. If ``NO_EXTRAS`` is +given, they will always be disabled, even in ``Release`` mode. However, this +will result in code bloat and is generally not recommended. + +By default, pybind11 and Python headers will be included with ``-I``. In order +to include pybind11 as system library, e.g. to avoid warnings in downstream +code with warn-levels outside of pybind11's scope, set the option ``SYSTEM``. + +As stated above, LTO is enabled by default. Some newer compilers also support +different flavors of LTO such as `ThinLTO`_. Setting ``THIN_LTO`` will cause +the function to prefer this flavor if available. The function falls back to +regular LTO if ``-flto=thin`` is not available. + +.. _ThinLTO: http://clang.llvm.org/docs/ThinLTO.html + +Configuration variables +----------------------- + +By default, pybind11 will compile modules with the C++14 standard, if available +on the target compiler, falling back to C++11 if C++14 support is not +available. Note, however, that this default is subject to change: future +pybind11 releases are expected to migrate to newer C++ standards as they become +available. To override this, the standard flag can be given explicitly in +``PYBIND11_CPP_STANDARD``: + +.. code-block:: cmake + + # Use just one of these: + # GCC/clang: + set(PYBIND11_CPP_STANDARD -std=c++11) + set(PYBIND11_CPP_STANDARD -std=c++14) + set(PYBIND11_CPP_STANDARD -std=c++1z) # Experimental C++17 support + # MSVC: + set(PYBIND11_CPP_STANDARD /std:c++14) + set(PYBIND11_CPP_STANDARD /std:c++latest) # Enables some MSVC C++17 features + + add_subdirectory(pybind11) # or find_package(pybind11) + +Note that this and all other configuration variables must be set **before** the +call to ``add_subdirectory`` or ``find_package``. The variables can also be set +when calling CMake from the command line using the ``-D=`` flag. + +The target Python version can be selected by setting ``PYBIND11_PYTHON_VERSION`` +or an exact Python installation can be specified with ``PYTHON_EXECUTABLE``. +For example: + +.. code-block:: bash + + cmake -DPYBIND11_PYTHON_VERSION=3.6 .. + # or + cmake -DPYTHON_EXECUTABLE=path/to/python .. + +find_package vs. add_subdirectory +--------------------------------- + +For CMake-based projects that don't include the pybind11 repository internally, +an external installation can be detected through ``find_package(pybind11)``. +See the `Config file`_ docstring for details of relevant CMake variables. + +.. code-block:: cmake + + cmake_minimum_required(VERSION 2.8.12) + project(example) + + find_package(pybind11 REQUIRED) + pybind11_add_module(example example.cpp) + +Note that ``find_package(pybind11)`` will only work correctly if pybind11 +has been correctly installed on the system, e. g. after downloading or cloning +the pybind11 repository : + +.. code-block:: bash + + cd pybind11 + mkdir build + cd build + cmake .. + make install + +Once detected, the aforementioned ``pybind11_add_module`` can be employed as +before. The function usage and configuration variables are identical no matter +if pybind11 is added as a subdirectory or found as an installed package. You +can refer to the same [cmake_example]_ repository for a full sample project +-- just swap out ``add_subdirectory`` for ``find_package``. + +.. _Config file: https://github.com/pybind/pybind11/blob/master/tools/pybind11Config.cmake.in + +Advanced: interface library target +---------------------------------- + +When using a version of CMake greater than 3.0, pybind11 can additionally +be used as a special *interface library* . The target ``pybind11::module`` +is available with pybind11 headers, Python headers and libraries as needed, +and C++ compile definitions attached. This target is suitable for linking +to an independently constructed (through ``add_library``, not +``pybind11_add_module``) target in the consuming project. + +.. code-block:: cmake + + cmake_minimum_required(VERSION 3.0) + project(example) + + find_package(pybind11 REQUIRED) # or add_subdirectory(pybind11) + + add_library(example MODULE main.cpp) + target_link_libraries(example PRIVATE pybind11::module) + set_target_properties(example PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}" + SUFFIX "${PYTHON_MODULE_EXTENSION}") + +.. warning:: + + Since pybind11 is a metatemplate library, it is crucial that certain + compiler flags are provided to ensure high quality code generation. In + contrast to the ``pybind11_add_module()`` command, the CMake interface + library only provides the *minimal* set of parameters to ensure that the + code using pybind11 compiles, but it does **not** pass these extra compiler + flags (i.e. this is up to you). + + These include Link Time Optimization (``-flto`` on GCC/Clang/ICPC, ``/GL`` + and ``/LTCG`` on Visual Studio) and .OBJ files with many sections on Visual + Studio (``/bigobj``). The :ref:`FAQ ` contains an + explanation on why these are needed. + +Embedding the Python interpreter +-------------------------------- + +In addition to extension modules, pybind11 also supports embedding Python into +a C++ executable or library. In CMake, simply link with the ``pybind11::embed`` +target. It provides everything needed to get the interpreter running. The Python +headers and libraries are attached to the target. Unlike ``pybind11::module``, +there is no need to manually set any additional properties here. For more +information about usage in C++, see :doc:`/advanced/embedding`. + +.. code-block:: cmake + + cmake_minimum_required(VERSION 3.0) + project(example) + + find_package(pybind11 REQUIRED) # or add_subdirectory(pybind11) + + add_executable(example main.cpp) + target_link_libraries(example PRIVATE pybind11::embed) + +.. _building_manually: + +Building manually +================= + +pybind11 is a header-only library, hence it is not necessary to link against +any special libraries and there are no intermediate (magic) translation steps. + +On Linux, you can compile an example such as the one given in +:ref:`simple_example` using the following command: + +.. code-block:: bash + + $ c++ -O3 -Wall -shared -std=c++11 -fPIC `python3 -m pybind11 --includes` example.cpp -o example`python3-config --extension-suffix` + +The flags given here assume that you're using Python 3. For Python 2, just +change the executable appropriately (to ``python`` or ``python2``). + +The ``python3 -m pybind11 --includes`` command fetches the include paths for +both pybind11 and Python headers. This assumes that pybind11 has been installed +using ``pip`` or ``conda``. If it hasn't, you can also manually specify +``-I /include`` together with the Python includes path +``python3-config --includes``. + +Note that Python 2.7 modules don't use a special suffix, so you should simply +use ``example.so`` instead of ``example`python3-config --extension-suffix```. +Besides, the ``--extension-suffix`` option may or may not be available, depending +on the distribution; in the latter case, the module extension can be manually +set to ``.so``. + +On Mac OS: the build command is almost the same but it also requires passing +the ``-undefined dynamic_lookup`` flag so as to ignore missing symbols when +building the module: + +.. code-block:: bash + + $ c++ -O3 -Wall -shared -std=c++11 -undefined dynamic_lookup `python3 -m pybind11 --includes` example.cpp -o example`python3-config --extension-suffix` + +In general, it is advisable to include several additional build parameters +that can considerably reduce the size of the created binary. Refer to section +:ref:`cmake` for a detailed example of a suitable cross-platform CMake-based +build system that works on all platforms including Windows. + +.. note:: + + On Linux and macOS, it's better to (intentionally) not link against + ``libpython``. The symbols will be resolved when the extension library + is loaded into a Python binary. This is preferable because you might + have several different installations of a given Python version (e.g. the + system-provided Python, and one that ships with a piece of commercial + software). In this way, the plugin will work with both versions, instead + of possibly importing a second Python library into a process that already + contains one (which will lead to a segfault). + +Generating binding code automatically +===================================== + +The ``Binder`` project is a tool for automatic generation of pybind11 binding +code by introspecting existing C++ codebases using LLVM/Clang. See the +[binder]_ documentation for details. + +.. [binder] http://cppbinder.readthedocs.io/en/latest/about.html diff --git a/wrap/python/pybind11/docs/conf.py b/wrap/python/pybind11/docs/conf.py new file mode 100644 index 000000000..d17e4ba30 --- /dev/null +++ b/wrap/python/pybind11/docs/conf.py @@ -0,0 +1,332 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# +# pybind11 documentation build configuration file, created by +# sphinx-quickstart on Sun Oct 11 19:23:48 2015. +# +# This file is execfile()d with the current directory set to its +# containing dir. +# +# Note that not all possible configuration values are present in this +# autogenerated file. +# +# All configuration values have a default; values that are commented out +# serve to show the default. + +import sys +import os +import shlex +import subprocess + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +#sys.path.insert(0, os.path.abspath('.')) + +# -- General configuration ------------------------------------------------ + +# If your documentation needs a minimal Sphinx version, state it here. +#needs_sphinx = '1.0' + +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = ['breathe'] + +breathe_projects = {'pybind11': '.build/doxygenxml/'} +breathe_default_project = 'pybind11' +breathe_domain_by_extension = {'h': 'cpp'} + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['.templates'] + +# The suffix(es) of source filenames. +# You can specify multiple suffix as a list of string: +# source_suffix = ['.rst', '.md'] +source_suffix = '.rst' + +# The encoding of source files. +#source_encoding = 'utf-8-sig' + +# The master toctree document. +master_doc = 'index' + +# General information about the project. +project = 'pybind11' +copyright = '2017, Wenzel Jakob' +author = 'Wenzel Jakob' + +# The version info for the project you're documenting, acts as replacement for +# |version| and |release|, also used in various other places throughout the +# built documents. +# +# The short X.Y version. +version = '2.3' +# The full version, including alpha/beta/rc tags. +release = '2.3.dev1' + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +# +# This is also used if you do content translation via gettext catalogs. +# Usually you set "language" from the command line for these cases. +language = None + +# There are two options for replacing |today|: either, you set today to some +# non-false value, then it is used: +#today = '' +# Else, today_fmt is used as the format for a strftime call. +#today_fmt = '%B %d, %Y' + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +exclude_patterns = ['.build', 'release.rst'] + +# The reST default role (used for this markup: `text`) to use for all +# documents. +default_role = 'any' + +# If true, '()' will be appended to :func: etc. cross-reference text. +#add_function_parentheses = True + +# If true, the current module name will be prepended to all description +# unit titles (such as .. function::). +#add_module_names = True + +# If true, sectionauthor and moduleauthor directives will be shown in the +# output. They are ignored by default. +#show_authors = False + +# The name of the Pygments (syntax highlighting) style to use. +#pygments_style = 'monokai' + +# A list of ignored prefixes for module index sorting. +#modindex_common_prefix = [] + +# If true, keep warnings as "system message" paragraphs in the built documents. +#keep_warnings = False + +# If true, `todo` and `todoList` produce output, else they produce nothing. +todo_include_todos = False + + +# -- Options for HTML output ---------------------------------------------- + +# The theme to use for HTML and HTML Help pages. See the documentation for +# a list of builtin themes. + +on_rtd = os.environ.get('READTHEDOCS', None) == 'True' + +if not on_rtd: # only import and set the theme if we're building docs locally + import sphinx_rtd_theme + html_theme = 'sphinx_rtd_theme' + html_theme_path = [sphinx_rtd_theme.get_html_theme_path()] + + html_context = { + 'css_files': [ + '_static/theme_overrides.css' + ] + } +else: + html_context = { + 'css_files': [ + '//media.readthedocs.org/css/sphinx_rtd_theme.css', + '//media.readthedocs.org/css/readthedocs-doc-embed.css', + '_static/theme_overrides.css' + ] + } + +# Theme options are theme-specific and customize the look and feel of a theme +# further. For a list of options available for each theme, see the +# documentation. +#html_theme_options = {} + +# Add any paths that contain custom themes here, relative to this directory. +#html_theme_path = [] + +# The name for this set of Sphinx documents. If None, it defaults to +# " v documentation". +#html_title = None + +# A shorter title for the navigation bar. Default is the same as html_title. +#html_short_title = None + +# The name of an image file (relative to this directory) to place at the top +# of the sidebar. +#html_logo = None + +# The name of an image file (within the static path) to use as favicon of the +# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 +# pixels large. +#html_favicon = None + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = ['_static'] + +# Add any extra paths that contain custom files (such as robots.txt or +# .htaccess) here, relative to this directory. These files are copied +# directly to the root of the documentation. +#html_extra_path = [] + +# If not '', a 'Last updated on:' timestamp is inserted at every page bottom, +# using the given strftime format. +#html_last_updated_fmt = '%b %d, %Y' + +# If true, SmartyPants will be used to convert quotes and dashes to +# typographically correct entities. +#html_use_smartypants = True + +# Custom sidebar templates, maps document names to template names. +#html_sidebars = {} + +# Additional templates that should be rendered to pages, maps page names to +# template names. +#html_additional_pages = {} + +# If false, no module index is generated. +#html_domain_indices = True + +# If false, no index is generated. +#html_use_index = True + +# If true, the index is split into individual pages for each letter. +#html_split_index = False + +# If true, links to the reST sources are added to the pages. +#html_show_sourcelink = True + +# If true, "Created using Sphinx" is shown in the HTML footer. Default is True. +#html_show_sphinx = True + +# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True. +#html_show_copyright = True + +# If true, an OpenSearch description file will be output, and all pages will +# contain a tag referring to it. The value of this option must be the +# base URL from which the finished HTML is served. +#html_use_opensearch = '' + +# This is the file name suffix for HTML files (e.g. ".xhtml"). +#html_file_suffix = None + +# Language to be used for generating the HTML full-text search index. +# Sphinx supports the following languages: +# 'da', 'de', 'en', 'es', 'fi', 'fr', 'h', 'it', 'ja' +# 'nl', 'no', 'pt', 'ro', 'r', 'sv', 'tr' +#html_search_language = 'en' + +# A dictionary with options for the search language support, empty by default. +# Now only 'ja' uses this config value +#html_search_options = {'type': 'default'} + +# The name of a javascript file (relative to the configuration directory) that +# implements a search results scorer. If empty, the default will be used. +#html_search_scorer = 'scorer.js' + +# Output file base name for HTML help builder. +htmlhelp_basename = 'pybind11doc' + +# -- Options for LaTeX output --------------------------------------------- + +latex_elements = { +# The paper size ('letterpaper' or 'a4paper'). +#'papersize': 'letterpaper', + +# The font size ('10pt', '11pt' or '12pt'). +#'pointsize': '10pt', + +# Additional stuff for the LaTeX preamble. +'preamble': '\DeclareUnicodeCharacter{00A0}{}', + +# Latex figure (float) alignment +#'figure_align': 'htbp', +} + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, +# author, documentclass [howto, manual, or own class]). +latex_documents = [ + (master_doc, 'pybind11.tex', 'pybind11 Documentation', + 'Wenzel Jakob', 'manual'), +] + +# The name of an image file (relative to this directory) to place at the top of +# the title page. +# latex_logo = 'pybind11-logo.png' + +# For "manual" documents, if this is true, then toplevel headings are parts, +# not chapters. +#latex_use_parts = False + +# If true, show page references after internal links. +#latex_show_pagerefs = False + +# If true, show URL addresses after external links. +#latex_show_urls = False + +# Documents to append as an appendix to all manuals. +#latex_appendices = [] + +# If false, no module index is generated. +#latex_domain_indices = True + + +# -- Options for manual page output --------------------------------------- + +# One entry per manual page. List of tuples +# (source start file, name, description, authors, manual section). +man_pages = [ + (master_doc, 'pybind11', 'pybind11 Documentation', + [author], 1) +] + +# If true, show URL addresses after external links. +#man_show_urls = False + + +# -- Options for Texinfo output ------------------------------------------- + +# Grouping the document tree into Texinfo files. List of tuples +# (source start file, target name, title, author, +# dir menu entry, description, category) +texinfo_documents = [ + (master_doc, 'pybind11', 'pybind11 Documentation', + author, 'pybind11', 'One line description of project.', + 'Miscellaneous'), +] + +# Documents to append as an appendix to all manuals. +#texinfo_appendices = [] + +# If false, no module index is generated. +#texinfo_domain_indices = True + +# How to display URL addresses: 'footnote', 'no', or 'inline'. +#texinfo_show_urls = 'footnote' + +# If true, do not generate a @detailmenu in the "Top" node's menu. +#texinfo_no_detailmenu = False + +primary_domain = 'cpp' +highlight_language = 'cpp' + + +def generate_doxygen_xml(app): + build_dir = os.path.join(app.confdir, '.build') + if not os.path.exists(build_dir): + os.mkdir(build_dir) + + try: + subprocess.call(['doxygen', '--version']) + retcode = subprocess.call(['doxygen'], cwd=app.confdir) + if retcode < 0: + sys.stderr.write("doxygen error code: {}\n".format(-retcode)) + except OSError as e: + sys.stderr.write("doxygen execution failed: {}\n".format(e)) + + +def setup(app): + """Add hook for building doxygen xml when needed""" + app.connect("builder-inited", generate_doxygen_xml) diff --git a/wrap/python/pybind11/docs/faq.rst b/wrap/python/pybind11/docs/faq.rst new file mode 100644 index 000000000..93ccf10e5 --- /dev/null +++ b/wrap/python/pybind11/docs/faq.rst @@ -0,0 +1,297 @@ +Frequently asked questions +########################## + +"ImportError: dynamic module does not define init function" +=========================================================== + +1. Make sure that the name specified in PYBIND11_MODULE is identical to the +filename of the extension library (without prefixes such as .so) + +2. If the above did not fix the issue, you are likely using an incompatible +version of Python (for instance, the extension library was compiled against +Python 2, while the interpreter is running on top of some version of Python +3, or vice versa). + +"Symbol not found: ``__Py_ZeroStruct`` / ``_PyInstanceMethod_Type``" +======================================================================== + +See the first answer. + +"SystemError: dynamic module not initialized properly" +====================================================== + +See the first answer. + +The Python interpreter immediately crashes when importing my module +=================================================================== + +See the first answer. + +CMake doesn't detect the right Python version +============================================= + +The CMake-based build system will try to automatically detect the installed +version of Python and link against that. When this fails, or when there are +multiple versions of Python and it finds the wrong one, delete +``CMakeCache.txt`` and then invoke CMake as follows: + +.. code-block:: bash + + cmake -DPYTHON_EXECUTABLE:FILEPATH= . + +.. _faq_reference_arguments: + +Limitations involving reference arguments +========================================= + +In C++, it's fairly common to pass arguments using mutable references or +mutable pointers, which allows both read and write access to the value +supplied by the caller. This is sometimes done for efficiency reasons, or to +realize functions that have multiple return values. Here are two very basic +examples: + +.. code-block:: cpp + + void increment(int &i) { i++; } + void increment_ptr(int *i) { (*i)++; } + +In Python, all arguments are passed by reference, so there is no general +issue in binding such code from Python. + +However, certain basic Python types (like ``str``, ``int``, ``bool``, +``float``, etc.) are **immutable**. This means that the following attempt +to port the function to Python doesn't have the same effect on the value +provided by the caller -- in fact, it does nothing at all. + +.. code-block:: python + + def increment(i): + i += 1 # nope.. + +pybind11 is also affected by such language-level conventions, which means that +binding ``increment`` or ``increment_ptr`` will also create Python functions +that don't modify their arguments. + +Although inconvenient, one workaround is to encapsulate the immutable types in +a custom type that does allow modifications. + +An other alternative involves binding a small wrapper lambda function that +returns a tuple with all output arguments (see the remainder of the +documentation for examples on binding lambda functions). An example: + +.. code-block:: cpp + + int foo(int &i) { i++; return 123; } + +and the binding code + +.. code-block:: cpp + + m.def("foo", [](int i) { int rv = foo(i); return std::make_tuple(rv, i); }); + + +How can I reduce the build time? +================================ + +It's good practice to split binding code over multiple files, as in the +following example: + +:file:`example.cpp`: + +.. code-block:: cpp + + void init_ex1(py::module &); + void init_ex2(py::module &); + /* ... */ + + PYBIND11_MODULE(example, m) { + init_ex1(m); + init_ex2(m); + /* ... */ + } + +:file:`ex1.cpp`: + +.. code-block:: cpp + + void init_ex1(py::module &m) { + m.def("add", [](int a, int b) { return a + b; }); + } + +:file:`ex2.cpp`: + +.. code-block:: cpp + + void init_ex2(py::module &m) { + m.def("sub", [](int a, int b) { return a - b; }); + } + +:command:`python`: + +.. code-block:: pycon + + >>> import example + >>> example.add(1, 2) + 3 + >>> example.sub(1, 1) + 0 + +As shown above, the various ``init_ex`` functions should be contained in +separate files that can be compiled independently from one another, and then +linked together into the same final shared object. Following this approach +will: + +1. reduce memory requirements per compilation unit. + +2. enable parallel builds (if desired). + +3. allow for faster incremental builds. For instance, when a single class + definition is changed, only a subset of the binding code will generally need + to be recompiled. + +"recursive template instantiation exceeded maximum depth of 256" +================================================================ + +If you receive an error about excessive recursive template evaluation, try +specifying a larger value, e.g. ``-ftemplate-depth=1024`` on GCC/Clang. The +culprit is generally the generation of function signatures at compile time +using C++14 template metaprogramming. + +.. _`faq:hidden_visibility`: + +"‘SomeClass’ declared with greater visibility than the type of its field ‘SomeClass::member’ [-Wattributes]" +============================================================================================================ + +This error typically indicates that you are compiling without the required +``-fvisibility`` flag. pybind11 code internally forces hidden visibility on +all internal code, but if non-hidden (and thus *exported*) code attempts to +include a pybind type (for example, ``py::object`` or ``py::list``) you can run +into this warning. + +To avoid it, make sure you are specifying ``-fvisibility=hidden`` when +compiling pybind code. + +As to why ``-fvisibility=hidden`` is necessary, because pybind modules could +have been compiled under different versions of pybind itself, it is also +important that the symbols defined in one module do not clash with the +potentially-incompatible symbols defined in another. While Python extension +modules are usually loaded with localized symbols (under POSIX systems +typically using ``dlopen`` with the ``RTLD_LOCAL`` flag), this Python default +can be changed, but even if it isn't it is not always enough to guarantee +complete independence of the symbols involved when not using +``-fvisibility=hidden``. + +Additionally, ``-fvisiblity=hidden`` can deliver considerably binary size +savings. (See the following section for more details). + + +.. _`faq:symhidden`: + +How can I create smaller binaries? +================================== + +To do its job, pybind11 extensively relies on a programming technique known as +*template metaprogramming*, which is a way of performing computation at compile +time using type information. Template metaprogamming usually instantiates code +involving significant numbers of deeply nested types that are either completely +removed or reduced to just a few instructions during the compiler's optimization +phase. However, due to the nested nature of these types, the resulting symbol +names in the compiled extension library can be extremely long. For instance, +the included test suite contains the following symbol: + +.. only:: html + + .. code-block:: none + + _​_​Z​N​8​p​y​b​i​n​d​1​1​1​2​c​p​p​_​f​u​n​c​t​i​o​n​C​1​I​v​8​E​x​a​m​p​l​e​2​J​R​N​S​t​3​_​_​1​6​v​e​c​t​o​r​I​N​S​3​_​1​2​b​a​s​i​c​_​s​t​r​i​n​g​I​w​N​S​3​_​1​1​c​h​a​r​_​t​r​a​i​t​s​I​w​E​E​N​S​3​_​9​a​l​l​o​c​a​t​o​r​I​w​E​E​E​E​N​S​8​_​I​S​A​_​E​E​E​E​E​J​N​S​_​4​n​a​m​e​E​N​S​_​7​s​i​b​l​i​n​g​E​N​S​_​9​i​s​_​m​e​t​h​o​d​E​A​2​8​_​c​E​E​E​M​T​0​_​F​T​_​D​p​T​1​_​E​D​p​R​K​T​2​_ + +.. only:: not html + + .. code-block:: cpp + + __ZN8pybind1112cpp_functionC1Iv8Example2JRNSt3__16vectorINS3_12basic_stringIwNS3_11char_traitsIwEENS3_9allocatorIwEEEENS8_ISA_EEEEEJNS_4nameENS_7siblingENS_9is_methodEA28_cEEEMT0_FT_DpT1_EDpRKT2_ + +which is the mangled form of the following function type: + +.. code-block:: cpp + + pybind11::cpp_function::cpp_function, std::__1::allocator >, std::__1::allocator, std::__1::allocator > > >&, pybind11::name, pybind11::sibling, pybind11::is_method, char [28]>(void (Example2::*)(std::__1::vector, std::__1::allocator >, std::__1::allocator, std::__1::allocator > > >&), pybind11::name const&, pybind11::sibling const&, pybind11::is_method const&, char const (&) [28]) + +The memory needed to store just the mangled name of this function (196 bytes) +is larger than the actual piece of code (111 bytes) it represents! On the other +hand, it's silly to even give this function a name -- after all, it's just a +tiny cog in a bigger piece of machinery that is not exposed to the outside +world. So we'll generally only want to export symbols for those functions which +are actually called from the outside. + +This can be achieved by specifying the parameter ``-fvisibility=hidden`` to GCC +and Clang, which sets the default symbol visibility to *hidden*, which has a +tremendous impact on the final binary size of the resulting extension library. +(On Visual Studio, symbols are already hidden by default, so nothing needs to +be done there.) + +In addition to decreasing binary size, ``-fvisibility=hidden`` also avoids +potential serious issues when loading multiple modules and is required for +proper pybind operation. See the previous FAQ entry for more details. + +Working with ancient Visual Studio 2008 builds on Windows +========================================================= + +The official Windows distributions of Python are compiled using truly +ancient versions of Visual Studio that lack good C++11 support. Some users +implicitly assume that it would be impossible to load a plugin built with +Visual Studio 2015 into a Python distribution that was compiled using Visual +Studio 2008. However, no such issue exists: it's perfectly legitimate to +interface DLLs that are built with different compilers and/or C libraries. +Common gotchas to watch out for involve not ``free()``-ing memory region +that that were ``malloc()``-ed in another shared library, using data +structures with incompatible ABIs, and so on. pybind11 is very careful not +to make these types of mistakes. + +Inconsistent detection of Python version in CMake and pybind11 +============================================================== + +The functions ``find_package(PythonInterp)`` and ``find_package(PythonLibs)`` provided by CMake +for Python version detection are not used by pybind11 due to unreliability and limitations that make +them unsuitable for pybind11's needs. Instead pybind provides its own, more reliable Python detection +CMake code. Conflicts can arise, however, when using pybind11 in a project that *also* uses the CMake +Python detection in a system with several Python versions installed. + +This difference may cause inconsistencies and errors if *both* mechanisms are used in the same project. Consider the following +Cmake code executed in a system with Python 2.7 and 3.x installed: + +.. code-block:: cmake + + find_package(PythonInterp) + find_package(PythonLibs) + find_package(pybind11) + +It will detect Python 2.7 and pybind11 will pick it as well. + +In contrast this code: + +.. code-block:: cmake + + find_package(pybind11) + find_package(PythonInterp) + find_package(PythonLibs) + +will detect Python 3.x for pybind11 and may crash on ``find_package(PythonLibs)`` afterwards. + +It is advised to avoid using ``find_package(PythonInterp)`` and ``find_package(PythonLibs)`` from CMake and rely +on pybind11 in detecting Python version. If this is not possible CMake machinery should be called *before* including pybind11. + +How to cite this project? +========================= + +We suggest the following BibTeX template to cite pybind11 in scientific +discourse: + +.. code-block:: bash + + @misc{pybind11, + author = {Wenzel Jakob and Jason Rhinelander and Dean Moldovan}, + year = {2017}, + note = {https://github.com/pybind/pybind11}, + title = {pybind11 -- Seamless operability between C++11 and Python} + } diff --git a/wrap/python/pybind11/docs/index.rst b/wrap/python/pybind11/docs/index.rst new file mode 100644 index 000000000..d236611b7 --- /dev/null +++ b/wrap/python/pybind11/docs/index.rst @@ -0,0 +1,47 @@ +.. only: not latex + + .. image:: pybind11-logo.png + +pybind11 --- Seamless operability between C++11 and Python +========================================================== + +.. only: not latex + + Contents: + +.. toctree:: + :maxdepth: 1 + + intro + changelog + upgrade + +.. toctree:: + :caption: The Basics + :maxdepth: 2 + + basics + classes + compiling + +.. toctree:: + :caption: Advanced Topics + :maxdepth: 2 + + advanced/functions + advanced/classes + advanced/exceptions + advanced/smart_ptrs + advanced/cast/index + advanced/pycpp/index + advanced/embedding + advanced/misc + +.. toctree:: + :caption: Extra Information + :maxdepth: 1 + + faq + benchmark + limitations + reference diff --git a/wrap/python/pybind11/docs/intro.rst b/wrap/python/pybind11/docs/intro.rst new file mode 100644 index 000000000..10e1799a1 --- /dev/null +++ b/wrap/python/pybind11/docs/intro.rst @@ -0,0 +1,93 @@ +.. image:: pybind11-logo.png + +About this project +================== +**pybind11** is a lightweight header-only library that exposes C++ types in Python +and vice versa, mainly to create Python bindings of existing C++ code. Its +goals and syntax are similar to the excellent `Boost.Python`_ library by David +Abrahams: to minimize boilerplate code in traditional extension modules by +inferring type information using compile-time introspection. + +.. _Boost.Python: http://www.boost.org/doc/libs/release/libs/python/doc/index.html + +The main issue with Boost.Python—and the reason for creating such a similar +project—is Boost. Boost is an enormously large and complex suite of utility +libraries that works with almost every C++ compiler in existence. This +compatibility has its cost: arcane template tricks and workarounds are +necessary to support the oldest and buggiest of compiler specimens. Now that +C++11-compatible compilers are widely available, this heavy machinery has +become an excessively large and unnecessary dependency. +Think of this library as a tiny self-contained version of Boost.Python with +everything stripped away that isn't relevant for binding generation. Without +comments, the core header files only require ~4K lines of code and depend on +Python (2.7 or 3.x, or PyPy2.7 >= 5.7) and the C++ standard library. This +compact implementation was possible thanks to some of the new C++11 language +features (specifically: tuples, lambda functions and variadic templates). Since +its creation, this library has grown beyond Boost.Python in many ways, leading +to dramatically simpler binding code in many common situations. + +Core features +************* +The following core C++ features can be mapped to Python + +- Functions accepting and returning custom data structures per value, reference, or pointer +- Instance methods and static methods +- Overloaded functions +- Instance attributes and static attributes +- Arbitrary exception types +- Enumerations +- Callbacks +- Iterators and ranges +- Custom operators +- Single and multiple inheritance +- STL data structures +- Smart pointers with reference counting like ``std::shared_ptr`` +- Internal references with correct reference counting +- C++ classes with virtual (and pure virtual) methods can be extended in Python + +Goodies +******* +In addition to the core functionality, pybind11 provides some extra goodies: + +- Python 2.7, 3.x, and PyPy (PyPy2.7 >= 5.7) are supported with an + implementation-agnostic interface. + +- It is possible to bind C++11 lambda functions with captured variables. The + lambda capture data is stored inside the resulting Python function object. + +- pybind11 uses C++11 move constructors and move assignment operators whenever + possible to efficiently transfer custom data types. + +- It's easy to expose the internal storage of custom data types through + Pythons' buffer protocols. This is handy e.g. for fast conversion between + C++ matrix classes like Eigen and NumPy without expensive copy operations. + +- pybind11 can automatically vectorize functions so that they are transparently + applied to all entries of one or more NumPy array arguments. + +- Python's slice-based access and assignment operations can be supported with + just a few lines of code. + +- Everything is contained in just a few header files; there is no need to link + against any additional libraries. + +- Binaries are generally smaller by a factor of at least 2 compared to + equivalent bindings generated by Boost.Python. A recent pybind11 conversion + of `PyRosetta`_, an enormous Boost.Python binding project, reported a binary + size reduction of **5.4x** and compile time reduction by **5.8x**. + +- Function signatures are precomputed at compile time (using ``constexpr``), + leading to smaller binaries. + +- With little extra effort, C++ types can be pickled and unpickled similar to + regular Python objects. + +.. _PyRosetta: http://graylab.jhu.edu/RosettaCon2016/PyRosetta-4.pdf + +Supported compilers +******************* + +1. Clang/LLVM (any non-ancient version with C++11 support) +2. GCC 4.8 or newer +3. Microsoft Visual Studio 2015 or newer +4. Intel C++ compiler v17 or newer (v16 with pybind11 v2.0 and v15 with pybind11 v2.0 and a `workaround `_ ) diff --git a/wrap/python/pybind11/docs/limitations.rst b/wrap/python/pybind11/docs/limitations.rst new file mode 100644 index 000000000..a1a4f1aff --- /dev/null +++ b/wrap/python/pybind11/docs/limitations.rst @@ -0,0 +1,20 @@ +Limitations +########### + +pybind11 strives to be a general solution to binding generation, but it also has +certain limitations: + +- pybind11 casts away ``const``-ness in function arguments and return values. + This is in line with the Python language, which has no concept of ``const`` + values. This means that some additional care is needed to avoid bugs that + would be caught by the type checker in a traditional C++ program. + +- The NumPy interface ``pybind11::array`` greatly simplifies accessing + numerical data from C++ (and vice versa), but it's not a full-blown array + class like ``Eigen::Array`` or ``boost.multi_array``. + +These features could be implemented but would lead to a significant increase in +complexity. I've decided to draw the line here to keep this project simple and +compact. 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/wrap/python/pybind11/docs/reference.rst b/wrap/python/pybind11/docs/reference.rst new file mode 100644 index 000000000..a9fbe6001 --- /dev/null +++ b/wrap/python/pybind11/docs/reference.rst @@ -0,0 +1,117 @@ +.. _reference: + +.. warning:: + + Please be advised that the reference documentation discussing pybind11 + internals is currently incomplete. Please refer to the previous sections + and the pybind11 header files for the nitty gritty details. + +Reference +######### + +.. _macros: + +Macros +====== + +.. doxygendefine:: PYBIND11_MODULE + +.. _core_types: + +Convenience classes for arbitrary Python types +============================================== + +Common member functions +----------------------- + +.. doxygenclass:: object_api + :members: + +Without reference counting +-------------------------- + +.. doxygenclass:: handle + :members: + +With reference counting +----------------------- + +.. doxygenclass:: object + :members: + +.. doxygenfunction:: reinterpret_borrow + +.. doxygenfunction:: reinterpret_steal + +Convenience classes for specific Python types +============================================= + +.. doxygenclass:: module + :members: + +.. doxygengroup:: pytypes + :members: + +.. _extras: + +Passing extra arguments to ``def`` or ``class_`` +================================================ + +.. doxygengroup:: annotations + :members: + +Embedding the interpreter +========================= + +.. doxygendefine:: PYBIND11_EMBEDDED_MODULE + +.. doxygenfunction:: initialize_interpreter + +.. doxygenfunction:: finalize_interpreter + +.. doxygenclass:: scoped_interpreter + +Redirecting C++ streams +======================= + +.. doxygenclass:: scoped_ostream_redirect + +.. doxygenclass:: scoped_estream_redirect + +.. doxygenfunction:: add_ostream_redirect + +Python built-in functions +========================= + +.. doxygengroup:: python_builtins + :members: + +Inheritance +=========== + +See :doc:`/classes` and :doc:`/advanced/classes` for more detail. + +.. doxygendefine:: PYBIND11_OVERLOAD + +.. doxygendefine:: PYBIND11_OVERLOAD_PURE + +.. doxygendefine:: PYBIND11_OVERLOAD_NAME + +.. doxygendefine:: PYBIND11_OVERLOAD_PURE_NAME + +.. doxygenfunction:: get_overload + +Exceptions +========== + +.. doxygenclass:: error_already_set + :members: + +.. doxygenclass:: builtin_exception + :members: + + +Literals +======== + +.. doxygennamespace:: literals diff --git a/wrap/python/pybind11/docs/release.rst b/wrap/python/pybind11/docs/release.rst new file mode 100644 index 000000000..b31bbe97e --- /dev/null +++ b/wrap/python/pybind11/docs/release.rst @@ -0,0 +1,25 @@ +To release a new version of pybind11: + +- Update the version number and push to pypi + - Update ``pybind11/_version.py`` (set release version, remove 'dev'). + - Update ``PYBIND11_VERSION_MAJOR`` etc. in ``include/pybind11/detail/common.h``. + - Ensure that all the information in ``setup.py`` is up-to-date. + - Update version in ``docs/conf.py``. + - Tag release date in ``docs/changelog.rst``. + - ``git add`` and ``git commit``. + - if new minor version: ``git checkout -b vX.Y``, ``git push -u origin vX.Y`` + - ``git tag -a vX.Y.Z -m 'vX.Y.Z release'``. + - ``git push`` + - ``git push --tags``. + - ``python setup.py sdist upload``. + - ``python setup.py bdist_wheel upload``. +- Update conda-forge (https://github.com/conda-forge/pybind11-feedstock) via PR + - download release package from Github: ``wget https://github.com/pybind/pybind11/archive/vX.Y.Z.tar.gz`` + - compute checksum: ``shasum -a 256 vX.Y.Z.tar.gz`` + - change version number and checksum in ``recipe/meta.yml`` +- Get back to work + - Update ``_version.py`` (add 'dev' and increment minor). + - Update version in ``docs/conf.py`` + - Update version macros in ``include/pybind11/common.h`` + - ``git add`` and ``git commit``. + ``git push`` diff --git a/wrap/python/pybind11/docs/requirements.txt b/wrap/python/pybind11/docs/requirements.txt new file mode 100644 index 000000000..3818fe80e --- /dev/null +++ b/wrap/python/pybind11/docs/requirements.txt @@ -0,0 +1 @@ +breathe == 4.5.0 diff --git a/wrap/python/pybind11/docs/upgrade.rst b/wrap/python/pybind11/docs/upgrade.rst new file mode 100644 index 000000000..3f5697391 --- /dev/null +++ b/wrap/python/pybind11/docs/upgrade.rst @@ -0,0 +1,404 @@ +Upgrade guide +############# + +This is a companion guide to the :doc:`changelog`. While the changelog briefly +lists all of the new features, improvements and bug fixes, this upgrade guide +focuses only the subset which directly impacts your experience when upgrading +to a new version. But it goes into more detail. This includes things like +deprecated APIs and their replacements, build system changes, general code +modernization and other useful information. + + +v2.2 +==== + +Deprecation of the ``PYBIND11_PLUGIN`` macro +-------------------------------------------- + +``PYBIND11_MODULE`` is now the preferred way to create module entry points. +The old macro emits a compile-time deprecation warning. + +.. code-block:: cpp + + // old + PYBIND11_PLUGIN(example) { + py::module m("example", "documentation string"); + + m.def("add", [](int a, int b) { return a + b; }); + + return m.ptr(); + } + + // new + PYBIND11_MODULE(example, m) { + m.doc() = "documentation string"; // optional + + m.def("add", [](int a, int b) { return a + b; }); + } + + +New API for defining custom constructors and pickling functions +--------------------------------------------------------------- + +The old placement-new custom constructors have been deprecated. The new approach +uses ``py::init()`` and factory functions to greatly improve type safety. + +Placement-new can be called accidentally with an incompatible type (without any +compiler errors or warnings), or it can initialize the same object multiple times +if not careful with the Python-side ``__init__`` calls. The new-style custom +constructors prevent such mistakes. See :ref:`custom_constructors` for details. + +.. code-block:: cpp + + // old -- deprecated (runtime warning shown only in debug mode) + py::class(m, "Foo") + .def("__init__", [](Foo &self, ...) { + new (&self) Foo(...); // uses placement-new + }); + + // new + py::class(m, "Foo") + .def(py::init([](...) { // Note: no `self` argument + return new Foo(...); // return by raw pointer + // or: return std::make_unique(...); // return by holder + // or: return Foo(...); // return by value (move constructor) + })); + +Mirroring the custom constructor changes, ``py::pickle()`` is now the preferred +way to get and set object state. See :ref:`pickling` for details. + +.. code-block:: cpp + + // old -- deprecated (runtime warning shown only in debug mode) + py::class(m, "Foo") + ... + .def("__getstate__", [](const Foo &self) { + return py::make_tuple(self.value1(), self.value2(), ...); + }) + .def("__setstate__", [](Foo &self, py::tuple t) { + new (&self) Foo(t[0].cast(), ...); + }); + + // new + py::class(m, "Foo") + ... + .def(py::pickle( + [](const Foo &self) { // __getstate__ + return py::make_tuple(f.value1(), f.value2(), ...); // unchanged + }, + [](py::tuple t) { // __setstate__, note: no `self` argument + return new Foo(t[0].cast(), ...); + // or: return std::make_unique(...); // return by holder + // or: return Foo(...); // return by value (move constructor) + } + )); + +For both the constructors and pickling, warnings are shown at module +initialization time (on import, not when the functions are called). +They're only visible when compiled in debug mode. Sample warning: + +.. code-block:: none + + pybind11-bound class 'mymodule.Foo' is using an old-style placement-new '__init__' + which has been deprecated. See the upgrade guide in pybind11's docs. + + +Stricter enforcement of hidden symbol visibility for pybind11 modules +--------------------------------------------------------------------- + +pybind11 now tries to actively enforce hidden symbol visibility for modules. +If you're using either one of pybind11's :doc:`CMake or Python build systems +` (the two example repositories) and you haven't been exporting any +symbols, there's nothing to be concerned about. All the changes have been done +transparently in the background. If you were building manually or relied on +specific default visibility, read on. + +Setting default symbol visibility to *hidden* has always been recommended for +pybind11 (see :ref:`faq:symhidden`). On Linux and macOS, hidden symbol +visibility (in conjunction with the ``strip`` utility) yields much smaller +module binaries. `CPython's extension docs`_ also recommend hiding symbols +by default, with the goal of avoiding symbol name clashes between modules. +Starting with v2.2, pybind11 enforces this more strictly: (1) by declaring +all symbols inside the ``pybind11`` namespace as hidden and (2) by including +the ``-fvisibility=hidden`` flag on Linux and macOS (only for extension +modules, not for embedding the interpreter). + +.. _CPython's extension docs: https://docs.python.org/3/extending/extending.html#providing-a-c-api-for-an-extension-module + +The namespace-scope hidden visibility is done automatically in pybind11's +headers and it's generally transparent to users. It ensures that: + +* Modules compiled with different pybind11 versions don't clash with each other. + +* Some new features, like ``py::module_local`` bindings, can work as intended. + +The ``-fvisibility=hidden`` flag applies the same visibility to user bindings +outside of the ``pybind11`` namespace. It's now set automatic by pybind11's +CMake and Python build systems, but this needs to be done manually by users +of other build systems. Adding this flag: + +* Minimizes the chances of symbol conflicts between modules. E.g. if two + unrelated modules were statically linked to different (ABI-incompatible) + versions of the same third-party library, a symbol clash would be likely + (and would end with unpredictable results). + +* Produces smaller binaries on Linux and macOS, as pointed out previously. + +Within pybind11's CMake build system, ``pybind11_add_module`` has always been +setting the ``-fvisibility=hidden`` flag in release mode. From now on, it's +being applied unconditionally, even in debug mode and it can no longer be opted +out of with the ``NO_EXTRAS`` option. The ``pybind11::module`` target now also +adds this flag to it's interface. The ``pybind11::embed`` target is unchanged. + +The most significant change here is for the ``pybind11::module`` target. If you +were previously relying on default visibility, i.e. if your Python module was +doubling as a shared library with dependents, you'll need to either export +symbols manually (recommended for cross-platform libraries) or factor out the +shared library (and have the Python module link to it like the other +dependents). As a temporary workaround, you can also restore default visibility +using the CMake code below, but this is not recommended in the long run: + +.. code-block:: cmake + + target_link_libraries(mymodule PRIVATE pybind11::module) + + add_library(restore_default_visibility INTERFACE) + target_compile_options(restore_default_visibility INTERFACE -fvisibility=default) + target_link_libraries(mymodule PRIVATE restore_default_visibility) + + +Local STL container bindings +---------------------------- + +Previous pybind11 versions could only bind types globally -- all pybind11 +modules, even unrelated ones, would have access to the same exported types. +However, this would also result in a conflict if two modules exported the +same C++ type, which is especially problematic for very common types, e.g. +``std::vector``. :ref:`module_local` were added to resolve this (see +that section for a complete usage guide). + +``py::class_`` still defaults to global bindings (because these types are +usually unique across modules), however in order to avoid clashes of opaque +types, ``py::bind_vector`` and ``py::bind_map`` will now bind STL containers +as ``py::module_local`` if their elements are: builtins (``int``, ``float``, +etc.), not bound using ``py::class_``, or bound as ``py::module_local``. For +example, this change allows multiple modules to bind ``std::vector`` +without causing conflicts. See :ref:`stl_bind` for more details. + +When upgrading to this version, if you have multiple modules which depend on +a single global binding of an STL container, note that all modules can still +accept foreign ``py::module_local`` types in the direction of Python-to-C++. +The locality only affects the C++-to-Python direction. If this is needed in +multiple modules, you'll need to either: + +* Add a copy of the same STL binding to all of the modules which need it. + +* Restore the global status of that single binding by marking it + ``py::module_local(false)``. + +The latter is an easy workaround, but in the long run it would be best to +localize all common type bindings in order to avoid conflicts with +third-party modules. + + +Negative strides for Python buffer objects and numpy arrays +----------------------------------------------------------- + +Support for negative strides required changing the integer type from unsigned +to signed in the interfaces of ``py::buffer_info`` and ``py::array``. If you +have compiler warnings enabled, you may notice some new conversion warnings +after upgrading. These can be resolved using ``static_cast``. + + +Deprecation of some ``py::object`` APIs +--------------------------------------- + +To compare ``py::object`` instances by pointer, you should now use +``obj1.is(obj2)`` which is equivalent to ``obj1 is obj2`` in Python. +Previously, pybind11 used ``operator==`` for this (``obj1 == obj2``), but +that could be confusing and is now deprecated (so that it can eventually +be replaced with proper rich object comparison in a future release). + +For classes which inherit from ``py::object``, ``borrowed`` and ``stolen`` +were previously available as protected constructor tags. Now the types +should be used directly instead: ``borrowed_t{}`` and ``stolen_t{}`` +(`#771 `_). + + +Stricter compile-time error checking +------------------------------------ + +Some error checks have been moved from run time to compile time. Notably, +automatic conversion of ``std::shared_ptr`` is not possible when ``T`` is +not directly registered with ``py::class_`` (e.g. ``std::shared_ptr`` +or ``std::shared_ptr>`` are not automatically convertible). +Attempting to bind a function with such arguments now results in a compile-time +error instead of waiting to fail at run time. + +``py::init<...>()`` constructor definitions are also stricter and now prevent +bindings which could cause unexpected behavior: + +.. code-block:: cpp + + struct Example { + Example(int &); + }; + + py::class_(m, "Example") + .def(py::init()); // OK, exact match + // .def(py::init()); // compile-time error, mismatch + +A non-``const`` lvalue reference is not allowed to bind to an rvalue. However, +note that a constructor taking ``const T &`` can still be registered using +``py::init()`` because a ``const`` lvalue reference can bind to an rvalue. + +v2.1 +==== + +Minimum compiler versions are enforced at compile time +------------------------------------------------------ + +The minimums also apply to v2.0 but the check is now explicit and a compile-time +error is raised if the compiler does not meet the requirements: + +* GCC >= 4.8 +* clang >= 3.3 (appleclang >= 5.0) +* MSVC >= 2015u3 +* Intel C++ >= 15.0 + + +The ``py::metaclass`` attribute is not required for static properties +--------------------------------------------------------------------- + +Binding classes with static properties is now possible by default. The +zero-parameter version of ``py::metaclass()`` is deprecated. However, a new +one-parameter ``py::metaclass(python_type)`` version was added for rare +cases when a custom metaclass is needed to override pybind11's default. + +.. code-block:: cpp + + // old -- emits a deprecation warning + py::class_(m, "Foo", py::metaclass()) + .def_property_readonly_static("foo", ...); + + // new -- static properties work without the attribute + py::class_(m, "Foo") + .def_property_readonly_static("foo", ...); + + // new -- advanced feature, override pybind11's default metaclass + py::class_(m, "Bar", py::metaclass(custom_python_type)) + ... + + +v2.0 +==== + +Breaking changes in ``py::class_`` +---------------------------------- + +These changes were necessary to make type definitions in pybind11 +future-proof, to support PyPy via its ``cpyext`` mechanism (`#527 +`_), and to improve efficiency +(`rev. 86d825 `_). + +1. Declarations of types that provide access via the buffer protocol must + now include the ``py::buffer_protocol()`` annotation as an argument to + the ``py::class_`` constructor. + + .. code-block:: cpp + + py::class_("Matrix", py::buffer_protocol()) + .def(py::init<...>()) + .def_buffer(...); + +2. Classes which include static properties (e.g. ``def_readwrite_static()``) + must now include the ``py::metaclass()`` attribute. Note: this requirement + has since been removed in v2.1. If you're upgrading from 1.x, it's + recommended to skip directly to v2.1 or newer. + +3. This version of pybind11 uses a redesigned mechanism for instantiating + trampoline classes that are used to override virtual methods from within + Python. This led to the following user-visible syntax change: + + .. code-block:: cpp + + // old v1.x syntax + py::class_("MyClass") + .alias() + ... + + // new v2.x syntax + py::class_("MyClass") + ... + + Importantly, both the original and the trampoline class are now specified + as arguments to the ``py::class_`` template, and the ``alias<..>()`` call + is gone. The new scheme has zero overhead in cases when Python doesn't + override any functions of the underlying C++ class. + `rev. 86d825 `_. + + The class type must be the first template argument given to ``py::class_`` + while the trampoline can be mixed in arbitrary order with other arguments + (see the following section). + + +Deprecation of the ``py::base()`` attribute +---------------------------------------------- + +``py::base()`` was deprecated in favor of specifying ``T`` as a template +argument to ``py::class_``. This new syntax also supports multiple inheritance. +Note that, while the type being exported must be the first argument in the +``py::class_`` template, the order of the following types (bases, +holder and/or trampoline) is not important. + +.. code-block:: cpp + + // old v1.x + py::class_("Derived", py::base()); + + // new v2.x + py::class_("Derived"); + + // new -- multiple inheritance + py::class_("Derived"); + + // new -- apart from `Derived` the argument order can be arbitrary + py::class_("Derived"); + + +Out-of-the-box support for ``std::shared_ptr`` +---------------------------------------------- + +The relevant type caster is now built in, so it's no longer necessary to +include a declaration of the form: + +.. code-block:: cpp + + PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr) + +Continuing to do so won’t cause an error or even a deprecation warning, +but it's completely redundant. + + +Deprecation of a few ``py::object`` APIs +---------------------------------------- + +All of the old-style calls emit deprecation warnings. + ++---------------------------------------+---------------------------------------------+ +| Old syntax | New syntax | ++=======================================+=============================================+ +| ``obj.call(args...)`` | ``obj(args...)`` | ++---------------------------------------+---------------------------------------------+ +| ``obj.str()`` | ``py::str(obj)`` | ++---------------------------------------+---------------------------------------------+ +| ``auto l = py::list(obj); l.check()`` | ``py::isinstance(obj)`` | ++---------------------------------------+---------------------------------------------+ +| ``py::object(ptr, true)`` | ``py::reinterpret_borrow(ptr)`` | ++---------------------------------------+---------------------------------------------+ +| ``py::object(ptr, false)`` | ``py::reinterpret_steal(ptr)`` | ++---------------------------------------+---------------------------------------------+ +| ``if (obj.attr("foo"))`` | ``if (py::hasattr(obj, "foo"))`` | ++---------------------------------------+---------------------------------------------+ +| ``if (obj["bar"])`` | ``if (obj.contains("bar"))`` | ++---------------------------------------+---------------------------------------------+ diff --git a/wrap/python/pybind11/include/pybind11/attr.h b/wrap/python/pybind11/include/pybind11/attr.h new file mode 100644 index 000000000..6962d6fc5 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/attr.h @@ -0,0 +1,493 @@ +/* + pybind11/attr.h: Infrastructure for processing custom + type and function attributes + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "cast.h" + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) + +/// \addtogroup annotations +/// @{ + +/// Annotation for methods +struct is_method { handle class_; is_method(const handle &c) : class_(c) { } }; + +/// Annotation for operators +struct is_operator { }; + +/// Annotation for parent scope +struct scope { handle value; scope(const handle &s) : value(s) { } }; + +/// Annotation for documentation +struct doc { const char *value; doc(const char *value) : value(value) { } }; + +/// Annotation for function names +struct name { const char *value; name(const char *value) : value(value) { } }; + +/// Annotation indicating that a function is an overload associated with a given "sibling" +struct sibling { handle value; sibling(const handle &value) : value(value.ptr()) { } }; + +/// Annotation indicating that a class derives from another given type +template struct base { + PYBIND11_DEPRECATED("base() was deprecated in favor of specifying 'T' as a template argument to class_") + base() { } +}; + +/// Keep patient alive while nurse lives +template struct keep_alive { }; + +/// Annotation indicating that a class is involved in a multiple inheritance relationship +struct multiple_inheritance { }; + +/// Annotation which enables dynamic attributes, i.e. adds `__dict__` to a class +struct dynamic_attr { }; + +/// Annotation which enables the buffer protocol for a type +struct buffer_protocol { }; + +/// Annotation which requests that a special metaclass is created for a type +struct metaclass { + handle value; + + PYBIND11_DEPRECATED("py::metaclass() is no longer required. It's turned on by default now.") + metaclass() {} + + /// Override pybind11's default metaclass + explicit metaclass(handle value) : value(value) { } +}; + +/// Annotation that marks a class as local to the module: +struct module_local { const bool value; constexpr module_local(bool v = true) : value(v) { } }; + +/// Annotation to mark enums as an arithmetic type +struct arithmetic { }; + +/** \rst + A call policy which places one or more guard variables (``Ts...``) around the function call. + + For example, this definition: + + .. code-block:: cpp + + m.def("foo", foo, py::call_guard()); + + is equivalent to the following pseudocode: + + .. code-block:: cpp + + m.def("foo", [](args...) { + T scope_guard; + return foo(args...); // forwarded arguments + }); + \endrst */ +template struct call_guard; + +template <> struct call_guard<> { using type = detail::void_type; }; + +template +struct call_guard { + static_assert(std::is_default_constructible::value, + "The guard type must be default constructible"); + + using type = T; +}; + +template +struct call_guard { + struct type { + T guard{}; // Compose multiple guard types with left-to-right default-constructor order + typename call_guard::type next{}; + }; +}; + +/// @} annotations + +NAMESPACE_BEGIN(detail) +/* Forward declarations */ +enum op_id : int; +enum op_type : int; +struct undefined_t; +template struct op_; +inline void keep_alive_impl(size_t Nurse, size_t Patient, function_call &call, handle ret); + +/// Internal data structure which holds metadata about a keyword argument +struct argument_record { + const char *name; ///< Argument name + const char *descr; ///< Human-readable version of the argument value + handle value; ///< Associated Python object + bool convert : 1; ///< True if the argument is allowed to convert when loading + bool none : 1; ///< True if None is allowed when loading + + argument_record(const char *name, const char *descr, handle value, bool convert, bool none) + : name(name), descr(descr), value(value), convert(convert), none(none) { } +}; + +/// Internal data structure which holds metadata about a bound function (signature, overloads, etc.) +struct function_record { + function_record() + : is_constructor(false), is_new_style_constructor(false), is_stateless(false), + is_operator(false), has_args(false), has_kwargs(false), is_method(false) { } + + /// Function name + char *name = nullptr; /* why no C++ strings? They generate heavier code.. */ + + // User-specified documentation string + char *doc = nullptr; + + /// Human-readable version of the function signature + char *signature = nullptr; + + /// List of registered keyword arguments + std::vector args; + + /// Pointer to lambda function which converts arguments and performs the actual call + handle (*impl) (function_call &) = nullptr; + + /// Storage for the wrapped function pointer and captured data, if any + void *data[3] = { }; + + /// Pointer to custom destructor for 'data' (if needed) + void (*free_data) (function_record *ptr) = nullptr; + + /// Return value policy associated with this function + return_value_policy policy = return_value_policy::automatic; + + /// True if name == '__init__' + bool is_constructor : 1; + + /// True if this is a new-style `__init__` defined in `detail/init.h` + bool is_new_style_constructor : 1; + + /// True if this is a stateless function pointer + bool is_stateless : 1; + + /// True if this is an operator (__add__), etc. + bool is_operator : 1; + + /// True if the function has a '*args' argument + bool has_args : 1; + + /// True if the function has a '**kwargs' argument + bool has_kwargs : 1; + + /// True if this is a method + bool is_method : 1; + + /// Number of arguments (including py::args and/or py::kwargs, if present) + std::uint16_t nargs; + + /// Python method object + PyMethodDef *def = nullptr; + + /// Python handle to the parent scope (a class or a module) + handle scope; + + /// Python handle to the sibling function representing an overload chain + handle sibling; + + /// Pointer to next overload + function_record *next = nullptr; +}; + +/// Special data structure which (temporarily) holds metadata about a bound class +struct type_record { + PYBIND11_NOINLINE type_record() + : multiple_inheritance(false), dynamic_attr(false), buffer_protocol(false), + default_holder(true), module_local(false) { } + + /// Handle to the parent scope + handle scope; + + /// Name of the class + const char *name = nullptr; + + // Pointer to RTTI type_info data structure + const std::type_info *type = nullptr; + + /// How large is the underlying C++ type? + size_t type_size = 0; + + /// What is the alignment of the underlying C++ type? + size_t type_align = 0; + + /// How large is the type's holder? + size_t holder_size = 0; + + /// The global operator new can be overridden with a class-specific variant + void *(*operator_new)(size_t) = nullptr; + + /// Function pointer to class_<..>::init_instance + void (*init_instance)(instance *, const void *) = nullptr; + + /// Function pointer to class_<..>::dealloc + void (*dealloc)(detail::value_and_holder &) = nullptr; + + /// List of base classes of the newly created type + list bases; + + /// Optional docstring + const char *doc = nullptr; + + /// Custom metaclass (optional) + handle metaclass; + + /// Multiple inheritance marker + bool multiple_inheritance : 1; + + /// Does the class manage a __dict__? + bool dynamic_attr : 1; + + /// Does the class implement the buffer protocol? + bool buffer_protocol : 1; + + /// Is the default (unique_ptr) holder type used? + bool default_holder : 1; + + /// Is the class definition local to the module shared object? + bool module_local : 1; + + PYBIND11_NOINLINE void add_base(const std::type_info &base, void *(*caster)(void *)) { + auto base_info = detail::get_type_info(base, false); + if (!base_info) { + std::string tname(base.name()); + detail::clean_type_id(tname); + pybind11_fail("generic_type: type \"" + std::string(name) + + "\" referenced unknown base type \"" + tname + "\""); + } + + if (default_holder != base_info->default_holder) { + std::string tname(base.name()); + detail::clean_type_id(tname); + pybind11_fail("generic_type: type \"" + std::string(name) + "\" " + + (default_holder ? "does not have" : "has") + + " a non-default holder type while its base \"" + tname + "\" " + + (base_info->default_holder ? "does not" : "does")); + } + + bases.append((PyObject *) base_info->type); + + if (base_info->type->tp_dictoffset != 0) + dynamic_attr = true; + + if (caster) + base_info->implicit_casts.emplace_back(type, caster); + } +}; + +inline function_call::function_call(const function_record &f, handle p) : + func(f), parent(p) { + args.reserve(f.nargs); + args_convert.reserve(f.nargs); +} + +/// Tag for a new-style `__init__` defined in `detail/init.h` +struct is_new_style_constructor { }; + +/** + * Partial template specializations to process custom attributes provided to + * cpp_function_ and class_. These are either used to initialize the respective + * fields in the type_record and function_record data structures or executed at + * runtime to deal with custom call policies (e.g. keep_alive). + */ +template struct process_attribute; + +template struct process_attribute_default { + /// Default implementation: do nothing + static void init(const T &, function_record *) { } + static void init(const T &, type_record *) { } + static void precall(function_call &) { } + static void postcall(function_call &, handle) { } +}; + +/// Process an attribute specifying the function's name +template <> struct process_attribute : process_attribute_default { + static void init(const name &n, function_record *r) { r->name = const_cast(n.value); } +}; + +/// Process an attribute specifying the function's docstring +template <> struct process_attribute : process_attribute_default { + static void init(const doc &n, function_record *r) { r->doc = const_cast(n.value); } +}; + +/// Process an attribute specifying the function's docstring (provided as a C-style string) +template <> struct process_attribute : process_attribute_default { + static void init(const char *d, function_record *r) { r->doc = const_cast(d); } + static void init(const char *d, type_record *r) { r->doc = const_cast(d); } +}; +template <> struct process_attribute : process_attribute { }; + +/// Process an attribute indicating the function's return value policy +template <> struct process_attribute : process_attribute_default { + static void init(const return_value_policy &p, function_record *r) { r->policy = p; } +}; + +/// Process an attribute which indicates that this is an overloaded function associated with a given sibling +template <> struct process_attribute : process_attribute_default { + static void init(const sibling &s, function_record *r) { r->sibling = s.value; } +}; + +/// Process an attribute which indicates that this function is a method +template <> struct process_attribute : process_attribute_default { + static void init(const is_method &s, function_record *r) { r->is_method = true; r->scope = s.class_; } +}; + +/// Process an attribute which indicates the parent scope of a method +template <> struct process_attribute : process_attribute_default { + static void init(const scope &s, function_record *r) { r->scope = s.value; } +}; + +/// Process an attribute which indicates that this function is an operator +template <> struct process_attribute : process_attribute_default { + static void init(const is_operator &, function_record *r) { r->is_operator = true; } +}; + +template <> struct process_attribute : process_attribute_default { + static void init(const is_new_style_constructor &, function_record *r) { r->is_new_style_constructor = true; } +}; + +/// Process a keyword argument attribute (*without* a default value) +template <> struct process_attribute : process_attribute_default { + static void init(const arg &a, function_record *r) { + if (r->is_method && r->args.empty()) + r->args.emplace_back("self", nullptr, handle(), true /*convert*/, false /*none not allowed*/); + r->args.emplace_back(a.name, nullptr, handle(), !a.flag_noconvert, a.flag_none); + } +}; + +/// Process a keyword argument attribute (*with* a default value) +template <> struct process_attribute : process_attribute_default { + static void init(const arg_v &a, function_record *r) { + if (r->is_method && r->args.empty()) + r->args.emplace_back("self", nullptr /*descr*/, handle() /*parent*/, true /*convert*/, false /*none not allowed*/); + + if (!a.value) { +#if !defined(NDEBUG) + std::string descr("'"); + if (a.name) descr += std::string(a.name) + ": "; + descr += a.type + "'"; + if (r->is_method) { + if (r->name) + descr += " in method '" + (std::string) str(r->scope) + "." + (std::string) r->name + "'"; + else + descr += " in method of '" + (std::string) str(r->scope) + "'"; + } else if (r->name) { + descr += " in function '" + (std::string) r->name + "'"; + } + pybind11_fail("arg(): could not convert default argument " + + descr + " into a Python object (type not registered yet?)"); +#else + pybind11_fail("arg(): could not convert default argument " + "into a Python object (type not registered yet?). " + "Compile in debug mode for more information."); +#endif + } + r->args.emplace_back(a.name, a.descr, a.value.inc_ref(), !a.flag_noconvert, a.flag_none); + } +}; + +/// Process a parent class attribute. Single inheritance only (class_ itself already guarantees that) +template +struct process_attribute::value>> : process_attribute_default { + static void init(const handle &h, type_record *r) { r->bases.append(h); } +}; + +/// Process a parent class attribute (deprecated, does not support multiple inheritance) +template +struct process_attribute> : process_attribute_default> { + static void init(const base &, type_record *r) { r->add_base(typeid(T), nullptr); } +}; + +/// Process a multiple inheritance attribute +template <> +struct process_attribute : process_attribute_default { + static void init(const multiple_inheritance &, type_record *r) { r->multiple_inheritance = true; } +}; + +template <> +struct process_attribute : process_attribute_default { + static void init(const dynamic_attr &, type_record *r) { r->dynamic_attr = true; } +}; + +template <> +struct process_attribute : process_attribute_default { + static void init(const buffer_protocol &, type_record *r) { r->buffer_protocol = true; } +}; + +template <> +struct process_attribute : process_attribute_default { + static void init(const metaclass &m, type_record *r) { r->metaclass = m.value; } +}; + +template <> +struct process_attribute : process_attribute_default { + static void init(const module_local &l, type_record *r) { r->module_local = l.value; } +}; + +/// Process an 'arithmetic' attribute for enums (does nothing here) +template <> +struct process_attribute : process_attribute_default {}; + +template +struct process_attribute> : process_attribute_default> { }; + +/** + * Process a keep_alive call policy -- invokes keep_alive_impl during the + * pre-call handler if both Nurse, Patient != 0 and use the post-call handler + * otherwise + */ +template struct process_attribute> : public process_attribute_default> { + template = 0> + static void precall(function_call &call) { keep_alive_impl(Nurse, Patient, call, handle()); } + template = 0> + static void postcall(function_call &, handle) { } + template = 0> + static void precall(function_call &) { } + template = 0> + static void postcall(function_call &call, handle ret) { keep_alive_impl(Nurse, Patient, call, ret); } +}; + +/// Recursively iterate over variadic template arguments +template struct process_attributes { + static void init(const Args&... args, function_record *r) { + int unused[] = { 0, (process_attribute::type>::init(args, r), 0) ... }; + ignore_unused(unused); + } + static void init(const Args&... args, type_record *r) { + int unused[] = { 0, (process_attribute::type>::init(args, r), 0) ... }; + ignore_unused(unused); + } + static void precall(function_call &call) { + int unused[] = { 0, (process_attribute::type>::precall(call), 0) ... }; + ignore_unused(unused); + } + static void postcall(function_call &call, handle fn_ret) { + int unused[] = { 0, (process_attribute::type>::postcall(call, fn_ret), 0) ... }; + ignore_unused(unused); + } +}; + +template +using is_call_guard = is_instantiation; + +/// Extract the ``type`` from the first `call_guard` in `Extras...` (or `void_type` if none found) +template +using extract_guard_t = typename exactly_one_t, Extra...>::type; + +/// Check the number of named arguments at compile time +template ::value...), + size_t self = constexpr_sum(std::is_same::value...)> +constexpr bool expected_num_args(size_t nargs, bool has_args, bool has_kwargs) { + return named == 0 || (self + named + has_args + has_kwargs) == nargs; +} + +NAMESPACE_END(detail) +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/buffer_info.h b/wrap/python/pybind11/include/pybind11/buffer_info.h new file mode 100644 index 000000000..9f072fa73 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/buffer_info.h @@ -0,0 +1,108 @@ +/* + pybind11/buffer_info.h: Python buffer object interface + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "detail/common.h" + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) + +/// Information record describing a Python buffer object +struct buffer_info { + void *ptr = nullptr; // Pointer to the underlying storage + ssize_t itemsize = 0; // Size of individual items in bytes + ssize_t size = 0; // Total number of entries + std::string format; // For homogeneous buffers, this should be set to format_descriptor::format() + ssize_t ndim = 0; // Number of dimensions + std::vector shape; // Shape of the tensor (1 entry per dimension) + std::vector strides; // Number of entries between adjacent entries (for each per dimension) + + buffer_info() { } + + buffer_info(void *ptr, ssize_t itemsize, const std::string &format, ssize_t ndim, + detail::any_container shape_in, detail::any_container strides_in) + : ptr(ptr), itemsize(itemsize), size(1), format(format), ndim(ndim), + shape(std::move(shape_in)), strides(std::move(strides_in)) { + if (ndim != (ssize_t) shape.size() || ndim != (ssize_t) strides.size()) + pybind11_fail("buffer_info: ndim doesn't match shape and/or strides length"); + for (size_t i = 0; i < (size_t) ndim; ++i) + size *= shape[i]; + } + + template + buffer_info(T *ptr, detail::any_container shape_in, detail::any_container strides_in) + : buffer_info(private_ctr_tag(), ptr, sizeof(T), format_descriptor::format(), static_cast(shape_in->size()), std::move(shape_in), std::move(strides_in)) { } + + buffer_info(void *ptr, ssize_t itemsize, const std::string &format, ssize_t size) + : buffer_info(ptr, itemsize, format, 1, {size}, {itemsize}) { } + + template + buffer_info(T *ptr, ssize_t size) + : buffer_info(ptr, sizeof(T), format_descriptor::format(), size) { } + + explicit buffer_info(Py_buffer *view, bool ownview = true) + : buffer_info(view->buf, view->itemsize, view->format, view->ndim, + {view->shape, view->shape + view->ndim}, {view->strides, view->strides + view->ndim}) { + this->view = view; + this->ownview = ownview; + } + + buffer_info(const buffer_info &) = delete; + buffer_info& operator=(const buffer_info &) = delete; + + buffer_info(buffer_info &&other) { + (*this) = std::move(other); + } + + buffer_info& operator=(buffer_info &&rhs) { + ptr = rhs.ptr; + itemsize = rhs.itemsize; + size = rhs.size; + format = std::move(rhs.format); + ndim = rhs.ndim; + shape = std::move(rhs.shape); + strides = std::move(rhs.strides); + std::swap(view, rhs.view); + std::swap(ownview, rhs.ownview); + return *this; + } + + ~buffer_info() { + if (view && ownview) { PyBuffer_Release(view); delete view; } + } + +private: + struct private_ctr_tag { }; + + buffer_info(private_ctr_tag, void *ptr, ssize_t itemsize, const std::string &format, ssize_t ndim, + detail::any_container &&shape_in, detail::any_container &&strides_in) + : buffer_info(ptr, itemsize, format, ndim, std::move(shape_in), std::move(strides_in)) { } + + Py_buffer *view = nullptr; + bool ownview = false; +}; + +NAMESPACE_BEGIN(detail) + +template struct compare_buffer_info { + static bool compare(const buffer_info& b) { + return b.format == format_descriptor::format() && b.itemsize == (ssize_t) sizeof(T); + } +}; + +template struct compare_buffer_info::value>> { + static bool compare(const buffer_info& b) { + return (size_t) b.itemsize == sizeof(T) && (b.format == format_descriptor::value || + ((sizeof(T) == sizeof(long)) && b.format == (std::is_unsigned::value ? "L" : "l")) || + ((sizeof(T) == sizeof(size_t)) && b.format == (std::is_unsigned::value ? "N" : "n"))); + } +}; + +NAMESPACE_END(detail) +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/cast.h b/wrap/python/pybind11/include/pybind11/cast.h new file mode 100644 index 000000000..8d0fd5d90 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/cast.h @@ -0,0 +1,2128 @@ +/* + pybind11/cast.h: Partial template specializations to cast between + C++ and Python types + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "pytypes.h" +#include "detail/typeid.h" +#include "detail/descr.h" +#include "detail/internals.h" +#include +#include +#include +#include + +#if defined(PYBIND11_CPP17) +# if defined(__has_include) +# if __has_include() +# define PYBIND11_HAS_STRING_VIEW +# endif +# elif defined(_MSC_VER) +# define PYBIND11_HAS_STRING_VIEW +# endif +#endif +#ifdef PYBIND11_HAS_STRING_VIEW +#include +#endif + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) + +/// A life support system for temporary objects created by `type_caster::load()`. +/// Adding a patient will keep it alive up until the enclosing function returns. +class loader_life_support { +public: + /// A new patient frame is created when a function is entered + loader_life_support() { + get_internals().loader_patient_stack.push_back(nullptr); + } + + /// ... and destroyed after it returns + ~loader_life_support() { + auto &stack = get_internals().loader_patient_stack; + if (stack.empty()) + pybind11_fail("loader_life_support: internal error"); + + auto ptr = stack.back(); + stack.pop_back(); + Py_CLEAR(ptr); + + // A heuristic to reduce the stack's capacity (e.g. after long recursive calls) + if (stack.capacity() > 16 && stack.size() != 0 && stack.capacity() / stack.size() > 2) + stack.shrink_to_fit(); + } + + /// This can only be used inside a pybind11-bound function, either by `argument_loader` + /// at argument preparation time or by `py::cast()` at execution time. + PYBIND11_NOINLINE static void add_patient(handle h) { + auto &stack = get_internals().loader_patient_stack; + if (stack.empty()) + throw cast_error("When called outside a bound function, py::cast() cannot " + "do Python -> C++ conversions which require the creation " + "of temporary values"); + + auto &list_ptr = stack.back(); + if (list_ptr == nullptr) { + list_ptr = PyList_New(1); + if (!list_ptr) + pybind11_fail("loader_life_support: error allocating list"); + PyList_SET_ITEM(list_ptr, 0, h.inc_ref().ptr()); + } else { + auto result = PyList_Append(list_ptr, h.ptr()); + if (result == -1) + pybind11_fail("loader_life_support: error adding patient"); + } + } +}; + +// Gets the cache entry for the given type, creating it if necessary. The return value is the pair +// returned by emplace, i.e. an iterator for the entry and a bool set to `true` if the entry was +// just created. +inline std::pair all_type_info_get_cache(PyTypeObject *type); + +// Populates a just-created cache entry. +PYBIND11_NOINLINE inline void all_type_info_populate(PyTypeObject *t, std::vector &bases) { + std::vector check; + for (handle parent : reinterpret_borrow(t->tp_bases)) + check.push_back((PyTypeObject *) parent.ptr()); + + auto const &type_dict = get_internals().registered_types_py; + for (size_t i = 0; i < check.size(); i++) { + auto type = check[i]; + // Ignore Python2 old-style class super type: + if (!PyType_Check((PyObject *) type)) continue; + + // Check `type` in the current set of registered python types: + auto it = type_dict.find(type); + if (it != type_dict.end()) { + // We found a cache entry for it, so it's either pybind-registered or has pre-computed + // pybind bases, but we have to make sure we haven't already seen the type(s) before: we + // want to follow Python/virtual C++ rules that there should only be one instance of a + // common base. + for (auto *tinfo : it->second) { + // NB: Could use a second set here, rather than doing a linear search, but since + // having a large number of immediate pybind11-registered types seems fairly + // unlikely, that probably isn't worthwhile. + bool found = false; + for (auto *known : bases) { + if (known == tinfo) { found = true; break; } + } + if (!found) bases.push_back(tinfo); + } + } + else if (type->tp_bases) { + // It's some python type, so keep follow its bases classes to look for one or more + // registered types + if (i + 1 == check.size()) { + // When we're at the end, we can pop off the current element to avoid growing + // `check` when adding just one base (which is typical--i.e. when there is no + // multiple inheritance) + check.pop_back(); + i--; + } + for (handle parent : reinterpret_borrow(type->tp_bases)) + check.push_back((PyTypeObject *) parent.ptr()); + } + } +} + +/** + * Extracts vector of type_info pointers of pybind-registered roots of the given Python type. Will + * be just 1 pybind type for the Python type of a pybind-registered class, or for any Python-side + * derived class that uses single inheritance. Will contain as many types as required for a Python + * class that uses multiple inheritance to inherit (directly or indirectly) from multiple + * pybind-registered classes. Will be empty if neither the type nor any base classes are + * pybind-registered. + * + * The value is cached for the lifetime of the Python type. + */ +inline const std::vector &all_type_info(PyTypeObject *type) { + auto ins = all_type_info_get_cache(type); + if (ins.second) + // New cache entry: populate it + all_type_info_populate(type, ins.first->second); + + return ins.first->second; +} + +/** + * Gets a single pybind11 type info for a python type. Returns nullptr if neither the type nor any + * ancestors are pybind11-registered. Throws an exception if there are multiple bases--use + * `all_type_info` instead if you want to support multiple bases. + */ +PYBIND11_NOINLINE inline detail::type_info* get_type_info(PyTypeObject *type) { + auto &bases = all_type_info(type); + if (bases.size() == 0) + return nullptr; + if (bases.size() > 1) + pybind11_fail("pybind11::detail::get_type_info: type has multiple pybind11-registered bases"); + return bases.front(); +} + +inline detail::type_info *get_local_type_info(const std::type_index &tp) { + auto &locals = registered_local_types_cpp(); + auto it = locals.find(tp); + if (it != locals.end()) + return it->second; + return nullptr; +} + +inline detail::type_info *get_global_type_info(const std::type_index &tp) { + auto &types = get_internals().registered_types_cpp; + auto it = types.find(tp); + if (it != types.end()) + return it->second; + return nullptr; +} + +/// Return the type info for a given C++ type; on lookup failure can either throw or return nullptr. +PYBIND11_NOINLINE inline detail::type_info *get_type_info(const std::type_index &tp, + bool throw_if_missing = false) { + if (auto ltype = get_local_type_info(tp)) + return ltype; + if (auto gtype = get_global_type_info(tp)) + return gtype; + + if (throw_if_missing) { + std::string tname = tp.name(); + detail::clean_type_id(tname); + pybind11_fail("pybind11::detail::get_type_info: unable to find type info for \"" + tname + "\""); + } + return nullptr; +} + +PYBIND11_NOINLINE inline handle get_type_handle(const std::type_info &tp, bool throw_if_missing) { + detail::type_info *type_info = get_type_info(tp, throw_if_missing); + return handle(type_info ? ((PyObject *) type_info->type) : nullptr); +} + +struct value_and_holder { + instance *inst = nullptr; + size_t index = 0u; + const detail::type_info *type = nullptr; + void **vh = nullptr; + + // Main constructor for a found value/holder: + value_and_holder(instance *i, const detail::type_info *type, size_t vpos, size_t index) : + inst{i}, index{index}, type{type}, + vh{inst->simple_layout ? inst->simple_value_holder : &inst->nonsimple.values_and_holders[vpos]} + {} + + // Default constructor (used to signal a value-and-holder not found by get_value_and_holder()) + value_and_holder() {} + + // Used for past-the-end iterator + value_and_holder(size_t index) : index{index} {} + + template V *&value_ptr() const { + return reinterpret_cast(vh[0]); + } + // True if this `value_and_holder` has a non-null value pointer + explicit operator bool() const { return value_ptr(); } + + template H &holder() const { + return reinterpret_cast(vh[1]); + } + bool holder_constructed() const { + return inst->simple_layout + ? inst->simple_holder_constructed + : inst->nonsimple.status[index] & instance::status_holder_constructed; + } + void set_holder_constructed(bool v = true) { + if (inst->simple_layout) + inst->simple_holder_constructed = v; + else if (v) + inst->nonsimple.status[index] |= instance::status_holder_constructed; + else + inst->nonsimple.status[index] &= (uint8_t) ~instance::status_holder_constructed; + } + bool instance_registered() const { + return inst->simple_layout + ? inst->simple_instance_registered + : inst->nonsimple.status[index] & instance::status_instance_registered; + } + void set_instance_registered(bool v = true) { + if (inst->simple_layout) + inst->simple_instance_registered = v; + else if (v) + inst->nonsimple.status[index] |= instance::status_instance_registered; + else + inst->nonsimple.status[index] &= (uint8_t) ~instance::status_instance_registered; + } +}; + +// Container for accessing and iterating over an instance's values/holders +struct values_and_holders { +private: + instance *inst; + using type_vec = std::vector; + const type_vec &tinfo; + +public: + values_and_holders(instance *inst) : inst{inst}, tinfo(all_type_info(Py_TYPE(inst))) {} + + struct iterator { + private: + instance *inst = nullptr; + const type_vec *types = nullptr; + value_and_holder curr; + friend struct values_and_holders; + iterator(instance *inst, const type_vec *tinfo) + : inst{inst}, types{tinfo}, + curr(inst /* instance */, + types->empty() ? nullptr : (*types)[0] /* type info */, + 0, /* vpos: (non-simple types only): the first vptr comes first */ + 0 /* index */) + {} + // Past-the-end iterator: + iterator(size_t end) : curr(end) {} + public: + bool operator==(const iterator &other) { return curr.index == other.curr.index; } + bool operator!=(const iterator &other) { return curr.index != other.curr.index; } + iterator &operator++() { + if (!inst->simple_layout) + curr.vh += 1 + (*types)[curr.index]->holder_size_in_ptrs; + ++curr.index; + curr.type = curr.index < types->size() ? (*types)[curr.index] : nullptr; + return *this; + } + value_and_holder &operator*() { return curr; } + value_and_holder *operator->() { return &curr; } + }; + + iterator begin() { return iterator(inst, &tinfo); } + iterator end() { return iterator(tinfo.size()); } + + iterator find(const type_info *find_type) { + auto it = begin(), endit = end(); + while (it != endit && it->type != find_type) ++it; + return it; + } + + size_t size() { return tinfo.size(); } +}; + +/** + * Extracts C++ value and holder pointer references from an instance (which may contain multiple + * values/holders for python-side multiple inheritance) that match the given type. Throws an error + * if the given type (or ValueType, if omitted) is not a pybind11 base of the given instance. If + * `find_type` is omitted (or explicitly specified as nullptr) the first value/holder are returned, + * regardless of type (and the resulting .type will be nullptr). + * + * The returned object should be short-lived: in particular, it must not outlive the called-upon + * instance. + */ +PYBIND11_NOINLINE inline value_and_holder instance::get_value_and_holder(const type_info *find_type /*= nullptr default in common.h*/, bool throw_if_missing /*= true in common.h*/) { + // Optimize common case: + if (!find_type || Py_TYPE(this) == find_type->type) + return value_and_holder(this, find_type, 0, 0); + + detail::values_and_holders vhs(this); + auto it = vhs.find(find_type); + if (it != vhs.end()) + return *it; + + if (!throw_if_missing) + return value_and_holder(); + +#if defined(NDEBUG) + pybind11_fail("pybind11::detail::instance::get_value_and_holder: " + "type is not a pybind11 base of the given instance " + "(compile in debug mode for type details)"); +#else + pybind11_fail("pybind11::detail::instance::get_value_and_holder: `" + + std::string(find_type->type->tp_name) + "' is not a pybind11 base of the given `" + + std::string(Py_TYPE(this)->tp_name) + "' instance"); +#endif +} + +PYBIND11_NOINLINE inline void instance::allocate_layout() { + auto &tinfo = all_type_info(Py_TYPE(this)); + + const size_t n_types = tinfo.size(); + + if (n_types == 0) + pybind11_fail("instance allocation failed: new instance has no pybind11-registered base types"); + + simple_layout = + n_types == 1 && tinfo.front()->holder_size_in_ptrs <= instance_simple_holder_in_ptrs(); + + // Simple path: no python-side multiple inheritance, and a small-enough holder + if (simple_layout) { + simple_value_holder[0] = nullptr; + simple_holder_constructed = false; + simple_instance_registered = false; + } + else { // multiple base types or a too-large holder + // Allocate space to hold: [v1*][h1][v2*][h2]...[bb...] where [vN*] is a value pointer, + // [hN] is the (uninitialized) holder instance for value N, and [bb...] is a set of bool + // values that tracks whether each associated holder has been initialized. Each [block] is + // padded, if necessary, to an integer multiple of sizeof(void *). + size_t space = 0; + for (auto t : tinfo) { + space += 1; // value pointer + space += t->holder_size_in_ptrs; // holder instance + } + size_t flags_at = space; + space += size_in_ptrs(n_types); // status bytes (holder_constructed and instance_registered) + + // Allocate space for flags, values, and holders, and initialize it to 0 (flags and values, + // in particular, need to be 0). Use Python's memory allocation functions: in Python 3.6 + // they default to using pymalloc, which is designed to be efficient for small allocations + // like the one we're doing here; in earlier versions (and for larger allocations) they are + // just wrappers around malloc. +#if PY_VERSION_HEX >= 0x03050000 + nonsimple.values_and_holders = (void **) PyMem_Calloc(space, sizeof(void *)); + if (!nonsimple.values_and_holders) throw std::bad_alloc(); +#else + nonsimple.values_and_holders = (void **) PyMem_New(void *, space); + if (!nonsimple.values_and_holders) throw std::bad_alloc(); + std::memset(nonsimple.values_and_holders, 0, space * sizeof(void *)); +#endif + nonsimple.status = reinterpret_cast(&nonsimple.values_and_holders[flags_at]); + } + owned = true; +} + +PYBIND11_NOINLINE inline void instance::deallocate_layout() { + if (!simple_layout) + PyMem_Free(nonsimple.values_and_holders); +} + +PYBIND11_NOINLINE inline bool isinstance_generic(handle obj, const std::type_info &tp) { + handle type = detail::get_type_handle(tp, false); + if (!type) + return false; + return isinstance(obj, type); +} + +PYBIND11_NOINLINE inline std::string error_string() { + if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_RuntimeError, "Unknown internal error occurred"); + return "Unknown internal error occurred"; + } + + error_scope scope; // Preserve error state + + std::string errorString; + if (scope.type) { + errorString += handle(scope.type).attr("__name__").cast(); + errorString += ": "; + } + if (scope.value) + errorString += (std::string) str(scope.value); + + PyErr_NormalizeException(&scope.type, &scope.value, &scope.trace); + +#if PY_MAJOR_VERSION >= 3 + if (scope.trace != nullptr) + PyException_SetTraceback(scope.value, scope.trace); +#endif + +#if !defined(PYPY_VERSION) + if (scope.trace) { + PyTracebackObject *trace = (PyTracebackObject *) scope.trace; + + /* Get the deepest trace possible */ + while (trace->tb_next) + trace = trace->tb_next; + + PyFrameObject *frame = trace->tb_frame; + errorString += "\n\nAt:\n"; + while (frame) { + int lineno = PyFrame_GetLineNumber(frame); + errorString += + " " + handle(frame->f_code->co_filename).cast() + + "(" + std::to_string(lineno) + "): " + + handle(frame->f_code->co_name).cast() + "\n"; + frame = frame->f_back; + } + } +#endif + + return errorString; +} + +PYBIND11_NOINLINE inline handle get_object_handle(const void *ptr, const detail::type_info *type ) { + auto &instances = get_internals().registered_instances; + auto range = instances.equal_range(ptr); + for (auto it = range.first; it != range.second; ++it) { + for (auto vh : values_and_holders(it->second)) { + if (vh.type == type) + return handle((PyObject *) it->second); + } + } + return handle(); +} + +inline PyThreadState *get_thread_state_unchecked() { +#if defined(PYPY_VERSION) + return PyThreadState_GET(); +#elif PY_VERSION_HEX < 0x03000000 + return _PyThreadState_Current; +#elif PY_VERSION_HEX < 0x03050000 + return (PyThreadState*) _Py_atomic_load_relaxed(&_PyThreadState_Current); +#elif PY_VERSION_HEX < 0x03050200 + return (PyThreadState*) _PyThreadState_Current.value; +#else + return _PyThreadState_UncheckedGet(); +#endif +} + +// Forward declarations +inline void keep_alive_impl(handle nurse, handle patient); +inline PyObject *make_new_instance(PyTypeObject *type); + +class type_caster_generic { +public: + PYBIND11_NOINLINE type_caster_generic(const std::type_info &type_info) + : typeinfo(get_type_info(type_info)), cpptype(&type_info) { } + + type_caster_generic(const type_info *typeinfo) + : typeinfo(typeinfo), cpptype(typeinfo ? typeinfo->cpptype : nullptr) { } + + bool load(handle src, bool convert) { + return load_impl(src, convert); + } + + PYBIND11_NOINLINE static handle cast(const void *_src, return_value_policy policy, handle parent, + const detail::type_info *tinfo, + void *(*copy_constructor)(const void *), + void *(*move_constructor)(const void *), + const void *existing_holder = nullptr) { + if (!tinfo) // no type info: error will be set already + return handle(); + + void *src = const_cast(_src); + if (src == nullptr) + return none().release(); + + auto it_instances = get_internals().registered_instances.equal_range(src); + for (auto it_i = it_instances.first; it_i != it_instances.second; ++it_i) { + for (auto instance_type : detail::all_type_info(Py_TYPE(it_i->second))) { + if (instance_type && same_type(*instance_type->cpptype, *tinfo->cpptype)) + return handle((PyObject *) it_i->second).inc_ref(); + } + } + + auto inst = reinterpret_steal(make_new_instance(tinfo->type)); + auto wrapper = reinterpret_cast(inst.ptr()); + wrapper->owned = false; + void *&valueptr = values_and_holders(wrapper).begin()->value_ptr(); + + switch (policy) { + case return_value_policy::automatic: + case return_value_policy::take_ownership: + valueptr = src; + wrapper->owned = true; + break; + + case return_value_policy::automatic_reference: + case return_value_policy::reference: + valueptr = src; + wrapper->owned = false; + break; + + case return_value_policy::copy: + if (copy_constructor) + valueptr = copy_constructor(src); + else + throw cast_error("return_value_policy = copy, but the " + "object is non-copyable!"); + wrapper->owned = true; + break; + + case return_value_policy::move: + if (move_constructor) + valueptr = move_constructor(src); + else if (copy_constructor) + valueptr = copy_constructor(src); + else + throw cast_error("return_value_policy = move, but the " + "object is neither movable nor copyable!"); + wrapper->owned = true; + break; + + case return_value_policy::reference_internal: + valueptr = src; + wrapper->owned = false; + keep_alive_impl(inst, parent); + break; + + default: + throw cast_error("unhandled return_value_policy: should not happen!"); + } + + tinfo->init_instance(wrapper, existing_holder); + + return inst.release(); + } + + // Base methods for generic caster; there are overridden in copyable_holder_caster + void load_value(value_and_holder &&v_h) { + auto *&vptr = v_h.value_ptr(); + // Lazy allocation for unallocated values: + if (vptr == nullptr) { + auto *type = v_h.type ? v_h.type : typeinfo; + if (type->operator_new) { + vptr = type->operator_new(type->type_size); + } else { + #if defined(PYBIND11_CPP17) + if (type->type_align > __STDCPP_DEFAULT_NEW_ALIGNMENT__) + vptr = ::operator new(type->type_size, + (std::align_val_t) type->type_align); + else + #endif + vptr = ::operator new(type->type_size); + } + } + value = vptr; + } + bool try_implicit_casts(handle src, bool convert) { + for (auto &cast : typeinfo->implicit_casts) { + type_caster_generic sub_caster(*cast.first); + if (sub_caster.load(src, convert)) { + value = cast.second(sub_caster.value); + return true; + } + } + return false; + } + bool try_direct_conversions(handle src) { + for (auto &converter : *typeinfo->direct_conversions) { + if (converter(src.ptr(), value)) + return true; + } + return false; + } + void check_holder_compat() {} + + PYBIND11_NOINLINE static void *local_load(PyObject *src, const type_info *ti) { + auto caster = type_caster_generic(ti); + if (caster.load(src, false)) + return caster.value; + return nullptr; + } + + /// Try to load with foreign typeinfo, if available. Used when there is no + /// native typeinfo, or when the native one wasn't able to produce a value. + PYBIND11_NOINLINE bool try_load_foreign_module_local(handle src) { + constexpr auto *local_key = PYBIND11_MODULE_LOCAL_ID; + const auto pytype = src.get_type(); + if (!hasattr(pytype, local_key)) + return false; + + type_info *foreign_typeinfo = reinterpret_borrow(getattr(pytype, local_key)); + // Only consider this foreign loader if actually foreign and is a loader of the correct cpp type + if (foreign_typeinfo->module_local_load == &local_load + || (cpptype && !same_type(*cpptype, *foreign_typeinfo->cpptype))) + return false; + + if (auto result = foreign_typeinfo->module_local_load(src.ptr(), foreign_typeinfo)) { + value = result; + return true; + } + return false; + } + + // Implementation of `load`; this takes the type of `this` so that it can dispatch the relevant + // bits of code between here and copyable_holder_caster where the two classes need different + // logic (without having to resort to virtual inheritance). + template + PYBIND11_NOINLINE bool load_impl(handle src, bool convert) { + if (!src) return false; + if (!typeinfo) return try_load_foreign_module_local(src); + if (src.is_none()) { + // Defer accepting None to other overloads (if we aren't in convert mode): + if (!convert) return false; + value = nullptr; + return true; + } + + auto &this_ = static_cast(*this); + this_.check_holder_compat(); + + PyTypeObject *srctype = Py_TYPE(src.ptr()); + + // Case 1: If src is an exact type match for the target type then we can reinterpret_cast + // the instance's value pointer to the target type: + if (srctype == typeinfo->type) { + this_.load_value(reinterpret_cast(src.ptr())->get_value_and_holder()); + return true; + } + // Case 2: We have a derived class + else if (PyType_IsSubtype(srctype, typeinfo->type)) { + auto &bases = all_type_info(srctype); + bool no_cpp_mi = typeinfo->simple_type; + + // Case 2a: the python type is a Python-inherited derived class that inherits from just + // one simple (no MI) pybind11 class, or is an exact match, so the C++ instance is of + // the right type and we can use reinterpret_cast. + // (This is essentially the same as case 2b, but because not using multiple inheritance + // is extremely common, we handle it specially to avoid the loop iterator and type + // pointer lookup overhead) + if (bases.size() == 1 && (no_cpp_mi || bases.front()->type == typeinfo->type)) { + this_.load_value(reinterpret_cast(src.ptr())->get_value_and_holder()); + return true; + } + // Case 2b: the python type inherits from multiple C++ bases. Check the bases to see if + // we can find an exact match (or, for a simple C++ type, an inherited match); if so, we + // can safely reinterpret_cast to the relevant pointer. + else if (bases.size() > 1) { + for (auto base : bases) { + if (no_cpp_mi ? PyType_IsSubtype(base->type, typeinfo->type) : base->type == typeinfo->type) { + this_.load_value(reinterpret_cast(src.ptr())->get_value_and_holder(base)); + return true; + } + } + } + + // Case 2c: C++ multiple inheritance is involved and we couldn't find an exact type match + // in the registered bases, above, so try implicit casting (needed for proper C++ casting + // when MI is involved). + if (this_.try_implicit_casts(src, convert)) + return true; + } + + // Perform an implicit conversion + if (convert) { + for (auto &converter : typeinfo->implicit_conversions) { + auto temp = reinterpret_steal(converter(src.ptr(), typeinfo->type)); + if (load_impl(temp, false)) { + loader_life_support::add_patient(temp); + return true; + } + } + if (this_.try_direct_conversions(src)) + return true; + } + + // Failed to match local typeinfo. Try again with global. + if (typeinfo->module_local) { + if (auto gtype = get_global_type_info(*typeinfo->cpptype)) { + typeinfo = gtype; + return load(src, false); + } + } + + // Global typeinfo has precedence over foreign module_local + return try_load_foreign_module_local(src); + } + + + // Called to do type lookup and wrap the pointer and type in a pair when a dynamic_cast + // isn't needed or can't be used. If the type is unknown, sets the error and returns a pair + // with .second = nullptr. (p.first = nullptr is not an error: it becomes None). + PYBIND11_NOINLINE static std::pair src_and_type( + const void *src, const std::type_info &cast_type, const std::type_info *rtti_type = nullptr) { + if (auto *tpi = get_type_info(cast_type)) + return {src, const_cast(tpi)}; + + // Not found, set error: + std::string tname = rtti_type ? rtti_type->name() : cast_type.name(); + detail::clean_type_id(tname); + std::string msg = "Unregistered type : " + tname; + PyErr_SetString(PyExc_TypeError, msg.c_str()); + return {nullptr, nullptr}; + } + + const type_info *typeinfo = nullptr; + const std::type_info *cpptype = nullptr; + void *value = nullptr; +}; + +/** + * Determine suitable casting operator for pointer-or-lvalue-casting type casters. The type caster + * needs to provide `operator T*()` and `operator T&()` operators. + * + * If the type supports moving the value away via an `operator T&&() &&` method, it should use + * `movable_cast_op_type` instead. + */ +template +using cast_op_type = + conditional_t>::value, + typename std::add_pointer>::type, + typename std::add_lvalue_reference>::type>; + +/** + * Determine suitable casting operator for a type caster with a movable value. Such a type caster + * needs to provide `operator T*()`, `operator T&()`, and `operator T&&() &&`. The latter will be + * called in appropriate contexts where the value can be moved rather than copied. + * + * These operator are automatically provided when using the PYBIND11_TYPE_CASTER macro. + */ +template +using movable_cast_op_type = + conditional_t::type>::value, + typename std::add_pointer>::type, + conditional_t::value, + typename std::add_rvalue_reference>::type, + typename std::add_lvalue_reference>::type>>; + +// std::is_copy_constructible isn't quite enough: it lets std::vector (and similar) through when +// T is non-copyable, but code containing such a copy constructor fails to actually compile. +template struct is_copy_constructible : std::is_copy_constructible {}; + +// Specialization for types that appear to be copy constructible but also look like stl containers +// (we specifically check for: has `value_type` and `reference` with `reference = value_type&`): if +// so, copy constructability depends on whether the value_type is copy constructible. +template struct is_copy_constructible, + std::is_same + >::value>> : is_copy_constructible {}; + +#if !defined(PYBIND11_CPP17) +// Likewise for std::pair before C++17 (which mandates that the copy constructor not exist when the +// two types aren't themselves copy constructible). +template struct is_copy_constructible> + : all_of, is_copy_constructible> {}; +#endif + +NAMESPACE_END(detail) + +// polymorphic_type_hook::get(src, tinfo) determines whether the object pointed +// to by `src` actually is an instance of some class derived from `itype`. +// If so, it sets `tinfo` to point to the std::type_info representing that derived +// type, and returns a pointer to the start of the most-derived object of that type +// (in which `src` is a subobject; this will be the same address as `src` in most +// single inheritance cases). If not, or if `src` is nullptr, it simply returns `src` +// and leaves `tinfo` at its default value of nullptr. +// +// The default polymorphic_type_hook just returns src. A specialization for polymorphic +// types determines the runtime type of the passed object and adjusts the this-pointer +// appropriately via dynamic_cast. This is what enables a C++ Animal* to appear +// to Python as a Dog (if Dog inherits from Animal, Animal is polymorphic, Dog is +// registered with pybind11, and this Animal is in fact a Dog). +// +// You may specialize polymorphic_type_hook yourself for types that want to appear +// polymorphic to Python but do not use C++ RTTI. (This is a not uncommon pattern +// in performance-sensitive applications, used most notably in LLVM.) +template +struct polymorphic_type_hook +{ + static const void *get(const itype *src, const std::type_info*&) { return src; } +}; +template +struct polymorphic_type_hook::value>> +{ + static const void *get(const itype *src, const std::type_info*& type) { + type = src ? &typeid(*src) : nullptr; + return dynamic_cast(src); + } +}; + +NAMESPACE_BEGIN(detail) + +/// Generic type caster for objects stored on the heap +template class type_caster_base : public type_caster_generic { + using itype = intrinsic_t; + +public: + static constexpr auto name = _(); + + type_caster_base() : type_caster_base(typeid(type)) { } + explicit type_caster_base(const std::type_info &info) : type_caster_generic(info) { } + + static handle cast(const itype &src, return_value_policy policy, handle parent) { + if (policy == return_value_policy::automatic || policy == return_value_policy::automatic_reference) + policy = return_value_policy::copy; + return cast(&src, policy, parent); + } + + static handle cast(itype &&src, return_value_policy, handle parent) { + return cast(&src, return_value_policy::move, parent); + } + + // Returns a (pointer, type_info) pair taking care of necessary type lookup for a + // polymorphic type (using RTTI by default, but can be overridden by specializing + // polymorphic_type_hook). If the instance isn't derived, returns the base version. + static std::pair src_and_type(const itype *src) { + auto &cast_type = typeid(itype); + const std::type_info *instance_type = nullptr; + const void *vsrc = polymorphic_type_hook::get(src, instance_type); + if (instance_type && !same_type(cast_type, *instance_type)) { + // This is a base pointer to a derived type. If the derived type is registered + // with pybind11, we want to make the full derived object available. + // In the typical case where itype is polymorphic, we get the correct + // derived pointer (which may be != base pointer) by a dynamic_cast to + // most derived type. If itype is not polymorphic, we won't get here + // except via a user-provided specialization of polymorphic_type_hook, + // and the user has promised that no this-pointer adjustment is + // required in that case, so it's OK to use static_cast. + if (const auto *tpi = get_type_info(*instance_type)) + return {vsrc, tpi}; + } + // Otherwise we have either a nullptr, an `itype` pointer, or an unknown derived pointer, so + // don't do a cast + return type_caster_generic::src_and_type(src, cast_type, instance_type); + } + + static handle cast(const itype *src, return_value_policy policy, handle parent) { + auto st = src_and_type(src); + return type_caster_generic::cast( + st.first, policy, parent, st.second, + make_copy_constructor(src), make_move_constructor(src)); + } + + static handle cast_holder(const itype *src, const void *holder) { + auto st = src_and_type(src); + return type_caster_generic::cast( + st.first, return_value_policy::take_ownership, {}, st.second, + nullptr, nullptr, holder); + } + + template using cast_op_type = detail::cast_op_type; + + operator itype*() { return (type *) value; } + operator itype&() { if (!value) throw reference_cast_error(); return *((itype *) value); } + +protected: + using Constructor = void *(*)(const void *); + + /* Only enabled when the types are {copy,move}-constructible *and* when the type + does not have a private operator new implementation. */ + template ::value>> + static auto make_copy_constructor(const T *x) -> decltype(new T(*x), Constructor{}) { + return [](const void *arg) -> void * { + return new T(*reinterpret_cast(arg)); + }; + } + + template ::value>> + static auto make_move_constructor(const T *x) -> decltype(new T(std::move(*const_cast(x))), Constructor{}) { + return [](const void *arg) -> void * { + return new T(std::move(*const_cast(reinterpret_cast(arg)))); + }; + } + + static Constructor make_copy_constructor(...) { return nullptr; } + static Constructor make_move_constructor(...) { return nullptr; } +}; + +template class type_caster : public type_caster_base { }; +template using make_caster = type_caster>; + +// Shortcut for calling a caster's `cast_op_type` cast operator for casting a type_caster to a T +template typename make_caster::template cast_op_type cast_op(make_caster &caster) { + return caster.operator typename make_caster::template cast_op_type(); +} +template typename make_caster::template cast_op_type::type> +cast_op(make_caster &&caster) { + return std::move(caster).operator + typename make_caster::template cast_op_type::type>(); +} + +template class type_caster> { +private: + using caster_t = make_caster; + caster_t subcaster; + using subcaster_cast_op_type = typename caster_t::template cast_op_type; + static_assert(std::is_same::type &, subcaster_cast_op_type>::value, + "std::reference_wrapper caster requires T to have a caster with an `T &` operator"); +public: + bool load(handle src, bool convert) { return subcaster.load(src, convert); } + static constexpr auto name = caster_t::name; + static handle cast(const std::reference_wrapper &src, return_value_policy policy, handle parent) { + // It is definitely wrong to take ownership of this pointer, so mask that rvp + if (policy == return_value_policy::take_ownership || policy == return_value_policy::automatic) + policy = return_value_policy::automatic_reference; + return caster_t::cast(&src.get(), policy, parent); + } + template using cast_op_type = std::reference_wrapper; + operator std::reference_wrapper() { return subcaster.operator subcaster_cast_op_type&(); } +}; + +#define PYBIND11_TYPE_CASTER(type, py_name) \ + protected: \ + type value; \ + public: \ + static constexpr auto name = py_name; \ + template >::value, int> = 0> \ + static handle cast(T_ *src, return_value_policy policy, handle parent) { \ + if (!src) return none().release(); \ + if (policy == return_value_policy::take_ownership) { \ + auto h = cast(std::move(*src), policy, parent); delete src; return h; \ + } else { \ + return cast(*src, policy, parent); \ + } \ + } \ + operator type*() { return &value; } \ + operator type&() { return value; } \ + operator type&&() && { return std::move(value); } \ + template using cast_op_type = pybind11::detail::movable_cast_op_type + + +template using is_std_char_type = any_of< + std::is_same, /* std::string */ + std::is_same, /* std::u16string */ + std::is_same, /* std::u32string */ + std::is_same /* std::wstring */ +>; + +template +struct type_caster::value && !is_std_char_type::value>> { + using _py_type_0 = conditional_t; + using _py_type_1 = conditional_t::value, _py_type_0, typename std::make_unsigned<_py_type_0>::type>; + using py_type = conditional_t::value, double, _py_type_1>; +public: + + bool load(handle src, bool convert) { + py_type py_value; + + if (!src) + return false; + + if (std::is_floating_point::value) { + if (convert || PyFloat_Check(src.ptr())) + py_value = (py_type) PyFloat_AsDouble(src.ptr()); + else + return false; + } else if (PyFloat_Check(src.ptr())) { + return false; + } else if (std::is_unsigned::value) { + py_value = as_unsigned(src.ptr()); + } else { // signed integer: + py_value = sizeof(T) <= sizeof(long) + ? (py_type) PyLong_AsLong(src.ptr()) + : (py_type) PYBIND11_LONG_AS_LONGLONG(src.ptr()); + } + + bool py_err = py_value == (py_type) -1 && PyErr_Occurred(); + if (py_err || (std::is_integral::value && sizeof(py_type) != sizeof(T) && + (py_value < (py_type) std::numeric_limits::min() || + py_value > (py_type) std::numeric_limits::max()))) { + bool type_error = py_err && PyErr_ExceptionMatches( +#if PY_VERSION_HEX < 0x03000000 && !defined(PYPY_VERSION) + PyExc_SystemError +#else + PyExc_TypeError +#endif + ); + PyErr_Clear(); + if (type_error && convert && PyNumber_Check(src.ptr())) { + auto tmp = reinterpret_steal(std::is_floating_point::value + ? PyNumber_Float(src.ptr()) + : PyNumber_Long(src.ptr())); + PyErr_Clear(); + return load(tmp, false); + } + return false; + } + + value = (T) py_value; + return true; + } + + template + static typename std::enable_if::value, handle>::type + cast(U src, return_value_policy /* policy */, handle /* parent */) { + return PyFloat_FromDouble((double) src); + } + + template + static typename std::enable_if::value && std::is_signed::value && (sizeof(U) <= sizeof(long)), handle>::type + cast(U src, return_value_policy /* policy */, handle /* parent */) { + return PYBIND11_LONG_FROM_SIGNED((long) src); + } + + template + static typename std::enable_if::value && std::is_unsigned::value && (sizeof(U) <= sizeof(unsigned long)), handle>::type + cast(U src, return_value_policy /* policy */, handle /* parent */) { + return PYBIND11_LONG_FROM_UNSIGNED((unsigned long) src); + } + + template + static typename std::enable_if::value && std::is_signed::value && (sizeof(U) > sizeof(long)), handle>::type + cast(U src, return_value_policy /* policy */, handle /* parent */) { + return PyLong_FromLongLong((long long) src); + } + + template + static typename std::enable_if::value && std::is_unsigned::value && (sizeof(U) > sizeof(unsigned long)), handle>::type + cast(U src, return_value_policy /* policy */, handle /* parent */) { + return PyLong_FromUnsignedLongLong((unsigned long long) src); + } + + PYBIND11_TYPE_CASTER(T, _::value>("int", "float")); +}; + +template struct void_caster { +public: + bool load(handle src, bool) { + if (src && src.is_none()) + return true; + return false; + } + static handle cast(T, return_value_policy /* policy */, handle /* parent */) { + return none().inc_ref(); + } + PYBIND11_TYPE_CASTER(T, _("None")); +}; + +template <> class type_caster : public void_caster {}; + +template <> class type_caster : public type_caster { +public: + using type_caster::cast; + + bool load(handle h, bool) { + if (!h) { + return false; + } else if (h.is_none()) { + value = nullptr; + return true; + } + + /* Check if this is a capsule */ + if (isinstance(h)) { + value = reinterpret_borrow(h); + return true; + } + + /* Check if this is a C++ type */ + auto &bases = all_type_info((PyTypeObject *) h.get_type().ptr()); + if (bases.size() == 1) { // Only allowing loading from a single-value type + value = values_and_holders(reinterpret_cast(h.ptr())).begin()->value_ptr(); + return true; + } + + /* Fail */ + return false; + } + + static handle cast(const void *ptr, return_value_policy /* policy */, handle /* parent */) { + if (ptr) + return capsule(ptr).release(); + else + return none().inc_ref(); + } + + template using cast_op_type = void*&; + operator void *&() { return value; } + static constexpr auto name = _("capsule"); +private: + void *value = nullptr; +}; + +template <> class type_caster : public void_caster { }; + +template <> class type_caster { +public: + bool load(handle src, bool convert) { + if (!src) return false; + else if (src.ptr() == Py_True) { value = true; return true; } + else if (src.ptr() == Py_False) { value = false; return true; } + else if (convert || !strcmp("numpy.bool_", Py_TYPE(src.ptr())->tp_name)) { + // (allow non-implicit conversion for numpy booleans) + + Py_ssize_t res = -1; + if (src.is_none()) { + res = 0; // None is implicitly converted to False + } + #if defined(PYPY_VERSION) + // On PyPy, check that "__bool__" (or "__nonzero__" on Python 2.7) attr exists + else if (hasattr(src, PYBIND11_BOOL_ATTR)) { + res = PyObject_IsTrue(src.ptr()); + } + #else + // Alternate approach for CPython: this does the same as the above, but optimized + // using the CPython API so as to avoid an unneeded attribute lookup. + else if (auto tp_as_number = src.ptr()->ob_type->tp_as_number) { + if (PYBIND11_NB_BOOL(tp_as_number)) { + res = (*PYBIND11_NB_BOOL(tp_as_number))(src.ptr()); + } + } + #endif + if (res == 0 || res == 1) { + value = (bool) res; + return true; + } + } + return false; + } + static handle cast(bool src, return_value_policy /* policy */, handle /* parent */) { + return handle(src ? Py_True : Py_False).inc_ref(); + } + PYBIND11_TYPE_CASTER(bool, _("bool")); +}; + +// Helper class for UTF-{8,16,32} C++ stl strings: +template struct string_caster { + using CharT = typename StringType::value_type; + + // Simplify life by being able to assume standard char sizes (the standard only guarantees + // minimums, but Python requires exact sizes) + static_assert(!std::is_same::value || sizeof(CharT) == 1, "Unsupported char size != 1"); + static_assert(!std::is_same::value || sizeof(CharT) == 2, "Unsupported char16_t size != 2"); + static_assert(!std::is_same::value || sizeof(CharT) == 4, "Unsupported char32_t size != 4"); + // wchar_t can be either 16 bits (Windows) or 32 (everywhere else) + static_assert(!std::is_same::value || sizeof(CharT) == 2 || sizeof(CharT) == 4, + "Unsupported wchar_t size != 2/4"); + static constexpr size_t UTF_N = 8 * sizeof(CharT); + + bool load(handle src, bool) { +#if PY_MAJOR_VERSION < 3 + object temp; +#endif + handle load_src = src; + if (!src) { + return false; + } else if (!PyUnicode_Check(load_src.ptr())) { +#if PY_MAJOR_VERSION >= 3 + return load_bytes(load_src); +#else + if (sizeof(CharT) == 1) { + return load_bytes(load_src); + } + + // The below is a guaranteed failure in Python 3 when PyUnicode_Check returns false + if (!PYBIND11_BYTES_CHECK(load_src.ptr())) + return false; + + temp = reinterpret_steal(PyUnicode_FromObject(load_src.ptr())); + if (!temp) { PyErr_Clear(); return false; } + load_src = temp; +#endif + } + + object utfNbytes = reinterpret_steal(PyUnicode_AsEncodedString( + load_src.ptr(), UTF_N == 8 ? "utf-8" : UTF_N == 16 ? "utf-16" : "utf-32", nullptr)); + if (!utfNbytes) { PyErr_Clear(); return false; } + + const CharT *buffer = reinterpret_cast(PYBIND11_BYTES_AS_STRING(utfNbytes.ptr())); + size_t length = (size_t) PYBIND11_BYTES_SIZE(utfNbytes.ptr()) / sizeof(CharT); + if (UTF_N > 8) { buffer++; length--; } // Skip BOM for UTF-16/32 + value = StringType(buffer, length); + + // If we're loading a string_view we need to keep the encoded Python object alive: + if (IsView) + loader_life_support::add_patient(utfNbytes); + + return true; + } + + static handle cast(const StringType &src, return_value_policy /* policy */, handle /* parent */) { + const char *buffer = reinterpret_cast(src.data()); + ssize_t nbytes = ssize_t(src.size() * sizeof(CharT)); + handle s = decode_utfN(buffer, nbytes); + if (!s) throw error_already_set(); + return s; + } + + PYBIND11_TYPE_CASTER(StringType, _(PYBIND11_STRING_NAME)); + +private: + static handle decode_utfN(const char *buffer, ssize_t nbytes) { +#if !defined(PYPY_VERSION) + return + UTF_N == 8 ? PyUnicode_DecodeUTF8(buffer, nbytes, nullptr) : + UTF_N == 16 ? PyUnicode_DecodeUTF16(buffer, nbytes, nullptr, nullptr) : + PyUnicode_DecodeUTF32(buffer, nbytes, nullptr, nullptr); +#else + // PyPy seems to have multiple problems related to PyUnicode_UTF*: the UTF8 version + // sometimes segfaults for unknown reasons, while the UTF16 and 32 versions require a + // non-const char * arguments, which is also a nuisance, so bypass the whole thing by just + // passing the encoding as a string value, which works properly: + return PyUnicode_Decode(buffer, nbytes, UTF_N == 8 ? "utf-8" : UTF_N == 16 ? "utf-16" : "utf-32", nullptr); +#endif + } + + // When loading into a std::string or char*, accept a bytes object as-is (i.e. + // without any encoding/decoding attempt). For other C++ char sizes this is a no-op. + // which supports loading a unicode from a str, doesn't take this path. + template + bool load_bytes(enable_if_t src) { + if (PYBIND11_BYTES_CHECK(src.ptr())) { + // We were passed a Python 3 raw bytes; accept it into a std::string or char* + // without any encoding attempt. + const char *bytes = PYBIND11_BYTES_AS_STRING(src.ptr()); + if (bytes) { + value = StringType(bytes, (size_t) PYBIND11_BYTES_SIZE(src.ptr())); + return true; + } + } + + return false; + } + + template + bool load_bytes(enable_if_t) { return false; } +}; + +template +struct type_caster, enable_if_t::value>> + : string_caster> {}; + +#ifdef PYBIND11_HAS_STRING_VIEW +template +struct type_caster, enable_if_t::value>> + : string_caster, true> {}; +#endif + +// Type caster for C-style strings. We basically use a std::string type caster, but also add the +// ability to use None as a nullptr char* (which the string caster doesn't allow). +template struct type_caster::value>> { + using StringType = std::basic_string; + using StringCaster = type_caster; + StringCaster str_caster; + bool none = false; + CharT one_char = 0; +public: + bool load(handle src, bool convert) { + if (!src) return false; + if (src.is_none()) { + // Defer accepting None to other overloads (if we aren't in convert mode): + if (!convert) return false; + none = true; + return true; + } + return str_caster.load(src, convert); + } + + static handle cast(const CharT *src, return_value_policy policy, handle parent) { + if (src == nullptr) return pybind11::none().inc_ref(); + return StringCaster::cast(StringType(src), policy, parent); + } + + static handle cast(CharT src, return_value_policy policy, handle parent) { + if (std::is_same::value) { + handle s = PyUnicode_DecodeLatin1((const char *) &src, 1, nullptr); + if (!s) throw error_already_set(); + return s; + } + return StringCaster::cast(StringType(1, src), policy, parent); + } + + operator CharT*() { return none ? nullptr : const_cast(static_cast(str_caster).c_str()); } + operator CharT&() { + if (none) + throw value_error("Cannot convert None to a character"); + + auto &value = static_cast(str_caster); + size_t str_len = value.size(); + if (str_len == 0) + throw value_error("Cannot convert empty string to a character"); + + // If we're in UTF-8 mode, we have two possible failures: one for a unicode character that + // is too high, and one for multiple unicode characters (caught later), so we need to figure + // out how long the first encoded character is in bytes to distinguish between these two + // errors. We also allow want to allow unicode characters U+0080 through U+00FF, as those + // can fit into a single char value. + if (StringCaster::UTF_N == 8 && str_len > 1 && str_len <= 4) { + unsigned char v0 = static_cast(value[0]); + size_t char0_bytes = !(v0 & 0x80) ? 1 : // low bits only: 0-127 + (v0 & 0xE0) == 0xC0 ? 2 : // 0b110xxxxx - start of 2-byte sequence + (v0 & 0xF0) == 0xE0 ? 3 : // 0b1110xxxx - start of 3-byte sequence + 4; // 0b11110xxx - start of 4-byte sequence + + if (char0_bytes == str_len) { + // If we have a 128-255 value, we can decode it into a single char: + if (char0_bytes == 2 && (v0 & 0xFC) == 0xC0) { // 0x110000xx 0x10xxxxxx + one_char = static_cast(((v0 & 3) << 6) + (static_cast(value[1]) & 0x3F)); + return one_char; + } + // Otherwise we have a single character, but it's > U+00FF + throw value_error("Character code point not in range(0x100)"); + } + } + + // UTF-16 is much easier: we can only have a surrogate pair for values above U+FFFF, thus a + // surrogate pair with total length 2 instantly indicates a range error (but not a "your + // string was too long" error). + else if (StringCaster::UTF_N == 16 && str_len == 2) { + one_char = static_cast(value[0]); + if (one_char >= 0xD800 && one_char < 0xE000) + throw value_error("Character code point not in range(0x10000)"); + } + + if (str_len != 1) + throw value_error("Expected a character, but multi-character string found"); + + one_char = value[0]; + return one_char; + } + + static constexpr auto name = _(PYBIND11_STRING_NAME); + template using cast_op_type = pybind11::detail::cast_op_type<_T>; +}; + +// Base implementation for std::tuple and std::pair +template class Tuple, typename... Ts> class tuple_caster { + using type = Tuple; + static constexpr auto size = sizeof...(Ts); + using indices = make_index_sequence; +public: + + bool load(handle src, bool convert) { + if (!isinstance(src)) + return false; + const auto seq = reinterpret_borrow(src); + if (seq.size() != size) + return false; + return load_impl(seq, convert, indices{}); + } + + template + static handle cast(T &&src, return_value_policy policy, handle parent) { + return cast_impl(std::forward(src), policy, parent, indices{}); + } + + static constexpr auto name = _("Tuple[") + concat(make_caster::name...) + _("]"); + + template using cast_op_type = type; + + operator type() & { return implicit_cast(indices{}); } + operator type() && { return std::move(*this).implicit_cast(indices{}); } + +protected: + template + type implicit_cast(index_sequence) & { return type(cast_op(std::get(subcasters))...); } + template + type implicit_cast(index_sequence) && { return type(cast_op(std::move(std::get(subcasters)))...); } + + static constexpr bool load_impl(const sequence &, bool, index_sequence<>) { return true; } + + template + bool load_impl(const sequence &seq, bool convert, index_sequence) { + for (bool r : {std::get(subcasters).load(seq[Is], convert)...}) + if (!r) + return false; + return true; + } + + /* Implementation: Convert a C++ tuple into a Python tuple */ + template + static handle cast_impl(T &&src, return_value_policy policy, handle parent, index_sequence) { + std::array entries{{ + reinterpret_steal(make_caster::cast(std::get(std::forward(src)), policy, parent))... + }}; + for (const auto &entry: entries) + if (!entry) + return handle(); + tuple result(size); + int counter = 0; + for (auto & entry: entries) + PyTuple_SET_ITEM(result.ptr(), counter++, entry.release().ptr()); + return result.release(); + } + + Tuple...> subcasters; +}; + +template class type_caster> + : public tuple_caster {}; + +template class type_caster> + : public tuple_caster {}; + +/// Helper class which abstracts away certain actions. Users can provide specializations for +/// custom holders, but it's only necessary if the type has a non-standard interface. +template +struct holder_helper { + static auto get(const T &p) -> decltype(p.get()) { return p.get(); } +}; + +/// Type caster for holder types like std::shared_ptr, etc. +template +struct copyable_holder_caster : public type_caster_base { +public: + using base = type_caster_base; + static_assert(std::is_base_of>::value, + "Holder classes are only supported for custom types"); + using base::base; + using base::cast; + using base::typeinfo; + using base::value; + + bool load(handle src, bool convert) { + return base::template load_impl>(src, convert); + } + + explicit operator type*() { return this->value; } + explicit operator type&() { return *(this->value); } + explicit operator holder_type*() { return std::addressof(holder); } + + // Workaround for Intel compiler bug + // see pybind11 issue 94 + #if defined(__ICC) || defined(__INTEL_COMPILER) + operator holder_type&() { return holder; } + #else + explicit operator holder_type&() { return holder; } + #endif + + static handle cast(const holder_type &src, return_value_policy, handle) { + const auto *ptr = holder_helper::get(src); + return type_caster_base::cast_holder(ptr, &src); + } + +protected: + friend class type_caster_generic; + void check_holder_compat() { + if (typeinfo->default_holder) + throw cast_error("Unable to load a custom holder type from a default-holder instance"); + } + + bool load_value(value_and_holder &&v_h) { + if (v_h.holder_constructed()) { + value = v_h.value_ptr(); + holder = v_h.template holder(); + return true; + } else { + throw cast_error("Unable to cast from non-held to held instance (T& to Holder) " +#if defined(NDEBUG) + "(compile in debug mode for type information)"); +#else + "of type '" + type_id() + "''"); +#endif + } + } + + template ::value, int> = 0> + bool try_implicit_casts(handle, bool) { return false; } + + template ::value, int> = 0> + bool try_implicit_casts(handle src, bool convert) { + for (auto &cast : typeinfo->implicit_casts) { + copyable_holder_caster sub_caster(*cast.first); + if (sub_caster.load(src, convert)) { + value = cast.second(sub_caster.value); + holder = holder_type(sub_caster.holder, (type *) value); + return true; + } + } + return false; + } + + static bool try_direct_conversions(handle) { return false; } + + + holder_type holder; +}; + +/// Specialize for the common std::shared_ptr, so users don't need to +template +class type_caster> : public copyable_holder_caster> { }; + +template +struct move_only_holder_caster { + static_assert(std::is_base_of, type_caster>::value, + "Holder classes are only supported for custom types"); + + static handle cast(holder_type &&src, return_value_policy, handle) { + auto *ptr = holder_helper::get(src); + return type_caster_base::cast_holder(ptr, std::addressof(src)); + } + static constexpr auto name = type_caster_base::name; +}; + +template +class type_caster> + : public move_only_holder_caster> { }; + +template +using type_caster_holder = conditional_t::value, + copyable_holder_caster, + move_only_holder_caster>; + +template struct always_construct_holder { static constexpr bool value = Value; }; + +/// Create a specialization for custom holder types (silently ignores std::shared_ptr) +#define PYBIND11_DECLARE_HOLDER_TYPE(type, holder_type, ...) \ + namespace pybind11 { namespace detail { \ + template \ + struct always_construct_holder : always_construct_holder { }; \ + template \ + class type_caster::value>> \ + : public type_caster_holder { }; \ + }} + +// PYBIND11_DECLARE_HOLDER_TYPE holder types: +template struct is_holder_type : + std::is_base_of, detail::type_caster> {}; +// Specialization for always-supported unique_ptr holders: +template struct is_holder_type> : + std::true_type {}; + +template struct handle_type_name { static constexpr auto name = _(); }; +template <> struct handle_type_name { static constexpr auto name = _(PYBIND11_BYTES_NAME); }; +template <> struct handle_type_name { static constexpr auto name = _("*args"); }; +template <> struct handle_type_name { static constexpr auto name = _("**kwargs"); }; + +template +struct pyobject_caster { + template ::value, int> = 0> + bool load(handle src, bool /* convert */) { value = src; return static_cast(value); } + + template ::value, int> = 0> + bool load(handle src, bool /* convert */) { + if (!isinstance(src)) + return false; + value = reinterpret_borrow(src); + return true; + } + + static handle cast(const handle &src, return_value_policy /* policy */, handle /* parent */) { + return src.inc_ref(); + } + PYBIND11_TYPE_CASTER(type, handle_type_name::name); +}; + +template +class type_caster::value>> : public pyobject_caster { }; + +// Our conditions for enabling moving are quite restrictive: +// At compile time: +// - T needs to be a non-const, non-pointer, non-reference type +// - type_caster::operator T&() must exist +// - the type must be move constructible (obviously) +// At run-time: +// - if the type is non-copy-constructible, the object must be the sole owner of the type (i.e. it +// must have ref_count() == 1)h +// If any of the above are not satisfied, we fall back to copying. +template using move_is_plain_type = satisfies_none_of; +template struct move_always : std::false_type {}; +template struct move_always, + negation>, + std::is_move_constructible, + std::is_same>().operator T&()), T&> +>::value>> : std::true_type {}; +template struct move_if_unreferenced : std::false_type {}; +template struct move_if_unreferenced, + negation>, + std::is_move_constructible, + std::is_same>().operator T&()), T&> +>::value>> : std::true_type {}; +template using move_never = none_of, move_if_unreferenced>; + +// Detect whether returning a `type` from a cast on type's type_caster is going to result in a +// reference or pointer to a local variable of the type_caster. Basically, only +// non-reference/pointer `type`s and reference/pointers from a type_caster_generic are safe; +// everything else returns a reference/pointer to a local variable. +template using cast_is_temporary_value_reference = bool_constant< + (std::is_reference::value || std::is_pointer::value) && + !std::is_base_of>::value && + !std::is_same, void>::value +>; + +// When a value returned from a C++ function is being cast back to Python, we almost always want to +// force `policy = move`, regardless of the return value policy the function/method was declared +// with. +template struct return_value_policy_override { + static return_value_policy policy(return_value_policy p) { return p; } +}; + +template struct return_value_policy_override>::value, void>> { + static return_value_policy policy(return_value_policy p) { + return !std::is_lvalue_reference::value && + !std::is_pointer::value + ? return_value_policy::move : p; + } +}; + +// Basic python -> C++ casting; throws if casting fails +template type_caster &load_type(type_caster &conv, const handle &handle) { + if (!conv.load(handle, true)) { +#if defined(NDEBUG) + throw cast_error("Unable to cast Python instance to C++ type (compile in debug mode for details)"); +#else + throw cast_error("Unable to cast Python instance of type " + + (std::string) str(handle.get_type()) + " to C++ type '" + type_id() + "'"); +#endif + } + return conv; +} +// Wrapper around the above that also constructs and returns a type_caster +template make_caster load_type(const handle &handle) { + make_caster conv; + load_type(conv, handle); + return conv; +} + +NAMESPACE_END(detail) + +// pytype -> C++ type +template ::value, int> = 0> +T cast(const handle &handle) { + using namespace detail; + static_assert(!cast_is_temporary_value_reference::value, + "Unable to cast type to reference: value is local to type caster"); + return cast_op(load_type(handle)); +} + +// pytype -> pytype (calls converting constructor) +template ::value, int> = 0> +T cast(const handle &handle) { return T(reinterpret_borrow(handle)); } + +// C++ type -> py::object +template ::value, int> = 0> +object cast(const T &value, return_value_policy policy = return_value_policy::automatic_reference, + handle parent = handle()) { + if (policy == return_value_policy::automatic) + policy = std::is_pointer::value ? return_value_policy::take_ownership : return_value_policy::copy; + else if (policy == return_value_policy::automatic_reference) + policy = std::is_pointer::value ? return_value_policy::reference : return_value_policy::copy; + return reinterpret_steal(detail::make_caster::cast(value, policy, parent)); +} + +template T handle::cast() const { return pybind11::cast(*this); } +template <> inline void handle::cast() const { return; } + +template +detail::enable_if_t::value, T> move(object &&obj) { + if (obj.ref_count() > 1) +#if defined(NDEBUG) + throw cast_error("Unable to cast Python instance to C++ rvalue: instance has multiple references" + " (compile in debug mode for details)"); +#else + throw cast_error("Unable to move from Python " + (std::string) str(obj.get_type()) + + " instance to C++ " + type_id() + " instance: instance has multiple references"); +#endif + + // Move into a temporary and return that, because the reference may be a local value of `conv` + T ret = std::move(detail::load_type(obj).operator T&()); + return ret; +} + +// Calling cast() on an rvalue calls pybind::cast with the object rvalue, which does: +// - If we have to move (because T has no copy constructor), do it. This will fail if the moved +// object has multiple references, but trying to copy will fail to compile. +// - If both movable and copyable, check ref count: if 1, move; otherwise copy +// - Otherwise (not movable), copy. +template detail::enable_if_t::value, T> cast(object &&object) { + return move(std::move(object)); +} +template detail::enable_if_t::value, T> cast(object &&object) { + if (object.ref_count() > 1) + return cast(object); + else + return move(std::move(object)); +} +template detail::enable_if_t::value, T> cast(object &&object) { + return cast(object); +} + +template T object::cast() const & { return pybind11::cast(*this); } +template T object::cast() && { return pybind11::cast(std::move(*this)); } +template <> inline void object::cast() const & { return; } +template <> inline void object::cast() && { return; } + +NAMESPACE_BEGIN(detail) + +// Declared in pytypes.h: +template ::value, int>> +object object_or_cast(T &&o) { return pybind11::cast(std::forward(o)); } + +struct overload_unused {}; // Placeholder type for the unneeded (and dead code) static variable in the OVERLOAD_INT macro +template using overload_caster_t = conditional_t< + cast_is_temporary_value_reference::value, make_caster, overload_unused>; + +// Trampoline use: for reference/pointer types to value-converted values, we do a value cast, then +// store the result in the given variable. For other types, this is a no-op. +template enable_if_t::value, T> cast_ref(object &&o, make_caster &caster) { + return cast_op(load_type(caster, o)); +} +template enable_if_t::value, T> cast_ref(object &&, overload_unused &) { + pybind11_fail("Internal error: cast_ref fallback invoked"); } + +// Trampoline use: Having a pybind11::cast with an invalid reference type is going to static_assert, even +// though if it's in dead code, so we provide a "trampoline" to pybind11::cast that only does anything in +// cases where pybind11::cast is valid. +template enable_if_t::value, T> cast_safe(object &&o) { + return pybind11::cast(std::move(o)); } +template enable_if_t::value, T> cast_safe(object &&) { + pybind11_fail("Internal error: cast_safe fallback invoked"); } +template <> inline void cast_safe(object &&) {} + +NAMESPACE_END(detail) + +template +tuple make_tuple() { return tuple(0); } + +template tuple make_tuple(Args&&... args_) { + constexpr size_t size = sizeof...(Args); + std::array args { + { reinterpret_steal(detail::make_caster::cast( + std::forward(args_), policy, nullptr))... } + }; + for (size_t i = 0; i < args.size(); i++) { + if (!args[i]) { +#if defined(NDEBUG) + throw cast_error("make_tuple(): unable to convert arguments to Python object (compile in debug mode for details)"); +#else + std::array argtypes { {type_id()...} }; + throw cast_error("make_tuple(): unable to convert argument of type '" + + argtypes[i] + "' to Python object"); +#endif + } + } + tuple result(size); + int counter = 0; + for (auto &arg_value : args) + PyTuple_SET_ITEM(result.ptr(), counter++, arg_value.release().ptr()); + return result; +} + +/// \ingroup annotations +/// Annotation for arguments +struct arg { + /// Constructs an argument with the name of the argument; if null or omitted, this is a positional argument. + constexpr explicit arg(const char *name = nullptr) : name(name), flag_noconvert(false), flag_none(true) { } + /// Assign a value to this argument + template arg_v operator=(T &&value) const; + /// Indicate that the type should not be converted in the type caster + arg &noconvert(bool flag = true) { flag_noconvert = flag; return *this; } + /// Indicates that the argument should/shouldn't allow None (e.g. for nullable pointer args) + arg &none(bool flag = true) { flag_none = flag; return *this; } + + const char *name; ///< If non-null, this is a named kwargs argument + bool flag_noconvert : 1; ///< If set, do not allow conversion (requires a supporting type caster!) + bool flag_none : 1; ///< If set (the default), allow None to be passed to this argument +}; + +/// \ingroup annotations +/// Annotation for arguments with values +struct arg_v : arg { +private: + template + arg_v(arg &&base, T &&x, const char *descr = nullptr) + : arg(base), + value(reinterpret_steal( + detail::make_caster::cast(x, return_value_policy::automatic, {}) + )), + descr(descr) +#if !defined(NDEBUG) + , type(type_id()) +#endif + { } + +public: + /// Direct construction with name, default, and description + template + arg_v(const char *name, T &&x, const char *descr = nullptr) + : arg_v(arg(name), std::forward(x), descr) { } + + /// Called internally when invoking `py::arg("a") = value` + template + arg_v(const arg &base, T &&x, const char *descr = nullptr) + : arg_v(arg(base), std::forward(x), descr) { } + + /// Same as `arg::noconvert()`, but returns *this as arg_v&, not arg& + arg_v &noconvert(bool flag = true) { arg::noconvert(flag); return *this; } + + /// Same as `arg::nonone()`, but returns *this as arg_v&, not arg& + arg_v &none(bool flag = true) { arg::none(flag); return *this; } + + /// The default value + object value; + /// The (optional) description of the default value + const char *descr; +#if !defined(NDEBUG) + /// The C++ type name of the default value (only available when compiled in debug mode) + std::string type; +#endif +}; + +template +arg_v arg::operator=(T &&value) const { return {std::move(*this), std::forward(value)}; } + +/// Alias for backward compatibility -- to be removed in version 2.0 +template using arg_t = arg_v; + +inline namespace literals { +/** \rst + String literal version of `arg` + \endrst */ +constexpr arg operator"" _a(const char *name, size_t) { return arg(name); } +} + +NAMESPACE_BEGIN(detail) + +// forward declaration (definition in attr.h) +struct function_record; + +/// Internal data associated with a single function call +struct function_call { + function_call(const function_record &f, handle p); // Implementation in attr.h + + /// The function data: + const function_record &func; + + /// Arguments passed to the function: + std::vector args; + + /// The `convert` value the arguments should be loaded with + std::vector args_convert; + + /// Extra references for the optional `py::args` and/or `py::kwargs` arguments (which, if + /// present, are also in `args` but without a reference). + object args_ref, kwargs_ref; + + /// The parent, if any + handle parent; + + /// If this is a call to an initializer, this argument contains `self` + handle init_self; +}; + + +/// Helper class which loads arguments for C++ functions called from Python +template +class argument_loader { + using indices = make_index_sequence; + + template using argument_is_args = std::is_same, args>; + template using argument_is_kwargs = std::is_same, kwargs>; + // Get args/kwargs argument positions relative to the end of the argument list: + static constexpr auto args_pos = constexpr_first() - (int) sizeof...(Args), + kwargs_pos = constexpr_first() - (int) sizeof...(Args); + + static constexpr bool args_kwargs_are_last = kwargs_pos >= - 1 && args_pos >= kwargs_pos - 1; + + static_assert(args_kwargs_are_last, "py::args/py::kwargs are only permitted as the last argument(s) of a function"); + +public: + static constexpr bool has_kwargs = kwargs_pos < 0; + static constexpr bool has_args = args_pos < 0; + + static constexpr auto arg_names = concat(type_descr(make_caster::name)...); + + bool load_args(function_call &call) { + return load_impl_sequence(call, indices{}); + } + + template + enable_if_t::value, Return> call(Func &&f) && { + return std::move(*this).template call_impl(std::forward(f), indices{}, Guard{}); + } + + template + enable_if_t::value, void_type> call(Func &&f) && { + std::move(*this).template call_impl(std::forward(f), indices{}, Guard{}); + return void_type(); + } + +private: + + static bool load_impl_sequence(function_call &, index_sequence<>) { return true; } + + template + bool load_impl_sequence(function_call &call, index_sequence) { + for (bool r : {std::get(argcasters).load(call.args[Is], call.args_convert[Is])...}) + if (!r) + return false; + return true; + } + + template + Return call_impl(Func &&f, index_sequence, Guard &&) { + return std::forward(f)(cast_op(std::move(std::get(argcasters)))...); + } + + std::tuple...> argcasters; +}; + +/// Helper class which collects only positional arguments for a Python function call. +/// A fancier version below can collect any argument, but this one is optimal for simple calls. +template +class simple_collector { +public: + template + explicit simple_collector(Ts &&...values) + : m_args(pybind11::make_tuple(std::forward(values)...)) { } + + const tuple &args() const & { return m_args; } + dict kwargs() const { return {}; } + + tuple args() && { return std::move(m_args); } + + /// Call a Python function and pass the collected arguments + object call(PyObject *ptr) const { + PyObject *result = PyObject_CallObject(ptr, m_args.ptr()); + if (!result) + throw error_already_set(); + return reinterpret_steal(result); + } + +private: + tuple m_args; +}; + +/// Helper class which collects positional, keyword, * and ** arguments for a Python function call +template +class unpacking_collector { +public: + template + explicit unpacking_collector(Ts &&...values) { + // Tuples aren't (easily) resizable so a list is needed for collection, + // but the actual function call strictly requires a tuple. + auto args_list = list(); + int _[] = { 0, (process(args_list, std::forward(values)), 0)... }; + ignore_unused(_); + + m_args = std::move(args_list); + } + + const tuple &args() const & { return m_args; } + const dict &kwargs() const & { return m_kwargs; } + + tuple args() && { return std::move(m_args); } + dict kwargs() && { return std::move(m_kwargs); } + + /// Call a Python function and pass the collected arguments + object call(PyObject *ptr) const { + PyObject *result = PyObject_Call(ptr, m_args.ptr(), m_kwargs.ptr()); + if (!result) + throw error_already_set(); + return reinterpret_steal(result); + } + +private: + template + void process(list &args_list, T &&x) { + auto o = reinterpret_steal(detail::make_caster::cast(std::forward(x), policy, {})); + if (!o) { +#if defined(NDEBUG) + argument_cast_error(); +#else + argument_cast_error(std::to_string(args_list.size()), type_id()); +#endif + } + args_list.append(o); + } + + void process(list &args_list, detail::args_proxy ap) { + for (const auto &a : ap) + args_list.append(a); + } + + void process(list &/*args_list*/, arg_v a) { + if (!a.name) +#if defined(NDEBUG) + nameless_argument_error(); +#else + nameless_argument_error(a.type); +#endif + + if (m_kwargs.contains(a.name)) { +#if defined(NDEBUG) + multiple_values_error(); +#else + multiple_values_error(a.name); +#endif + } + if (!a.value) { +#if defined(NDEBUG) + argument_cast_error(); +#else + argument_cast_error(a.name, a.type); +#endif + } + m_kwargs[a.name] = a.value; + } + + void process(list &/*args_list*/, detail::kwargs_proxy kp) { + if (!kp) + return; + for (const auto &k : reinterpret_borrow(kp)) { + if (m_kwargs.contains(k.first)) { +#if defined(NDEBUG) + multiple_values_error(); +#else + multiple_values_error(str(k.first)); +#endif + } + m_kwargs[k.first] = k.second; + } + } + + [[noreturn]] static void nameless_argument_error() { + throw type_error("Got kwargs without a name; only named arguments " + "may be passed via py::arg() to a python function call. " + "(compile in debug mode for details)"); + } + [[noreturn]] static void nameless_argument_error(std::string type) { + throw type_error("Got kwargs without a name of type '" + type + "'; only named " + "arguments may be passed via py::arg() to a python function call. "); + } + [[noreturn]] static void multiple_values_error() { + throw type_error("Got multiple values for keyword argument " + "(compile in debug mode for details)"); + } + + [[noreturn]] static void multiple_values_error(std::string name) { + throw type_error("Got multiple values for keyword argument '" + name + "'"); + } + + [[noreturn]] static void argument_cast_error() { + throw cast_error("Unable to convert call argument to Python object " + "(compile in debug mode for details)"); + } + + [[noreturn]] static void argument_cast_error(std::string name, std::string type) { + throw cast_error("Unable to convert call argument '" + name + + "' of type '" + type + "' to Python object"); + } + +private: + tuple m_args; + dict m_kwargs; +}; + +/// Collect only positional arguments for a Python function call +template ...>::value>> +simple_collector collect_arguments(Args &&...args) { + return simple_collector(std::forward(args)...); +} + +/// Collect all arguments, including keywords and unpacking (only instantiated when needed) +template ...>::value>> +unpacking_collector collect_arguments(Args &&...args) { + // Following argument order rules for generalized unpacking according to PEP 448 + static_assert( + constexpr_last() < constexpr_first() + && constexpr_last() < constexpr_first(), + "Invalid function call: positional args must precede keywords and ** unpacking; " + "* unpacking must precede ** unpacking" + ); + return unpacking_collector(std::forward(args)...); +} + +template +template +object object_api::operator()(Args &&...args) const { + return detail::collect_arguments(std::forward(args)...).call(derived().ptr()); +} + +template +template +object object_api::call(Args &&...args) const { + return operator()(std::forward(args)...); +} + +NAMESPACE_END(detail) + +#define PYBIND11_MAKE_OPAQUE(...) \ + namespace pybind11 { namespace detail { \ + template<> class type_caster<__VA_ARGS__> : public type_caster_base<__VA_ARGS__> { }; \ + }} + +/// Lets you pass a type containing a `,` through a macro parameter without needing a separate +/// typedef, e.g.: `PYBIND11_OVERLOAD(PYBIND11_TYPE(ReturnType), PYBIND11_TYPE(Parent), f, arg)` +#define PYBIND11_TYPE(...) __VA_ARGS__ + +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/chrono.h b/wrap/python/pybind11/include/pybind11/chrono.h new file mode 100644 index 000000000..2ace2329d --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/chrono.h @@ -0,0 +1,162 @@ +/* + pybind11/chrono.h: Transparent conversion between std::chrono and python's datetime + + Copyright (c) 2016 Trent Houliston and + Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "pybind11.h" +#include +#include +#include +#include + +// Backport the PyDateTime_DELTA functions from Python3.3 if required +#ifndef PyDateTime_DELTA_GET_DAYS +#define PyDateTime_DELTA_GET_DAYS(o) (((PyDateTime_Delta*)o)->days) +#endif +#ifndef PyDateTime_DELTA_GET_SECONDS +#define PyDateTime_DELTA_GET_SECONDS(o) (((PyDateTime_Delta*)o)->seconds) +#endif +#ifndef PyDateTime_DELTA_GET_MICROSECONDS +#define PyDateTime_DELTA_GET_MICROSECONDS(o) (((PyDateTime_Delta*)o)->microseconds) +#endif + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) + +template class duration_caster { +public: + typedef typename type::rep rep; + typedef typename type::period period; + + typedef std::chrono::duration> days; + + bool load(handle src, bool) { + using namespace std::chrono; + + // Lazy initialise the PyDateTime import + if (!PyDateTimeAPI) { PyDateTime_IMPORT; } + + if (!src) return false; + // If invoked with datetime.delta object + if (PyDelta_Check(src.ptr())) { + value = type(duration_cast>( + days(PyDateTime_DELTA_GET_DAYS(src.ptr())) + + seconds(PyDateTime_DELTA_GET_SECONDS(src.ptr())) + + microseconds(PyDateTime_DELTA_GET_MICROSECONDS(src.ptr())))); + return true; + } + // If invoked with a float we assume it is seconds and convert + else if (PyFloat_Check(src.ptr())) { + value = type(duration_cast>(duration(PyFloat_AsDouble(src.ptr())))); + return true; + } + else return false; + } + + // If this is a duration just return it back + static const std::chrono::duration& get_duration(const std::chrono::duration &src) { + return src; + } + + // If this is a time_point get the time_since_epoch + template static std::chrono::duration get_duration(const std::chrono::time_point> &src) { + return src.time_since_epoch(); + } + + static handle cast(const type &src, return_value_policy /* policy */, handle /* parent */) { + using namespace std::chrono; + + // Use overloaded function to get our duration from our source + // Works out if it is a duration or time_point and get the duration + auto d = get_duration(src); + + // Lazy initialise the PyDateTime import + if (!PyDateTimeAPI) { PyDateTime_IMPORT; } + + // Declare these special duration types so the conversions happen with the correct primitive types (int) + using dd_t = duration>; + using ss_t = duration>; + using us_t = duration; + + auto dd = duration_cast(d); + auto subd = d - dd; + auto ss = duration_cast(subd); + auto us = duration_cast(subd - ss); + return PyDelta_FromDSU(dd.count(), ss.count(), us.count()); + } + + PYBIND11_TYPE_CASTER(type, _("datetime.timedelta")); +}; + +// This is for casting times on the system clock into datetime.datetime instances +template class type_caster> { +public: + typedef std::chrono::time_point type; + bool load(handle src, bool) { + using namespace std::chrono; + + // Lazy initialise the PyDateTime import + if (!PyDateTimeAPI) { PyDateTime_IMPORT; } + + if (!src) return false; + if (PyDateTime_Check(src.ptr())) { + std::tm cal; + cal.tm_sec = PyDateTime_DATE_GET_SECOND(src.ptr()); + cal.tm_min = PyDateTime_DATE_GET_MINUTE(src.ptr()); + cal.tm_hour = PyDateTime_DATE_GET_HOUR(src.ptr()); + cal.tm_mday = PyDateTime_GET_DAY(src.ptr()); + cal.tm_mon = PyDateTime_GET_MONTH(src.ptr()) - 1; + cal.tm_year = PyDateTime_GET_YEAR(src.ptr()) - 1900; + cal.tm_isdst = -1; + + value = system_clock::from_time_t(std::mktime(&cal)) + microseconds(PyDateTime_DATE_GET_MICROSECOND(src.ptr())); + return true; + } + else return false; + } + + static handle cast(const std::chrono::time_point &src, return_value_policy /* policy */, handle /* parent */) { + using namespace std::chrono; + + // Lazy initialise the PyDateTime import + if (!PyDateTimeAPI) { PyDateTime_IMPORT; } + + std::time_t tt = system_clock::to_time_t(time_point_cast(src)); + // this function uses static memory so it's best to copy it out asap just in case + // otherwise other code that is using localtime may break this (not just python code) + std::tm localtime = *std::localtime(&tt); + + // Declare these special duration types so the conversions happen with the correct primitive types (int) + using us_t = duration; + + return PyDateTime_FromDateAndTime(localtime.tm_year + 1900, + localtime.tm_mon + 1, + localtime.tm_mday, + localtime.tm_hour, + localtime.tm_min, + localtime.tm_sec, + (duration_cast(src.time_since_epoch() % seconds(1))).count()); + } + PYBIND11_TYPE_CASTER(type, _("datetime.datetime")); +}; + +// Other clocks that are not the system clock are not measured as datetime.datetime objects +// since they are not measured on calendar time. So instead we just make them timedeltas +// Or if they have passed us a time as a float we convert that +template class type_caster> +: public duration_caster> { +}; + +template class type_caster> +: public duration_caster> { +}; + +NAMESPACE_END(detail) +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/common.h b/wrap/python/pybind11/include/pybind11/common.h new file mode 100644 index 000000000..6c8a4f1e8 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/common.h @@ -0,0 +1,2 @@ +#include "detail/common.h" +#warning "Including 'common.h' is deprecated. It will be removed in v3.0. Use 'pybind11.h'." diff --git a/wrap/python/pybind11/include/pybind11/complex.h b/wrap/python/pybind11/include/pybind11/complex.h new file mode 100644 index 000000000..3f8963857 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/complex.h @@ -0,0 +1,65 @@ +/* + pybind11/complex.h: Complex number support + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "pybind11.h" +#include + +/// glibc defines I as a macro which breaks things, e.g., boost template names +#ifdef I +# undef I +#endif + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) + +template struct format_descriptor, detail::enable_if_t::value>> { + static constexpr const char c = format_descriptor::c; + static constexpr const char value[3] = { 'Z', c, '\0' }; + static std::string format() { return std::string(value); } +}; + +#ifndef PYBIND11_CPP17 + +template constexpr const char format_descriptor< + std::complex, detail::enable_if_t::value>>::value[3]; + +#endif + +NAMESPACE_BEGIN(detail) + +template struct is_fmt_numeric, detail::enable_if_t::value>> { + static constexpr bool value = true; + static constexpr int index = is_fmt_numeric::index + 3; +}; + +template class type_caster> { +public: + bool load(handle src, bool convert) { + if (!src) + return false; + if (!convert && !PyComplex_Check(src.ptr())) + return false; + Py_complex result = PyComplex_AsCComplex(src.ptr()); + if (result.real == -1.0 && PyErr_Occurred()) { + PyErr_Clear(); + return false; + } + value = std::complex((T) result.real, (T) result.imag); + return true; + } + + static handle cast(const std::complex &src, return_value_policy /* policy */, handle /* parent */) { + return PyComplex_FromDoubles((double) src.real(), (double) src.imag()); + } + + PYBIND11_TYPE_CASTER(std::complex, _("complex")); +}; +NAMESPACE_END(detail) +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/detail/class.h b/wrap/python/pybind11/include/pybind11/detail/class.h new file mode 100644 index 000000000..b1916fcd0 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/detail/class.h @@ -0,0 +1,623 @@ +/* + pybind11/detail/class.h: Python C API implementation details for py::class_ + + Copyright (c) 2017 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "../attr.h" +#include "../options.h" + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) + +#if PY_VERSION_HEX >= 0x03030000 +# define PYBIND11_BUILTIN_QUALNAME +# define PYBIND11_SET_OLDPY_QUALNAME(obj, nameobj) +#else +// In pre-3.3 Python, we still set __qualname__ so that we can produce reliable function type +// signatures; in 3.3+ this macro expands to nothing: +# define PYBIND11_SET_OLDPY_QUALNAME(obj, nameobj) setattr((PyObject *) obj, "__qualname__", nameobj) +#endif + +inline PyTypeObject *type_incref(PyTypeObject *type) { + Py_INCREF(type); + return type; +} + +#if !defined(PYPY_VERSION) + +/// `pybind11_static_property.__get__()`: Always pass the class instead of the instance. +extern "C" inline PyObject *pybind11_static_get(PyObject *self, PyObject * /*ob*/, PyObject *cls) { + return PyProperty_Type.tp_descr_get(self, cls, cls); +} + +/// `pybind11_static_property.__set__()`: Just like the above `__get__()`. +extern "C" inline int pybind11_static_set(PyObject *self, PyObject *obj, PyObject *value) { + PyObject *cls = PyType_Check(obj) ? obj : (PyObject *) Py_TYPE(obj); + return PyProperty_Type.tp_descr_set(self, cls, value); +} + +/** A `static_property` is the same as a `property` but the `__get__()` and `__set__()` + methods are modified to always use the object type instead of a concrete instance. + Return value: New reference. */ +inline PyTypeObject *make_static_property_type() { + constexpr auto *name = "pybind11_static_property"; + auto name_obj = reinterpret_steal(PYBIND11_FROM_STRING(name)); + + /* Danger zone: from now (and until PyType_Ready), make sure to + issue no Python C API calls which could potentially invoke the + garbage collector (the GC will call type_traverse(), which will in + turn find the newly constructed type in an invalid state) */ + auto heap_type = (PyHeapTypeObject *) PyType_Type.tp_alloc(&PyType_Type, 0); + if (!heap_type) + pybind11_fail("make_static_property_type(): error allocating type!"); + + heap_type->ht_name = name_obj.inc_ref().ptr(); +#ifdef PYBIND11_BUILTIN_QUALNAME + heap_type->ht_qualname = name_obj.inc_ref().ptr(); +#endif + + auto type = &heap_type->ht_type; + type->tp_name = name; + type->tp_base = type_incref(&PyProperty_Type); + type->tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE | Py_TPFLAGS_HEAPTYPE; + type->tp_descr_get = pybind11_static_get; + type->tp_descr_set = pybind11_static_set; + + if (PyType_Ready(type) < 0) + pybind11_fail("make_static_property_type(): failure in PyType_Ready()!"); + + setattr((PyObject *) type, "__module__", str("pybind11_builtins")); + PYBIND11_SET_OLDPY_QUALNAME(type, name_obj); + + return type; +} + +#else // PYPY + +/** PyPy has some issues with the above C API, so we evaluate Python code instead. + This function will only be called once so performance isn't really a concern. + Return value: New reference. */ +inline PyTypeObject *make_static_property_type() { + auto d = dict(); + PyObject *result = PyRun_String(R"(\ + class pybind11_static_property(property): + def __get__(self, obj, cls): + return property.__get__(self, cls, cls) + + def __set__(self, obj, value): + cls = obj if isinstance(obj, type) else type(obj) + property.__set__(self, cls, value) + )", Py_file_input, d.ptr(), d.ptr() + ); + if (result == nullptr) + throw error_already_set(); + Py_DECREF(result); + return (PyTypeObject *) d["pybind11_static_property"].cast().release().ptr(); +} + +#endif // PYPY + +/** Types with static properties need to handle `Type.static_prop = x` in a specific way. + By default, Python replaces the `static_property` itself, but for wrapped C++ types + we need to call `static_property.__set__()` in order to propagate the new value to + the underlying C++ data structure. */ +extern "C" inline int pybind11_meta_setattro(PyObject* obj, PyObject* name, PyObject* value) { + // Use `_PyType_Lookup()` instead of `PyObject_GetAttr()` in order to get the raw + // descriptor (`property`) instead of calling `tp_descr_get` (`property.__get__()`). + PyObject *descr = _PyType_Lookup((PyTypeObject *) obj, name); + + // The following assignment combinations are possible: + // 1. `Type.static_prop = value` --> descr_set: `Type.static_prop.__set__(value)` + // 2. `Type.static_prop = other_static_prop` --> setattro: replace existing `static_prop` + // 3. `Type.regular_attribute = value` --> setattro: regular attribute assignment + const auto static_prop = (PyObject *) get_internals().static_property_type; + const auto call_descr_set = descr && PyObject_IsInstance(descr, static_prop) + && !PyObject_IsInstance(value, static_prop); + if (call_descr_set) { + // Call `static_property.__set__()` instead of replacing the `static_property`. +#if !defined(PYPY_VERSION) + return Py_TYPE(descr)->tp_descr_set(descr, obj, value); +#else + if (PyObject *result = PyObject_CallMethod(descr, "__set__", "OO", obj, value)) { + Py_DECREF(result); + return 0; + } else { + return -1; + } +#endif + } else { + // Replace existing attribute. + return PyType_Type.tp_setattro(obj, name, value); + } +} + +#if PY_MAJOR_VERSION >= 3 +/** + * Python 3's PyInstanceMethod_Type hides itself via its tp_descr_get, which prevents aliasing + * methods via cls.attr("m2") = cls.attr("m1"): instead the tp_descr_get returns a plain function, + * when called on a class, or a PyMethod, when called on an instance. Override that behaviour here + * to do a special case bypass for PyInstanceMethod_Types. + */ +extern "C" inline PyObject *pybind11_meta_getattro(PyObject *obj, PyObject *name) { + PyObject *descr = _PyType_Lookup((PyTypeObject *) obj, name); + if (descr && PyInstanceMethod_Check(descr)) { + Py_INCREF(descr); + return descr; + } + else { + return PyType_Type.tp_getattro(obj, name); + } +} +#endif + +/** This metaclass is assigned by default to all pybind11 types and is required in order + for static properties to function correctly. Users may override this using `py::metaclass`. + Return value: New reference. */ +inline PyTypeObject* make_default_metaclass() { + constexpr auto *name = "pybind11_type"; + auto name_obj = reinterpret_steal(PYBIND11_FROM_STRING(name)); + + /* Danger zone: from now (and until PyType_Ready), make sure to + issue no Python C API calls which could potentially invoke the + garbage collector (the GC will call type_traverse(), which will in + turn find the newly constructed type in an invalid state) */ + auto heap_type = (PyHeapTypeObject *) PyType_Type.tp_alloc(&PyType_Type, 0); + if (!heap_type) + pybind11_fail("make_default_metaclass(): error allocating metaclass!"); + + heap_type->ht_name = name_obj.inc_ref().ptr(); +#ifdef PYBIND11_BUILTIN_QUALNAME + heap_type->ht_qualname = name_obj.inc_ref().ptr(); +#endif + + auto type = &heap_type->ht_type; + type->tp_name = name; + type->tp_base = type_incref(&PyType_Type); + type->tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE | Py_TPFLAGS_HEAPTYPE; + + type->tp_setattro = pybind11_meta_setattro; +#if PY_MAJOR_VERSION >= 3 + type->tp_getattro = pybind11_meta_getattro; +#endif + + if (PyType_Ready(type) < 0) + pybind11_fail("make_default_metaclass(): failure in PyType_Ready()!"); + + setattr((PyObject *) type, "__module__", str("pybind11_builtins")); + PYBIND11_SET_OLDPY_QUALNAME(type, name_obj); + + return type; +} + +/// For multiple inheritance types we need to recursively register/deregister base pointers for any +/// base classes with pointers that are difference from the instance value pointer so that we can +/// correctly recognize an offset base class pointer. This calls a function with any offset base ptrs. +inline void traverse_offset_bases(void *valueptr, const detail::type_info *tinfo, instance *self, + bool (*f)(void * /*parentptr*/, instance * /*self*/)) { + for (handle h : reinterpret_borrow(tinfo->type->tp_bases)) { + if (auto parent_tinfo = get_type_info((PyTypeObject *) h.ptr())) { + for (auto &c : parent_tinfo->implicit_casts) { + if (c.first == tinfo->cpptype) { + auto *parentptr = c.second(valueptr); + if (parentptr != valueptr) + f(parentptr, self); + traverse_offset_bases(parentptr, parent_tinfo, self, f); + break; + } + } + } + } +} + +inline bool register_instance_impl(void *ptr, instance *self) { + get_internals().registered_instances.emplace(ptr, self); + return true; // unused, but gives the same signature as the deregister func +} +inline bool deregister_instance_impl(void *ptr, instance *self) { + auto ®istered_instances = get_internals().registered_instances; + auto range = registered_instances.equal_range(ptr); + for (auto it = range.first; it != range.second; ++it) { + if (Py_TYPE(self) == Py_TYPE(it->second)) { + registered_instances.erase(it); + return true; + } + } + return false; +} + +inline void register_instance(instance *self, void *valptr, const type_info *tinfo) { + register_instance_impl(valptr, self); + if (!tinfo->simple_ancestors) + traverse_offset_bases(valptr, tinfo, self, register_instance_impl); +} + +inline bool deregister_instance(instance *self, void *valptr, const type_info *tinfo) { + bool ret = deregister_instance_impl(valptr, self); + if (!tinfo->simple_ancestors) + traverse_offset_bases(valptr, tinfo, self, deregister_instance_impl); + return ret; +} + +/// Instance creation function for all pybind11 types. It allocates the internal instance layout for +/// holding C++ objects and holders. Allocation is done lazily (the first time the instance is cast +/// to a reference or pointer), and initialization is done by an `__init__` function. +inline PyObject *make_new_instance(PyTypeObject *type) { +#if defined(PYPY_VERSION) + // PyPy gets tp_basicsize wrong (issue 2482) under multiple inheritance when the first inherited + // object is a a plain Python type (i.e. not derived from an extension type). Fix it. + ssize_t instance_size = static_cast(sizeof(instance)); + if (type->tp_basicsize < instance_size) { + type->tp_basicsize = instance_size; + } +#endif + PyObject *self = type->tp_alloc(type, 0); + auto inst = reinterpret_cast(self); + // Allocate the value/holder internals: + inst->allocate_layout(); + + inst->owned = true; + + return self; +} + +/// Instance creation function for all pybind11 types. It only allocates space for the +/// C++ object, but doesn't call the constructor -- an `__init__` function must do that. +extern "C" inline PyObject *pybind11_object_new(PyTypeObject *type, PyObject *, PyObject *) { + return make_new_instance(type); +} + +/// An `__init__` function constructs the C++ object. Users should provide at least one +/// of these using `py::init` or directly with `.def(__init__, ...)`. Otherwise, the +/// following default function will be used which simply throws an exception. +extern "C" inline int pybind11_object_init(PyObject *self, PyObject *, PyObject *) { + PyTypeObject *type = Py_TYPE(self); + std::string msg; +#if defined(PYPY_VERSION) + msg += handle((PyObject *) type).attr("__module__").cast() + "."; +#endif + msg += type->tp_name; + msg += ": No constructor defined!"; + PyErr_SetString(PyExc_TypeError, msg.c_str()); + return -1; +} + +inline void add_patient(PyObject *nurse, PyObject *patient) { + auto &internals = get_internals(); + auto instance = reinterpret_cast(nurse); + instance->has_patients = true; + Py_INCREF(patient); + internals.patients[nurse].push_back(patient); +} + +inline void clear_patients(PyObject *self) { + auto instance = reinterpret_cast(self); + auto &internals = get_internals(); + auto pos = internals.patients.find(self); + assert(pos != internals.patients.end()); + // Clearing the patients can cause more Python code to run, which + // can invalidate the iterator. Extract the vector of patients + // from the unordered_map first. + auto patients = std::move(pos->second); + internals.patients.erase(pos); + instance->has_patients = false; + for (PyObject *&patient : patients) + Py_CLEAR(patient); +} + +/// Clears all internal data from the instance and removes it from registered instances in +/// preparation for deallocation. +inline void clear_instance(PyObject *self) { + auto instance = reinterpret_cast(self); + + // Deallocate any values/holders, if present: + for (auto &v_h : values_and_holders(instance)) { + if (v_h) { + + // We have to deregister before we call dealloc because, for virtual MI types, we still + // need to be able to get the parent pointers. + if (v_h.instance_registered() && !deregister_instance(instance, v_h.value_ptr(), v_h.type)) + pybind11_fail("pybind11_object_dealloc(): Tried to deallocate unregistered instance!"); + + if (instance->owned || v_h.holder_constructed()) + v_h.type->dealloc(v_h); + } + } + // Deallocate the value/holder layout internals: + instance->deallocate_layout(); + + if (instance->weakrefs) + PyObject_ClearWeakRefs(self); + + PyObject **dict_ptr = _PyObject_GetDictPtr(self); + if (dict_ptr) + Py_CLEAR(*dict_ptr); + + if (instance->has_patients) + clear_patients(self); +} + +/// Instance destructor function for all pybind11 types. It calls `type_info.dealloc` +/// to destroy the C++ object itself, while the rest is Python bookkeeping. +extern "C" inline void pybind11_object_dealloc(PyObject *self) { + clear_instance(self); + + auto type = Py_TYPE(self); + type->tp_free(self); + + // `type->tp_dealloc != pybind11_object_dealloc` means that we're being called + // as part of a derived type's dealloc, in which case we're not allowed to decref + // the type here. For cross-module compatibility, we shouldn't compare directly + // with `pybind11_object_dealloc`, but with the common one stashed in internals. + auto pybind11_object_type = (PyTypeObject *) get_internals().instance_base; + if (type->tp_dealloc == pybind11_object_type->tp_dealloc) + Py_DECREF(type); +} + +/** Create the type which can be used as a common base for all classes. This is + needed in order to satisfy Python's requirements for multiple inheritance. + Return value: New reference. */ +inline PyObject *make_object_base_type(PyTypeObject *metaclass) { + constexpr auto *name = "pybind11_object"; + auto name_obj = reinterpret_steal(PYBIND11_FROM_STRING(name)); + + /* Danger zone: from now (and until PyType_Ready), make sure to + issue no Python C API calls which could potentially invoke the + garbage collector (the GC will call type_traverse(), which will in + turn find the newly constructed type in an invalid state) */ + auto heap_type = (PyHeapTypeObject *) metaclass->tp_alloc(metaclass, 0); + if (!heap_type) + pybind11_fail("make_object_base_type(): error allocating type!"); + + heap_type->ht_name = name_obj.inc_ref().ptr(); +#ifdef PYBIND11_BUILTIN_QUALNAME + heap_type->ht_qualname = name_obj.inc_ref().ptr(); +#endif + + auto type = &heap_type->ht_type; + type->tp_name = name; + type->tp_base = type_incref(&PyBaseObject_Type); + type->tp_basicsize = static_cast(sizeof(instance)); + type->tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE | Py_TPFLAGS_HEAPTYPE; + + type->tp_new = pybind11_object_new; + type->tp_init = pybind11_object_init; + type->tp_dealloc = pybind11_object_dealloc; + + /* Support weak references (needed for the keep_alive feature) */ + type->tp_weaklistoffset = offsetof(instance, weakrefs); + + if (PyType_Ready(type) < 0) + pybind11_fail("PyType_Ready failed in make_object_base_type():" + error_string()); + + setattr((PyObject *) type, "__module__", str("pybind11_builtins")); + PYBIND11_SET_OLDPY_QUALNAME(type, name_obj); + + assert(!PyType_HasFeature(type, Py_TPFLAGS_HAVE_GC)); + return (PyObject *) heap_type; +} + +/// dynamic_attr: Support for `d = instance.__dict__`. +extern "C" inline PyObject *pybind11_get_dict(PyObject *self, void *) { + PyObject *&dict = *_PyObject_GetDictPtr(self); + if (!dict) + dict = PyDict_New(); + Py_XINCREF(dict); + return dict; +} + +/// dynamic_attr: Support for `instance.__dict__ = dict()`. +extern "C" inline int pybind11_set_dict(PyObject *self, PyObject *new_dict, void *) { + if (!PyDict_Check(new_dict)) { + PyErr_Format(PyExc_TypeError, "__dict__ must be set to a dictionary, not a '%.200s'", + Py_TYPE(new_dict)->tp_name); + return -1; + } + PyObject *&dict = *_PyObject_GetDictPtr(self); + Py_INCREF(new_dict); + Py_CLEAR(dict); + dict = new_dict; + return 0; +} + +/// dynamic_attr: Allow the garbage collector to traverse the internal instance `__dict__`. +extern "C" inline int pybind11_traverse(PyObject *self, visitproc visit, void *arg) { + PyObject *&dict = *_PyObject_GetDictPtr(self); + Py_VISIT(dict); + return 0; +} + +/// dynamic_attr: Allow the GC to clear the dictionary. +extern "C" inline int pybind11_clear(PyObject *self) { + PyObject *&dict = *_PyObject_GetDictPtr(self); + Py_CLEAR(dict); + return 0; +} + +/// Give instances of this type a `__dict__` and opt into garbage collection. +inline void enable_dynamic_attributes(PyHeapTypeObject *heap_type) { + auto type = &heap_type->ht_type; +#if defined(PYPY_VERSION) + pybind11_fail(std::string(type->tp_name) + ": dynamic attributes are " + "currently not supported in " + "conjunction with PyPy!"); +#endif + type->tp_flags |= Py_TPFLAGS_HAVE_GC; + type->tp_dictoffset = type->tp_basicsize; // place dict at the end + type->tp_basicsize += (ssize_t)sizeof(PyObject *); // and allocate enough space for it + type->tp_traverse = pybind11_traverse; + type->tp_clear = pybind11_clear; + + static PyGetSetDef getset[] = { + {const_cast("__dict__"), pybind11_get_dict, pybind11_set_dict, nullptr, nullptr}, + {nullptr, nullptr, nullptr, nullptr, nullptr} + }; + type->tp_getset = getset; +} + +/// buffer_protocol: Fill in the view as specified by flags. +extern "C" inline int pybind11_getbuffer(PyObject *obj, Py_buffer *view, int flags) { + // Look for a `get_buffer` implementation in this type's info or any bases (following MRO). + type_info *tinfo = nullptr; + for (auto type : reinterpret_borrow(Py_TYPE(obj)->tp_mro)) { + tinfo = get_type_info((PyTypeObject *) type.ptr()); + if (tinfo && tinfo->get_buffer) + break; + } + if (view == nullptr || !tinfo || !tinfo->get_buffer) { + if (view) + view->obj = nullptr; + PyErr_SetString(PyExc_BufferError, "pybind11_getbuffer(): Internal error"); + return -1; + } + std::memset(view, 0, sizeof(Py_buffer)); + buffer_info *info = tinfo->get_buffer(obj, tinfo->get_buffer_data); + view->obj = obj; + view->ndim = 1; + view->internal = info; + view->buf = info->ptr; + view->itemsize = info->itemsize; + view->len = view->itemsize; + for (auto s : info->shape) + view->len *= s; + if ((flags & PyBUF_FORMAT) == PyBUF_FORMAT) + view->format = const_cast(info->format.c_str()); + if ((flags & PyBUF_STRIDES) == PyBUF_STRIDES) { + view->ndim = (int) info->ndim; + view->strides = &info->strides[0]; + view->shape = &info->shape[0]; + } + Py_INCREF(view->obj); + return 0; +} + +/// buffer_protocol: Release the resources of the buffer. +extern "C" inline void pybind11_releasebuffer(PyObject *, Py_buffer *view) { + delete (buffer_info *) view->internal; +} + +/// Give this type a buffer interface. +inline void enable_buffer_protocol(PyHeapTypeObject *heap_type) { + heap_type->ht_type.tp_as_buffer = &heap_type->as_buffer; +#if PY_MAJOR_VERSION < 3 + heap_type->ht_type.tp_flags |= Py_TPFLAGS_HAVE_NEWBUFFER; +#endif + + heap_type->as_buffer.bf_getbuffer = pybind11_getbuffer; + heap_type->as_buffer.bf_releasebuffer = pybind11_releasebuffer; +} + +/** Create a brand new Python type according to the `type_record` specification. + Return value: New reference. */ +inline PyObject* make_new_python_type(const type_record &rec) { + auto name = reinterpret_steal(PYBIND11_FROM_STRING(rec.name)); + + auto qualname = name; + if (rec.scope && !PyModule_Check(rec.scope.ptr()) && hasattr(rec.scope, "__qualname__")) { +#if PY_MAJOR_VERSION >= 3 + qualname = reinterpret_steal( + PyUnicode_FromFormat("%U.%U", rec.scope.attr("__qualname__").ptr(), name.ptr())); +#else + qualname = str(rec.scope.attr("__qualname__").cast() + "." + rec.name); +#endif + } + + object module; + if (rec.scope) { + if (hasattr(rec.scope, "__module__")) + module = rec.scope.attr("__module__"); + else if (hasattr(rec.scope, "__name__")) + module = rec.scope.attr("__name__"); + } + + auto full_name = c_str( +#if !defined(PYPY_VERSION) + module ? str(module).cast() + "." + rec.name : +#endif + rec.name); + + char *tp_doc = nullptr; + if (rec.doc && options::show_user_defined_docstrings()) { + /* Allocate memory for docstring (using PyObject_MALLOC, since + Python will free this later on) */ + size_t size = strlen(rec.doc) + 1; + tp_doc = (char *) PyObject_MALLOC(size); + memcpy((void *) tp_doc, rec.doc, size); + } + + auto &internals = get_internals(); + auto bases = tuple(rec.bases); + auto base = (bases.size() == 0) ? internals.instance_base + : bases[0].ptr(); + + /* Danger zone: from now (and until PyType_Ready), make sure to + issue no Python C API calls which could potentially invoke the + garbage collector (the GC will call type_traverse(), which will in + turn find the newly constructed type in an invalid state) */ + auto metaclass = rec.metaclass.ptr() ? (PyTypeObject *) rec.metaclass.ptr() + : internals.default_metaclass; + + auto heap_type = (PyHeapTypeObject *) metaclass->tp_alloc(metaclass, 0); + if (!heap_type) + pybind11_fail(std::string(rec.name) + ": Unable to create type object!"); + + heap_type->ht_name = name.release().ptr(); +#ifdef PYBIND11_BUILTIN_QUALNAME + heap_type->ht_qualname = qualname.inc_ref().ptr(); +#endif + + auto type = &heap_type->ht_type; + type->tp_name = full_name; + type->tp_doc = tp_doc; + type->tp_base = type_incref((PyTypeObject *)base); + type->tp_basicsize = static_cast(sizeof(instance)); + if (bases.size() > 0) + type->tp_bases = bases.release().ptr(); + + /* Don't inherit base __init__ */ + type->tp_init = pybind11_object_init; + + /* Supported protocols */ + type->tp_as_number = &heap_type->as_number; + type->tp_as_sequence = &heap_type->as_sequence; + type->tp_as_mapping = &heap_type->as_mapping; + + /* Flags */ + type->tp_flags |= Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE | Py_TPFLAGS_HEAPTYPE; +#if PY_MAJOR_VERSION < 3 + type->tp_flags |= Py_TPFLAGS_CHECKTYPES; +#endif + + if (rec.dynamic_attr) + enable_dynamic_attributes(heap_type); + + if (rec.buffer_protocol) + enable_buffer_protocol(heap_type); + + if (PyType_Ready(type) < 0) + pybind11_fail(std::string(rec.name) + ": PyType_Ready failed (" + error_string() + ")!"); + + assert(rec.dynamic_attr ? PyType_HasFeature(type, Py_TPFLAGS_HAVE_GC) + : !PyType_HasFeature(type, Py_TPFLAGS_HAVE_GC)); + + /* Register type with the parent scope */ + if (rec.scope) + setattr(rec.scope, rec.name, (PyObject *) type); + else + Py_INCREF(type); // Keep it alive forever (reference leak) + + if (module) // Needed by pydoc + setattr((PyObject *) type, "__module__", module); + + PYBIND11_SET_OLDPY_QUALNAME(type, qualname); + + return (PyObject *) type; +} + +NAMESPACE_END(detail) +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/detail/common.h b/wrap/python/pybind11/include/pybind11/detail/common.h new file mode 100644 index 000000000..300c2b23d --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/detail/common.h @@ -0,0 +1,807 @@ +/* + pybind11/detail/common.h -- Basic macros + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#if !defined(NAMESPACE_BEGIN) +# define NAMESPACE_BEGIN(name) namespace name { +#endif +#if !defined(NAMESPACE_END) +# define NAMESPACE_END(name) } +#endif + +// Robust support for some features and loading modules compiled against different pybind versions +// requires forcing hidden visibility on pybind code, so we enforce this by setting the attribute on +// the main `pybind11` namespace. +#if !defined(PYBIND11_NAMESPACE) +# ifdef __GNUG__ +# define PYBIND11_NAMESPACE pybind11 __attribute__((visibility("hidden"))) +# else +# define PYBIND11_NAMESPACE pybind11 +# endif +#endif + +#if !(defined(_MSC_VER) && __cplusplus == 199711L) && !defined(__INTEL_COMPILER) +# if __cplusplus >= 201402L +# define PYBIND11_CPP14 +# if __cplusplus >= 201703L +# define PYBIND11_CPP17 +# endif +# endif +#elif defined(_MSC_VER) && __cplusplus == 199711L +// MSVC sets _MSVC_LANG rather than __cplusplus (supposedly until the standard is fully implemented) +// Unless you use the /Zc:__cplusplus flag on Visual Studio 2017 15.7 Preview 3 or newer +# if _MSVC_LANG >= 201402L +# define PYBIND11_CPP14 +# if _MSVC_LANG > 201402L && _MSC_VER >= 1910 +# define PYBIND11_CPP17 +# endif +# endif +#endif + +// Compiler version assertions +#if defined(__INTEL_COMPILER) +# if __INTEL_COMPILER < 1700 +# error pybind11 requires Intel C++ compiler v17 or newer +# endif +#elif defined(__clang__) && !defined(__apple_build_version__) +# if __clang_major__ < 3 || (__clang_major__ == 3 && __clang_minor__ < 3) +# error pybind11 requires clang 3.3 or newer +# endif +#elif defined(__clang__) +// Apple changes clang version macros to its Xcode version; the first Xcode release based on +// (upstream) clang 3.3 was Xcode 5: +# if __clang_major__ < 5 +# error pybind11 requires Xcode/clang 5.0 or newer +# endif +#elif defined(__GNUG__) +# if __GNUC__ < 4 || (__GNUC__ == 4 && __GNUC_MINOR__ < 8) +# error pybind11 requires gcc 4.8 or newer +# endif +#elif defined(_MSC_VER) +// Pybind hits various compiler bugs in 2015u2 and earlier, and also makes use of some stl features +// (e.g. std::negation) added in 2015u3: +# if _MSC_FULL_VER < 190024210 +# error pybind11 requires MSVC 2015 update 3 or newer +# endif +#endif + +#if !defined(PYBIND11_EXPORT) +# if defined(WIN32) || defined(_WIN32) +# define PYBIND11_EXPORT __declspec(dllexport) +# else +# define PYBIND11_EXPORT __attribute__ ((visibility("default"))) +# endif +#endif + +#if defined(_MSC_VER) +# define PYBIND11_NOINLINE __declspec(noinline) +#else +# define PYBIND11_NOINLINE __attribute__ ((noinline)) +#endif + +#if defined(PYBIND11_CPP14) +# define PYBIND11_DEPRECATED(reason) [[deprecated(reason)]] +#else +# define PYBIND11_DEPRECATED(reason) __attribute__((deprecated(reason))) +#endif + +#define PYBIND11_VERSION_MAJOR 2 +#define PYBIND11_VERSION_MINOR 3 +#define PYBIND11_VERSION_PATCH dev1 + +/// Include Python header, disable linking to pythonX_d.lib on Windows in debug mode +#if defined(_MSC_VER) +# if (PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION < 4) +# define HAVE_ROUND 1 +# endif +# pragma warning(push) +# pragma warning(disable: 4510 4610 4512 4005) +# if defined(_DEBUG) +# define PYBIND11_DEBUG_MARKER +# undef _DEBUG +# endif +#endif + +#include +#include +#include + +#if defined(_WIN32) && (defined(min) || defined(max)) +# error Macro clash with min and max -- define NOMINMAX when compiling your program on Windows +#endif + +#if defined(isalnum) +# undef isalnum +# undef isalpha +# undef islower +# undef isspace +# undef isupper +# undef tolower +# undef toupper +#endif + +#if defined(_MSC_VER) +# if defined(PYBIND11_DEBUG_MARKER) +# define _DEBUG +# undef PYBIND11_DEBUG_MARKER +# endif +# pragma warning(pop) +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#if PY_MAJOR_VERSION >= 3 /// Compatibility macros for various Python versions +#define PYBIND11_INSTANCE_METHOD_NEW(ptr, class_) PyInstanceMethod_New(ptr) +#define PYBIND11_INSTANCE_METHOD_CHECK PyInstanceMethod_Check +#define PYBIND11_INSTANCE_METHOD_GET_FUNCTION PyInstanceMethod_GET_FUNCTION +#define PYBIND11_BYTES_CHECK PyBytes_Check +#define PYBIND11_BYTES_FROM_STRING PyBytes_FromString +#define PYBIND11_BYTES_FROM_STRING_AND_SIZE PyBytes_FromStringAndSize +#define PYBIND11_BYTES_AS_STRING_AND_SIZE PyBytes_AsStringAndSize +#define PYBIND11_BYTES_AS_STRING PyBytes_AsString +#define PYBIND11_BYTES_SIZE PyBytes_Size +#define PYBIND11_LONG_CHECK(o) PyLong_Check(o) +#define PYBIND11_LONG_AS_LONGLONG(o) PyLong_AsLongLong(o) +#define PYBIND11_LONG_FROM_SIGNED(o) PyLong_FromSsize_t((ssize_t) o) +#define PYBIND11_LONG_FROM_UNSIGNED(o) PyLong_FromSize_t((size_t) o) +#define PYBIND11_BYTES_NAME "bytes" +#define PYBIND11_STRING_NAME "str" +#define PYBIND11_SLICE_OBJECT PyObject +#define PYBIND11_FROM_STRING PyUnicode_FromString +#define PYBIND11_STR_TYPE ::pybind11::str +#define PYBIND11_BOOL_ATTR "__bool__" +#define PYBIND11_NB_BOOL(ptr) ((ptr)->nb_bool) +#define PYBIND11_PLUGIN_IMPL(name) \ + extern "C" PYBIND11_EXPORT PyObject *PyInit_##name() + +#else +#define PYBIND11_INSTANCE_METHOD_NEW(ptr, class_) PyMethod_New(ptr, nullptr, class_) +#define PYBIND11_INSTANCE_METHOD_CHECK PyMethod_Check +#define PYBIND11_INSTANCE_METHOD_GET_FUNCTION PyMethod_GET_FUNCTION +#define PYBIND11_BYTES_CHECK PyString_Check +#define PYBIND11_BYTES_FROM_STRING PyString_FromString +#define PYBIND11_BYTES_FROM_STRING_AND_SIZE PyString_FromStringAndSize +#define PYBIND11_BYTES_AS_STRING_AND_SIZE PyString_AsStringAndSize +#define PYBIND11_BYTES_AS_STRING PyString_AsString +#define PYBIND11_BYTES_SIZE PyString_Size +#define PYBIND11_LONG_CHECK(o) (PyInt_Check(o) || PyLong_Check(o)) +#define PYBIND11_LONG_AS_LONGLONG(o) (PyInt_Check(o) ? (long long) PyLong_AsLong(o) : PyLong_AsLongLong(o)) +#define PYBIND11_LONG_FROM_SIGNED(o) PyInt_FromSsize_t((ssize_t) o) // Returns long if needed. +#define PYBIND11_LONG_FROM_UNSIGNED(o) PyInt_FromSize_t((size_t) o) // Returns long if needed. +#define PYBIND11_BYTES_NAME "str" +#define PYBIND11_STRING_NAME "unicode" +#define PYBIND11_SLICE_OBJECT PySliceObject +#define PYBIND11_FROM_STRING PyString_FromString +#define PYBIND11_STR_TYPE ::pybind11::bytes +#define PYBIND11_BOOL_ATTR "__nonzero__" +#define PYBIND11_NB_BOOL(ptr) ((ptr)->nb_nonzero) +#define PYBIND11_PLUGIN_IMPL(name) \ + static PyObject *pybind11_init_wrapper(); \ + extern "C" PYBIND11_EXPORT void init##name() { \ + (void)pybind11_init_wrapper(); \ + } \ + PyObject *pybind11_init_wrapper() +#endif + +#if PY_VERSION_HEX >= 0x03050000 && PY_VERSION_HEX < 0x03050200 +extern "C" { + struct _Py_atomic_address { void *value; }; + PyAPI_DATA(_Py_atomic_address) _PyThreadState_Current; +} +#endif + +#define PYBIND11_TRY_NEXT_OVERLOAD ((PyObject *) 1) // special failure return code +#define PYBIND11_STRINGIFY(x) #x +#define PYBIND11_TOSTRING(x) PYBIND11_STRINGIFY(x) +#define PYBIND11_CONCAT(first, second) first##second + +#define PYBIND11_CHECK_PYTHON_VERSION \ + { \ + const char *compiled_ver = PYBIND11_TOSTRING(PY_MAJOR_VERSION) \ + "." PYBIND11_TOSTRING(PY_MINOR_VERSION); \ + const char *runtime_ver = Py_GetVersion(); \ + size_t len = std::strlen(compiled_ver); \ + if (std::strncmp(runtime_ver, compiled_ver, len) != 0 \ + || (runtime_ver[len] >= '0' && runtime_ver[len] <= '9')) { \ + PyErr_Format(PyExc_ImportError, \ + "Python version mismatch: module was compiled for Python %s, " \ + "but the interpreter version is incompatible: %s.", \ + compiled_ver, runtime_ver); \ + return nullptr; \ + } \ + } + +#define PYBIND11_CATCH_INIT_EXCEPTIONS \ + catch (pybind11::error_already_set &e) { \ + PyErr_SetString(PyExc_ImportError, e.what()); \ + return nullptr; \ + } catch (const std::exception &e) { \ + PyErr_SetString(PyExc_ImportError, e.what()); \ + return nullptr; \ + } \ + +/** \rst + ***Deprecated in favor of PYBIND11_MODULE*** + + This macro creates the entry point that will be invoked when the Python interpreter + imports a plugin library. Please create a `module` in the function body and return + the pointer to its underlying Python object at the end. + + .. code-block:: cpp + + PYBIND11_PLUGIN(example) { + pybind11::module m("example", "pybind11 example plugin"); + /// Set up bindings here + return m.ptr(); + } +\endrst */ +#define PYBIND11_PLUGIN(name) \ + PYBIND11_DEPRECATED("PYBIND11_PLUGIN is deprecated, use PYBIND11_MODULE") \ + static PyObject *pybind11_init(); \ + PYBIND11_PLUGIN_IMPL(name) { \ + PYBIND11_CHECK_PYTHON_VERSION \ + try { \ + return pybind11_init(); \ + } PYBIND11_CATCH_INIT_EXCEPTIONS \ + } \ + PyObject *pybind11_init() + +/** \rst + This macro creates the entry point that will be invoked when the Python interpreter + imports an extension module. The module name is given as the fist argument and it + should not be in quotes. The second macro argument defines a variable of type + `py::module` which can be used to initialize the module. + + .. code-block:: cpp + + PYBIND11_MODULE(example, m) { + m.doc() = "pybind11 example module"; + + // Add bindings here + m.def("foo", []() { + return "Hello, World!"; + }); + } +\endrst */ +#define PYBIND11_MODULE(name, variable) \ + static void PYBIND11_CONCAT(pybind11_init_, name)(pybind11::module &); \ + PYBIND11_PLUGIN_IMPL(name) { \ + PYBIND11_CHECK_PYTHON_VERSION \ + auto m = pybind11::module(PYBIND11_TOSTRING(name)); \ + try { \ + PYBIND11_CONCAT(pybind11_init_, name)(m); \ + return m.ptr(); \ + } PYBIND11_CATCH_INIT_EXCEPTIONS \ + } \ + void PYBIND11_CONCAT(pybind11_init_, name)(pybind11::module &variable) + + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) + +using ssize_t = Py_ssize_t; +using size_t = std::size_t; + +/// Approach used to cast a previously unknown C++ instance into a Python object +enum class return_value_policy : uint8_t { + /** This is the default return value policy, which falls back to the policy + return_value_policy::take_ownership when the return value is a pointer. + Otherwise, it uses return_value::move or return_value::copy for rvalue + and lvalue references, respectively. See below for a description of what + all of these different policies do. */ + automatic = 0, + + /** As above, but use policy return_value_policy::reference when the return + value is a pointer. This is the default conversion policy for function + arguments when calling Python functions manually from C++ code (i.e. via + handle::operator()). You probably won't need to use this. */ + automatic_reference, + + /** Reference an existing object (i.e. do not create a new copy) and take + ownership. Python will call the destructor and delete operator when the + object’s reference count reaches zero. Undefined behavior ensues when + the C++ side does the same.. */ + take_ownership, + + /** Create a new copy of the returned object, which will be owned by + Python. This policy is comparably safe because the lifetimes of the two + instances are decoupled. */ + copy, + + /** Use std::move to move the return value contents into a new instance + that will be owned by Python. This policy is comparably safe because the + lifetimes of the two instances (move source and destination) are + decoupled. */ + move, + + /** Reference an existing object, but do not take ownership. The C++ side + is responsible for managing the object’s lifetime and deallocating it + when it is no longer used. Warning: undefined behavior will ensue when + the C++ side deletes an object that is still referenced and used by + Python. */ + reference, + + /** This policy only applies to methods and properties. It references the + object without taking ownership similar to the above + return_value_policy::reference policy. In contrast to that policy, the + function or property’s implicit this argument (called the parent) is + considered to be the the owner of the return value (the child). + pybind11 then couples the lifetime of the parent to the child via a + reference relationship that ensures that the parent cannot be garbage + collected while Python is still using the child. More advanced + variations of this scheme are also possible using combinations of + return_value_policy::reference and the keep_alive call policy */ + reference_internal +}; + +NAMESPACE_BEGIN(detail) + +inline static constexpr int log2(size_t n, int k = 0) { return (n <= 1) ? k : log2(n >> 1, k + 1); } + +// Returns the size as a multiple of sizeof(void *), rounded up. +inline static constexpr size_t size_in_ptrs(size_t s) { return 1 + ((s - 1) >> log2(sizeof(void *))); } + +/** + * The space to allocate for simple layout instance holders (see below) in multiple of the size of + * a pointer (e.g. 2 means 16 bytes on 64-bit architectures). The default is the minimum required + * to holder either a std::unique_ptr or std::shared_ptr (which is almost always + * sizeof(std::shared_ptr)). + */ +constexpr size_t instance_simple_holder_in_ptrs() { + static_assert(sizeof(std::shared_ptr) >= sizeof(std::unique_ptr), + "pybind assumes std::shared_ptrs are at least as big as std::unique_ptrs"); + return size_in_ptrs(sizeof(std::shared_ptr)); +} + +// Forward declarations +struct type_info; +struct value_and_holder; + +struct nonsimple_values_and_holders { + void **values_and_holders; + uint8_t *status; +}; + +/// The 'instance' type which needs to be standard layout (need to be able to use 'offsetof') +struct instance { + PyObject_HEAD + /// Storage for pointers and holder; see simple_layout, below, for a description + union { + void *simple_value_holder[1 + instance_simple_holder_in_ptrs()]; + nonsimple_values_and_holders nonsimple; + }; + /// Weak references + PyObject *weakrefs; + /// If true, the pointer is owned which means we're free to manage it with a holder. + bool owned : 1; + /** + * An instance has two possible value/holder layouts. + * + * Simple layout (when this flag is true), means the `simple_value_holder` is set with a pointer + * and the holder object governing that pointer, i.e. [val1*][holder]. This layout is applied + * whenever there is no python-side multiple inheritance of bound C++ types *and* the type's + * holder will fit in the default space (which is large enough to hold either a std::unique_ptr + * or std::shared_ptr). + * + * Non-simple layout applies when using custom holders that require more space than `shared_ptr` + * (which is typically the size of two pointers), or when multiple inheritance is used on the + * python side. Non-simple layout allocates the required amount of memory to have multiple + * bound C++ classes as parents. Under this layout, `nonsimple.values_and_holders` is set to a + * pointer to allocated space of the required space to hold a sequence of value pointers and + * holders followed `status`, a set of bit flags (1 byte each), i.e. + * [val1*][holder1][val2*][holder2]...[bb...] where each [block] is rounded up to a multiple of + * `sizeof(void *)`. `nonsimple.status` is, for convenience, a pointer to the + * beginning of the [bb...] block (but not independently allocated). + * + * Status bits indicate whether the associated holder is constructed (& + * status_holder_constructed) and whether the value pointer is registered (& + * status_instance_registered) in `registered_instances`. + */ + bool simple_layout : 1; + /// For simple layout, tracks whether the holder has been constructed + bool simple_holder_constructed : 1; + /// For simple layout, tracks whether the instance is registered in `registered_instances` + bool simple_instance_registered : 1; + /// If true, get_internals().patients has an entry for this object + bool has_patients : 1; + + /// Initializes all of the above type/values/holders data (but not the instance values themselves) + void allocate_layout(); + + /// Destroys/deallocates all of the above + void deallocate_layout(); + + /// Returns the value_and_holder wrapper for the given type (or the first, if `find_type` + /// omitted). Returns a default-constructed (with `.inst = nullptr`) object on failure if + /// `throw_if_missing` is false. + value_and_holder get_value_and_holder(const type_info *find_type = nullptr, bool throw_if_missing = true); + + /// Bit values for the non-simple status flags + static constexpr uint8_t status_holder_constructed = 1; + static constexpr uint8_t status_instance_registered = 2; +}; + +static_assert(std::is_standard_layout::value, "Internal error: `pybind11::detail::instance` is not standard layout!"); + +/// from __cpp_future__ import (convenient aliases from C++14/17) +#if defined(PYBIND11_CPP14) && (!defined(_MSC_VER) || _MSC_VER >= 1910) +using std::enable_if_t; +using std::conditional_t; +using std::remove_cv_t; +using std::remove_reference_t; +#else +template using enable_if_t = typename std::enable_if::type; +template using conditional_t = typename std::conditional::type; +template using remove_cv_t = typename std::remove_cv::type; +template using remove_reference_t = typename std::remove_reference::type; +#endif + +/// Index sequences +#if defined(PYBIND11_CPP14) +using std::index_sequence; +using std::make_index_sequence; +#else +template struct index_sequence { }; +template struct make_index_sequence_impl : make_index_sequence_impl { }; +template struct make_index_sequence_impl <0, S...> { typedef index_sequence type; }; +template using make_index_sequence = typename make_index_sequence_impl::type; +#endif + +/// Make an index sequence of the indices of true arguments +template struct select_indices_impl { using type = ISeq; }; +template struct select_indices_impl, I, B, Bs...> + : select_indices_impl, index_sequence>, I + 1, Bs...> {}; +template using select_indices = typename select_indices_impl, 0, Bs...>::type; + +/// Backports of std::bool_constant and std::negation to accommodate older compilers +template using bool_constant = std::integral_constant; +template struct negation : bool_constant { }; + +template struct void_t_impl { using type = void; }; +template using void_t = typename void_t_impl::type; + +/// Compile-time all/any/none of that check the boolean value of all template types +#if defined(__cpp_fold_expressions) && !(defined(_MSC_VER) && (_MSC_VER < 1916)) +template using all_of = bool_constant<(Ts::value && ...)>; +template using any_of = bool_constant<(Ts::value || ...)>; +#elif !defined(_MSC_VER) +template struct bools {}; +template using all_of = std::is_same< + bools, + bools>; +template using any_of = negation...>>; +#else +// MSVC has trouble with the above, but supports std::conjunction, which we can use instead (albeit +// at a slight loss of compilation efficiency). +template using all_of = std::conjunction; +template using any_of = std::disjunction; +#endif +template using none_of = negation>; + +template class... Predicates> using satisfies_all_of = all_of...>; +template class... Predicates> using satisfies_any_of = any_of...>; +template class... Predicates> using satisfies_none_of = none_of...>; + +/// Strip the class from a method type +template struct remove_class { }; +template struct remove_class { typedef R type(A...); }; +template struct remove_class { typedef R type(A...); }; + +/// Helper template to strip away type modifiers +template struct intrinsic_type { typedef T type; }; +template struct intrinsic_type { typedef typename intrinsic_type::type type; }; +template struct intrinsic_type { typedef typename intrinsic_type::type type; }; +template struct intrinsic_type { typedef typename intrinsic_type::type type; }; +template struct intrinsic_type { typedef typename intrinsic_type::type type; }; +template struct intrinsic_type { typedef typename intrinsic_type::type type; }; +template struct intrinsic_type { typedef typename intrinsic_type::type type; }; +template using intrinsic_t = typename intrinsic_type::type; + +/// Helper type to replace 'void' in some expressions +struct void_type { }; + +/// Helper template which holds a list of types +template struct type_list { }; + +/// Compile-time integer sum +#ifdef __cpp_fold_expressions +template constexpr size_t constexpr_sum(Ts... ns) { return (0 + ... + size_t{ns}); } +#else +constexpr size_t constexpr_sum() { return 0; } +template +constexpr size_t constexpr_sum(T n, Ts... ns) { return size_t{n} + constexpr_sum(ns...); } +#endif + +NAMESPACE_BEGIN(constexpr_impl) +/// Implementation details for constexpr functions +constexpr int first(int i) { return i; } +template +constexpr int first(int i, T v, Ts... vs) { return v ? i : first(i + 1, vs...); } + +constexpr int last(int /*i*/, int result) { return result; } +template +constexpr int last(int i, int result, T v, Ts... vs) { return last(i + 1, v ? i : result, vs...); } +NAMESPACE_END(constexpr_impl) + +/// Return the index of the first type in Ts which satisfies Predicate. Returns sizeof...(Ts) if +/// none match. +template class Predicate, typename... Ts> +constexpr int constexpr_first() { return constexpr_impl::first(0, Predicate::value...); } + +/// Return the index of the last type in Ts which satisfies Predicate, or -1 if none match. +template class Predicate, typename... Ts> +constexpr int constexpr_last() { return constexpr_impl::last(0, -1, Predicate::value...); } + +/// Return the Nth element from the parameter pack +template +struct pack_element { using type = typename pack_element::type; }; +template +struct pack_element<0, T, Ts...> { using type = T; }; + +/// Return the one and only type which matches the predicate, or Default if none match. +/// If more than one type matches the predicate, fail at compile-time. +template class Predicate, typename Default, typename... Ts> +struct exactly_one { + static constexpr auto found = constexpr_sum(Predicate::value...); + static_assert(found <= 1, "Found more than one type matching the predicate"); + + static constexpr auto index = found ? constexpr_first() : 0; + using type = conditional_t::type, Default>; +}; +template class P, typename Default> +struct exactly_one { using type = Default; }; + +template class Predicate, typename Default, typename... Ts> +using exactly_one_t = typename exactly_one::type; + +/// Defer the evaluation of type T until types Us are instantiated +template struct deferred_type { using type = T; }; +template using deferred_t = typename deferred_type::type; + +/// Like is_base_of, but requires a strict base (i.e. `is_strict_base_of::value == false`, +/// unlike `std::is_base_of`) +template using is_strict_base_of = bool_constant< + std::is_base_of::value && !std::is_same::value>; + +/// Like is_base_of, but also requires that the base type is accessible (i.e. that a Derived pointer +/// can be converted to a Base pointer) +template using is_accessible_base_of = bool_constant< + std::is_base_of::value && std::is_convertible::value>; + +template class Base> +struct is_template_base_of_impl { + template static std::true_type check(Base *); + static std::false_type check(...); +}; + +/// Check if a template is the base of a type. For example: +/// `is_template_base_of` is true if `struct T : Base {}` where U can be anything +template class Base, typename T> +#if !defined(_MSC_VER) +using is_template_base_of = decltype(is_template_base_of_impl::check((intrinsic_t*)nullptr)); +#else // MSVC2015 has trouble with decltype in template aliases +struct is_template_base_of : decltype(is_template_base_of_impl::check((intrinsic_t*)nullptr)) { }; +#endif + +/// Check if T is an instantiation of the template `Class`. For example: +/// `is_instantiation` is true if `T == shared_ptr` where U can be anything. +template class Class, typename T> +struct is_instantiation : std::false_type { }; +template class Class, typename... Us> +struct is_instantiation> : std::true_type { }; + +/// Check if T is std::shared_ptr where U can be anything +template using is_shared_ptr = is_instantiation; + +/// Check if T looks like an input iterator +template struct is_input_iterator : std::false_type {}; +template +struct is_input_iterator()), decltype(++std::declval())>> + : std::true_type {}; + +template using is_function_pointer = bool_constant< + std::is_pointer::value && std::is_function::type>::value>; + +template struct strip_function_object { + using type = typename remove_class::type; +}; + +// Extracts the function signature from a function, function pointer or lambda. +template > +using function_signature_t = conditional_t< + std::is_function::value, + F, + typename conditional_t< + std::is_pointer::value || std::is_member_pointer::value, + std::remove_pointer, + strip_function_object + >::type +>; + +/// Returns true if the type looks like a lambda: that is, isn't a function, pointer or member +/// pointer. Note that this can catch all sorts of other things, too; this is intended to be used +/// in a place where passing a lambda makes sense. +template using is_lambda = satisfies_none_of, + std::is_function, std::is_pointer, std::is_member_pointer>; + +/// Ignore that a variable is unused in compiler warnings +inline void ignore_unused(const int *) { } + +/// Apply a function over each element of a parameter pack +#ifdef __cpp_fold_expressions +#define PYBIND11_EXPAND_SIDE_EFFECTS(PATTERN) (((PATTERN), void()), ...) +#else +using expand_side_effects = bool[]; +#define PYBIND11_EXPAND_SIDE_EFFECTS(PATTERN) pybind11::detail::expand_side_effects{ ((PATTERN), void(), false)..., false } +#endif + +NAMESPACE_END(detail) + +/// C++ bindings of builtin Python exceptions +class builtin_exception : public std::runtime_error { +public: + using std::runtime_error::runtime_error; + /// Set the error using the Python C API + virtual void set_error() const = 0; +}; + +#define PYBIND11_RUNTIME_EXCEPTION(name, type) \ + class name : public builtin_exception { public: \ + using builtin_exception::builtin_exception; \ + name() : name("") { } \ + void set_error() const override { PyErr_SetString(type, what()); } \ + }; + +PYBIND11_RUNTIME_EXCEPTION(stop_iteration, PyExc_StopIteration) +PYBIND11_RUNTIME_EXCEPTION(index_error, PyExc_IndexError) +PYBIND11_RUNTIME_EXCEPTION(key_error, PyExc_KeyError) +PYBIND11_RUNTIME_EXCEPTION(value_error, PyExc_ValueError) +PYBIND11_RUNTIME_EXCEPTION(type_error, PyExc_TypeError) +PYBIND11_RUNTIME_EXCEPTION(cast_error, PyExc_RuntimeError) /// Thrown when pybind11::cast or handle::call fail due to a type casting error +PYBIND11_RUNTIME_EXCEPTION(reference_cast_error, PyExc_RuntimeError) /// Used internally + +[[noreturn]] PYBIND11_NOINLINE inline void pybind11_fail(const char *reason) { throw std::runtime_error(reason); } +[[noreturn]] PYBIND11_NOINLINE inline void pybind11_fail(const std::string &reason) { throw std::runtime_error(reason); } + +template struct format_descriptor { }; + +NAMESPACE_BEGIN(detail) +// Returns the index of the given type in the type char array below, and in the list in numpy.h +// The order here is: bool; 8 ints ((signed,unsigned)x(8,16,32,64)bits); float,double,long double; +// complex float,double,long double. Note that the long double types only participate when long +// double is actually longer than double (it isn't under MSVC). +// NB: not only the string below but also complex.h and numpy.h rely on this order. +template struct is_fmt_numeric { static constexpr bool value = false; }; +template struct is_fmt_numeric::value>> { + static constexpr bool value = true; + static constexpr int index = std::is_same::value ? 0 : 1 + ( + std::is_integral::value ? detail::log2(sizeof(T))*2 + std::is_unsigned::value : 8 + ( + std::is_same::value ? 1 : std::is_same::value ? 2 : 0)); +}; +NAMESPACE_END(detail) + +template struct format_descriptor::value>> { + static constexpr const char c = "?bBhHiIqQfdg"[detail::is_fmt_numeric::index]; + static constexpr const char value[2] = { c, '\0' }; + static std::string format() { return std::string(1, c); } +}; + +#if !defined(PYBIND11_CPP17) + +template constexpr const char format_descriptor< + T, detail::enable_if_t::value>>::value[2]; + +#endif + +/// RAII wrapper that temporarily clears any Python error state +struct error_scope { + PyObject *type, *value, *trace; + error_scope() { PyErr_Fetch(&type, &value, &trace); } + ~error_scope() { PyErr_Restore(type, value, trace); } +}; + +/// Dummy destructor wrapper that can be used to expose classes with a private destructor +struct nodelete { template void operator()(T*) { } }; + +// overload_cast requires variable templates: C++14 +#if defined(PYBIND11_CPP14) +#define PYBIND11_OVERLOAD_CAST 1 + +NAMESPACE_BEGIN(detail) +template +struct overload_cast_impl { + constexpr overload_cast_impl() {} // MSVC 2015 needs this + + template + constexpr auto operator()(Return (*pf)(Args...)) const noexcept + -> decltype(pf) { return pf; } + + template + constexpr auto operator()(Return (Class::*pmf)(Args...), std::false_type = {}) const noexcept + -> decltype(pmf) { return pmf; } + + template + constexpr auto operator()(Return (Class::*pmf)(Args...) const, std::true_type) const noexcept + -> decltype(pmf) { return pmf; } +}; +NAMESPACE_END(detail) + +/// Syntax sugar for resolving overloaded function pointers: +/// - regular: static_cast(&Class::func) +/// - sweet: overload_cast(&Class::func) +template +static constexpr detail::overload_cast_impl overload_cast = {}; +// MSVC 2015 only accepts this particular initialization syntax for this variable template. + +/// Const member function selector for overload_cast +/// - regular: static_cast(&Class::func) +/// - sweet: overload_cast(&Class::func, const_) +static constexpr auto const_ = std::true_type{}; + +#else // no overload_cast: providing something that static_assert-fails: +template struct overload_cast { + static_assert(detail::deferred_t::value, + "pybind11::overload_cast<...> requires compiling in C++14 mode"); +}; +#endif // overload_cast + +NAMESPACE_BEGIN(detail) + +// Adaptor for converting arbitrary container arguments into a vector; implicitly convertible from +// any standard container (or C-style array) supporting std::begin/std::end, any singleton +// arithmetic type (if T is arithmetic), or explicitly constructible from an iterator pair. +template +class any_container { + std::vector v; +public: + any_container() = default; + + // Can construct from a pair of iterators + template ::value>> + any_container(It first, It last) : v(first, last) { } + + // Implicit conversion constructor from any arbitrary container type with values convertible to T + template ())), T>::value>> + any_container(const Container &c) : any_container(std::begin(c), std::end(c)) { } + + // initializer_list's aren't deducible, so don't get matched by the above template; we need this + // to explicitly allow implicit conversion from one: + template ::value>> + any_container(const std::initializer_list &c) : any_container(c.begin(), c.end()) { } + + // Avoid copying if given an rvalue vector of the correct type. + any_container(std::vector &&v) : v(std::move(v)) { } + + // Moves the vector out of an rvalue any_container + operator std::vector &&() && { return std::move(v); } + + // Dereferencing obtains a reference to the underlying vector + std::vector &operator*() { return v; } + const std::vector &operator*() const { return v; } + + // -> lets you call methods on the underlying vector + std::vector *operator->() { return &v; } + const std::vector *operator->() const { return &v; } +}; + +NAMESPACE_END(detail) + + + +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/detail/descr.h b/wrap/python/pybind11/include/pybind11/detail/descr.h new file mode 100644 index 000000000..8d404e534 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/detail/descr.h @@ -0,0 +1,100 @@ +/* + pybind11/detail/descr.h: Helper type for concatenating type signatures at compile time + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "common.h" + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) + +#if !defined(_MSC_VER) +# define PYBIND11_DESCR_CONSTEXPR static constexpr +#else +# define PYBIND11_DESCR_CONSTEXPR const +#endif + +/* Concatenate type signatures at compile time */ +template +struct descr { + char text[N + 1]; + + constexpr descr() : text{'\0'} { } + constexpr descr(char const (&s)[N+1]) : descr(s, make_index_sequence()) { } + + template + constexpr descr(char const (&s)[N+1], index_sequence) : text{s[Is]..., '\0'} { } + + template + constexpr descr(char c, Chars... cs) : text{c, static_cast(cs)..., '\0'} { } + + static constexpr std::array types() { + return {{&typeid(Ts)..., nullptr}}; + } +}; + +template +constexpr descr plus_impl(const descr &a, const descr &b, + index_sequence, index_sequence) { + return {a.text[Is1]..., b.text[Is2]...}; +} + +template +constexpr descr operator+(const descr &a, const descr &b) { + return plus_impl(a, b, make_index_sequence(), make_index_sequence()); +} + +template +constexpr descr _(char const(&text)[N]) { return descr(text); } +constexpr descr<0> _(char const(&)[1]) { return {}; } + +template struct int_to_str : int_to_str { }; +template struct int_to_str<0, Digits...> { + static constexpr auto digits = descr(('0' + Digits)...); +}; + +// Ternary description (like std::conditional) +template +constexpr enable_if_t> _(char const(&text1)[N1], char const(&)[N2]) { + return _(text1); +} +template +constexpr enable_if_t> _(char const(&)[N1], char const(&text2)[N2]) { + return _(text2); +} + +template +constexpr enable_if_t _(const T1 &d, const T2 &) { return d; } +template +constexpr enable_if_t _(const T1 &, const T2 &d) { return d; } + +template auto constexpr _() -> decltype(int_to_str::digits) { + return int_to_str::digits; +} + +template constexpr descr<1, Type> _() { return {'%'}; } + +constexpr descr<0> concat() { return {}; } + +template +constexpr descr concat(const descr &descr) { return descr; } + +template +constexpr auto concat(const descr &d, const Args &...args) + -> decltype(std::declval>() + concat(args...)) { + return d + _(", ") + concat(args...); +} + +template +constexpr descr type_descr(const descr &descr) { + return _("{") + descr + _("}"); +} + +NAMESPACE_END(detail) +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/detail/init.h b/wrap/python/pybind11/include/pybind11/detail/init.h new file mode 100644 index 000000000..acfe00bdb --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/detail/init.h @@ -0,0 +1,335 @@ +/* + pybind11/detail/init.h: init factory function implementation and support code. + + Copyright (c) 2017 Jason Rhinelander + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "class.h" + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) + +template <> +class type_caster { +public: + bool load(handle h, bool) { + value = reinterpret_cast(h.ptr()); + return true; + } + + template using cast_op_type = value_and_holder &; + operator value_and_holder &() { return *value; } + static constexpr auto name = _(); + +private: + value_and_holder *value = nullptr; +}; + +NAMESPACE_BEGIN(initimpl) + +inline void no_nullptr(void *ptr) { + if (!ptr) throw type_error("pybind11::init(): factory function returned nullptr"); +} + +// Implementing functions for all forms of py::init<...> and py::init(...) +template using Cpp = typename Class::type; +template using Alias = typename Class::type_alias; +template using Holder = typename Class::holder_type; + +template using is_alias_constructible = std::is_constructible, Cpp &&>; + +// Takes a Cpp pointer and returns true if it actually is a polymorphic Alias instance. +template = 0> +bool is_alias(Cpp *ptr) { + return dynamic_cast *>(ptr) != nullptr; +} +// Failing fallback version of the above for a no-alias class (always returns false) +template +constexpr bool is_alias(void *) { return false; } + +// Constructs and returns a new object; if the given arguments don't map to a constructor, we fall +// back to brace aggregate initiailization so that for aggregate initialization can be used with +// py::init, e.g. `py::init` to initialize a `struct T { int a; int b; }`. For +// non-aggregate types, we need to use an ordinary T(...) constructor (invoking as `T{...}` usually +// works, but will not do the expected thing when `T` has an `initializer_list` constructor). +template ::value, int> = 0> +inline Class *construct_or_initialize(Args &&...args) { return new Class(std::forward(args)...); } +template ::value, int> = 0> +inline Class *construct_or_initialize(Args &&...args) { return new Class{std::forward(args)...}; } + +// Attempts to constructs an alias using a `Alias(Cpp &&)` constructor. This allows types with +// an alias to provide only a single Cpp factory function as long as the Alias can be +// constructed from an rvalue reference of the base Cpp type. This means that Alias classes +// can, when appropriate, simply define a `Alias(Cpp &&)` constructor rather than needing to +// inherit all the base class constructors. +template +void construct_alias_from_cpp(std::true_type /*is_alias_constructible*/, + value_and_holder &v_h, Cpp &&base) { + v_h.value_ptr() = new Alias(std::move(base)); +} +template +[[noreturn]] void construct_alias_from_cpp(std::false_type /*!is_alias_constructible*/, + value_and_holder &, Cpp &&) { + throw type_error("pybind11::init(): unable to convert returned instance to required " + "alias class: no `Alias(Class &&)` constructor available"); +} + +// Error-generating fallback for factories that don't match one of the below construction +// mechanisms. +template +void construct(...) { + static_assert(!std::is_same::value /* always false */, + "pybind11::init(): init function must return a compatible pointer, " + "holder, or value"); +} + +// Pointer return v1: the factory function returns a class pointer for a registered class. +// If we don't need an alias (because this class doesn't have one, or because the final type is +// inherited on the Python side) we can simply take over ownership. Otherwise we need to try to +// construct an Alias from the returned base instance. +template +void construct(value_and_holder &v_h, Cpp *ptr, bool need_alias) { + no_nullptr(ptr); + if (Class::has_alias && need_alias && !is_alias(ptr)) { + // We're going to try to construct an alias by moving the cpp type. Whether or not + // that succeeds, we still need to destroy the original cpp pointer (either the + // moved away leftover, if the alias construction works, or the value itself if we + // throw an error), but we can't just call `delete ptr`: it might have a special + // deleter, or might be shared_from_this. So we construct a holder around it as if + // it was a normal instance, then steal the holder away into a local variable; thus + // the holder and destruction happens when we leave the C++ scope, and the holder + // class gets to handle the destruction however it likes. + v_h.value_ptr() = ptr; + v_h.set_instance_registered(true); // To prevent init_instance from registering it + v_h.type->init_instance(v_h.inst, nullptr); // Set up the holder + Holder temp_holder(std::move(v_h.holder>())); // Steal the holder + v_h.type->dealloc(v_h); // Destroys the moved-out holder remains, resets value ptr to null + v_h.set_instance_registered(false); + + construct_alias_from_cpp(is_alias_constructible{}, v_h, std::move(*ptr)); + } else { + // Otherwise the type isn't inherited, so we don't need an Alias + v_h.value_ptr() = ptr; + } +} + +// Pointer return v2: a factory that always returns an alias instance ptr. We simply take over +// ownership of the pointer. +template = 0> +void construct(value_and_holder &v_h, Alias *alias_ptr, bool) { + no_nullptr(alias_ptr); + v_h.value_ptr() = static_cast *>(alias_ptr); +} + +// Holder return: copy its pointer, and move or copy the returned holder into the new instance's +// holder. This also handles types like std::shared_ptr and std::unique_ptr where T is a +// derived type (through those holder's implicit conversion from derived class holder constructors). +template +void construct(value_and_holder &v_h, Holder holder, bool need_alias) { + auto *ptr = holder_helper>::get(holder); + // If we need an alias, check that the held pointer is actually an alias instance + if (Class::has_alias && need_alias && !is_alias(ptr)) + throw type_error("pybind11::init(): construction failed: returned holder-wrapped instance " + "is not an alias instance"); + + v_h.value_ptr() = ptr; + v_h.type->init_instance(v_h.inst, &holder); +} + +// return-by-value version 1: returning a cpp class by value. If the class has an alias and an +// alias is required the alias must have an `Alias(Cpp &&)` constructor so that we can construct +// the alias from the base when needed (i.e. because of Python-side inheritance). When we don't +// need it, we simply move-construct the cpp value into a new instance. +template +void construct(value_and_holder &v_h, Cpp &&result, bool need_alias) { + static_assert(std::is_move_constructible>::value, + "pybind11::init() return-by-value factory function requires a movable class"); + if (Class::has_alias && need_alias) + construct_alias_from_cpp(is_alias_constructible{}, v_h, std::move(result)); + else + v_h.value_ptr() = new Cpp(std::move(result)); +} + +// return-by-value version 2: returning a value of the alias type itself. We move-construct an +// Alias instance (even if no the python-side inheritance is involved). The is intended for +// cases where Alias initialization is always desired. +template +void construct(value_and_holder &v_h, Alias &&result, bool) { + static_assert(std::is_move_constructible>::value, + "pybind11::init() return-by-alias-value factory function requires a movable alias class"); + v_h.value_ptr() = new Alias(std::move(result)); +} + +// Implementing class for py::init<...>() +template +struct constructor { + template = 0> + static void execute(Class &cl, const Extra&... extra) { + cl.def("__init__", [](value_and_holder &v_h, Args... args) { + v_h.value_ptr() = construct_or_initialize>(std::forward(args)...); + }, is_new_style_constructor(), extra...); + } + + template , Args...>::value, int> = 0> + static void execute(Class &cl, const Extra&... extra) { + cl.def("__init__", [](value_and_holder &v_h, Args... args) { + if (Py_TYPE(v_h.inst) == v_h.type->type) + v_h.value_ptr() = construct_or_initialize>(std::forward(args)...); + else + v_h.value_ptr() = construct_or_initialize>(std::forward(args)...); + }, is_new_style_constructor(), extra...); + } + + template , Args...>::value, int> = 0> + static void execute(Class &cl, const Extra&... extra) { + cl.def("__init__", [](value_and_holder &v_h, Args... args) { + v_h.value_ptr() = construct_or_initialize>(std::forward(args)...); + }, is_new_style_constructor(), extra...); + } +}; + +// Implementing class for py::init_alias<...>() +template struct alias_constructor { + template , Args...>::value, int> = 0> + static void execute(Class &cl, const Extra&... extra) { + cl.def("__init__", [](value_and_holder &v_h, Args... args) { + v_h.value_ptr() = construct_or_initialize>(std::forward(args)...); + }, is_new_style_constructor(), extra...); + } +}; + +// Implementation class for py::init(Func) and py::init(Func, AliasFunc) +template , typename = function_signature_t> +struct factory; + +// Specialization for py::init(Func) +template +struct factory { + remove_reference_t class_factory; + + factory(Func &&f) : class_factory(std::forward(f)) { } + + // The given class either has no alias or has no separate alias factory; + // this always constructs the class itself. If the class is registered with an alias + // type and an alias instance is needed (i.e. because the final type is a Python class + // inheriting from the C++ type) the returned value needs to either already be an alias + // instance, or the alias needs to be constructible from a `Class &&` argument. + template + void execute(Class &cl, const Extra &...extra) && { + #if defined(PYBIND11_CPP14) + cl.def("__init__", [func = std::move(class_factory)] + #else + auto &func = class_factory; + cl.def("__init__", [func] + #endif + (value_and_holder &v_h, Args... args) { + construct(v_h, func(std::forward(args)...), + Py_TYPE(v_h.inst) != v_h.type->type); + }, is_new_style_constructor(), extra...); + } +}; + +// Specialization for py::init(Func, AliasFunc) +template +struct factory { + static_assert(sizeof...(CArgs) == sizeof...(AArgs), + "pybind11::init(class_factory, alias_factory): class and alias factories " + "must have identical argument signatures"); + static_assert(all_of...>::value, + "pybind11::init(class_factory, alias_factory): class and alias factories " + "must have identical argument signatures"); + + remove_reference_t class_factory; + remove_reference_t alias_factory; + + factory(CFunc &&c, AFunc &&a) + : class_factory(std::forward(c)), alias_factory(std::forward(a)) { } + + // The class factory is called when the `self` type passed to `__init__` is the direct + // class (i.e. not inherited), the alias factory when `self` is a Python-side subtype. + template + void execute(Class &cl, const Extra&... extra) && { + static_assert(Class::has_alias, "The two-argument version of `py::init()` can " + "only be used if the class has an alias"); + #if defined(PYBIND11_CPP14) + cl.def("__init__", [class_func = std::move(class_factory), alias_func = std::move(alias_factory)] + #else + auto &class_func = class_factory; + auto &alias_func = alias_factory; + cl.def("__init__", [class_func, alias_func] + #endif + (value_and_holder &v_h, CArgs... args) { + if (Py_TYPE(v_h.inst) == v_h.type->type) + // If the instance type equals the registered type we don't have inheritance, so + // don't need the alias and can construct using the class function: + construct(v_h, class_func(std::forward(args)...), false); + else + construct(v_h, alias_func(std::forward(args)...), true); + }, is_new_style_constructor(), extra...); + } +}; + +/// Set just the C++ state. Same as `__init__`. +template +void setstate(value_and_holder &v_h, T &&result, bool need_alias) { + construct(v_h, std::forward(result), need_alias); +} + +/// Set both the C++ and Python states +template ::value, int> = 0> +void setstate(value_and_holder &v_h, std::pair &&result, bool need_alias) { + construct(v_h, std::move(result.first), need_alias); + setattr((PyObject *) v_h.inst, "__dict__", result.second); +} + +/// Implementation for py::pickle(GetState, SetState) +template , typename = function_signature_t> +struct pickle_factory; + +template +struct pickle_factory { + static_assert(std::is_same, intrinsic_t>::value, + "The type returned by `__getstate__` must be the same " + "as the argument accepted by `__setstate__`"); + + remove_reference_t get; + remove_reference_t set; + + pickle_factory(Get get, Set set) + : get(std::forward(get)), set(std::forward(set)) { } + + template + void execute(Class &cl, const Extra &...extra) && { + cl.def("__getstate__", std::move(get)); + +#if defined(PYBIND11_CPP14) + cl.def("__setstate__", [func = std::move(set)] +#else + auto &func = set; + cl.def("__setstate__", [func] +#endif + (value_and_holder &v_h, ArgState state) { + setstate(v_h, func(std::forward(state)), + Py_TYPE(v_h.inst) != v_h.type->type); + }, is_new_style_constructor(), extra...); + } +}; + +NAMESPACE_END(initimpl) +NAMESPACE_END(detail) +NAMESPACE_END(pybind11) diff --git a/wrap/python/pybind11/include/pybind11/detail/internals.h b/wrap/python/pybind11/include/pybind11/detail/internals.h new file mode 100644 index 000000000..f1dd38764 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/detail/internals.h @@ -0,0 +1,291 @@ +/* + pybind11/detail/internals.h: Internal data structure and related functions + + Copyright (c) 2017 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "../pytypes.h" + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) +// Forward declarations +inline PyTypeObject *make_static_property_type(); +inline PyTypeObject *make_default_metaclass(); +inline PyObject *make_object_base_type(PyTypeObject *metaclass); + +// The old Python Thread Local Storage (TLS) API is deprecated in Python 3.7 in favor of the new +// Thread Specific Storage (TSS) API. +#if PY_VERSION_HEX >= 0x03070000 +# define PYBIND11_TLS_KEY_INIT(var) Py_tss_t *var = nullptr +# define PYBIND11_TLS_GET_VALUE(key) PyThread_tss_get((key)) +# define PYBIND11_TLS_REPLACE_VALUE(key, value) PyThread_tss_set((key), (value)) +# define PYBIND11_TLS_DELETE_VALUE(key) PyThread_tss_set((key), nullptr) +#else + // Usually an int but a long on Cygwin64 with Python 3.x +# define PYBIND11_TLS_KEY_INIT(var) decltype(PyThread_create_key()) var = 0 +# define PYBIND11_TLS_GET_VALUE(key) PyThread_get_key_value((key)) +# if PY_MAJOR_VERSION < 3 +# define PYBIND11_TLS_DELETE_VALUE(key) \ + PyThread_delete_key_value(key) +# define PYBIND11_TLS_REPLACE_VALUE(key, value) \ + do { \ + PyThread_delete_key_value((key)); \ + PyThread_set_key_value((key), (value)); \ + } while (false) +# else +# define PYBIND11_TLS_DELETE_VALUE(key) \ + PyThread_set_key_value((key), nullptr) +# define PYBIND11_TLS_REPLACE_VALUE(key, value) \ + PyThread_set_key_value((key), (value)) +# endif +#endif + +// Python loads modules by default with dlopen with the RTLD_LOCAL flag; under libc++ and possibly +// other STLs, this means `typeid(A)` from one module won't equal `typeid(A)` from another module +// even when `A` is the same, non-hidden-visibility type (e.g. from a common include). Under +// libstdc++, this doesn't happen: equality and the type_index hash are based on the type name, +// which works. If not under a known-good stl, provide our own name-based hash and equality +// functions that use the type name. +#if defined(__GLIBCXX__) +inline bool same_type(const std::type_info &lhs, const std::type_info &rhs) { return lhs == rhs; } +using type_hash = std::hash; +using type_equal_to = std::equal_to; +#else +inline bool same_type(const std::type_info &lhs, const std::type_info &rhs) { + return lhs.name() == rhs.name() || std::strcmp(lhs.name(), rhs.name()) == 0; +} + +struct type_hash { + size_t operator()(const std::type_index &t) const { + size_t hash = 5381; + const char *ptr = t.name(); + while (auto c = static_cast(*ptr++)) + hash = (hash * 33) ^ c; + return hash; + } +}; + +struct type_equal_to { + bool operator()(const std::type_index &lhs, const std::type_index &rhs) const { + return lhs.name() == rhs.name() || std::strcmp(lhs.name(), rhs.name()) == 0; + } +}; +#endif + +template +using type_map = std::unordered_map; + +struct overload_hash { + inline size_t operator()(const std::pair& v) const { + size_t value = std::hash()(v.first); + value ^= std::hash()(v.second) + 0x9e3779b9 + (value<<6) + (value>>2); + return value; + } +}; + +/// Internal data structure used to track registered instances and types. +/// Whenever binary incompatible changes are made to this structure, +/// `PYBIND11_INTERNALS_VERSION` must be incremented. +struct internals { + type_map registered_types_cpp; // std::type_index -> pybind11's type information + std::unordered_map> registered_types_py; // PyTypeObject* -> base type_info(s) + std::unordered_multimap registered_instances; // void * -> instance* + std::unordered_set, overload_hash> inactive_overload_cache; + type_map> direct_conversions; + std::unordered_map> patients; + std::forward_list registered_exception_translators; + std::unordered_map shared_data; // Custom data to be shared across extensions + std::vector loader_patient_stack; // Used by `loader_life_support` + std::forward_list static_strings; // Stores the std::strings backing detail::c_str() + PyTypeObject *static_property_type; + PyTypeObject *default_metaclass; + PyObject *instance_base; +#if defined(WITH_THREAD) + PYBIND11_TLS_KEY_INIT(tstate); + PyInterpreterState *istate = nullptr; +#endif +}; + +/// Additional type information which does not fit into the PyTypeObject. +/// Changes to this struct also require bumping `PYBIND11_INTERNALS_VERSION`. +struct type_info { + PyTypeObject *type; + const std::type_info *cpptype; + size_t type_size, type_align, holder_size_in_ptrs; + void *(*operator_new)(size_t); + void (*init_instance)(instance *, const void *); + void (*dealloc)(value_and_holder &v_h); + std::vector implicit_conversions; + std::vector> implicit_casts; + std::vector *direct_conversions; + buffer_info *(*get_buffer)(PyObject *, void *) = nullptr; + void *get_buffer_data = nullptr; + void *(*module_local_load)(PyObject *, const type_info *) = nullptr; + /* A simple type never occurs as a (direct or indirect) parent + * of a class that makes use of multiple inheritance */ + bool simple_type : 1; + /* True if there is no multiple inheritance in this type's inheritance tree */ + bool simple_ancestors : 1; + /* for base vs derived holder_type checks */ + bool default_holder : 1; + /* true if this is a type registered with py::module_local */ + bool module_local : 1; +}; + +/// Tracks the `internals` and `type_info` ABI version independent of the main library version +#define PYBIND11_INTERNALS_VERSION 3 + +#if defined(_DEBUG) +# define PYBIND11_BUILD_TYPE "_debug" +#else +# define PYBIND11_BUILD_TYPE "" +#endif + +#if defined(WITH_THREAD) +# define PYBIND11_INTERNALS_KIND "" +#else +# define PYBIND11_INTERNALS_KIND "_without_thread" +#endif + +#define PYBIND11_INTERNALS_ID "__pybind11_internals_v" \ + PYBIND11_TOSTRING(PYBIND11_INTERNALS_VERSION) PYBIND11_INTERNALS_KIND PYBIND11_BUILD_TYPE "__" + +#define PYBIND11_MODULE_LOCAL_ID "__pybind11_module_local_v" \ + PYBIND11_TOSTRING(PYBIND11_INTERNALS_VERSION) PYBIND11_INTERNALS_KIND PYBIND11_BUILD_TYPE "__" + +/// Each module locally stores a pointer to the `internals` data. The data +/// itself is shared among modules with the same `PYBIND11_INTERNALS_ID`. +inline internals **&get_internals_pp() { + static internals **internals_pp = nullptr; + return internals_pp; +} + +/// Return a reference to the current `internals` data +PYBIND11_NOINLINE inline internals &get_internals() { + auto **&internals_pp = get_internals_pp(); + if (internals_pp && *internals_pp) + return **internals_pp; + + constexpr auto *id = PYBIND11_INTERNALS_ID; + auto builtins = handle(PyEval_GetBuiltins()); + if (builtins.contains(id) && isinstance(builtins[id])) { + internals_pp = static_cast(capsule(builtins[id])); + + // We loaded builtins through python's builtins, which means that our `error_already_set` + // and `builtin_exception` may be different local classes than the ones set up in the + // initial exception translator, below, so add another for our local exception classes. + // + // libstdc++ doesn't require this (types there are identified only by name) +#if !defined(__GLIBCXX__) + (*internals_pp)->registered_exception_translators.push_front( + [](std::exception_ptr p) -> void { + try { + if (p) std::rethrow_exception(p); + } catch (error_already_set &e) { e.restore(); return; + } catch (const builtin_exception &e) { e.set_error(); return; + } + } + ); +#endif + } else { + if (!internals_pp) internals_pp = new internals*(); + auto *&internals_ptr = *internals_pp; + internals_ptr = new internals(); +#if defined(WITH_THREAD) + PyEval_InitThreads(); + PyThreadState *tstate = PyThreadState_Get(); + #if PY_VERSION_HEX >= 0x03070000 + internals_ptr->tstate = PyThread_tss_alloc(); + if (!internals_ptr->tstate || PyThread_tss_create(internals_ptr->tstate)) + pybind11_fail("get_internals: could not successfully initialize the TSS key!"); + PyThread_tss_set(internals_ptr->tstate, tstate); + #else + internals_ptr->tstate = PyThread_create_key(); + if (internals_ptr->tstate == -1) + pybind11_fail("get_internals: could not successfully initialize the TLS key!"); + PyThread_set_key_value(internals_ptr->tstate, tstate); + #endif + internals_ptr->istate = tstate->interp; +#endif + builtins[id] = capsule(internals_pp); + internals_ptr->registered_exception_translators.push_front( + [](std::exception_ptr p) -> void { + try { + if (p) std::rethrow_exception(p); + } catch (error_already_set &e) { e.restore(); return; + } catch (const builtin_exception &e) { e.set_error(); return; + } catch (const std::bad_alloc &e) { PyErr_SetString(PyExc_MemoryError, e.what()); return; + } catch (const std::domain_error &e) { PyErr_SetString(PyExc_ValueError, e.what()); return; + } catch (const std::invalid_argument &e) { PyErr_SetString(PyExc_ValueError, e.what()); return; + } catch (const std::length_error &e) { PyErr_SetString(PyExc_ValueError, e.what()); return; + } catch (const std::out_of_range &e) { PyErr_SetString(PyExc_IndexError, e.what()); return; + } catch (const std::range_error &e) { PyErr_SetString(PyExc_ValueError, e.what()); return; + } catch (const std::exception &e) { PyErr_SetString(PyExc_RuntimeError, e.what()); return; + } catch (...) { + PyErr_SetString(PyExc_RuntimeError, "Caught an unknown exception!"); + return; + } + } + ); + internals_ptr->static_property_type = make_static_property_type(); + internals_ptr->default_metaclass = make_default_metaclass(); + internals_ptr->instance_base = make_object_base_type(internals_ptr->default_metaclass); + } + return **internals_pp; +} + +/// Works like `internals.registered_types_cpp`, but for module-local registered types: +inline type_map ®istered_local_types_cpp() { + static type_map locals{}; + return locals; +} + +/// Constructs a std::string with the given arguments, stores it in `internals`, and returns its +/// `c_str()`. Such strings objects have a long storage duration -- the internal strings are only +/// cleared when the program exits or after interpreter shutdown (when embedding), and so are +/// suitable for c-style strings needed by Python internals (such as PyTypeObject's tp_name). +template +const char *c_str(Args &&...args) { + auto &strings = get_internals().static_strings; + strings.emplace_front(std::forward(args)...); + return strings.front().c_str(); +} + +NAMESPACE_END(detail) + +/// Returns a named pointer that is shared among all extension modules (using the same +/// pybind11 version) running in the current interpreter. Names starting with underscores +/// are reserved for internal usage. Returns `nullptr` if no matching entry was found. +inline PYBIND11_NOINLINE void *get_shared_data(const std::string &name) { + auto &internals = detail::get_internals(); + auto it = internals.shared_data.find(name); + return it != internals.shared_data.end() ? it->second : nullptr; +} + +/// Set the shared data that can be later recovered by `get_shared_data()`. +inline PYBIND11_NOINLINE void *set_shared_data(const std::string &name, void *data) { + detail::get_internals().shared_data[name] = data; + return data; +} + +/// Returns a typed reference to a shared data entry (by using `get_shared_data()`) if +/// such entry exists. Otherwise, a new object of default-constructible type `T` is +/// added to the shared data under the given name and a reference to it is returned. +template +T &get_or_create_shared_data(const std::string &name) { + auto &internals = detail::get_internals(); + auto it = internals.shared_data.find(name); + T *ptr = (T *) (it != internals.shared_data.end() ? it->second : nullptr); + if (!ptr) { + ptr = new T(); + internals.shared_data[name] = ptr; + } + return *ptr; +} + +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/detail/typeid.h b/wrap/python/pybind11/include/pybind11/detail/typeid.h new file mode 100644 index 000000000..9c8a4fc69 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/detail/typeid.h @@ -0,0 +1,55 @@ +/* + pybind11/detail/typeid.h: Compiler-independent access to type identifiers + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include +#include + +#if defined(__GNUG__) +#include +#endif + +#include "common.h" + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) +/// Erase all occurrences of a substring +inline void erase_all(std::string &string, const std::string &search) { + for (size_t pos = 0;;) { + pos = string.find(search, pos); + if (pos == std::string::npos) break; + string.erase(pos, search.length()); + } +} + +PYBIND11_NOINLINE inline void clean_type_id(std::string &name) { +#if defined(__GNUG__) + int status = 0; + std::unique_ptr res { + abi::__cxa_demangle(name.c_str(), nullptr, nullptr, &status), std::free }; + if (status == 0) + name = res.get(); +#else + detail::erase_all(name, "class "); + detail::erase_all(name, "struct "); + detail::erase_all(name, "enum "); +#endif + detail::erase_all(name, "pybind11::"); +} +NAMESPACE_END(detail) + +/// Return a string representation of a C++ type +template static std::string type_id() { + std::string name(typeid(T).name()); + detail::clean_type_id(name); + return name; +} + +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/eigen.h b/wrap/python/pybind11/include/pybind11/eigen.h new file mode 100644 index 000000000..d963d9650 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/eigen.h @@ -0,0 +1,607 @@ +/* + pybind11/eigen.h: Transparent conversion for dense and sparse Eigen matrices + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "numpy.h" + +#if defined(__INTEL_COMPILER) +# pragma warning(disable: 1682) // implicit conversion of a 64-bit integral type to a smaller integral type (potential portability problem) +#elif defined(__GNUG__) || defined(__clang__) +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wconversion" +# pragma GCC diagnostic ignored "-Wdeprecated-declarations" +# ifdef __clang__ +// Eigen generates a bunch of implicit-copy-constructor-is-deprecated warnings with -Wdeprecated +// under Clang, so disable that warning here: +# pragma GCC diagnostic ignored "-Wdeprecated" +# endif +# if __GNUC__ >= 7 +# pragma GCC diagnostic ignored "-Wint-in-bool-context" +# endif +#endif + +#if defined(_MSC_VER) +# pragma warning(push) +# pragma warning(disable: 4127) // warning C4127: Conditional expression is constant +# pragma warning(disable: 4996) // warning C4996: std::unary_negate is deprecated in C++17 +#endif + +#include +#include + +// Eigen prior to 3.2.7 doesn't have proper move constructors--but worse, some classes get implicit +// move constructors that break things. We could detect this an explicitly copy, but an extra copy +// of matrices seems highly undesirable. +static_assert(EIGEN_VERSION_AT_LEAST(3,2,7), "Eigen support in pybind11 requires Eigen >= 3.2.7"); + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) + +// Provide a convenience alias for easier pass-by-ref usage with fully dynamic strides: +using EigenDStride = Eigen::Stride; +template using EigenDRef = Eigen::Ref; +template using EigenDMap = Eigen::Map; + +NAMESPACE_BEGIN(detail) + +#if EIGEN_VERSION_AT_LEAST(3,3,0) +using EigenIndex = Eigen::Index; +#else +using EigenIndex = EIGEN_DEFAULT_DENSE_INDEX_TYPE; +#endif + +// Matches Eigen::Map, Eigen::Ref, blocks, etc: +template using is_eigen_dense_map = all_of, std::is_base_of, T>>; +template using is_eigen_mutable_map = std::is_base_of, T>; +template using is_eigen_dense_plain = all_of>, is_template_base_of>; +template using is_eigen_sparse = is_template_base_of; +// Test for objects inheriting from EigenBase that aren't captured by the above. This +// basically covers anything that can be assigned to a dense matrix but that don't have a typical +// matrix data layout that can be copied from their .data(). For example, DiagonalMatrix and +// SelfAdjointView fall into this category. +template using is_eigen_other = all_of< + is_template_base_of, + negation, is_eigen_dense_plain, is_eigen_sparse>> +>; + +// Captures numpy/eigen conformability status (returned by EigenProps::conformable()): +template struct EigenConformable { + bool conformable = false; + EigenIndex rows = 0, cols = 0; + EigenDStride stride{0, 0}; // Only valid if negativestrides is false! + bool negativestrides = false; // If true, do not use stride! + + EigenConformable(bool fits = false) : conformable{fits} {} + // Matrix type: + EigenConformable(EigenIndex r, EigenIndex c, + EigenIndex rstride, EigenIndex cstride) : + conformable{true}, rows{r}, cols{c} { + // TODO: when Eigen bug #747 is fixed, remove the tests for non-negativity. http://eigen.tuxfamily.org/bz/show_bug.cgi?id=747 + if (rstride < 0 || cstride < 0) { + negativestrides = true; + } else { + stride = {EigenRowMajor ? rstride : cstride /* outer stride */, + EigenRowMajor ? cstride : rstride /* inner stride */ }; + } + } + // Vector type: + EigenConformable(EigenIndex r, EigenIndex c, EigenIndex stride) + : EigenConformable(r, c, r == 1 ? c*stride : stride, c == 1 ? r : r*stride) {} + + template bool stride_compatible() const { + // To have compatible strides, we need (on both dimensions) one of fully dynamic strides, + // matching strides, or a dimension size of 1 (in which case the stride value is irrelevant) + return + !negativestrides && + (props::inner_stride == Eigen::Dynamic || props::inner_stride == stride.inner() || + (EigenRowMajor ? cols : rows) == 1) && + (props::outer_stride == Eigen::Dynamic || props::outer_stride == stride.outer() || + (EigenRowMajor ? rows : cols) == 1); + } + operator bool() const { return conformable; } +}; + +template struct eigen_extract_stride { using type = Type; }; +template +struct eigen_extract_stride> { using type = StrideType; }; +template +struct eigen_extract_stride> { using type = StrideType; }; + +// Helper struct for extracting information from an Eigen type +template struct EigenProps { + using Type = Type_; + using Scalar = typename Type::Scalar; + using StrideType = typename eigen_extract_stride::type; + static constexpr EigenIndex + rows = Type::RowsAtCompileTime, + cols = Type::ColsAtCompileTime, + size = Type::SizeAtCompileTime; + static constexpr bool + row_major = Type::IsRowMajor, + vector = Type::IsVectorAtCompileTime, // At least one dimension has fixed size 1 + fixed_rows = rows != Eigen::Dynamic, + fixed_cols = cols != Eigen::Dynamic, + fixed = size != Eigen::Dynamic, // Fully-fixed size + dynamic = !fixed_rows && !fixed_cols; // Fully-dynamic size + + template using if_zero = std::integral_constant; + static constexpr EigenIndex inner_stride = if_zero::value, + outer_stride = if_zero::value; + static constexpr bool dynamic_stride = inner_stride == Eigen::Dynamic && outer_stride == Eigen::Dynamic; + static constexpr bool requires_row_major = !dynamic_stride && !vector && (row_major ? inner_stride : outer_stride) == 1; + static constexpr bool requires_col_major = !dynamic_stride && !vector && (row_major ? outer_stride : inner_stride) == 1; + + // Takes an input array and determines whether we can make it fit into the Eigen type. If + // the array is a vector, we attempt to fit it into either an Eigen 1xN or Nx1 vector + // (preferring the latter if it will fit in either, i.e. for a fully dynamic matrix type). + static EigenConformable conformable(const array &a) { + const auto dims = a.ndim(); + if (dims < 1 || dims > 2) + return false; + + if (dims == 2) { // Matrix type: require exact match (or dynamic) + + EigenIndex + np_rows = a.shape(0), + np_cols = a.shape(1), + np_rstride = a.strides(0) / static_cast(sizeof(Scalar)), + np_cstride = a.strides(1) / static_cast(sizeof(Scalar)); + if ((fixed_rows && np_rows != rows) || (fixed_cols && np_cols != cols)) + return false; + + return {np_rows, np_cols, np_rstride, np_cstride}; + } + + // Otherwise we're storing an n-vector. Only one of the strides will be used, but whichever + // is used, we want the (single) numpy stride value. + const EigenIndex n = a.shape(0), + stride = a.strides(0) / static_cast(sizeof(Scalar)); + + if (vector) { // Eigen type is a compile-time vector + if (fixed && size != n) + return false; // Vector size mismatch + return {rows == 1 ? 1 : n, cols == 1 ? 1 : n, stride}; + } + else if (fixed) { + // The type has a fixed size, but is not a vector: abort + return false; + } + else if (fixed_cols) { + // Since this isn't a vector, cols must be != 1. We allow this only if it exactly + // equals the number of elements (rows is Dynamic, and so 1 row is allowed). + if (cols != n) return false; + return {1, n, stride}; + } + else { + // Otherwise it's either fully dynamic, or column dynamic; both become a column vector + if (fixed_rows && rows != n) return false; + return {n, 1, stride}; + } + } + + static constexpr bool show_writeable = is_eigen_dense_map::value && is_eigen_mutable_map::value; + static constexpr bool show_order = is_eigen_dense_map::value; + static constexpr bool show_c_contiguous = show_order && requires_row_major; + static constexpr bool show_f_contiguous = !show_c_contiguous && show_order && requires_col_major; + + static constexpr auto descriptor = + _("numpy.ndarray[") + npy_format_descriptor::name + + _("[") + _(_<(size_t) rows>(), _("m")) + + _(", ") + _(_<(size_t) cols>(), _("n")) + + _("]") + + // For a reference type (e.g. Ref) we have other constraints that might need to be + // satisfied: writeable=True (for a mutable reference), and, depending on the map's stride + // options, possibly f_contiguous or c_contiguous. We include them in the descriptor output + // to provide some hint as to why a TypeError is occurring (otherwise it can be confusing to + // see that a function accepts a 'numpy.ndarray[float64[3,2]]' and an error message that you + // *gave* a numpy.ndarray of the right type and dimensions. + _(", flags.writeable", "") + + _(", flags.c_contiguous", "") + + _(", flags.f_contiguous", "") + + _("]"); +}; + +// Casts an Eigen type to numpy array. If given a base, the numpy array references the src data, +// otherwise it'll make a copy. writeable lets you turn off the writeable flag for the array. +template handle eigen_array_cast(typename props::Type const &src, handle base = handle(), bool writeable = true) { + constexpr ssize_t elem_size = sizeof(typename props::Scalar); + array a; + if (props::vector) + a = array({ src.size() }, { elem_size * src.innerStride() }, src.data(), base); + else + a = array({ src.rows(), src.cols() }, { elem_size * src.rowStride(), elem_size * src.colStride() }, + src.data(), base); + + if (!writeable) + array_proxy(a.ptr())->flags &= ~detail::npy_api::NPY_ARRAY_WRITEABLE_; + + return a.release(); +} + +// Takes an lvalue ref to some Eigen type and a (python) base object, creating a numpy array that +// reference the Eigen object's data with `base` as the python-registered base class (if omitted, +// the base will be set to None, and lifetime management is up to the caller). The numpy array is +// non-writeable if the given type is const. +template +handle eigen_ref_array(Type &src, handle parent = none()) { + // none here is to get past array's should-we-copy detection, which currently always + // copies when there is no base. Setting the base to None should be harmless. + return eigen_array_cast(src, parent, !std::is_const::value); +} + +// Takes a pointer to some dense, plain Eigen type, builds a capsule around it, then returns a numpy +// array that references the encapsulated data with a python-side reference to the capsule to tie +// its destruction to that of any dependent python objects. Const-ness is determined by whether or +// not the Type of the pointer given is const. +template ::value>> +handle eigen_encapsulate(Type *src) { + capsule base(src, [](void *o) { delete static_cast(o); }); + return eigen_ref_array(*src, base); +} + +// Type caster for regular, dense matrix types (e.g. MatrixXd), but not maps/refs/etc. of dense +// types. +template +struct type_caster::value>> { + using Scalar = typename Type::Scalar; + using props = EigenProps; + + bool load(handle src, bool convert) { + // If we're in no-convert mode, only load if given an array of the correct type + if (!convert && !isinstance>(src)) + return false; + + // Coerce into an array, but don't do type conversion yet; the copy below handles it. + auto buf = array::ensure(src); + + if (!buf) + return false; + + auto dims = buf.ndim(); + if (dims < 1 || dims > 2) + return false; + + auto fits = props::conformable(buf); + if (!fits) + return false; + + // Allocate the new type, then build a numpy reference into it + value = Type(fits.rows, fits.cols); + auto ref = reinterpret_steal(eigen_ref_array(value)); + if (dims == 1) ref = ref.squeeze(); + else if (ref.ndim() == 1) buf = buf.squeeze(); + + int result = detail::npy_api::get().PyArray_CopyInto_(ref.ptr(), buf.ptr()); + + if (result < 0) { // Copy failed! + PyErr_Clear(); + return false; + } + + return true; + } + +private: + + // Cast implementation + template + static handle cast_impl(CType *src, return_value_policy policy, handle parent) { + switch (policy) { + case return_value_policy::take_ownership: + case return_value_policy::automatic: + return eigen_encapsulate(src); + case return_value_policy::move: + return eigen_encapsulate(new CType(std::move(*src))); + case return_value_policy::copy: + return eigen_array_cast(*src); + case return_value_policy::reference: + case return_value_policy::automatic_reference: + return eigen_ref_array(*src); + case return_value_policy::reference_internal: + return eigen_ref_array(*src, parent); + default: + throw cast_error("unhandled return_value_policy: should not happen!"); + }; + } + +public: + + // Normal returned non-reference, non-const value: + static handle cast(Type &&src, return_value_policy /* policy */, handle parent) { + return cast_impl(&src, return_value_policy::move, parent); + } + // If you return a non-reference const, we mark the numpy array readonly: + static handle cast(const Type &&src, return_value_policy /* policy */, handle parent) { + return cast_impl(&src, return_value_policy::move, parent); + } + // lvalue reference return; default (automatic) becomes copy + static handle cast(Type &src, return_value_policy policy, handle parent) { + if (policy == return_value_policy::automatic || policy == return_value_policy::automatic_reference) + policy = return_value_policy::copy; + return cast_impl(&src, policy, parent); + } + // const lvalue reference return; default (automatic) becomes copy + static handle cast(const Type &src, return_value_policy policy, handle parent) { + if (policy == return_value_policy::automatic || policy == return_value_policy::automatic_reference) + policy = return_value_policy::copy; + return cast(&src, policy, parent); + } + // non-const pointer return + static handle cast(Type *src, return_value_policy policy, handle parent) { + return cast_impl(src, policy, parent); + } + // const pointer return + static handle cast(const Type *src, return_value_policy policy, handle parent) { + return cast_impl(src, policy, parent); + } + + static constexpr auto name = props::descriptor; + + operator Type*() { return &value; } + operator Type&() { return value; } + operator Type&&() && { return std::move(value); } + template using cast_op_type = movable_cast_op_type; + +private: + Type value; +}; + +// Base class for casting reference/map/block/etc. objects back to python. +template struct eigen_map_caster { +private: + using props = EigenProps; + +public: + + // Directly referencing a ref/map's data is a bit dangerous (whatever the map/ref points to has + // to stay around), but we'll allow it under the assumption that you know what you're doing (and + // have an appropriate keep_alive in place). We return a numpy array pointing directly at the + // ref's data (The numpy array ends up read-only if the ref was to a const matrix type.) Note + // that this means you need to ensure you don't destroy the object in some other way (e.g. with + // an appropriate keep_alive, or with a reference to a statically allocated matrix). + static handle cast(const MapType &src, return_value_policy policy, handle parent) { + switch (policy) { + case return_value_policy::copy: + return eigen_array_cast(src); + case return_value_policy::reference_internal: + return eigen_array_cast(src, parent, is_eigen_mutable_map::value); + case return_value_policy::reference: + case return_value_policy::automatic: + case return_value_policy::automatic_reference: + return eigen_array_cast(src, none(), is_eigen_mutable_map::value); + default: + // move, take_ownership don't make any sense for a ref/map: + pybind11_fail("Invalid return_value_policy for Eigen Map/Ref/Block type"); + } + } + + static constexpr auto name = props::descriptor; + + // Explicitly delete these: support python -> C++ conversion on these (i.e. these can be return + // types but not bound arguments). We still provide them (with an explicitly delete) so that + // you end up here if you try anyway. + bool load(handle, bool) = delete; + operator MapType() = delete; + template using cast_op_type = MapType; +}; + +// We can return any map-like object (but can only load Refs, specialized next): +template struct type_caster::value>> + : eigen_map_caster {}; + +// Loader for Ref<...> arguments. See the documentation for info on how to make this work without +// copying (it requires some extra effort in many cases). +template +struct type_caster< + Eigen::Ref, + enable_if_t>::value> +> : public eigen_map_caster> { +private: + using Type = Eigen::Ref; + using props = EigenProps; + using Scalar = typename props::Scalar; + using MapType = Eigen::Map; + using Array = array_t; + static constexpr bool need_writeable = is_eigen_mutable_map::value; + // Delay construction (these have no default constructor) + std::unique_ptr map; + std::unique_ptr ref; + // Our array. When possible, this is just a numpy array pointing to the source data, but + // sometimes we can't avoid copying (e.g. input is not a numpy array at all, has an incompatible + // layout, or is an array of a type that needs to be converted). Using a numpy temporary + // (rather than an Eigen temporary) saves an extra copy when we need both type conversion and + // storage order conversion. (Note that we refuse to use this temporary copy when loading an + // argument for a Ref with M non-const, i.e. a read-write reference). + Array copy_or_ref; +public: + bool load(handle src, bool convert) { + // First check whether what we have is already an array of the right type. If not, we can't + // avoid a copy (because the copy is also going to do type conversion). + bool need_copy = !isinstance(src); + + EigenConformable fits; + if (!need_copy) { + // We don't need a converting copy, but we also need to check whether the strides are + // compatible with the Ref's stride requirements + Array aref = reinterpret_borrow(src); + + if (aref && (!need_writeable || aref.writeable())) { + fits = props::conformable(aref); + if (!fits) return false; // Incompatible dimensions + if (!fits.template stride_compatible()) + need_copy = true; + else + copy_or_ref = std::move(aref); + } + else { + need_copy = true; + } + } + + if (need_copy) { + // We need to copy: If we need a mutable reference, or we're not supposed to convert + // (either because we're in the no-convert overload pass, or because we're explicitly + // instructed not to copy (via `py::arg().noconvert()`) we have to fail loading. + if (!convert || need_writeable) return false; + + Array copy = Array::ensure(src); + if (!copy) return false; + fits = props::conformable(copy); + if (!fits || !fits.template stride_compatible()) + return false; + copy_or_ref = std::move(copy); + loader_life_support::add_patient(copy_or_ref); + } + + ref.reset(); + map.reset(new MapType(data(copy_or_ref), fits.rows, fits.cols, make_stride(fits.stride.outer(), fits.stride.inner()))); + ref.reset(new Type(*map)); + + return true; + } + + operator Type*() { return ref.get(); } + operator Type&() { return *ref; } + template using cast_op_type = pybind11::detail::cast_op_type<_T>; + +private: + template ::value, int> = 0> + Scalar *data(Array &a) { return a.mutable_data(); } + + template ::value, int> = 0> + const Scalar *data(Array &a) { return a.data(); } + + // Attempt to figure out a constructor of `Stride` that will work. + // If both strides are fixed, use a default constructor: + template using stride_ctor_default = bool_constant< + S::InnerStrideAtCompileTime != Eigen::Dynamic && S::OuterStrideAtCompileTime != Eigen::Dynamic && + std::is_default_constructible::value>; + // Otherwise, if there is a two-index constructor, assume it is (outer,inner) like + // Eigen::Stride, and use it: + template using stride_ctor_dual = bool_constant< + !stride_ctor_default::value && std::is_constructible::value>; + // Otherwise, if there is a one-index constructor, and just one of the strides is dynamic, use + // it (passing whichever stride is dynamic). + template using stride_ctor_outer = bool_constant< + !any_of, stride_ctor_dual>::value && + S::OuterStrideAtCompileTime == Eigen::Dynamic && S::InnerStrideAtCompileTime != Eigen::Dynamic && + std::is_constructible::value>; + template using stride_ctor_inner = bool_constant< + !any_of, stride_ctor_dual>::value && + S::InnerStrideAtCompileTime == Eigen::Dynamic && S::OuterStrideAtCompileTime != Eigen::Dynamic && + std::is_constructible::value>; + + template ::value, int> = 0> + static S make_stride(EigenIndex, EigenIndex) { return S(); } + template ::value, int> = 0> + static S make_stride(EigenIndex outer, EigenIndex inner) { return S(outer, inner); } + template ::value, int> = 0> + static S make_stride(EigenIndex outer, EigenIndex) { return S(outer); } + template ::value, int> = 0> + static S make_stride(EigenIndex, EigenIndex inner) { return S(inner); } + +}; + +// type_caster for special matrix types (e.g. DiagonalMatrix), which are EigenBase, but not +// EigenDense (i.e. they don't have a data(), at least not with the usual matrix layout). +// load() is not supported, but we can cast them into the python domain by first copying to a +// regular Eigen::Matrix, then casting that. +template +struct type_caster::value>> { +protected: + using Matrix = Eigen::Matrix; + using props = EigenProps; +public: + static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) { + handle h = eigen_encapsulate(new Matrix(src)); + return h; + } + static handle cast(const Type *src, return_value_policy policy, handle parent) { return cast(*src, policy, parent); } + + static constexpr auto name = props::descriptor; + + // Explicitly delete these: support python -> C++ conversion on these (i.e. these can be return + // types but not bound arguments). We still provide them (with an explicitly delete) so that + // you end up here if you try anyway. + bool load(handle, bool) = delete; + operator Type() = delete; + template using cast_op_type = Type; +}; + +template +struct type_caster::value>> { + typedef typename Type::Scalar Scalar; + typedef remove_reference_t().outerIndexPtr())> StorageIndex; + typedef typename Type::Index Index; + static constexpr bool rowMajor = Type::IsRowMajor; + + bool load(handle src, bool) { + if (!src) + return false; + + auto obj = reinterpret_borrow(src); + object sparse_module = module::import("scipy.sparse"); + object matrix_type = sparse_module.attr( + rowMajor ? "csr_matrix" : "csc_matrix"); + + if (!obj.get_type().is(matrix_type)) { + try { + obj = matrix_type(obj); + } catch (const error_already_set &) { + return false; + } + } + + auto values = array_t((object) obj.attr("data")); + auto innerIndices = array_t((object) obj.attr("indices")); + auto outerIndices = array_t((object) obj.attr("indptr")); + auto shape = pybind11::tuple((pybind11::object) obj.attr("shape")); + auto nnz = obj.attr("nnz").cast(); + + if (!values || !innerIndices || !outerIndices) + return false; + + value = Eigen::MappedSparseMatrix( + shape[0].cast(), shape[1].cast(), nnz, + outerIndices.mutable_data(), innerIndices.mutable_data(), values.mutable_data()); + + return true; + } + + static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) { + const_cast(src).makeCompressed(); + + object matrix_type = module::import("scipy.sparse").attr( + rowMajor ? "csr_matrix" : "csc_matrix"); + + array data(src.nonZeros(), src.valuePtr()); + array outerIndices((rowMajor ? src.rows() : src.cols()) + 1, src.outerIndexPtr()); + array innerIndices(src.nonZeros(), src.innerIndexPtr()); + + return matrix_type( + std::make_tuple(data, innerIndices, outerIndices), + std::make_pair(src.rows(), src.cols()) + ).release(); + } + + PYBIND11_TYPE_CASTER(Type, _<(Type::IsRowMajor) != 0>("scipy.sparse.csr_matrix[", "scipy.sparse.csc_matrix[") + + npy_format_descriptor::name + _("]")); +}; + +NAMESPACE_END(detail) +NAMESPACE_END(PYBIND11_NAMESPACE) + +#if defined(__GNUG__) || defined(__clang__) +# pragma GCC diagnostic pop +#elif defined(_MSC_VER) +# pragma warning(pop) +#endif diff --git a/wrap/python/pybind11/include/pybind11/embed.h b/wrap/python/pybind11/include/pybind11/embed.h new file mode 100644 index 000000000..72655885e --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/embed.h @@ -0,0 +1,200 @@ +/* + pybind11/embed.h: Support for embedding the interpreter + + Copyright (c) 2017 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "pybind11.h" +#include "eval.h" + +#if defined(PYPY_VERSION) +# error Embedding the interpreter is not supported with PyPy +#endif + +#if PY_MAJOR_VERSION >= 3 +# define PYBIND11_EMBEDDED_MODULE_IMPL(name) \ + extern "C" PyObject *pybind11_init_impl_##name() { \ + return pybind11_init_wrapper_##name(); \ + } +#else +# define PYBIND11_EMBEDDED_MODULE_IMPL(name) \ + extern "C" void pybind11_init_impl_##name() { \ + pybind11_init_wrapper_##name(); \ + } +#endif + +/** \rst + Add a new module to the table of builtins for the interpreter. Must be + defined in global scope. The first macro parameter is the name of the + module (without quotes). The second parameter is the variable which will + be used as the interface to add functions and classes to the module. + + .. code-block:: cpp + + PYBIND11_EMBEDDED_MODULE(example, m) { + // ... initialize functions and classes here + m.def("foo", []() { + return "Hello, World!"; + }); + } + \endrst */ +#define PYBIND11_EMBEDDED_MODULE(name, variable) \ + static void PYBIND11_CONCAT(pybind11_init_, name)(pybind11::module &); \ + static PyObject PYBIND11_CONCAT(*pybind11_init_wrapper_, name)() { \ + auto m = pybind11::module(PYBIND11_TOSTRING(name)); \ + try { \ + PYBIND11_CONCAT(pybind11_init_, name)(m); \ + return m.ptr(); \ + } catch (pybind11::error_already_set &e) { \ + PyErr_SetString(PyExc_ImportError, e.what()); \ + return nullptr; \ + } catch (const std::exception &e) { \ + PyErr_SetString(PyExc_ImportError, e.what()); \ + return nullptr; \ + } \ + } \ + PYBIND11_EMBEDDED_MODULE_IMPL(name) \ + pybind11::detail::embedded_module name(PYBIND11_TOSTRING(name), \ + PYBIND11_CONCAT(pybind11_init_impl_, name)); \ + void PYBIND11_CONCAT(pybind11_init_, name)(pybind11::module &variable) + + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) + +/// Python 2.7/3.x compatible version of `PyImport_AppendInittab` and error checks. +struct embedded_module { +#if PY_MAJOR_VERSION >= 3 + using init_t = PyObject *(*)(); +#else + using init_t = void (*)(); +#endif + embedded_module(const char *name, init_t init) { + if (Py_IsInitialized()) + pybind11_fail("Can't add new modules after the interpreter has been initialized"); + + auto result = PyImport_AppendInittab(name, init); + if (result == -1) + pybind11_fail("Insufficient memory to add a new module"); + } +}; + +NAMESPACE_END(detail) + +/** \rst + Initialize the Python interpreter. No other pybind11 or CPython API functions can be + called before this is done; with the exception of `PYBIND11_EMBEDDED_MODULE`. The + optional parameter can be used to skip the registration of signal handlers (see the + `Python documentation`_ for details). Calling this function again after the interpreter + has already been initialized is a fatal error. + + If initializing the Python interpreter fails, then the program is terminated. (This + is controlled by the CPython runtime and is an exception to pybind11's normal behavior + of throwing exceptions on errors.) + + .. _Python documentation: https://docs.python.org/3/c-api/init.html#c.Py_InitializeEx + \endrst */ +inline void initialize_interpreter(bool init_signal_handlers = true) { + if (Py_IsInitialized()) + pybind11_fail("The interpreter is already running"); + + Py_InitializeEx(init_signal_handlers ? 1 : 0); + + // Make .py files in the working directory available by default + module::import("sys").attr("path").cast().append("."); +} + +/** \rst + Shut down the Python interpreter. No pybind11 or CPython API functions can be called + after this. In addition, pybind11 objects must not outlive the interpreter: + + .. code-block:: cpp + + { // BAD + py::initialize_interpreter(); + auto hello = py::str("Hello, World!"); + py::finalize_interpreter(); + } // <-- BOOM, hello's destructor is called after interpreter shutdown + + { // GOOD + py::initialize_interpreter(); + { // scoped + auto hello = py::str("Hello, World!"); + } // <-- OK, hello is cleaned up properly + py::finalize_interpreter(); + } + + { // BETTER + py::scoped_interpreter guard{}; + auto hello = py::str("Hello, World!"); + } + + .. warning:: + + The interpreter can be restarted by calling `initialize_interpreter` again. + Modules created using pybind11 can be safely re-initialized. However, Python + itself cannot completely unload binary extension modules and there are several + caveats with regard to interpreter restarting. All the details can be found + in the CPython documentation. In short, not all interpreter memory may be + freed, either due to reference cycles or user-created global data. + + \endrst */ +inline void finalize_interpreter() { + handle builtins(PyEval_GetBuiltins()); + const char *id = PYBIND11_INTERNALS_ID; + + // Get the internals pointer (without creating it if it doesn't exist). It's possible for the + // internals to be created during Py_Finalize() (e.g. if a py::capsule calls `get_internals()` + // during destruction), so we get the pointer-pointer here and check it after Py_Finalize(). + detail::internals **internals_ptr_ptr = detail::get_internals_pp(); + // It could also be stashed in builtins, so look there too: + if (builtins.contains(id) && isinstance(builtins[id])) + internals_ptr_ptr = capsule(builtins[id]); + + Py_Finalize(); + + if (internals_ptr_ptr) { + delete *internals_ptr_ptr; + *internals_ptr_ptr = nullptr; + } +} + +/** \rst + Scope guard version of `initialize_interpreter` and `finalize_interpreter`. + This a move-only guard and only a single instance can exist. + + .. code-block:: cpp + + #include + + int main() { + py::scoped_interpreter guard{}; + py::print(Hello, World!); + } // <-- interpreter shutdown + \endrst */ +class scoped_interpreter { +public: + scoped_interpreter(bool init_signal_handlers = true) { + initialize_interpreter(init_signal_handlers); + } + + scoped_interpreter(const scoped_interpreter &) = delete; + scoped_interpreter(scoped_interpreter &&other) noexcept { other.is_valid = false; } + scoped_interpreter &operator=(const scoped_interpreter &) = delete; + scoped_interpreter &operator=(scoped_interpreter &&) = delete; + + ~scoped_interpreter() { + if (is_valid) + finalize_interpreter(); + } + +private: + bool is_valid = true; +}; + +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/eval.h b/wrap/python/pybind11/include/pybind11/eval.h new file mode 100644 index 000000000..ea85ba1db --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/eval.h @@ -0,0 +1,117 @@ +/* + pybind11/exec.h: Support for evaluating Python expressions and statements + from strings and files + + Copyright (c) 2016 Klemens Morgenstern and + Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "pybind11.h" + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) + +enum eval_mode { + /// Evaluate a string containing an isolated expression + eval_expr, + + /// Evaluate a string containing a single statement. Returns \c none + eval_single_statement, + + /// Evaluate a string containing a sequence of statement. Returns \c none + eval_statements +}; + +template +object eval(str expr, object global = globals(), object local = object()) { + if (!local) + local = global; + + /* PyRun_String does not accept a PyObject / encoding specifier, + this seems to be the only alternative */ + std::string buffer = "# -*- coding: utf-8 -*-\n" + (std::string) expr; + + int start; + switch (mode) { + case eval_expr: start = Py_eval_input; break; + case eval_single_statement: start = Py_single_input; break; + case eval_statements: start = Py_file_input; break; + default: pybind11_fail("invalid evaluation mode"); + } + + PyObject *result = PyRun_String(buffer.c_str(), start, global.ptr(), local.ptr()); + if (!result) + throw error_already_set(); + return reinterpret_steal(result); +} + +template +object eval(const char (&s)[N], object global = globals(), object local = object()) { + /* Support raw string literals by removing common leading whitespace */ + auto expr = (s[0] == '\n') ? str(module::import("textwrap").attr("dedent")(s)) + : str(s); + return eval(expr, global, local); +} + +inline void exec(str expr, object global = globals(), object local = object()) { + eval(expr, global, local); +} + +template +void exec(const char (&s)[N], object global = globals(), object local = object()) { + eval(s, global, local); +} + +template +object eval_file(str fname, object global = globals(), object local = object()) { + if (!local) + local = global; + + int start; + switch (mode) { + case eval_expr: start = Py_eval_input; break; + case eval_single_statement: start = Py_single_input; break; + case eval_statements: start = Py_file_input; break; + default: pybind11_fail("invalid evaluation mode"); + } + + int closeFile = 1; + std::string fname_str = (std::string) fname; +#if PY_VERSION_HEX >= 0x03040000 + FILE *f = _Py_fopen_obj(fname.ptr(), "r"); +#elif PY_VERSION_HEX >= 0x03000000 + FILE *f = _Py_fopen(fname.ptr(), "r"); +#else + /* No unicode support in open() :( */ + auto fobj = reinterpret_steal(PyFile_FromString( + const_cast(fname_str.c_str()), + const_cast("r"))); + FILE *f = nullptr; + if (fobj) + f = PyFile_AsFile(fobj.ptr()); + closeFile = 0; +#endif + if (!f) { + PyErr_Clear(); + pybind11_fail("File \"" + fname_str + "\" could not be opened!"); + } + +#if PY_VERSION_HEX < 0x03000000 && defined(PYPY_VERSION) + PyObject *result = PyRun_File(f, fname_str.c_str(), start, global.ptr(), + local.ptr()); + (void) closeFile; +#else + PyObject *result = PyRun_FileEx(f, fname_str.c_str(), start, global.ptr(), + local.ptr(), closeFile); +#endif + + if (!result) + throw error_already_set(); + return reinterpret_steal(result); +} + +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/functional.h b/wrap/python/pybind11/include/pybind11/functional.h new file mode 100644 index 000000000..7a0988ab0 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/functional.h @@ -0,0 +1,94 @@ +/* + pybind11/functional.h: std::function<> support + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "pybind11.h" +#include + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) + +template +struct type_caster> { + using type = std::function; + using retval_type = conditional_t::value, void_type, Return>; + using function_type = Return (*) (Args...); + +public: + bool load(handle src, bool convert) { + if (src.is_none()) { + // Defer accepting None to other overloads (if we aren't in convert mode): + if (!convert) return false; + return true; + } + + if (!isinstance(src)) + return false; + + auto func = reinterpret_borrow(src); + + /* + When passing a C++ function as an argument to another C++ + function via Python, every function call would normally involve + a full C++ -> Python -> C++ roundtrip, which can be prohibitive. + Here, we try to at least detect the case where the function is + stateless (i.e. function pointer or lambda function without + captured variables), in which case the roundtrip can be avoided. + */ + if (auto cfunc = func.cpp_function()) { + auto c = reinterpret_borrow(PyCFunction_GET_SELF(cfunc.ptr())); + auto rec = (function_record *) c; + + if (rec && rec->is_stateless && + same_type(typeid(function_type), *reinterpret_cast(rec->data[1]))) { + struct capture { function_type f; }; + value = ((capture *) &rec->data)->f; + return true; + } + } + + // ensure GIL is held during functor destruction + struct func_handle { + function f; + func_handle(function&& f_) : f(std::move(f_)) {} + func_handle(const func_handle&) = default; + ~func_handle() { + gil_scoped_acquire acq; + function kill_f(std::move(f)); + } + }; + + value = [hfunc = func_handle(std::move(func))](Args... args) -> Return { + gil_scoped_acquire acq; + object retval(hfunc.f(std::forward(args)...)); + /* Visual studio 2015 parser issue: need parentheses around this expression */ + return (retval.template cast()); + }; + return true; + } + + template + static handle cast(Func &&f_, return_value_policy policy, handle /* parent */) { + if (!f_) + return none().inc_ref(); + + auto result = f_.template target(); + if (result) + return cpp_function(*result, policy).release(); + else + return cpp_function(std::forward(f_), policy).release(); + } + + PYBIND11_TYPE_CASTER(type, _("Callable[[") + concat(make_caster::name...) + _("], ") + + make_caster::name + _("]")); +}; + +NAMESPACE_END(detail) +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/iostream.h b/wrap/python/pybind11/include/pybind11/iostream.h new file mode 100644 index 000000000..72baef8fd --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/iostream.h @@ -0,0 +1,207 @@ +/* + pybind11/iostream.h -- Tools to assist with redirecting cout and cerr to Python + + Copyright (c) 2017 Henry F. Schreiner + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "pybind11.h" + +#include +#include +#include +#include +#include + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) + +// Buffer that writes to Python instead of C++ +class pythonbuf : public std::streambuf { +private: + using traits_type = std::streambuf::traits_type; + + const size_t buf_size; + std::unique_ptr d_buffer; + object pywrite; + object pyflush; + + int overflow(int c) { + if (!traits_type::eq_int_type(c, traits_type::eof())) { + *pptr() = traits_type::to_char_type(c); + pbump(1); + } + return sync() == 0 ? traits_type::not_eof(c) : traits_type::eof(); + } + + int sync() { + if (pbase() != pptr()) { + // This subtraction cannot be negative, so dropping the sign + str line(pbase(), static_cast(pptr() - pbase())); + + { + gil_scoped_acquire tmp; + pywrite(line); + pyflush(); + } + + setp(pbase(), epptr()); + } + return 0; + } + +public: + + pythonbuf(object pyostream, size_t buffer_size = 1024) + : buf_size(buffer_size), + d_buffer(new char[buf_size]), + pywrite(pyostream.attr("write")), + pyflush(pyostream.attr("flush")) { + setp(d_buffer.get(), d_buffer.get() + buf_size - 1); + } + + /// Sync before destroy + ~pythonbuf() { + sync(); + } +}; + +NAMESPACE_END(detail) + + +/** \rst + This a move-only guard that redirects output. + + .. code-block:: cpp + + #include + + ... + + { + py::scoped_ostream_redirect output; + std::cout << "Hello, World!"; // Python stdout + } // <-- return std::cout to normal + + You can explicitly pass the c++ stream and the python object, + for example to guard stderr instead. + + .. code-block:: cpp + + { + py::scoped_ostream_redirect output{std::cerr, py::module::import("sys").attr("stderr")}; + std::cerr << "Hello, World!"; + } + \endrst */ +class scoped_ostream_redirect { +protected: + std::streambuf *old; + std::ostream &costream; + detail::pythonbuf buffer; + +public: + scoped_ostream_redirect( + std::ostream &costream = std::cout, + object pyostream = module::import("sys").attr("stdout")) + : costream(costream), buffer(pyostream) { + old = costream.rdbuf(&buffer); + } + + ~scoped_ostream_redirect() { + costream.rdbuf(old); + } + + scoped_ostream_redirect(const scoped_ostream_redirect &) = delete; + scoped_ostream_redirect(scoped_ostream_redirect &&other) = default; + scoped_ostream_redirect &operator=(const scoped_ostream_redirect &) = delete; + scoped_ostream_redirect &operator=(scoped_ostream_redirect &&) = delete; +}; + + +/** \rst + Like `scoped_ostream_redirect`, but redirects cerr by default. This class + is provided primary to make ``py::call_guard`` easier to make. + + .. code-block:: cpp + + m.def("noisy_func", &noisy_func, + py::call_guard()); + +\endrst */ +class scoped_estream_redirect : public scoped_ostream_redirect { +public: + scoped_estream_redirect( + std::ostream &costream = std::cerr, + object pyostream = module::import("sys").attr("stderr")) + : scoped_ostream_redirect(costream,pyostream) {} +}; + + +NAMESPACE_BEGIN(detail) + +// Class to redirect output as a context manager. C++ backend. +class OstreamRedirect { + bool do_stdout_; + bool do_stderr_; + std::unique_ptr redirect_stdout; + std::unique_ptr redirect_stderr; + +public: + OstreamRedirect(bool do_stdout = true, bool do_stderr = true) + : do_stdout_(do_stdout), do_stderr_(do_stderr) {} + + void enter() { + if (do_stdout_) + redirect_stdout.reset(new scoped_ostream_redirect()); + if (do_stderr_) + redirect_stderr.reset(new scoped_estream_redirect()); + } + + void exit() { + redirect_stdout.reset(); + redirect_stderr.reset(); + } +}; + +NAMESPACE_END(detail) + +/** \rst + This is a helper function to add a C++ redirect context manager to Python + instead of using a C++ guard. To use it, add the following to your binding code: + + .. code-block:: cpp + + #include + + ... + + py::add_ostream_redirect(m, "ostream_redirect"); + + You now have a Python context manager that redirects your output: + + .. code-block:: python + + with m.ostream_redirect(): + m.print_to_cout_function() + + This manager can optionally be told which streams to operate on: + + .. code-block:: python + + with m.ostream_redirect(stdout=true, stderr=true): + m.noisy_function_with_error_printing() + + \endrst */ +inline class_ add_ostream_redirect(module m, std::string name = "ostream_redirect") { + return class_(m, name.c_str(), module_local()) + .def(init(), arg("stdout")=true, arg("stderr")=true) + .def("__enter__", &detail::OstreamRedirect::enter) + .def("__exit__", [](detail::OstreamRedirect &self_, args) { self_.exit(); }); +} + +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/numpy.h b/wrap/python/pybind11/include/pybind11/numpy.h new file mode 100644 index 000000000..b2a02e024 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/numpy.h @@ -0,0 +1,1610 @@ +/* + pybind11/numpy.h: Basic NumPy support, vectorize() wrapper + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "pybind11.h" +#include "complex.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#if defined(_MSC_VER) +# pragma warning(push) +# pragma warning(disable: 4127) // warning C4127: Conditional expression is constant +#endif + +/* This will be true on all flat address space platforms and allows us to reduce the + whole npy_intp / ssize_t / Py_intptr_t business down to just ssize_t for all size + and dimension types (e.g. shape, strides, indexing), instead of inflicting this + upon the library user. */ +static_assert(sizeof(ssize_t) == sizeof(Py_intptr_t), "ssize_t != Py_intptr_t"); + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) + +class array; // Forward declaration + +NAMESPACE_BEGIN(detail) +template struct npy_format_descriptor; + +struct PyArrayDescr_Proxy { + PyObject_HEAD + PyObject *typeobj; + char kind; + char type; + char byteorder; + char flags; + int type_num; + int elsize; + int alignment; + char *subarray; + PyObject *fields; + PyObject *names; +}; + +struct PyArray_Proxy { + PyObject_HEAD + char *data; + int nd; + ssize_t *dimensions; + ssize_t *strides; + PyObject *base; + PyObject *descr; + int flags; +}; + +struct PyVoidScalarObject_Proxy { + PyObject_VAR_HEAD + char *obval; + PyArrayDescr_Proxy *descr; + int flags; + PyObject *base; +}; + +struct numpy_type_info { + PyObject* dtype_ptr; + std::string format_str; +}; + +struct numpy_internals { + std::unordered_map registered_dtypes; + + numpy_type_info *get_type_info(const std::type_info& tinfo, bool throw_if_missing = true) { + auto it = registered_dtypes.find(std::type_index(tinfo)); + if (it != registered_dtypes.end()) + return &(it->second); + if (throw_if_missing) + pybind11_fail(std::string("NumPy type info missing for ") + tinfo.name()); + return nullptr; + } + + template numpy_type_info *get_type_info(bool throw_if_missing = true) { + return get_type_info(typeid(typename std::remove_cv::type), throw_if_missing); + } +}; + +inline PYBIND11_NOINLINE void load_numpy_internals(numpy_internals* &ptr) { + ptr = &get_or_create_shared_data("_numpy_internals"); +} + +inline numpy_internals& get_numpy_internals() { + static numpy_internals* ptr = nullptr; + if (!ptr) + load_numpy_internals(ptr); + return *ptr; +} + +struct npy_api { + enum constants { + NPY_ARRAY_C_CONTIGUOUS_ = 0x0001, + NPY_ARRAY_F_CONTIGUOUS_ = 0x0002, + NPY_ARRAY_OWNDATA_ = 0x0004, + NPY_ARRAY_FORCECAST_ = 0x0010, + NPY_ARRAY_ENSUREARRAY_ = 0x0040, + NPY_ARRAY_ALIGNED_ = 0x0100, + NPY_ARRAY_WRITEABLE_ = 0x0400, + NPY_BOOL_ = 0, + NPY_BYTE_, NPY_UBYTE_, + NPY_SHORT_, NPY_USHORT_, + NPY_INT_, NPY_UINT_, + NPY_LONG_, NPY_ULONG_, + NPY_LONGLONG_, NPY_ULONGLONG_, + NPY_FLOAT_, NPY_DOUBLE_, NPY_LONGDOUBLE_, + NPY_CFLOAT_, NPY_CDOUBLE_, NPY_CLONGDOUBLE_, + NPY_OBJECT_ = 17, + NPY_STRING_, NPY_UNICODE_, NPY_VOID_ + }; + + typedef struct { + Py_intptr_t *ptr; + int len; + } PyArray_Dims; + + static npy_api& get() { + static npy_api api = lookup(); + return api; + } + + bool PyArray_Check_(PyObject *obj) const { + return (bool) PyObject_TypeCheck(obj, PyArray_Type_); + } + bool PyArrayDescr_Check_(PyObject *obj) const { + return (bool) PyObject_TypeCheck(obj, PyArrayDescr_Type_); + } + + unsigned int (*PyArray_GetNDArrayCFeatureVersion_)(); + PyObject *(*PyArray_DescrFromType_)(int); + PyObject *(*PyArray_NewFromDescr_) + (PyTypeObject *, PyObject *, int, Py_intptr_t *, + Py_intptr_t *, void *, int, PyObject *); + PyObject *(*PyArray_DescrNewFromType_)(int); + int (*PyArray_CopyInto_)(PyObject *, PyObject *); + PyObject *(*PyArray_NewCopy_)(PyObject *, int); + PyTypeObject *PyArray_Type_; + PyTypeObject *PyVoidArrType_Type_; + PyTypeObject *PyArrayDescr_Type_; + PyObject *(*PyArray_DescrFromScalar_)(PyObject *); + PyObject *(*PyArray_FromAny_) (PyObject *, PyObject *, int, int, int, PyObject *); + int (*PyArray_DescrConverter_) (PyObject *, PyObject **); + bool (*PyArray_EquivTypes_) (PyObject *, PyObject *); + int (*PyArray_GetArrayParamsFromObject_)(PyObject *, PyObject *, char, PyObject **, int *, + Py_ssize_t *, PyObject **, PyObject *); + PyObject *(*PyArray_Squeeze_)(PyObject *); + int (*PyArray_SetBaseObject_)(PyObject *, PyObject *); + PyObject* (*PyArray_Resize_)(PyObject*, PyArray_Dims*, int, int); +private: + enum functions { + API_PyArray_GetNDArrayCFeatureVersion = 211, + API_PyArray_Type = 2, + API_PyArrayDescr_Type = 3, + API_PyVoidArrType_Type = 39, + API_PyArray_DescrFromType = 45, + API_PyArray_DescrFromScalar = 57, + API_PyArray_FromAny = 69, + API_PyArray_Resize = 80, + API_PyArray_CopyInto = 82, + API_PyArray_NewCopy = 85, + API_PyArray_NewFromDescr = 94, + API_PyArray_DescrNewFromType = 9, + API_PyArray_DescrConverter = 174, + API_PyArray_EquivTypes = 182, + API_PyArray_GetArrayParamsFromObject = 278, + API_PyArray_Squeeze = 136, + API_PyArray_SetBaseObject = 282 + }; + + static npy_api lookup() { + module m = module::import("numpy.core.multiarray"); + auto c = m.attr("_ARRAY_API"); +#if PY_MAJOR_VERSION >= 3 + void **api_ptr = (void **) PyCapsule_GetPointer(c.ptr(), NULL); +#else + void **api_ptr = (void **) PyCObject_AsVoidPtr(c.ptr()); +#endif + npy_api api; +#define DECL_NPY_API(Func) api.Func##_ = (decltype(api.Func##_)) api_ptr[API_##Func]; + DECL_NPY_API(PyArray_GetNDArrayCFeatureVersion); + if (api.PyArray_GetNDArrayCFeatureVersion_() < 0x7) + pybind11_fail("pybind11 numpy support requires numpy >= 1.7.0"); + DECL_NPY_API(PyArray_Type); + DECL_NPY_API(PyVoidArrType_Type); + DECL_NPY_API(PyArrayDescr_Type); + DECL_NPY_API(PyArray_DescrFromType); + DECL_NPY_API(PyArray_DescrFromScalar); + DECL_NPY_API(PyArray_FromAny); + DECL_NPY_API(PyArray_Resize); + DECL_NPY_API(PyArray_CopyInto); + DECL_NPY_API(PyArray_NewCopy); + DECL_NPY_API(PyArray_NewFromDescr); + DECL_NPY_API(PyArray_DescrNewFromType); + DECL_NPY_API(PyArray_DescrConverter); + DECL_NPY_API(PyArray_EquivTypes); + DECL_NPY_API(PyArray_GetArrayParamsFromObject); + DECL_NPY_API(PyArray_Squeeze); + DECL_NPY_API(PyArray_SetBaseObject); +#undef DECL_NPY_API + return api; + } +}; + +inline PyArray_Proxy* array_proxy(void* ptr) { + return reinterpret_cast(ptr); +} + +inline const PyArray_Proxy* array_proxy(const void* ptr) { + return reinterpret_cast(ptr); +} + +inline PyArrayDescr_Proxy* array_descriptor_proxy(PyObject* ptr) { + return reinterpret_cast(ptr); +} + +inline const PyArrayDescr_Proxy* array_descriptor_proxy(const PyObject* ptr) { + return reinterpret_cast(ptr); +} + +inline bool check_flags(const void* ptr, int flag) { + return (flag == (array_proxy(ptr)->flags & flag)); +} + +template struct is_std_array : std::false_type { }; +template struct is_std_array> : std::true_type { }; +template struct is_complex : std::false_type { }; +template struct is_complex> : std::true_type { }; + +template struct array_info_scalar { + typedef T type; + static constexpr bool is_array = false; + static constexpr bool is_empty = false; + static constexpr auto extents = _(""); + static void append_extents(list& /* shape */) { } +}; +// Computes underlying type and a comma-separated list of extents for array +// types (any mix of std::array and built-in arrays). An array of char is +// treated as scalar because it gets special handling. +template struct array_info : array_info_scalar { }; +template struct array_info> { + using type = typename array_info::type; + static constexpr bool is_array = true; + static constexpr bool is_empty = (N == 0) || array_info::is_empty; + static constexpr size_t extent = N; + + // appends the extents to shape + static void append_extents(list& shape) { + shape.append(N); + array_info::append_extents(shape); + } + + static constexpr auto extents = _::is_array>( + concat(_(), array_info::extents), _() + ); +}; +// For numpy we have special handling for arrays of characters, so we don't include +// the size in the array extents. +template struct array_info : array_info_scalar { }; +template struct array_info> : array_info_scalar> { }; +template struct array_info : array_info> { }; +template using remove_all_extents_t = typename array_info::type; + +template using is_pod_struct = all_of< + std::is_standard_layout, // since we're accessing directly in memory we need a standard layout type +#if !defined(__GNUG__) || defined(_LIBCPP_VERSION) || defined(_GLIBCXX_USE_CXX11_ABI) + // _GLIBCXX_USE_CXX11_ABI indicates that we're using libstdc++ from GCC 5 or newer, independent + // of the actual compiler (Clang can also use libstdc++, but it always defines __GNUC__ == 4). + std::is_trivially_copyable, +#else + // GCC 4 doesn't implement is_trivially_copyable, so approximate it + std::is_trivially_destructible, + satisfies_any_of, +#endif + satisfies_none_of +>; + +template ssize_t byte_offset_unsafe(const Strides &) { return 0; } +template +ssize_t byte_offset_unsafe(const Strides &strides, ssize_t i, Ix... index) { + return i * strides[Dim] + byte_offset_unsafe(strides, index...); +} + +/** + * Proxy class providing unsafe, unchecked const access to array data. This is constructed through + * the `unchecked()` method of `array` or the `unchecked()` method of `array_t`. `Dims` + * will be -1 for dimensions determined at runtime. + */ +template +class unchecked_reference { +protected: + static constexpr bool Dynamic = Dims < 0; + const unsigned char *data_; + // Storing the shape & strides in local variables (i.e. these arrays) allows the compiler to + // make large performance gains on big, nested loops, but requires compile-time dimensions + conditional_t> + shape_, strides_; + const ssize_t dims_; + + friend class pybind11::array; + // Constructor for compile-time dimensions: + template + unchecked_reference(const void *data, const ssize_t *shape, const ssize_t *strides, enable_if_t) + : data_{reinterpret_cast(data)}, dims_{Dims} { + for (size_t i = 0; i < (size_t) dims_; i++) { + shape_[i] = shape[i]; + strides_[i] = strides[i]; + } + } + // Constructor for runtime dimensions: + template + unchecked_reference(const void *data, const ssize_t *shape, const ssize_t *strides, enable_if_t dims) + : data_{reinterpret_cast(data)}, shape_{shape}, strides_{strides}, dims_{dims} {} + +public: + /** + * Unchecked const reference access to data at the given indices. For a compile-time known + * number of dimensions, this requires the correct number of arguments; for run-time + * dimensionality, this is not checked (and so is up to the caller to use safely). + */ + template const T &operator()(Ix... index) const { + static_assert(ssize_t{sizeof...(Ix)} == Dims || Dynamic, + "Invalid number of indices for unchecked array reference"); + return *reinterpret_cast(data_ + byte_offset_unsafe(strides_, ssize_t(index)...)); + } + /** + * Unchecked const reference access to data; this operator only participates if the reference + * is to a 1-dimensional array. When present, this is exactly equivalent to `obj(index)`. + */ + template > + const T &operator[](ssize_t index) const { return operator()(index); } + + /// Pointer access to the data at the given indices. + template const T *data(Ix... ix) const { return &operator()(ssize_t(ix)...); } + + /// Returns the item size, i.e. sizeof(T) + constexpr static ssize_t itemsize() { return sizeof(T); } + + /// Returns the shape (i.e. size) of dimension `dim` + ssize_t shape(ssize_t dim) const { return shape_[(size_t) dim]; } + + /// Returns the number of dimensions of the array + ssize_t ndim() const { return dims_; } + + /// Returns the total number of elements in the referenced array, i.e. the product of the shapes + template + enable_if_t size() const { + return std::accumulate(shape_.begin(), shape_.end(), (ssize_t) 1, std::multiplies()); + } + template + enable_if_t size() const { + return std::accumulate(shape_, shape_ + ndim(), (ssize_t) 1, std::multiplies()); + } + + /// Returns the total number of bytes used by the referenced data. Note that the actual span in + /// memory may be larger if the referenced array has non-contiguous strides (e.g. for a slice). + ssize_t nbytes() const { + return size() * itemsize(); + } +}; + +template +class unchecked_mutable_reference : public unchecked_reference { + friend class pybind11::array; + using ConstBase = unchecked_reference; + using ConstBase::ConstBase; + using ConstBase::Dynamic; +public: + /// Mutable, unchecked access to data at the given indices. + template T& operator()(Ix... index) { + static_assert(ssize_t{sizeof...(Ix)} == Dims || Dynamic, + "Invalid number of indices for unchecked array reference"); + return const_cast(ConstBase::operator()(index...)); + } + /** + * Mutable, unchecked access data at the given index; this operator only participates if the + * reference is to a 1-dimensional array (or has runtime dimensions). When present, this is + * exactly equivalent to `obj(index)`. + */ + template > + T &operator[](ssize_t index) { return operator()(index); } + + /// Mutable pointer access to the data at the given indices. + template T *mutable_data(Ix... ix) { return &operator()(ssize_t(ix)...); } +}; + +template +struct type_caster> { + static_assert(Dim == 0 && Dim > 0 /* always fail */, "unchecked array proxy object is not castable"); +}; +template +struct type_caster> : type_caster> {}; + +NAMESPACE_END(detail) + +class dtype : public object { +public: + PYBIND11_OBJECT_DEFAULT(dtype, object, detail::npy_api::get().PyArrayDescr_Check_); + + explicit dtype(const buffer_info &info) { + dtype descr(_dtype_from_pep3118()(PYBIND11_STR_TYPE(info.format))); + // If info.itemsize == 0, use the value calculated from the format string + m_ptr = descr.strip_padding(info.itemsize ? info.itemsize : descr.itemsize()).release().ptr(); + } + + explicit dtype(const std::string &format) { + m_ptr = from_args(pybind11::str(format)).release().ptr(); + } + + dtype(const char *format) : dtype(std::string(format)) { } + + dtype(list names, list formats, list offsets, ssize_t itemsize) { + dict args; + args["names"] = names; + args["formats"] = formats; + args["offsets"] = offsets; + args["itemsize"] = pybind11::int_(itemsize); + m_ptr = from_args(args).release().ptr(); + } + + /// This is essentially the same as calling numpy.dtype(args) in Python. + static dtype from_args(object args) { + PyObject *ptr = nullptr; + if (!detail::npy_api::get().PyArray_DescrConverter_(args.ptr(), &ptr) || !ptr) + throw error_already_set(); + return reinterpret_steal(ptr); + } + + /// Return dtype associated with a C++ type. + template static dtype of() { + return detail::npy_format_descriptor::type>::dtype(); + } + + /// Size of the data type in bytes. + ssize_t itemsize() const { + return detail::array_descriptor_proxy(m_ptr)->elsize; + } + + /// Returns true for structured data types. + bool has_fields() const { + return detail::array_descriptor_proxy(m_ptr)->names != nullptr; + } + + /// Single-character type code. + char kind() const { + return detail::array_descriptor_proxy(m_ptr)->kind; + } + +private: + static object _dtype_from_pep3118() { + static PyObject *obj = module::import("numpy.core._internal") + .attr("_dtype_from_pep3118").cast().release().ptr(); + return reinterpret_borrow(obj); + } + + dtype strip_padding(ssize_t itemsize) { + // Recursively strip all void fields with empty names that are generated for + // padding fields (as of NumPy v1.11). + if (!has_fields()) + return *this; + + struct field_descr { PYBIND11_STR_TYPE name; object format; pybind11::int_ offset; }; + std::vector field_descriptors; + + for (auto field : attr("fields").attr("items")()) { + auto spec = field.cast(); + auto name = spec[0].cast(); + auto format = spec[1].cast()[0].cast(); + auto offset = spec[1].cast()[1].cast(); + if (!len(name) && format.kind() == 'V') + continue; + field_descriptors.push_back({(PYBIND11_STR_TYPE) name, format.strip_padding(format.itemsize()), offset}); + } + + std::sort(field_descriptors.begin(), field_descriptors.end(), + [](const field_descr& a, const field_descr& b) { + return a.offset.cast() < b.offset.cast(); + }); + + list names, formats, offsets; + for (auto& descr : field_descriptors) { + names.append(descr.name); + formats.append(descr.format); + offsets.append(descr.offset); + } + return dtype(names, formats, offsets, itemsize); + } +}; + +class array : public buffer { +public: + PYBIND11_OBJECT_CVT(array, buffer, detail::npy_api::get().PyArray_Check_, raw_array) + + enum { + c_style = detail::npy_api::NPY_ARRAY_C_CONTIGUOUS_, + f_style = detail::npy_api::NPY_ARRAY_F_CONTIGUOUS_, + forcecast = detail::npy_api::NPY_ARRAY_FORCECAST_ + }; + + array() : array({{0}}, static_cast(nullptr)) {} + + using ShapeContainer = detail::any_container; + using StridesContainer = detail::any_container; + + // Constructs an array taking shape/strides from arbitrary container types + array(const pybind11::dtype &dt, ShapeContainer shape, StridesContainer strides, + const void *ptr = nullptr, handle base = handle()) { + + if (strides->empty()) + *strides = c_strides(*shape, dt.itemsize()); + + auto ndim = shape->size(); + if (ndim != strides->size()) + pybind11_fail("NumPy: shape ndim doesn't match strides ndim"); + auto descr = dt; + + int flags = 0; + if (base && ptr) { + if (isinstance(base)) + /* Copy flags from base (except ownership bit) */ + flags = reinterpret_borrow(base).flags() & ~detail::npy_api::NPY_ARRAY_OWNDATA_; + else + /* Writable by default, easy to downgrade later on if needed */ + flags = detail::npy_api::NPY_ARRAY_WRITEABLE_; + } + + auto &api = detail::npy_api::get(); + auto tmp = reinterpret_steal(api.PyArray_NewFromDescr_( + api.PyArray_Type_, descr.release().ptr(), (int) ndim, shape->data(), strides->data(), + const_cast(ptr), flags, nullptr)); + if (!tmp) + throw error_already_set(); + if (ptr) { + if (base) { + api.PyArray_SetBaseObject_(tmp.ptr(), base.inc_ref().ptr()); + } else { + tmp = reinterpret_steal(api.PyArray_NewCopy_(tmp.ptr(), -1 /* any order */)); + } + } + m_ptr = tmp.release().ptr(); + } + + array(const pybind11::dtype &dt, ShapeContainer shape, const void *ptr = nullptr, handle base = handle()) + : array(dt, std::move(shape), {}, ptr, base) { } + + template ::value && !std::is_same::value>> + array(const pybind11::dtype &dt, T count, const void *ptr = nullptr, handle base = handle()) + : array(dt, {{count}}, ptr, base) { } + + template + array(ShapeContainer shape, StridesContainer strides, const T *ptr, handle base = handle()) + : array(pybind11::dtype::of(), std::move(shape), std::move(strides), ptr, base) { } + + template + array(ShapeContainer shape, const T *ptr, handle base = handle()) + : array(std::move(shape), {}, ptr, base) { } + + template + explicit array(ssize_t count, const T *ptr, handle base = handle()) : array({count}, {}, ptr, base) { } + + explicit array(const buffer_info &info) + : array(pybind11::dtype(info), info.shape, info.strides, info.ptr) { } + + /// Array descriptor (dtype) + pybind11::dtype dtype() const { + return reinterpret_borrow(detail::array_proxy(m_ptr)->descr); + } + + /// Total number of elements + ssize_t size() const { + return std::accumulate(shape(), shape() + ndim(), (ssize_t) 1, std::multiplies()); + } + + /// Byte size of a single element + ssize_t itemsize() const { + return detail::array_descriptor_proxy(detail::array_proxy(m_ptr)->descr)->elsize; + } + + /// Total number of bytes + ssize_t nbytes() const { + return size() * itemsize(); + } + + /// Number of dimensions + ssize_t ndim() const { + return detail::array_proxy(m_ptr)->nd; + } + + /// Base object + object base() const { + return reinterpret_borrow(detail::array_proxy(m_ptr)->base); + } + + /// Dimensions of the array + const ssize_t* shape() const { + return detail::array_proxy(m_ptr)->dimensions; + } + + /// Dimension along a given axis + ssize_t shape(ssize_t dim) const { + if (dim >= ndim()) + fail_dim_check(dim, "invalid axis"); + return shape()[dim]; + } + + /// Strides of the array + const ssize_t* strides() const { + return detail::array_proxy(m_ptr)->strides; + } + + /// Stride along a given axis + ssize_t strides(ssize_t dim) const { + if (dim >= ndim()) + fail_dim_check(dim, "invalid axis"); + return strides()[dim]; + } + + /// Return the NumPy array flags + int flags() const { + return detail::array_proxy(m_ptr)->flags; + } + + /// If set, the array is writeable (otherwise the buffer is read-only) + bool writeable() const { + return detail::check_flags(m_ptr, detail::npy_api::NPY_ARRAY_WRITEABLE_); + } + + /// If set, the array owns the data (will be freed when the array is deleted) + bool owndata() const { + return detail::check_flags(m_ptr, detail::npy_api::NPY_ARRAY_OWNDATA_); + } + + /// Pointer to the contained data. If index is not provided, points to the + /// beginning of the buffer. May throw if the index would lead to out of bounds access. + template const void* data(Ix... index) const { + return static_cast(detail::array_proxy(m_ptr)->data + offset_at(index...)); + } + + /// Mutable pointer to the contained data. If index is not provided, points to the + /// beginning of the buffer. May throw if the index would lead to out of bounds access. + /// May throw if the array is not writeable. + template void* mutable_data(Ix... index) { + check_writeable(); + return static_cast(detail::array_proxy(m_ptr)->data + offset_at(index...)); + } + + /// Byte offset from beginning of the array to a given index (full or partial). + /// May throw if the index would lead to out of bounds access. + template ssize_t offset_at(Ix... index) const { + if ((ssize_t) sizeof...(index) > ndim()) + fail_dim_check(sizeof...(index), "too many indices for an array"); + return byte_offset(ssize_t(index)...); + } + + ssize_t offset_at() const { return 0; } + + /// Item count from beginning of the array to a given index (full or partial). + /// May throw if the index would lead to out of bounds access. + template ssize_t index_at(Ix... index) const { + return offset_at(index...) / itemsize(); + } + + /** + * Returns a proxy object that provides access to the array's data without bounds or + * dimensionality checking. Will throw if the array is missing the `writeable` flag. Use with + * care: the array must not be destroyed or reshaped for the duration of the returned object, + * and the caller must take care not to access invalid dimensions or dimension indices. + */ + template detail::unchecked_mutable_reference mutable_unchecked() & { + if (Dims >= 0 && ndim() != Dims) + throw std::domain_error("array has incorrect number of dimensions: " + std::to_string(ndim()) + + "; expected " + std::to_string(Dims)); + return detail::unchecked_mutable_reference(mutable_data(), shape(), strides(), ndim()); + } + + /** + * Returns a proxy object that provides const access to the array's data without bounds or + * dimensionality checking. Unlike `mutable_unchecked()`, this does not require that the + * underlying array have the `writable` flag. Use with care: the array must not be destroyed or + * reshaped for the duration of the returned object, and the caller must take care not to access + * invalid dimensions or dimension indices. + */ + template detail::unchecked_reference unchecked() const & { + if (Dims >= 0 && ndim() != Dims) + throw std::domain_error("array has incorrect number of dimensions: " + std::to_string(ndim()) + + "; expected " + std::to_string(Dims)); + return detail::unchecked_reference(data(), shape(), strides(), ndim()); + } + + /// Return a new view with all of the dimensions of length 1 removed + array squeeze() { + auto& api = detail::npy_api::get(); + return reinterpret_steal(api.PyArray_Squeeze_(m_ptr)); + } + + /// Resize array to given shape + /// If refcheck is true and more that one reference exist to this array + /// then resize will succeed only if it makes a reshape, i.e. original size doesn't change + void resize(ShapeContainer new_shape, bool refcheck = true) { + detail::npy_api::PyArray_Dims d = { + new_shape->data(), int(new_shape->size()) + }; + // try to resize, set ordering param to -1 cause it's not used anyway + object new_array = reinterpret_steal( + detail::npy_api::get().PyArray_Resize_(m_ptr, &d, int(refcheck), -1) + ); + if (!new_array) throw error_already_set(); + if (isinstance(new_array)) { *this = std::move(new_array); } + } + + /// Ensure that the argument is a NumPy array + /// In case of an error, nullptr is returned and the Python error is cleared. + static array ensure(handle h, int ExtraFlags = 0) { + auto result = reinterpret_steal(raw_array(h.ptr(), ExtraFlags)); + if (!result) + PyErr_Clear(); + return result; + } + +protected: + template friend struct detail::npy_format_descriptor; + + void fail_dim_check(ssize_t dim, const std::string& msg) const { + throw index_error(msg + ": " + std::to_string(dim) + + " (ndim = " + std::to_string(ndim()) + ")"); + } + + template ssize_t byte_offset(Ix... index) const { + check_dimensions(index...); + return detail::byte_offset_unsafe(strides(), ssize_t(index)...); + } + + void check_writeable() const { + if (!writeable()) + throw std::domain_error("array is not writeable"); + } + + // Default, C-style strides + static std::vector c_strides(const std::vector &shape, ssize_t itemsize) { + auto ndim = shape.size(); + std::vector strides(ndim, itemsize); + if (ndim > 0) + for (size_t i = ndim - 1; i > 0; --i) + strides[i - 1] = strides[i] * shape[i]; + return strides; + } + + // F-style strides; default when constructing an array_t with `ExtraFlags & f_style` + static std::vector f_strides(const std::vector &shape, ssize_t itemsize) { + auto ndim = shape.size(); + std::vector strides(ndim, itemsize); + for (size_t i = 1; i < ndim; ++i) + strides[i] = strides[i - 1] * shape[i - 1]; + return strides; + } + + template void check_dimensions(Ix... index) const { + check_dimensions_impl(ssize_t(0), shape(), ssize_t(index)...); + } + + void check_dimensions_impl(ssize_t, const ssize_t*) const { } + + template void check_dimensions_impl(ssize_t axis, const ssize_t* shape, ssize_t i, Ix... index) const { + if (i >= *shape) { + throw index_error(std::string("index ") + std::to_string(i) + + " is out of bounds for axis " + std::to_string(axis) + + " with size " + std::to_string(*shape)); + } + check_dimensions_impl(axis + 1, shape + 1, index...); + } + + /// Create array from any object -- always returns a new reference + static PyObject *raw_array(PyObject *ptr, int ExtraFlags = 0) { + if (ptr == nullptr) { + PyErr_SetString(PyExc_ValueError, "cannot create a pybind11::array from a nullptr"); + return nullptr; + } + return detail::npy_api::get().PyArray_FromAny_( + ptr, nullptr, 0, 0, detail::npy_api::NPY_ARRAY_ENSUREARRAY_ | ExtraFlags, nullptr); + } +}; + +template class array_t : public array { +private: + struct private_ctor {}; + // Delegating constructor needed when both moving and accessing in the same constructor + array_t(private_ctor, ShapeContainer &&shape, StridesContainer &&strides, const T *ptr, handle base) + : array(std::move(shape), std::move(strides), ptr, base) {} +public: + static_assert(!detail::array_info::is_array, "Array types cannot be used with array_t"); + + using value_type = T; + + array_t() : array(0, static_cast(nullptr)) {} + array_t(handle h, borrowed_t) : array(h, borrowed_t{}) { } + array_t(handle h, stolen_t) : array(h, stolen_t{}) { } + + PYBIND11_DEPRECATED("Use array_t::ensure() instead") + array_t(handle h, bool is_borrowed) : array(raw_array_t(h.ptr()), stolen_t{}) { + if (!m_ptr) PyErr_Clear(); + if (!is_borrowed) Py_XDECREF(h.ptr()); + } + + array_t(const object &o) : array(raw_array_t(o.ptr()), stolen_t{}) { + if (!m_ptr) throw error_already_set(); + } + + explicit array_t(const buffer_info& info) : array(info) { } + + array_t(ShapeContainer shape, StridesContainer strides, const T *ptr = nullptr, handle base = handle()) + : array(std::move(shape), std::move(strides), ptr, base) { } + + explicit array_t(ShapeContainer shape, const T *ptr = nullptr, handle base = handle()) + : array_t(private_ctor{}, std::move(shape), + ExtraFlags & f_style ? f_strides(*shape, itemsize()) : c_strides(*shape, itemsize()), + ptr, base) { } + + explicit array_t(size_t count, const T *ptr = nullptr, handle base = handle()) + : array({count}, {}, ptr, base) { } + + constexpr ssize_t itemsize() const { + return sizeof(T); + } + + template ssize_t index_at(Ix... index) const { + return offset_at(index...) / itemsize(); + } + + template const T* data(Ix... index) const { + return static_cast(array::data(index...)); + } + + template T* mutable_data(Ix... index) { + return static_cast(array::mutable_data(index...)); + } + + // Reference to element at a given index + template const T& at(Ix... index) const { + if ((ssize_t) sizeof...(index) != ndim()) + fail_dim_check(sizeof...(index), "index dimension mismatch"); + return *(static_cast(array::data()) + byte_offset(ssize_t(index)...) / itemsize()); + } + + // Mutable reference to element at a given index + template T& mutable_at(Ix... index) { + if ((ssize_t) sizeof...(index) != ndim()) + fail_dim_check(sizeof...(index), "index dimension mismatch"); + return *(static_cast(array::mutable_data()) + byte_offset(ssize_t(index)...) / itemsize()); + } + + /** + * Returns a proxy object that provides access to the array's data without bounds or + * dimensionality checking. Will throw if the array is missing the `writeable` flag. Use with + * care: the array must not be destroyed or reshaped for the duration of the returned object, + * and the caller must take care not to access invalid dimensions or dimension indices. + */ + template detail::unchecked_mutable_reference mutable_unchecked() & { + return array::mutable_unchecked(); + } + + /** + * Returns a proxy object that provides const access to the array's data without bounds or + * dimensionality checking. Unlike `unchecked()`, this does not require that the underlying + * array have the `writable` flag. Use with care: the array must not be destroyed or reshaped + * for the duration of the returned object, and the caller must take care not to access invalid + * dimensions or dimension indices. + */ + template detail::unchecked_reference unchecked() const & { + return array::unchecked(); + } + + /// Ensure that the argument is a NumPy array of the correct dtype (and if not, try to convert + /// it). In case of an error, nullptr is returned and the Python error is cleared. + static array_t ensure(handle h) { + auto result = reinterpret_steal(raw_array_t(h.ptr())); + if (!result) + PyErr_Clear(); + return result; + } + + static bool check_(handle h) { + const auto &api = detail::npy_api::get(); + return api.PyArray_Check_(h.ptr()) + && api.PyArray_EquivTypes_(detail::array_proxy(h.ptr())->descr, dtype::of().ptr()); + } + +protected: + /// Create array from any object -- always returns a new reference + static PyObject *raw_array_t(PyObject *ptr) { + if (ptr == nullptr) { + PyErr_SetString(PyExc_ValueError, "cannot create a pybind11::array_t from a nullptr"); + return nullptr; + } + return detail::npy_api::get().PyArray_FromAny_( + ptr, dtype::of().release().ptr(), 0, 0, + detail::npy_api::NPY_ARRAY_ENSUREARRAY_ | ExtraFlags, nullptr); + } +}; + +template +struct format_descriptor::value>> { + static std::string format() { + return detail::npy_format_descriptor::type>::format(); + } +}; + +template struct format_descriptor { + static std::string format() { return std::to_string(N) + "s"; } +}; +template struct format_descriptor> { + static std::string format() { return std::to_string(N) + "s"; } +}; + +template +struct format_descriptor::value>> { + static std::string format() { + return format_descriptor< + typename std::remove_cv::type>::type>::format(); + } +}; + +template +struct format_descriptor::is_array>> { + static std::string format() { + using namespace detail; + static constexpr auto extents = _("(") + array_info::extents + _(")"); + return extents.text + format_descriptor>::format(); + } +}; + +NAMESPACE_BEGIN(detail) +template +struct pyobject_caster> { + using type = array_t; + + bool load(handle src, bool convert) { + if (!convert && !type::check_(src)) + return false; + value = type::ensure(src); + return static_cast(value); + } + + static handle cast(const handle &src, return_value_policy /* policy */, handle /* parent */) { + return src.inc_ref(); + } + PYBIND11_TYPE_CASTER(type, handle_type_name::name); +}; + +template +struct compare_buffer_info::value>> { + static bool compare(const buffer_info& b) { + return npy_api::get().PyArray_EquivTypes_(dtype::of().ptr(), dtype(b).ptr()); + } +}; + +template +struct npy_format_descriptor_name; + +template +struct npy_format_descriptor_name::value>> { + static constexpr auto name = _::value>( + _("bool"), _::value>("int", "uint") + _() + ); +}; + +template +struct npy_format_descriptor_name::value>> { + static constexpr auto name = _::value || std::is_same::value>( + _("float") + _(), _("longdouble") + ); +}; + +template +struct npy_format_descriptor_name::value>> { + static constexpr auto name = _::value + || std::is_same::value>( + _("complex") + _(), _("longcomplex") + ); +}; + +template +struct npy_format_descriptor::value>> + : npy_format_descriptor_name { +private: + // NB: the order here must match the one in common.h + constexpr static const int values[15] = { + npy_api::NPY_BOOL_, + npy_api::NPY_BYTE_, npy_api::NPY_UBYTE_, npy_api::NPY_SHORT_, npy_api::NPY_USHORT_, + npy_api::NPY_INT_, npy_api::NPY_UINT_, npy_api::NPY_LONGLONG_, npy_api::NPY_ULONGLONG_, + npy_api::NPY_FLOAT_, npy_api::NPY_DOUBLE_, npy_api::NPY_LONGDOUBLE_, + npy_api::NPY_CFLOAT_, npy_api::NPY_CDOUBLE_, npy_api::NPY_CLONGDOUBLE_ + }; + +public: + static constexpr int value = values[detail::is_fmt_numeric::index]; + + static pybind11::dtype dtype() { + if (auto ptr = npy_api::get().PyArray_DescrFromType_(value)) + return reinterpret_borrow(ptr); + pybind11_fail("Unsupported buffer format!"); + } +}; + +#define PYBIND11_DECL_CHAR_FMT \ + static constexpr auto name = _("S") + _(); \ + static pybind11::dtype dtype() { return pybind11::dtype(std::string("S") + std::to_string(N)); } +template struct npy_format_descriptor { PYBIND11_DECL_CHAR_FMT }; +template struct npy_format_descriptor> { PYBIND11_DECL_CHAR_FMT }; +#undef PYBIND11_DECL_CHAR_FMT + +template struct npy_format_descriptor::is_array>> { +private: + using base_descr = npy_format_descriptor::type>; +public: + static_assert(!array_info::is_empty, "Zero-sized arrays are not supported"); + + static constexpr auto name = _("(") + array_info::extents + _(")") + base_descr::name; + static pybind11::dtype dtype() { + list shape; + array_info::append_extents(shape); + return pybind11::dtype::from_args(pybind11::make_tuple(base_descr::dtype(), shape)); + } +}; + +template struct npy_format_descriptor::value>> { +private: + using base_descr = npy_format_descriptor::type>; +public: + static constexpr auto name = base_descr::name; + static pybind11::dtype dtype() { return base_descr::dtype(); } +}; + +struct field_descriptor { + const char *name; + ssize_t offset; + ssize_t size; + std::string format; + dtype descr; +}; + +inline PYBIND11_NOINLINE void register_structured_dtype( + any_container fields, + const std::type_info& tinfo, ssize_t itemsize, + bool (*direct_converter)(PyObject *, void *&)) { + + auto& numpy_internals = get_numpy_internals(); + if (numpy_internals.get_type_info(tinfo, false)) + pybind11_fail("NumPy: dtype is already registered"); + + list names, formats, offsets; + for (auto field : *fields) { + if (!field.descr) + pybind11_fail(std::string("NumPy: unsupported field dtype: `") + + field.name + "` @ " + tinfo.name()); + names.append(PYBIND11_STR_TYPE(field.name)); + formats.append(field.descr); + offsets.append(pybind11::int_(field.offset)); + } + auto dtype_ptr = pybind11::dtype(names, formats, offsets, itemsize).release().ptr(); + + // There is an existing bug in NumPy (as of v1.11): trailing bytes are + // not encoded explicitly into the format string. This will supposedly + // get fixed in v1.12; for further details, see these: + // - https://github.com/numpy/numpy/issues/7797 + // - https://github.com/numpy/numpy/pull/7798 + // Because of this, we won't use numpy's logic to generate buffer format + // strings and will just do it ourselves. + std::vector ordered_fields(std::move(fields)); + std::sort(ordered_fields.begin(), ordered_fields.end(), + [](const field_descriptor &a, const field_descriptor &b) { return a.offset < b.offset; }); + ssize_t offset = 0; + std::ostringstream oss; + // mark the structure as unaligned with '^', because numpy and C++ don't + // always agree about alignment (particularly for complex), and we're + // explicitly listing all our padding. This depends on none of the fields + // overriding the endianness. Putting the ^ in front of individual fields + // isn't guaranteed to work due to https://github.com/numpy/numpy/issues/9049 + oss << "^T{"; + for (auto& field : ordered_fields) { + if (field.offset > offset) + oss << (field.offset - offset) << 'x'; + oss << field.format << ':' << field.name << ':'; + offset = field.offset + field.size; + } + if (itemsize > offset) + oss << (itemsize - offset) << 'x'; + oss << '}'; + auto format_str = oss.str(); + + // Sanity check: verify that NumPy properly parses our buffer format string + auto& api = npy_api::get(); + auto arr = array(buffer_info(nullptr, itemsize, format_str, 1)); + if (!api.PyArray_EquivTypes_(dtype_ptr, arr.dtype().ptr())) + pybind11_fail("NumPy: invalid buffer descriptor!"); + + auto tindex = std::type_index(tinfo); + numpy_internals.registered_dtypes[tindex] = { dtype_ptr, format_str }; + get_internals().direct_conversions[tindex].push_back(direct_converter); +} + +template struct npy_format_descriptor { + static_assert(is_pod_struct::value, "Attempt to use a non-POD or unimplemented POD type as a numpy dtype"); + + static constexpr auto name = make_caster::name; + + static pybind11::dtype dtype() { + return reinterpret_borrow(dtype_ptr()); + } + + static std::string format() { + static auto format_str = get_numpy_internals().get_type_info(true)->format_str; + return format_str; + } + + static void register_dtype(any_container fields) { + register_structured_dtype(std::move(fields), typeid(typename std::remove_cv::type), + sizeof(T), &direct_converter); + } + +private: + static PyObject* dtype_ptr() { + static PyObject* ptr = get_numpy_internals().get_type_info(true)->dtype_ptr; + return ptr; + } + + static bool direct_converter(PyObject *obj, void*& value) { + auto& api = npy_api::get(); + if (!PyObject_TypeCheck(obj, api.PyVoidArrType_Type_)) + return false; + if (auto descr = reinterpret_steal(api.PyArray_DescrFromScalar_(obj))) { + if (api.PyArray_EquivTypes_(dtype_ptr(), descr.ptr())) { + value = ((PyVoidScalarObject_Proxy *) obj)->obval; + return true; + } + } + return false; + } +}; + +#ifdef __CLION_IDE__ // replace heavy macro with dummy code for the IDE (doesn't affect code) +# define PYBIND11_NUMPY_DTYPE(Type, ...) ((void)0) +# define PYBIND11_NUMPY_DTYPE_EX(Type, ...) ((void)0) +#else + +#define PYBIND11_FIELD_DESCRIPTOR_EX(T, Field, Name) \ + ::pybind11::detail::field_descriptor { \ + Name, offsetof(T, Field), sizeof(decltype(std::declval().Field)), \ + ::pybind11::format_descriptor().Field)>::format(), \ + ::pybind11::detail::npy_format_descriptor().Field)>::dtype() \ + } + +// Extract name, offset and format descriptor for a struct field +#define PYBIND11_FIELD_DESCRIPTOR(T, Field) PYBIND11_FIELD_DESCRIPTOR_EX(T, Field, #Field) + +// The main idea of this macro is borrowed from https://github.com/swansontec/map-macro +// (C) William Swanson, Paul Fultz +#define PYBIND11_EVAL0(...) __VA_ARGS__ +#define PYBIND11_EVAL1(...) PYBIND11_EVAL0 (PYBIND11_EVAL0 (PYBIND11_EVAL0 (__VA_ARGS__))) +#define PYBIND11_EVAL2(...) PYBIND11_EVAL1 (PYBIND11_EVAL1 (PYBIND11_EVAL1 (__VA_ARGS__))) +#define PYBIND11_EVAL3(...) PYBIND11_EVAL2 (PYBIND11_EVAL2 (PYBIND11_EVAL2 (__VA_ARGS__))) +#define PYBIND11_EVAL4(...) PYBIND11_EVAL3 (PYBIND11_EVAL3 (PYBIND11_EVAL3 (__VA_ARGS__))) +#define PYBIND11_EVAL(...) PYBIND11_EVAL4 (PYBIND11_EVAL4 (PYBIND11_EVAL4 (__VA_ARGS__))) +#define PYBIND11_MAP_END(...) +#define PYBIND11_MAP_OUT +#define PYBIND11_MAP_COMMA , +#define PYBIND11_MAP_GET_END() 0, PYBIND11_MAP_END +#define PYBIND11_MAP_NEXT0(test, next, ...) next PYBIND11_MAP_OUT +#define PYBIND11_MAP_NEXT1(test, next) PYBIND11_MAP_NEXT0 (test, next, 0) +#define PYBIND11_MAP_NEXT(test, next) PYBIND11_MAP_NEXT1 (PYBIND11_MAP_GET_END test, next) +#ifdef _MSC_VER // MSVC is not as eager to expand macros, hence this workaround +#define PYBIND11_MAP_LIST_NEXT1(test, next) \ + PYBIND11_EVAL0 (PYBIND11_MAP_NEXT0 (test, PYBIND11_MAP_COMMA next, 0)) +#else +#define PYBIND11_MAP_LIST_NEXT1(test, next) \ + PYBIND11_MAP_NEXT0 (test, PYBIND11_MAP_COMMA next, 0) +#endif +#define PYBIND11_MAP_LIST_NEXT(test, next) \ + PYBIND11_MAP_LIST_NEXT1 (PYBIND11_MAP_GET_END test, next) +#define PYBIND11_MAP_LIST0(f, t, x, peek, ...) \ + f(t, x) PYBIND11_MAP_LIST_NEXT (peek, PYBIND11_MAP_LIST1) (f, t, peek, __VA_ARGS__) +#define PYBIND11_MAP_LIST1(f, t, x, peek, ...) \ + f(t, x) PYBIND11_MAP_LIST_NEXT (peek, PYBIND11_MAP_LIST0) (f, t, peek, __VA_ARGS__) +// PYBIND11_MAP_LIST(f, t, a1, a2, ...) expands to f(t, a1), f(t, a2), ... +#define PYBIND11_MAP_LIST(f, t, ...) \ + PYBIND11_EVAL (PYBIND11_MAP_LIST1 (f, t, __VA_ARGS__, (), 0)) + +#define PYBIND11_NUMPY_DTYPE(Type, ...) \ + ::pybind11::detail::npy_format_descriptor::register_dtype \ + (::std::vector<::pybind11::detail::field_descriptor> \ + {PYBIND11_MAP_LIST (PYBIND11_FIELD_DESCRIPTOR, Type, __VA_ARGS__)}) + +#ifdef _MSC_VER +#define PYBIND11_MAP2_LIST_NEXT1(test, next) \ + PYBIND11_EVAL0 (PYBIND11_MAP_NEXT0 (test, PYBIND11_MAP_COMMA next, 0)) +#else +#define PYBIND11_MAP2_LIST_NEXT1(test, next) \ + PYBIND11_MAP_NEXT0 (test, PYBIND11_MAP_COMMA next, 0) +#endif +#define PYBIND11_MAP2_LIST_NEXT(test, next) \ + PYBIND11_MAP2_LIST_NEXT1 (PYBIND11_MAP_GET_END test, next) +#define PYBIND11_MAP2_LIST0(f, t, x1, x2, peek, ...) \ + f(t, x1, x2) PYBIND11_MAP2_LIST_NEXT (peek, PYBIND11_MAP2_LIST1) (f, t, peek, __VA_ARGS__) +#define PYBIND11_MAP2_LIST1(f, t, x1, x2, peek, ...) \ + f(t, x1, x2) PYBIND11_MAP2_LIST_NEXT (peek, PYBIND11_MAP2_LIST0) (f, t, peek, __VA_ARGS__) +// PYBIND11_MAP2_LIST(f, t, a1, a2, ...) expands to f(t, a1, a2), f(t, a3, a4), ... +#define PYBIND11_MAP2_LIST(f, t, ...) \ + PYBIND11_EVAL (PYBIND11_MAP2_LIST1 (f, t, __VA_ARGS__, (), 0)) + +#define PYBIND11_NUMPY_DTYPE_EX(Type, ...) \ + ::pybind11::detail::npy_format_descriptor::register_dtype \ + (::std::vector<::pybind11::detail::field_descriptor> \ + {PYBIND11_MAP2_LIST (PYBIND11_FIELD_DESCRIPTOR_EX, Type, __VA_ARGS__)}) + +#endif // __CLION_IDE__ + +template +using array_iterator = typename std::add_pointer::type; + +template +array_iterator array_begin(const buffer_info& buffer) { + return array_iterator(reinterpret_cast(buffer.ptr)); +} + +template +array_iterator array_end(const buffer_info& buffer) { + return array_iterator(reinterpret_cast(buffer.ptr) + buffer.size); +} + +class common_iterator { +public: + using container_type = std::vector; + using value_type = container_type::value_type; + using size_type = container_type::size_type; + + common_iterator() : p_ptr(0), m_strides() {} + + common_iterator(void* ptr, const container_type& strides, const container_type& shape) + : p_ptr(reinterpret_cast(ptr)), m_strides(strides.size()) { + m_strides.back() = static_cast(strides.back()); + for (size_type i = m_strides.size() - 1; i != 0; --i) { + size_type j = i - 1; + value_type s = static_cast(shape[i]); + m_strides[j] = strides[j] + m_strides[i] - strides[i] * s; + } + } + + void increment(size_type dim) { + p_ptr += m_strides[dim]; + } + + void* data() const { + return p_ptr; + } + +private: + char* p_ptr; + container_type m_strides; +}; + +template class multi_array_iterator { +public: + using container_type = std::vector; + + multi_array_iterator(const std::array &buffers, + const container_type &shape) + : m_shape(shape.size()), m_index(shape.size(), 0), + m_common_iterator() { + + // Manual copy to avoid conversion warning if using std::copy + for (size_t i = 0; i < shape.size(); ++i) + m_shape[i] = shape[i]; + + container_type strides(shape.size()); + for (size_t i = 0; i < N; ++i) + init_common_iterator(buffers[i], shape, m_common_iterator[i], strides); + } + + multi_array_iterator& operator++() { + for (size_t j = m_index.size(); j != 0; --j) { + size_t i = j - 1; + if (++m_index[i] != m_shape[i]) { + increment_common_iterator(i); + break; + } else { + m_index[i] = 0; + } + } + return *this; + } + + template T* data() const { + return reinterpret_cast(m_common_iterator[K].data()); + } + +private: + + using common_iter = common_iterator; + + void init_common_iterator(const buffer_info &buffer, + const container_type &shape, + common_iter &iterator, + container_type &strides) { + auto buffer_shape_iter = buffer.shape.rbegin(); + auto buffer_strides_iter = buffer.strides.rbegin(); + auto shape_iter = shape.rbegin(); + auto strides_iter = strides.rbegin(); + + while (buffer_shape_iter != buffer.shape.rend()) { + if (*shape_iter == *buffer_shape_iter) + *strides_iter = *buffer_strides_iter; + else + *strides_iter = 0; + + ++buffer_shape_iter; + ++buffer_strides_iter; + ++shape_iter; + ++strides_iter; + } + + std::fill(strides_iter, strides.rend(), 0); + iterator = common_iter(buffer.ptr, strides, shape); + } + + void increment_common_iterator(size_t dim) { + for (auto &iter : m_common_iterator) + iter.increment(dim); + } + + container_type m_shape; + container_type m_index; + std::array m_common_iterator; +}; + +enum class broadcast_trivial { non_trivial, c_trivial, f_trivial }; + +// Populates the shape and number of dimensions for the set of buffers. Returns a broadcast_trivial +// enum value indicating whether the broadcast is "trivial"--that is, has each buffer being either a +// singleton or a full-size, C-contiguous (`c_trivial`) or Fortran-contiguous (`f_trivial`) storage +// buffer; returns `non_trivial` otherwise. +template +broadcast_trivial broadcast(const std::array &buffers, ssize_t &ndim, std::vector &shape) { + ndim = std::accumulate(buffers.begin(), buffers.end(), ssize_t(0), [](ssize_t res, const buffer_info &buf) { + return std::max(res, buf.ndim); + }); + + shape.clear(); + shape.resize((size_t) ndim, 1); + + // Figure out the output size, and make sure all input arrays conform (i.e. are either size 1 or + // the full size). + for (size_t i = 0; i < N; ++i) { + auto res_iter = shape.rbegin(); + auto end = buffers[i].shape.rend(); + for (auto shape_iter = buffers[i].shape.rbegin(); shape_iter != end; ++shape_iter, ++res_iter) { + const auto &dim_size_in = *shape_iter; + auto &dim_size_out = *res_iter; + + // Each input dimension can either be 1 or `n`, but `n` values must match across buffers + if (dim_size_out == 1) + dim_size_out = dim_size_in; + else if (dim_size_in != 1 && dim_size_in != dim_size_out) + pybind11_fail("pybind11::vectorize: incompatible size/dimension of inputs!"); + } + } + + bool trivial_broadcast_c = true; + bool trivial_broadcast_f = true; + for (size_t i = 0; i < N && (trivial_broadcast_c || trivial_broadcast_f); ++i) { + if (buffers[i].size == 1) + continue; + + // Require the same number of dimensions: + if (buffers[i].ndim != ndim) + return broadcast_trivial::non_trivial; + + // Require all dimensions be full-size: + if (!std::equal(buffers[i].shape.cbegin(), buffers[i].shape.cend(), shape.cbegin())) + return broadcast_trivial::non_trivial; + + // Check for C contiguity (but only if previous inputs were also C contiguous) + if (trivial_broadcast_c) { + ssize_t expect_stride = buffers[i].itemsize; + auto end = buffers[i].shape.crend(); + for (auto shape_iter = buffers[i].shape.crbegin(), stride_iter = buffers[i].strides.crbegin(); + trivial_broadcast_c && shape_iter != end; ++shape_iter, ++stride_iter) { + if (expect_stride == *stride_iter) + expect_stride *= *shape_iter; + else + trivial_broadcast_c = false; + } + } + + // Check for Fortran contiguity (if previous inputs were also F contiguous) + if (trivial_broadcast_f) { + ssize_t expect_stride = buffers[i].itemsize; + auto end = buffers[i].shape.cend(); + for (auto shape_iter = buffers[i].shape.cbegin(), stride_iter = buffers[i].strides.cbegin(); + trivial_broadcast_f && shape_iter != end; ++shape_iter, ++stride_iter) { + if (expect_stride == *stride_iter) + expect_stride *= *shape_iter; + else + trivial_broadcast_f = false; + } + } + } + + return + trivial_broadcast_c ? broadcast_trivial::c_trivial : + trivial_broadcast_f ? broadcast_trivial::f_trivial : + broadcast_trivial::non_trivial; +} + +template +struct vectorize_arg { + static_assert(!std::is_rvalue_reference::value, "Functions with rvalue reference arguments cannot be vectorized"); + // The wrapped function gets called with this type: + using call_type = remove_reference_t; + // Is this a vectorized argument? + static constexpr bool vectorize = + satisfies_any_of::value && + satisfies_none_of::value && + (!std::is_reference::value || + (std::is_lvalue_reference::value && std::is_const::value)); + // Accept this type: an array for vectorized types, otherwise the type as-is: + using type = conditional_t, array::forcecast>, T>; +}; + +template +struct vectorize_helper { +private: + static constexpr size_t N = sizeof...(Args); + static constexpr size_t NVectorized = constexpr_sum(vectorize_arg::vectorize...); + static_assert(NVectorized >= 1, + "pybind11::vectorize(...) requires a function with at least one vectorizable argument"); + +public: + template + explicit vectorize_helper(T &&f) : f(std::forward(f)) { } + + object operator()(typename vectorize_arg::type... args) { + return run(args..., + make_index_sequence(), + select_indices::vectorize...>(), + make_index_sequence()); + } + +private: + remove_reference_t f; + + // Internal compiler error in MSVC 19.16.27025.1 (Visual Studio 2017 15.9.4), when compiling with "/permissive-" flag + // when arg_call_types is manually inlined. + using arg_call_types = std::tuple::call_type...>; + template using param_n_t = typename std::tuple_element::type; + + // Runs a vectorized function given arguments tuple and three index sequences: + // - Index is the full set of 0 ... (N-1) argument indices; + // - VIndex is the subset of argument indices with vectorized parameters, letting us access + // vectorized arguments (anything not in this sequence is passed through) + // - BIndex is a incremental sequence (beginning at 0) of the same size as VIndex, so that + // we can store vectorized buffer_infos in an array (argument VIndex has its buffer at + // index BIndex in the array). + template object run( + typename vectorize_arg::type &...args, + index_sequence i_seq, index_sequence vi_seq, index_sequence bi_seq) { + + // Pointers to values the function was called with; the vectorized ones set here will start + // out as array_t pointers, but they will be changed them to T pointers before we make + // call the wrapped function. Non-vectorized pointers are left as-is. + std::array params{{ &args... }}; + + // The array of `buffer_info`s of vectorized arguments: + std::array buffers{{ reinterpret_cast(params[VIndex])->request()... }}; + + /* Determine dimensions parameters of output array */ + ssize_t nd = 0; + std::vector shape(0); + auto trivial = broadcast(buffers, nd, shape); + size_t ndim = (size_t) nd; + + size_t size = std::accumulate(shape.begin(), shape.end(), (size_t) 1, std::multiplies()); + + // If all arguments are 0-dimension arrays (i.e. single values) return a plain value (i.e. + // not wrapped in an array). + if (size == 1 && ndim == 0) { + PYBIND11_EXPAND_SIDE_EFFECTS(params[VIndex] = buffers[BIndex].ptr); + return cast(f(*reinterpret_cast *>(params[Index])...)); + } + + array_t result; + if (trivial == broadcast_trivial::f_trivial) result = array_t(shape); + else result = array_t(shape); + + if (size == 0) return std::move(result); + + /* Call the function */ + if (trivial == broadcast_trivial::non_trivial) + apply_broadcast(buffers, params, result, i_seq, vi_seq, bi_seq); + else + apply_trivial(buffers, params, result.mutable_data(), size, i_seq, vi_seq, bi_seq); + + return std::move(result); + } + + template + void apply_trivial(std::array &buffers, + std::array ¶ms, + Return *out, + size_t size, + index_sequence, index_sequence, index_sequence) { + + // Initialize an array of mutable byte references and sizes with references set to the + // appropriate pointer in `params`; as we iterate, we'll increment each pointer by its size + // (except for singletons, which get an increment of 0). + std::array, NVectorized> vecparams{{ + std::pair( + reinterpret_cast(params[VIndex] = buffers[BIndex].ptr), + buffers[BIndex].size == 1 ? 0 : sizeof(param_n_t) + )... + }}; + + for (size_t i = 0; i < size; ++i) { + out[i] = f(*reinterpret_cast *>(params[Index])...); + for (auto &x : vecparams) x.first += x.second; + } + } + + template + void apply_broadcast(std::array &buffers, + std::array ¶ms, + array_t &output_array, + index_sequence, index_sequence, index_sequence) { + + buffer_info output = output_array.request(); + multi_array_iterator input_iter(buffers, output.shape); + + for (array_iterator iter = array_begin(output), end = array_end(output); + iter != end; + ++iter, ++input_iter) { + PYBIND11_EXPAND_SIDE_EFFECTS(( + params[VIndex] = input_iter.template data() + )); + *iter = f(*reinterpret_cast *>(std::get(params))...); + } + } +}; + +template +vectorize_helper +vectorize_extractor(const Func &f, Return (*) (Args ...)) { + return detail::vectorize_helper(f); +} + +template struct handle_type_name> { + static constexpr auto name = _("numpy.ndarray[") + npy_format_descriptor::name + _("]"); +}; + +NAMESPACE_END(detail) + +// Vanilla pointer vectorizer: +template +detail::vectorize_helper +vectorize(Return (*f) (Args ...)) { + return detail::vectorize_helper(f); +} + +// lambda vectorizer: +template ::value, int> = 0> +auto vectorize(Func &&f) -> decltype( + detail::vectorize_extractor(std::forward(f), (detail::function_signature_t *) nullptr)) { + return detail::vectorize_extractor(std::forward(f), (detail::function_signature_t *) nullptr); +} + +// Vectorize a class method (non-const): +template ())), Return, Class *, Args...>> +Helper vectorize(Return (Class::*f)(Args...)) { + return Helper(std::mem_fn(f)); +} + +// Vectorize a class method (const): +template ())), Return, const Class *, Args...>> +Helper vectorize(Return (Class::*f)(Args...) const) { + return Helper(std::mem_fn(f)); +} + +NAMESPACE_END(PYBIND11_NAMESPACE) + +#if defined(_MSC_VER) +#pragma warning(pop) +#endif diff --git a/wrap/python/pybind11/include/pybind11/operators.h b/wrap/python/pybind11/include/pybind11/operators.h new file mode 100644 index 000000000..b3dd62c3b --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/operators.h @@ -0,0 +1,168 @@ +/* + pybind11/operator.h: Metatemplates for operator overloading + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "pybind11.h" + +#if defined(__clang__) && !defined(__INTEL_COMPILER) +# pragma clang diagnostic ignored "-Wunsequenced" // multiple unsequenced modifications to 'self' (when using def(py::self OP Type())) +#elif defined(_MSC_VER) +# pragma warning(push) +# pragma warning(disable: 4127) // warning C4127: Conditional expression is constant +#endif + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) + +/// Enumeration with all supported operator types +enum op_id : int { + op_add, op_sub, op_mul, op_div, op_mod, op_divmod, op_pow, op_lshift, + op_rshift, op_and, op_xor, op_or, op_neg, op_pos, op_abs, op_invert, + op_int, op_long, op_float, op_str, op_cmp, op_gt, op_ge, op_lt, op_le, + op_eq, op_ne, op_iadd, op_isub, op_imul, op_idiv, op_imod, op_ilshift, + op_irshift, op_iand, op_ixor, op_ior, op_complex, op_bool, op_nonzero, + op_repr, op_truediv, op_itruediv, op_hash +}; + +enum op_type : int { + op_l, /* base type on left */ + op_r, /* base type on right */ + op_u /* unary operator */ +}; + +struct self_t { }; +static const self_t self = self_t(); + +/// Type for an unused type slot +struct undefined_t { }; + +/// Don't warn about an unused variable +inline self_t __self() { return self; } + +/// base template of operator implementations +template struct op_impl { }; + +/// Operator implementation generator +template struct op_ { + template void execute(Class &cl, const Extra&... extra) const { + using Base = typename Class::type; + using L_type = conditional_t::value, Base, L>; + using R_type = conditional_t::value, Base, R>; + using op = op_impl; + cl.def(op::name(), &op::execute, is_operator(), extra...); + #if PY_MAJOR_VERSION < 3 + if (id == op_truediv || id == op_itruediv) + cl.def(id == op_itruediv ? "__idiv__" : ot == op_l ? "__div__" : "__rdiv__", + &op::execute, is_operator(), extra...); + #endif + } + template void execute_cast(Class &cl, const Extra&... extra) const { + using Base = typename Class::type; + using L_type = conditional_t::value, Base, L>; + using R_type = conditional_t::value, Base, R>; + using op = op_impl; + cl.def(op::name(), &op::execute_cast, is_operator(), extra...); + #if PY_MAJOR_VERSION < 3 + if (id == op_truediv || id == op_itruediv) + cl.def(id == op_itruediv ? "__idiv__" : ot == op_l ? "__div__" : "__rdiv__", + &op::execute, is_operator(), extra...); + #endif + } +}; + +#define PYBIND11_BINARY_OPERATOR(id, rid, op, expr) \ +template struct op_impl { \ + static char const* name() { return "__" #id "__"; } \ + static auto execute(const L &l, const R &r) -> decltype(expr) { return (expr); } \ + static B execute_cast(const L &l, const R &r) { return B(expr); } \ +}; \ +template struct op_impl { \ + static char const* name() { return "__" #rid "__"; } \ + static auto execute(const R &r, const L &l) -> decltype(expr) { return (expr); } \ + static B execute_cast(const R &r, const L &l) { return B(expr); } \ +}; \ +inline op_ op(const self_t &, const self_t &) { \ + return op_(); \ +} \ +template op_ op(const self_t &, const T &) { \ + return op_(); \ +} \ +template op_ op(const T &, const self_t &) { \ + return op_(); \ +} + +#define PYBIND11_INPLACE_OPERATOR(id, op, expr) \ +template struct op_impl { \ + static char const* name() { return "__" #id "__"; } \ + static auto execute(L &l, const R &r) -> decltype(expr) { return expr; } \ + static B execute_cast(L &l, const R &r) { return B(expr); } \ +}; \ +template op_ op(const self_t &, const T &) { \ + return op_(); \ +} + +#define PYBIND11_UNARY_OPERATOR(id, op, expr) \ +template struct op_impl { \ + static char const* name() { return "__" #id "__"; } \ + static auto execute(const L &l) -> decltype(expr) { return expr; } \ + static B execute_cast(const L &l) { return B(expr); } \ +}; \ +inline op_ op(const self_t &) { \ + return op_(); \ +} + +PYBIND11_BINARY_OPERATOR(sub, rsub, operator-, l - r) +PYBIND11_BINARY_OPERATOR(add, radd, operator+, l + r) +PYBIND11_BINARY_OPERATOR(mul, rmul, operator*, l * r) +PYBIND11_BINARY_OPERATOR(truediv, rtruediv, operator/, l / r) +PYBIND11_BINARY_OPERATOR(mod, rmod, operator%, l % r) +PYBIND11_BINARY_OPERATOR(lshift, rlshift, operator<<, l << r) +PYBIND11_BINARY_OPERATOR(rshift, rrshift, operator>>, l >> r) +PYBIND11_BINARY_OPERATOR(and, rand, operator&, l & r) +PYBIND11_BINARY_OPERATOR(xor, rxor, operator^, l ^ r) +PYBIND11_BINARY_OPERATOR(eq, eq, operator==, l == r) +PYBIND11_BINARY_OPERATOR(ne, ne, operator!=, l != r) +PYBIND11_BINARY_OPERATOR(or, ror, operator|, l | r) +PYBIND11_BINARY_OPERATOR(gt, lt, operator>, l > r) +PYBIND11_BINARY_OPERATOR(ge, le, operator>=, l >= r) +PYBIND11_BINARY_OPERATOR(lt, gt, operator<, l < r) +PYBIND11_BINARY_OPERATOR(le, ge, operator<=, l <= r) +//PYBIND11_BINARY_OPERATOR(pow, rpow, pow, std::pow(l, r)) +PYBIND11_INPLACE_OPERATOR(iadd, operator+=, l += r) +PYBIND11_INPLACE_OPERATOR(isub, operator-=, l -= r) +PYBIND11_INPLACE_OPERATOR(imul, operator*=, l *= r) +PYBIND11_INPLACE_OPERATOR(itruediv, operator/=, l /= r) +PYBIND11_INPLACE_OPERATOR(imod, operator%=, l %= r) +PYBIND11_INPLACE_OPERATOR(ilshift, operator<<=, l <<= r) +PYBIND11_INPLACE_OPERATOR(irshift, operator>>=, l >>= r) +PYBIND11_INPLACE_OPERATOR(iand, operator&=, l &= r) +PYBIND11_INPLACE_OPERATOR(ixor, operator^=, l ^= r) +PYBIND11_INPLACE_OPERATOR(ior, operator|=, l |= r) +PYBIND11_UNARY_OPERATOR(neg, operator-, -l) +PYBIND11_UNARY_OPERATOR(pos, operator+, +l) +PYBIND11_UNARY_OPERATOR(abs, abs, std::abs(l)) +PYBIND11_UNARY_OPERATOR(hash, hash, std::hash()(l)) +PYBIND11_UNARY_OPERATOR(invert, operator~, (~l)) +PYBIND11_UNARY_OPERATOR(bool, operator!, !!l) +PYBIND11_UNARY_OPERATOR(int, int_, (int) l) +PYBIND11_UNARY_OPERATOR(float, float_, (double) l) + +#undef PYBIND11_BINARY_OPERATOR +#undef PYBIND11_INPLACE_OPERATOR +#undef PYBIND11_UNARY_OPERATOR +NAMESPACE_END(detail) + +using detail::self; + +NAMESPACE_END(PYBIND11_NAMESPACE) + +#if defined(_MSC_VER) +# pragma warning(pop) +#endif diff --git a/wrap/python/pybind11/include/pybind11/options.h b/wrap/python/pybind11/include/pybind11/options.h new file mode 100644 index 000000000..cc1e1f6f0 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/options.h @@ -0,0 +1,65 @@ +/* + pybind11/options.h: global settings that are configurable at runtime. + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "detail/common.h" + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) + +class options { +public: + + // Default RAII constructor, which leaves settings as they currently are. + options() : previous_state(global_state()) {} + + // Class is non-copyable. + options(const options&) = delete; + options& operator=(const options&) = delete; + + // Destructor, which restores settings that were in effect before. + ~options() { + global_state() = previous_state; + } + + // Setter methods (affect the global state): + + options& disable_user_defined_docstrings() & { global_state().show_user_defined_docstrings = false; return *this; } + + options& enable_user_defined_docstrings() & { global_state().show_user_defined_docstrings = true; return *this; } + + options& disable_function_signatures() & { global_state().show_function_signatures = false; return *this; } + + options& enable_function_signatures() & { global_state().show_function_signatures = true; return *this; } + + // Getter methods (return the global state): + + static bool show_user_defined_docstrings() { return global_state().show_user_defined_docstrings; } + + static bool show_function_signatures() { return global_state().show_function_signatures; } + + // This type is not meant to be allocated on the heap. + void* operator new(size_t) = delete; + +private: + + struct state { + bool show_user_defined_docstrings = true; //< Include user-supplied texts in docstrings. + bool show_function_signatures = true; //< Include auto-generated function signatures in docstrings. + }; + + static state &global_state() { + static state instance; + return instance; + } + + state previous_state; +}; + +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/pybind11.h b/wrap/python/pybind11/include/pybind11/pybind11.h new file mode 100644 index 000000000..f1d91c788 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/pybind11.h @@ -0,0 +1,2162 @@ +/* + pybind11/pybind11.h: Main header file of the C++11 python + binding generator library + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#if defined(__INTEL_COMPILER) +# pragma warning push +# pragma warning disable 68 // integer conversion resulted in a change of sign +# pragma warning disable 186 // pointless comparison of unsigned integer with zero +# pragma warning disable 878 // incompatible exception specifications +# pragma warning disable 1334 // the "template" keyword used for syntactic disambiguation may only be used within a template +# pragma warning disable 1682 // implicit conversion of a 64-bit integral type to a smaller integral type (potential portability problem) +# pragma warning disable 1786 // function "strdup" was declared deprecated +# pragma warning disable 1875 // offsetof applied to non-POD (Plain Old Data) types is nonstandard +# pragma warning disable 2196 // warning #2196: routine is both "inline" and "noinline" +#elif defined(_MSC_VER) +# pragma warning(push) +# pragma warning(disable: 4100) // warning C4100: Unreferenced formal parameter +# pragma warning(disable: 4127) // warning C4127: Conditional expression is constant +# pragma warning(disable: 4512) // warning C4512: Assignment operator was implicitly defined as deleted +# pragma warning(disable: 4800) // warning C4800: 'int': forcing value to bool 'true' or 'false' (performance warning) +# pragma warning(disable: 4996) // warning C4996: The POSIX name for this item is deprecated. Instead, use the ISO C and C++ conformant name +# pragma warning(disable: 4702) // warning C4702: unreachable code +# pragma warning(disable: 4522) // warning C4522: multiple assignment operators specified +#elif defined(__GNUG__) && !defined(__clang__) +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wunused-but-set-parameter" +# pragma GCC diagnostic ignored "-Wunused-but-set-variable" +# pragma GCC diagnostic ignored "-Wmissing-field-initializers" +# pragma GCC diagnostic ignored "-Wstrict-aliasing" +# pragma GCC diagnostic ignored "-Wattributes" +# if __GNUC__ >= 7 +# pragma GCC diagnostic ignored "-Wnoexcept-type" +# endif +#endif + +#if defined(__GNUG__) && !defined(__clang__) + #include +#endif + + +#include "attr.h" +#include "options.h" +#include "detail/class.h" +#include "detail/init.h" + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) + +/// Wraps an arbitrary C++ function/method/lambda function/.. into a callable Python object +class cpp_function : public function { +public: + cpp_function() { } + cpp_function(std::nullptr_t) { } + + /// Construct a cpp_function from a vanilla function pointer + template + cpp_function(Return (*f)(Args...), const Extra&... extra) { + initialize(f, f, extra...); + } + + /// Construct a cpp_function from a lambda function (possibly with internal state) + template ::value>> + cpp_function(Func &&f, const Extra&... extra) { + initialize(std::forward(f), + (detail::function_signature_t *) nullptr, extra...); + } + + /// Construct a cpp_function from a class method (non-const) + template + cpp_function(Return (Class::*f)(Arg...), const Extra&... extra) { + initialize([f](Class *c, Arg... args) -> Return { return (c->*f)(args...); }, + (Return (*) (Class *, Arg...)) nullptr, extra...); + } + + /// Construct a cpp_function from a class method (const) + template + cpp_function(Return (Class::*f)(Arg...) const, const Extra&... extra) { + initialize([f](const Class *c, Arg... args) -> Return { return (c->*f)(args...); }, + (Return (*)(const Class *, Arg ...)) nullptr, extra...); + } + + /// Return the function name + object name() const { return attr("__name__"); } + +protected: + /// Space optimization: don't inline this frequently instantiated fragment + PYBIND11_NOINLINE detail::function_record *make_function_record() { + return new detail::function_record(); + } + + /// Special internal constructor for functors, lambda functions, etc. + template + void initialize(Func &&f, Return (*)(Args...), const Extra&... extra) { + using namespace detail; + struct capture { remove_reference_t f; }; + + /* Store the function including any extra state it might have (e.g. a lambda capture object) */ + auto rec = make_function_record(); + + /* Store the capture object directly in the function record if there is enough space */ + if (sizeof(capture) <= sizeof(rec->data)) { + /* Without these pragmas, GCC warns that there might not be + enough space to use the placement new operator. However, the + 'if' statement above ensures that this is the case. */ +#if defined(__GNUG__) && !defined(__clang__) && __GNUC__ >= 6 +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wplacement-new" +#endif + new ((capture *) &rec->data) capture { std::forward(f) }; +#if defined(__GNUG__) && !defined(__clang__) && __GNUC__ >= 6 +# pragma GCC diagnostic pop +#endif + if (!std::is_trivially_destructible::value) + rec->free_data = [](function_record *r) { ((capture *) &r->data)->~capture(); }; + } else { + rec->data[0] = new capture { std::forward(f) }; + rec->free_data = [](function_record *r) { delete ((capture *) r->data[0]); }; + } + + /* Type casters for the function arguments and return value */ + using cast_in = argument_loader; + using cast_out = make_caster< + conditional_t::value, void_type, Return> + >; + + static_assert(expected_num_args(sizeof...(Args), cast_in::has_args, cast_in::has_kwargs), + "The number of argument annotations does not match the number of function arguments"); + + /* Dispatch code which converts function arguments and performs the actual function call */ + rec->impl = [](function_call &call) -> handle { + cast_in args_converter; + + /* Try to cast the function arguments into the C++ domain */ + if (!args_converter.load_args(call)) + return PYBIND11_TRY_NEXT_OVERLOAD; + + /* Invoke call policy pre-call hook */ + process_attributes::precall(call); + + /* Get a pointer to the capture object */ + auto data = (sizeof(capture) <= sizeof(call.func.data) + ? &call.func.data : call.func.data[0]); + capture *cap = const_cast(reinterpret_cast(data)); + + /* Override policy for rvalues -- usually to enforce rvp::move on an rvalue */ + return_value_policy policy = return_value_policy_override::policy(call.func.policy); + + /* Function scope guard -- defaults to the compile-to-nothing `void_type` */ + using Guard = extract_guard_t; + + /* Perform the function call */ + handle result = cast_out::cast( + std::move(args_converter).template call(cap->f), policy, call.parent); + + /* Invoke call policy post-call hook */ + process_attributes::postcall(call, result); + + return result; + }; + + /* Process any user-provided function attributes */ + process_attributes::init(extra..., rec); + + /* Generate a readable signature describing the function's arguments and return value types */ + static constexpr auto signature = _("(") + cast_in::arg_names + _(") -> ") + cast_out::name; + PYBIND11_DESCR_CONSTEXPR auto types = decltype(signature)::types(); + + /* Register the function with Python from generic (non-templated) code */ + initialize_generic(rec, signature.text, types.data(), sizeof...(Args)); + + if (cast_in::has_args) rec->has_args = true; + if (cast_in::has_kwargs) rec->has_kwargs = true; + + /* Stash some additional information used by an important optimization in 'functional.h' */ + using FunctionType = Return (*)(Args...); + constexpr bool is_function_ptr = + std::is_convertible::value && + sizeof(capture) == sizeof(void *); + if (is_function_ptr) { + rec->is_stateless = true; + rec->data[1] = const_cast(reinterpret_cast(&typeid(FunctionType))); + } + } + + /// Register a function call with Python (generic non-templated code goes here) + void initialize_generic(detail::function_record *rec, const char *text, + const std::type_info *const *types, size_t args) { + + /* Create copies of all referenced C-style strings */ + rec->name = strdup(rec->name ? rec->name : ""); + if (rec->doc) rec->doc = strdup(rec->doc); + for (auto &a: rec->args) { + if (a.name) + a.name = strdup(a.name); + if (a.descr) + a.descr = strdup(a.descr); + else if (a.value) + a.descr = strdup(a.value.attr("__repr__")().cast().c_str()); + } + + rec->is_constructor = !strcmp(rec->name, "__init__") || !strcmp(rec->name, "__setstate__"); + +#if !defined(NDEBUG) && !defined(PYBIND11_DISABLE_NEW_STYLE_INIT_WARNING) + if (rec->is_constructor && !rec->is_new_style_constructor) { + const auto class_name = std::string(((PyTypeObject *) rec->scope.ptr())->tp_name); + const auto func_name = std::string(rec->name); + PyErr_WarnEx( + PyExc_FutureWarning, + ("pybind11-bound class '" + class_name + "' is using an old-style " + "placement-new '" + func_name + "' which has been deprecated. See " + "the upgrade guide in pybind11's docs. This message is only visible " + "when compiled in debug mode.").c_str(), 0 + ); + } +#endif + + /* Generate a proper function signature */ + std::string signature; + size_t type_index = 0, arg_index = 0; + for (auto *pc = text; *pc != '\0'; ++pc) { + const auto c = *pc; + + if (c == '{') { + // Write arg name for everything except *args and **kwargs. + if (*(pc + 1) == '*') + continue; + + if (arg_index < rec->args.size() && rec->args[arg_index].name) { + signature += rec->args[arg_index].name; + } else if (arg_index == 0 && rec->is_method) { + signature += "self"; + } else { + signature += "arg" + std::to_string(arg_index - (rec->is_method ? 1 : 0)); + } + signature += ": "; + } else if (c == '}') { + // Write default value if available. + if (arg_index < rec->args.size() && rec->args[arg_index].descr) { + signature += " = "; + signature += rec->args[arg_index].descr; + } + arg_index++; + } else if (c == '%') { + const std::type_info *t = types[type_index++]; + if (!t) + pybind11_fail("Internal error while parsing type signature (1)"); + if (auto tinfo = detail::get_type_info(*t)) { + handle th((PyObject *) tinfo->type); + signature += + th.attr("__module__").cast() + "." + + th.attr("__qualname__").cast(); // Python 3.3+, but we backport it to earlier versions + } else if (rec->is_new_style_constructor && arg_index == 0) { + // A new-style `__init__` takes `self` as `value_and_holder`. + // Rewrite it to the proper class type. + signature += + rec->scope.attr("__module__").cast() + "." + + rec->scope.attr("__qualname__").cast(); + } else { + std::string tname(t->name()); + detail::clean_type_id(tname); + signature += tname; + } + } else { + signature += c; + } + } + if (arg_index != args || types[type_index] != nullptr) + pybind11_fail("Internal error while parsing type signature (2)"); + +#if PY_MAJOR_VERSION < 3 + if (strcmp(rec->name, "__next__") == 0) { + std::free(rec->name); + rec->name = strdup("next"); + } else if (strcmp(rec->name, "__bool__") == 0) { + std::free(rec->name); + rec->name = strdup("__nonzero__"); + } +#endif + rec->signature = strdup(signature.c_str()); + rec->args.shrink_to_fit(); + rec->nargs = (std::uint16_t) args; + + if (rec->sibling && PYBIND11_INSTANCE_METHOD_CHECK(rec->sibling.ptr())) + rec->sibling = PYBIND11_INSTANCE_METHOD_GET_FUNCTION(rec->sibling.ptr()); + + detail::function_record *chain = nullptr, *chain_start = rec; + if (rec->sibling) { + if (PyCFunction_Check(rec->sibling.ptr())) { + auto rec_capsule = reinterpret_borrow(PyCFunction_GET_SELF(rec->sibling.ptr())); + chain = (detail::function_record *) rec_capsule; + /* Never append a method to an overload chain of a parent class; + instead, hide the parent's overloads in this case */ + if (!chain->scope.is(rec->scope)) + chain = nullptr; + } + // Don't trigger for things like the default __init__, which are wrapper_descriptors that we are intentionally replacing + else if (!rec->sibling.is_none() && rec->name[0] != '_') + pybind11_fail("Cannot overload existing non-function object \"" + std::string(rec->name) + + "\" with a function of the same name"); + } + + if (!chain) { + /* No existing overload was found, create a new function object */ + rec->def = new PyMethodDef(); + std::memset(rec->def, 0, sizeof(PyMethodDef)); + rec->def->ml_name = rec->name; + rec->def->ml_meth = reinterpret_cast(reinterpret_cast(*dispatcher)); + rec->def->ml_flags = METH_VARARGS | METH_KEYWORDS; + + capsule rec_capsule(rec, [](void *ptr) { + destruct((detail::function_record *) ptr); + }); + + object scope_module; + if (rec->scope) { + if (hasattr(rec->scope, "__module__")) { + scope_module = rec->scope.attr("__module__"); + } else if (hasattr(rec->scope, "__name__")) { + scope_module = rec->scope.attr("__name__"); + } + } + + m_ptr = PyCFunction_NewEx(rec->def, rec_capsule.ptr(), scope_module.ptr()); + if (!m_ptr) + pybind11_fail("cpp_function::cpp_function(): Could not allocate function object"); + } else { + /* Append at the end of the overload chain */ + m_ptr = rec->sibling.ptr(); + inc_ref(); + chain_start = chain; + if (chain->is_method != rec->is_method) + pybind11_fail("overloading a method with both static and instance methods is not supported; " + #if defined(NDEBUG) + "compile in debug mode for more details" + #else + "error while attempting to bind " + std::string(rec->is_method ? "instance" : "static") + " method " + + std::string(pybind11::str(rec->scope.attr("__name__"))) + "." + std::string(rec->name) + signature + #endif + ); + while (chain->next) + chain = chain->next; + chain->next = rec; + } + + std::string signatures; + int index = 0; + /* Create a nice pydoc rec including all signatures and + docstrings of the functions in the overload chain */ + if (chain && options::show_function_signatures()) { + // First a generic signature + signatures += rec->name; + signatures += "(*args, **kwargs)\n"; + signatures += "Overloaded function.\n\n"; + } + // Then specific overload signatures + bool first_user_def = true; + for (auto it = chain_start; it != nullptr; it = it->next) { + if (options::show_function_signatures()) { + if (index > 0) signatures += "\n"; + if (chain) + signatures += std::to_string(++index) + ". "; + signatures += rec->name; + signatures += it->signature; + signatures += "\n"; + } + if (it->doc && strlen(it->doc) > 0 && options::show_user_defined_docstrings()) { + // If we're appending another docstring, and aren't printing function signatures, we + // need to append a newline first: + if (!options::show_function_signatures()) { + if (first_user_def) first_user_def = false; + else signatures += "\n"; + } + if (options::show_function_signatures()) signatures += "\n"; + signatures += it->doc; + if (options::show_function_signatures()) signatures += "\n"; + } + } + + /* Install docstring */ + PyCFunctionObject *func = (PyCFunctionObject *) m_ptr; + if (func->m_ml->ml_doc) + std::free(const_cast(func->m_ml->ml_doc)); + func->m_ml->ml_doc = strdup(signatures.c_str()); + + if (rec->is_method) { + m_ptr = PYBIND11_INSTANCE_METHOD_NEW(m_ptr, rec->scope.ptr()); + if (!m_ptr) + pybind11_fail("cpp_function::cpp_function(): Could not allocate instance method object"); + Py_DECREF(func); + } + } + + /// When a cpp_function is GCed, release any memory allocated by pybind11 + static void destruct(detail::function_record *rec) { + while (rec) { + detail::function_record *next = rec->next; + if (rec->free_data) + rec->free_data(rec); + std::free((char *) rec->name); + std::free((char *) rec->doc); + std::free((char *) rec->signature); + for (auto &arg: rec->args) { + std::free(const_cast(arg.name)); + std::free(const_cast(arg.descr)); + arg.value.dec_ref(); + } + if (rec->def) { + std::free(const_cast(rec->def->ml_doc)); + delete rec->def; + } + delete rec; + rec = next; + } + } + + /// Main dispatch logic for calls to functions bound using pybind11 + static PyObject *dispatcher(PyObject *self, PyObject *args_in, PyObject *kwargs_in) { + using namespace detail; + + /* Iterator over the list of potentially admissible overloads */ + const function_record *overloads = (function_record *) PyCapsule_GetPointer(self, nullptr), + *it = overloads; + + /* Need to know how many arguments + keyword arguments there are to pick the right overload */ + const size_t n_args_in = (size_t) PyTuple_GET_SIZE(args_in); + + handle parent = n_args_in > 0 ? PyTuple_GET_ITEM(args_in, 0) : nullptr, + result = PYBIND11_TRY_NEXT_OVERLOAD; + + auto self_value_and_holder = value_and_holder(); + if (overloads->is_constructor) { + const auto tinfo = get_type_info((PyTypeObject *) overloads->scope.ptr()); + const auto pi = reinterpret_cast(parent.ptr()); + self_value_and_holder = pi->get_value_and_holder(tinfo, false); + + if (!self_value_and_holder.type || !self_value_and_holder.inst) { + PyErr_SetString(PyExc_TypeError, "__init__(self, ...) called with invalid `self` argument"); + return nullptr; + } + + // If this value is already registered it must mean __init__ is invoked multiple times; + // we really can't support that in C++, so just ignore the second __init__. + if (self_value_and_holder.instance_registered()) + return none().release().ptr(); + } + + try { + // We do this in two passes: in the first pass, we load arguments with `convert=false`; + // in the second, we allow conversion (except for arguments with an explicit + // py::arg().noconvert()). This lets us prefer calls without conversion, with + // conversion as a fallback. + std::vector second_pass; + + // However, if there are no overloads, we can just skip the no-convert pass entirely + const bool overloaded = it != nullptr && it->next != nullptr; + + for (; it != nullptr; it = it->next) { + + /* For each overload: + 1. Copy all positional arguments we were given, also checking to make sure that + named positional arguments weren't *also* specified via kwarg. + 2. If we weren't given enough, try to make up the omitted ones by checking + whether they were provided by a kwarg matching the `py::arg("name")` name. If + so, use it (and remove it from kwargs; if not, see if the function binding + provided a default that we can use. + 3. Ensure that either all keyword arguments were "consumed", or that the function + takes a kwargs argument to accept unconsumed kwargs. + 4. Any positional arguments still left get put into a tuple (for args), and any + leftover kwargs get put into a dict. + 5. Pack everything into a vector; if we have py::args or py::kwargs, they are an + extra tuple or dict at the end of the positional arguments. + 6. Call the function call dispatcher (function_record::impl) + + If one of these fail, move on to the next overload and keep trying until we get a + result other than PYBIND11_TRY_NEXT_OVERLOAD. + */ + + const function_record &func = *it; + size_t pos_args = func.nargs; // Number of positional arguments that we need + if (func.has_args) --pos_args; // (but don't count py::args + if (func.has_kwargs) --pos_args; // or py::kwargs) + + if (!func.has_args && n_args_in > pos_args) + continue; // Too many arguments for this overload + + if (n_args_in < pos_args && func.args.size() < pos_args) + continue; // Not enough arguments given, and not enough defaults to fill in the blanks + + function_call call(func, parent); + + size_t args_to_copy = std::min(pos_args, n_args_in); + size_t args_copied = 0; + + // 0. Inject new-style `self` argument + if (func.is_new_style_constructor) { + // The `value` may have been preallocated by an old-style `__init__` + // if it was a preceding candidate for overload resolution. + if (self_value_and_holder) + self_value_and_holder.type->dealloc(self_value_and_holder); + + call.init_self = PyTuple_GET_ITEM(args_in, 0); + call.args.push_back(reinterpret_cast(&self_value_and_holder)); + call.args_convert.push_back(false); + ++args_copied; + } + + // 1. Copy any position arguments given. + bool bad_arg = false; + for (; args_copied < args_to_copy; ++args_copied) { + const argument_record *arg_rec = args_copied < func.args.size() ? &func.args[args_copied] : nullptr; + if (kwargs_in && arg_rec && arg_rec->name && PyDict_GetItemString(kwargs_in, arg_rec->name)) { + bad_arg = true; + break; + } + + handle arg(PyTuple_GET_ITEM(args_in, args_copied)); + if (arg_rec && !arg_rec->none && arg.is_none()) { + bad_arg = true; + break; + } + call.args.push_back(arg); + call.args_convert.push_back(arg_rec ? arg_rec->convert : true); + } + if (bad_arg) + continue; // Maybe it was meant for another overload (issue #688) + + // We'll need to copy this if we steal some kwargs for defaults + dict kwargs = reinterpret_borrow(kwargs_in); + + // 2. Check kwargs and, failing that, defaults that may help complete the list + if (args_copied < pos_args) { + bool copied_kwargs = false; + + for (; args_copied < pos_args; ++args_copied) { + const auto &arg = func.args[args_copied]; + + handle value; + if (kwargs_in && arg.name) + value = PyDict_GetItemString(kwargs.ptr(), arg.name); + + if (value) { + // Consume a kwargs value + if (!copied_kwargs) { + kwargs = reinterpret_steal(PyDict_Copy(kwargs.ptr())); + copied_kwargs = true; + } + PyDict_DelItemString(kwargs.ptr(), arg.name); + } else if (arg.value) { + value = arg.value; + } + + if (value) { + call.args.push_back(value); + call.args_convert.push_back(arg.convert); + } + else + break; + } + + if (args_copied < pos_args) + continue; // Not enough arguments, defaults, or kwargs to fill the positional arguments + } + + // 3. Check everything was consumed (unless we have a kwargs arg) + if (kwargs && kwargs.size() > 0 && !func.has_kwargs) + continue; // Unconsumed kwargs, but no py::kwargs argument to accept them + + // 4a. If we have a py::args argument, create a new tuple with leftovers + if (func.has_args) { + tuple extra_args; + if (args_to_copy == 0) { + // We didn't copy out any position arguments from the args_in tuple, so we + // can reuse it directly without copying: + extra_args = reinterpret_borrow(args_in); + } else if (args_copied >= n_args_in) { + extra_args = tuple(0); + } else { + size_t args_size = n_args_in - args_copied; + extra_args = tuple(args_size); + for (size_t i = 0; i < args_size; ++i) { + extra_args[i] = PyTuple_GET_ITEM(args_in, args_copied + i); + } + } + call.args.push_back(extra_args); + call.args_convert.push_back(false); + call.args_ref = std::move(extra_args); + } + + // 4b. If we have a py::kwargs, pass on any remaining kwargs + if (func.has_kwargs) { + if (!kwargs.ptr()) + kwargs = dict(); // If we didn't get one, send an empty one + call.args.push_back(kwargs); + call.args_convert.push_back(false); + call.kwargs_ref = std::move(kwargs); + } + + // 5. Put everything in a vector. Not technically step 5, we've been building it + // in `call.args` all along. + #if !defined(NDEBUG) + if (call.args.size() != func.nargs || call.args_convert.size() != func.nargs) + pybind11_fail("Internal error: function call dispatcher inserted wrong number of arguments!"); + #endif + + std::vector second_pass_convert; + if (overloaded) { + // We're in the first no-convert pass, so swap out the conversion flags for a + // set of all-false flags. If the call fails, we'll swap the flags back in for + // the conversion-allowed call below. + second_pass_convert.resize(func.nargs, false); + call.args_convert.swap(second_pass_convert); + } + + // 6. Call the function. + try { + loader_life_support guard{}; + result = func.impl(call); + } catch (reference_cast_error &) { + result = PYBIND11_TRY_NEXT_OVERLOAD; + } + + if (result.ptr() != PYBIND11_TRY_NEXT_OVERLOAD) + break; + + if (overloaded) { + // The (overloaded) call failed; if the call has at least one argument that + // permits conversion (i.e. it hasn't been explicitly specified `.noconvert()`) + // then add this call to the list of second pass overloads to try. + for (size_t i = func.is_method ? 1 : 0; i < pos_args; i++) { + if (second_pass_convert[i]) { + // Found one: swap the converting flags back in and store the call for + // the second pass. + call.args_convert.swap(second_pass_convert); + second_pass.push_back(std::move(call)); + break; + } + } + } + } + + if (overloaded && !second_pass.empty() && result.ptr() == PYBIND11_TRY_NEXT_OVERLOAD) { + // The no-conversion pass finished without success, try again with conversion allowed + for (auto &call : second_pass) { + try { + loader_life_support guard{}; + result = call.func.impl(call); + } catch (reference_cast_error &) { + result = PYBIND11_TRY_NEXT_OVERLOAD; + } + + if (result.ptr() != PYBIND11_TRY_NEXT_OVERLOAD) { + // The error reporting logic below expects 'it' to be valid, as it would be + // if we'd encountered this failure in the first-pass loop. + if (!result) + it = &call.func; + break; + } + } + } + } catch (error_already_set &e) { + e.restore(); + return nullptr; +#if defined(__GNUG__) && !defined(__clang__) + } catch ( abi::__forced_unwind& ) { + throw; +#endif + } catch (...) { + /* When an exception is caught, give each registered exception + translator a chance to translate it to a Python exception + in reverse order of registration. + + A translator may choose to do one of the following: + + - catch the exception and call PyErr_SetString or PyErr_SetObject + to set a standard (or custom) Python exception, or + - do nothing and let the exception fall through to the next translator, or + - delegate translation to the next translator by throwing a new type of exception. */ + + auto last_exception = std::current_exception(); + auto ®istered_exception_translators = get_internals().registered_exception_translators; + for (auto& translator : registered_exception_translators) { + try { + translator(last_exception); + } catch (...) { + last_exception = std::current_exception(); + continue; + } + return nullptr; + } + PyErr_SetString(PyExc_SystemError, "Exception escaped from default exception translator!"); + return nullptr; + } + + auto append_note_if_missing_header_is_suspected = [](std::string &msg) { + if (msg.find("std::") != std::string::npos) { + msg += "\n\n" + "Did you forget to `#include `? Or ,\n" + ", , etc. Some automatic\n" + "conversions are optional and require extra headers to be included\n" + "when compiling your pybind11 module."; + } + }; + + if (result.ptr() == PYBIND11_TRY_NEXT_OVERLOAD) { + if (overloads->is_operator) + return handle(Py_NotImplemented).inc_ref().ptr(); + + std::string msg = std::string(overloads->name) + "(): incompatible " + + std::string(overloads->is_constructor ? "constructor" : "function") + + " arguments. The following argument types are supported:\n"; + + int ctr = 0; + for (const function_record *it2 = overloads; it2 != nullptr; it2 = it2->next) { + msg += " "+ std::to_string(++ctr) + ". "; + + bool wrote_sig = false; + if (overloads->is_constructor) { + // For a constructor, rewrite `(self: Object, arg0, ...) -> NoneType` as `Object(arg0, ...)` + std::string sig = it2->signature; + size_t start = sig.find('(') + 7; // skip "(self: " + if (start < sig.size()) { + // End at the , for the next argument + size_t end = sig.find(", "), next = end + 2; + size_t ret = sig.rfind(" -> "); + // Or the ), if there is no comma: + if (end >= sig.size()) next = end = sig.find(')'); + if (start < end && next < sig.size()) { + msg.append(sig, start, end - start); + msg += '('; + msg.append(sig, next, ret - next); + wrote_sig = true; + } + } + } + if (!wrote_sig) msg += it2->signature; + + msg += "\n"; + } + msg += "\nInvoked with: "; + auto args_ = reinterpret_borrow(args_in); + bool some_args = false; + for (size_t ti = overloads->is_constructor ? 1 : 0; ti < args_.size(); ++ti) { + if (!some_args) some_args = true; + else msg += ", "; + msg += pybind11::repr(args_[ti]); + } + if (kwargs_in) { + auto kwargs = reinterpret_borrow(kwargs_in); + if (kwargs.size() > 0) { + if (some_args) msg += "; "; + msg += "kwargs: "; + bool first = true; + for (auto kwarg : kwargs) { + if (first) first = false; + else msg += ", "; + msg += pybind11::str("{}={!r}").format(kwarg.first, kwarg.second); + } + } + } + + append_note_if_missing_header_is_suspected(msg); + PyErr_SetString(PyExc_TypeError, msg.c_str()); + return nullptr; + } else if (!result) { + std::string msg = "Unable to convert function return value to a " + "Python type! The signature was\n\t"; + msg += it->signature; + append_note_if_missing_header_is_suspected(msg); + PyErr_SetString(PyExc_TypeError, msg.c_str()); + return nullptr; + } else { + if (overloads->is_constructor && !self_value_and_holder.holder_constructed()) { + auto *pi = reinterpret_cast(parent.ptr()); + self_value_and_holder.type->init_instance(pi, nullptr); + } + return result.ptr(); + } + } +}; + +/// Wrapper for Python extension modules +class module : public object { +public: + PYBIND11_OBJECT_DEFAULT(module, object, PyModule_Check) + + /// Create a new top-level Python module with the given name and docstring + explicit module(const char *name, const char *doc = nullptr) { + if (!options::show_user_defined_docstrings()) doc = nullptr; +#if PY_MAJOR_VERSION >= 3 + PyModuleDef *def = new PyModuleDef(); + std::memset(def, 0, sizeof(PyModuleDef)); + def->m_name = name; + def->m_doc = doc; + def->m_size = -1; + Py_INCREF(def); + m_ptr = PyModule_Create(def); +#else + m_ptr = Py_InitModule3(name, nullptr, doc); +#endif + if (m_ptr == nullptr) + pybind11_fail("Internal error in module::module()"); + inc_ref(); + } + + /** \rst + Create Python binding for a new function within the module scope. ``Func`` + can be a plain C++ function, a function pointer, or a lambda function. For + details on the ``Extra&& ... extra`` argument, see section :ref:`extras`. + \endrst */ + template + module &def(const char *name_, Func &&f, const Extra& ... extra) { + cpp_function func(std::forward(f), name(name_), scope(*this), + sibling(getattr(*this, name_, none())), extra...); + // NB: allow overwriting here because cpp_function sets up a chain with the intention of + // overwriting (and has already checked internally that it isn't overwriting non-functions). + add_object(name_, func, true /* overwrite */); + return *this; + } + + /** \rst + Create and return a new Python submodule with the given name and docstring. + This also works recursively, i.e. + + .. code-block:: cpp + + py::module m("example", "pybind11 example plugin"); + py::module m2 = m.def_submodule("sub", "A submodule of 'example'"); + py::module m3 = m2.def_submodule("subsub", "A submodule of 'example.sub'"); + \endrst */ + module def_submodule(const char *name, const char *doc = nullptr) { + std::string full_name = std::string(PyModule_GetName(m_ptr)) + + std::string(".") + std::string(name); + auto result = reinterpret_borrow(PyImport_AddModule(full_name.c_str())); + if (doc && options::show_user_defined_docstrings()) + result.attr("__doc__") = pybind11::str(doc); + attr(name) = result; + return result; + } + + /// Import and return a module or throws `error_already_set`. + static module import(const char *name) { + PyObject *obj = PyImport_ImportModule(name); + if (!obj) + throw error_already_set(); + return reinterpret_steal(obj); + } + + /// Reload the module or throws `error_already_set`. + void reload() { + PyObject *obj = PyImport_ReloadModule(ptr()); + if (!obj) + throw error_already_set(); + *this = reinterpret_steal(obj); + } + + // Adds an object to the module using the given name. Throws if an object with the given name + // already exists. + // + // overwrite should almost always be false: attempting to overwrite objects that pybind11 has + // established will, in most cases, break things. + PYBIND11_NOINLINE void add_object(const char *name, handle obj, bool overwrite = false) { + if (!overwrite && hasattr(*this, name)) + pybind11_fail("Error during initialization: multiple incompatible definitions with name \"" + + std::string(name) + "\""); + + PyModule_AddObject(ptr(), name, obj.inc_ref().ptr() /* steals a reference */); + } +}; + +/// \ingroup python_builtins +/// Return a dictionary representing the global variables in the current execution frame, +/// or ``__main__.__dict__`` if there is no frame (usually when the interpreter is embedded). +inline dict globals() { + PyObject *p = PyEval_GetGlobals(); + return reinterpret_borrow(p ? p : module::import("__main__").attr("__dict__").ptr()); +} + +NAMESPACE_BEGIN(detail) +/// Generic support for creating new Python heap types +class generic_type : public object { + template friend class class_; +public: + PYBIND11_OBJECT_DEFAULT(generic_type, object, PyType_Check) +protected: + void initialize(const type_record &rec) { + if (rec.scope && hasattr(rec.scope, rec.name)) + pybind11_fail("generic_type: cannot initialize type \"" + std::string(rec.name) + + "\": an object with that name is already defined"); + + if (rec.module_local ? get_local_type_info(*rec.type) : get_global_type_info(*rec.type)) + pybind11_fail("generic_type: type \"" + std::string(rec.name) + + "\" is already registered!"); + + m_ptr = make_new_python_type(rec); + + /* Register supplemental type information in C++ dict */ + auto *tinfo = new detail::type_info(); + tinfo->type = (PyTypeObject *) m_ptr; + tinfo->cpptype = rec.type; + tinfo->type_size = rec.type_size; + tinfo->type_align = rec.type_align; + tinfo->operator_new = rec.operator_new; + tinfo->holder_size_in_ptrs = size_in_ptrs(rec.holder_size); + tinfo->init_instance = rec.init_instance; + tinfo->dealloc = rec.dealloc; + tinfo->simple_type = true; + tinfo->simple_ancestors = true; + tinfo->default_holder = rec.default_holder; + tinfo->module_local = rec.module_local; + + auto &internals = get_internals(); + auto tindex = std::type_index(*rec.type); + tinfo->direct_conversions = &internals.direct_conversions[tindex]; + if (rec.module_local) + registered_local_types_cpp()[tindex] = tinfo; + else + internals.registered_types_cpp[tindex] = tinfo; + internals.registered_types_py[(PyTypeObject *) m_ptr] = { tinfo }; + + if (rec.bases.size() > 1 || rec.multiple_inheritance) { + mark_parents_nonsimple(tinfo->type); + tinfo->simple_ancestors = false; + } + else if (rec.bases.size() == 1) { + auto parent_tinfo = get_type_info((PyTypeObject *) rec.bases[0].ptr()); + tinfo->simple_ancestors = parent_tinfo->simple_ancestors; + } + + if (rec.module_local) { + // Stash the local typeinfo and loader so that external modules can access it. + tinfo->module_local_load = &type_caster_generic::local_load; + setattr(m_ptr, PYBIND11_MODULE_LOCAL_ID, capsule(tinfo)); + } + } + + /// Helper function which tags all parents of a type using mult. inheritance + void mark_parents_nonsimple(PyTypeObject *value) { + auto t = reinterpret_borrow(value->tp_bases); + for (handle h : t) { + auto tinfo2 = get_type_info((PyTypeObject *) h.ptr()); + if (tinfo2) + tinfo2->simple_type = false; + mark_parents_nonsimple((PyTypeObject *) h.ptr()); + } + } + + void install_buffer_funcs( + buffer_info *(*get_buffer)(PyObject *, void *), + void *get_buffer_data) { + PyHeapTypeObject *type = (PyHeapTypeObject*) m_ptr; + auto tinfo = detail::get_type_info(&type->ht_type); + + if (!type->ht_type.tp_as_buffer) + pybind11_fail( + "To be able to register buffer protocol support for the type '" + + std::string(tinfo->type->tp_name) + + "' the associated class<>(..) invocation must " + "include the pybind11::buffer_protocol() annotation!"); + + tinfo->get_buffer = get_buffer; + tinfo->get_buffer_data = get_buffer_data; + } + + // rec_func must be set for either fget or fset. + void def_property_static_impl(const char *name, + handle fget, handle fset, + detail::function_record *rec_func) { + const auto is_static = rec_func && !(rec_func->is_method && rec_func->scope); + const auto has_doc = rec_func && rec_func->doc && pybind11::options::show_user_defined_docstrings(); + auto property = handle((PyObject *) (is_static ? get_internals().static_property_type + : &PyProperty_Type)); + attr(name) = property(fget.ptr() ? fget : none(), + fset.ptr() ? fset : none(), + /*deleter*/none(), + pybind11::str(has_doc ? rec_func->doc : "")); + } +}; + +/// Set the pointer to operator new if it exists. The cast is needed because it can be overloaded. +template (T::operator new))>> +void set_operator_new(type_record *r) { r->operator_new = &T::operator new; } + +template void set_operator_new(...) { } + +template struct has_operator_delete : std::false_type { }; +template struct has_operator_delete(T::operator delete))>> + : std::true_type { }; +template struct has_operator_delete_size : std::false_type { }; +template struct has_operator_delete_size(T::operator delete))>> + : std::true_type { }; +/// Call class-specific delete if it exists or global otherwise. Can also be an overload set. +template ::value, int> = 0> +void call_operator_delete(T *p, size_t, size_t) { T::operator delete(p); } +template ::value && has_operator_delete_size::value, int> = 0> +void call_operator_delete(T *p, size_t s, size_t) { T::operator delete(p, s); } + +inline void call_operator_delete(void *p, size_t s, size_t a) { + (void)s; (void)a; +#if defined(PYBIND11_CPP17) + if (a > __STDCPP_DEFAULT_NEW_ALIGNMENT__) + ::operator delete(p, s, std::align_val_t(a)); + else + ::operator delete(p, s); +#else + ::operator delete(p); +#endif +} + +NAMESPACE_END(detail) + +/// Given a pointer to a member function, cast it to its `Derived` version. +/// Forward everything else unchanged. +template +auto method_adaptor(F &&f) -> decltype(std::forward(f)) { return std::forward(f); } + +template +auto method_adaptor(Return (Class::*pmf)(Args...)) -> Return (Derived::*)(Args...) { + static_assert(detail::is_accessible_base_of::value, + "Cannot bind an inaccessible base class method; use a lambda definition instead"); + return pmf; +} + +template +auto method_adaptor(Return (Class::*pmf)(Args...) const) -> Return (Derived::*)(Args...) const { + static_assert(detail::is_accessible_base_of::value, + "Cannot bind an inaccessible base class method; use a lambda definition instead"); + return pmf; +} + +template +class class_ : public detail::generic_type { + template using is_holder = detail::is_holder_type; + template using is_subtype = detail::is_strict_base_of; + template using is_base = detail::is_strict_base_of; + // struct instead of using here to help MSVC: + template struct is_valid_class_option : + detail::any_of, is_subtype, is_base> {}; + +public: + using type = type_; + using type_alias = detail::exactly_one_t; + constexpr static bool has_alias = !std::is_void::value; + using holder_type = detail::exactly_one_t, options...>; + + static_assert(detail::all_of...>::value, + "Unknown/invalid class_ template parameters provided"); + + static_assert(!has_alias || std::is_polymorphic::value, + "Cannot use an alias class with a non-polymorphic type"); + + PYBIND11_OBJECT(class_, generic_type, PyType_Check) + + template + class_(handle scope, const char *name, const Extra &... extra) { + using namespace detail; + + // MI can only be specified via class_ template options, not constructor parameters + static_assert( + none_of...>::value || // no base class arguments, or: + ( constexpr_sum(is_pyobject::value...) == 1 && // Exactly one base + constexpr_sum(is_base::value...) == 0 && // no template option bases + none_of...>::value), // no multiple_inheritance attr + "Error: multiple inheritance bases must be specified via class_ template options"); + + type_record record; + record.scope = scope; + record.name = name; + record.type = &typeid(type); + record.type_size = sizeof(conditional_t); + record.type_align = alignof(conditional_t&); + record.holder_size = sizeof(holder_type); + record.init_instance = init_instance; + record.dealloc = dealloc; + record.default_holder = detail::is_instantiation::value; + + set_operator_new(&record); + + /* Register base classes specified via template arguments to class_, if any */ + PYBIND11_EXPAND_SIDE_EFFECTS(add_base(record)); + + /* Process optional arguments, if any */ + process_attributes::init(extra..., &record); + + generic_type::initialize(record); + + if (has_alias) { + auto &instances = record.module_local ? registered_local_types_cpp() : get_internals().registered_types_cpp; + instances[std::type_index(typeid(type_alias))] = instances[std::type_index(typeid(type))]; + } + } + + template ::value, int> = 0> + static void add_base(detail::type_record &rec) { + rec.add_base(typeid(Base), [](void *src) -> void * { + return static_cast(reinterpret_cast(src)); + }); + } + + template ::value, int> = 0> + static void add_base(detail::type_record &) { } + + template + class_ &def(const char *name_, Func&& f, const Extra&... extra) { + cpp_function cf(method_adaptor(std::forward(f)), name(name_), is_method(*this), + sibling(getattr(*this, name_, none())), extra...); + attr(cf.name()) = cf; + return *this; + } + + template class_ & + def_static(const char *name_, Func &&f, const Extra&... extra) { + static_assert(!std::is_member_function_pointer::value, + "def_static(...) called with a non-static member function pointer"); + cpp_function cf(std::forward(f), name(name_), scope(*this), + sibling(getattr(*this, name_, none())), extra...); + attr(cf.name()) = staticmethod(cf); + return *this; + } + + template + class_ &def(const detail::op_ &op, const Extra&... extra) { + op.execute(*this, extra...); + return *this; + } + + template + class_ & def_cast(const detail::op_ &op, const Extra&... extra) { + op.execute_cast(*this, extra...); + return *this; + } + + template + class_ &def(const detail::initimpl::constructor &init, const Extra&... extra) { + init.execute(*this, extra...); + return *this; + } + + template + class_ &def(const detail::initimpl::alias_constructor &init, const Extra&... extra) { + init.execute(*this, extra...); + return *this; + } + + template + class_ &def(detail::initimpl::factory &&init, const Extra&... extra) { + std::move(init).execute(*this, extra...); + return *this; + } + + template + class_ &def(detail::initimpl::pickle_factory &&pf, const Extra &...extra) { + std::move(pf).execute(*this, extra...); + return *this; + } + + template class_& def_buffer(Func &&func) { + struct capture { Func func; }; + capture *ptr = new capture { std::forward(func) }; + install_buffer_funcs([](PyObject *obj, void *ptr) -> buffer_info* { + detail::make_caster caster; + if (!caster.load(obj, false)) + return nullptr; + return new buffer_info(((capture *) ptr)->func(caster)); + }, ptr); + return *this; + } + + template + class_ &def_buffer(Return (Class::*func)(Args...)) { + return def_buffer([func] (type &obj) { return (obj.*func)(); }); + } + + template + class_ &def_buffer(Return (Class::*func)(Args...) const) { + return def_buffer([func] (const type &obj) { return (obj.*func)(); }); + } + + template + class_ &def_readwrite(const char *name, D C::*pm, const Extra&... extra) { + static_assert(std::is_same::value || std::is_base_of::value, "def_readwrite() requires a class member (or base class member)"); + cpp_function fget([pm](const type &c) -> const D &{ return c.*pm; }, is_method(*this)), + fset([pm](type &c, const D &value) { c.*pm = value; }, is_method(*this)); + def_property(name, fget, fset, return_value_policy::reference_internal, extra...); + return *this; + } + + template + class_ &def_readonly(const char *name, const D C::*pm, const Extra& ...extra) { + static_assert(std::is_same::value || std::is_base_of::value, "def_readonly() requires a class member (or base class member)"); + cpp_function fget([pm](const type &c) -> const D &{ return c.*pm; }, is_method(*this)); + def_property_readonly(name, fget, return_value_policy::reference_internal, extra...); + return *this; + } + + template + class_ &def_readwrite_static(const char *name, D *pm, const Extra& ...extra) { + cpp_function fget([pm](object) -> const D &{ return *pm; }, scope(*this)), + fset([pm](object, const D &value) { *pm = value; }, scope(*this)); + def_property_static(name, fget, fset, return_value_policy::reference, extra...); + return *this; + } + + template + class_ &def_readonly_static(const char *name, const D *pm, const Extra& ...extra) { + cpp_function fget([pm](object) -> const D &{ return *pm; }, scope(*this)); + def_property_readonly_static(name, fget, return_value_policy::reference, extra...); + return *this; + } + + /// Uses return_value_policy::reference_internal by default + template + class_ &def_property_readonly(const char *name, const Getter &fget, const Extra& ...extra) { + return def_property_readonly(name, cpp_function(method_adaptor(fget)), + return_value_policy::reference_internal, extra...); + } + + /// Uses cpp_function's return_value_policy by default + template + class_ &def_property_readonly(const char *name, const cpp_function &fget, const Extra& ...extra) { + return def_property(name, fget, nullptr, extra...); + } + + /// Uses return_value_policy::reference by default + template + class_ &def_property_readonly_static(const char *name, const Getter &fget, const Extra& ...extra) { + return def_property_readonly_static(name, cpp_function(fget), return_value_policy::reference, extra...); + } + + /// Uses cpp_function's return_value_policy by default + template + class_ &def_property_readonly_static(const char *name, const cpp_function &fget, const Extra& ...extra) { + return def_property_static(name, fget, nullptr, extra...); + } + + /// Uses return_value_policy::reference_internal by default + template + class_ &def_property(const char *name, const Getter &fget, const Setter &fset, const Extra& ...extra) { + return def_property(name, fget, cpp_function(method_adaptor(fset)), extra...); + } + template + class_ &def_property(const char *name, const Getter &fget, const cpp_function &fset, const Extra& ...extra) { + return def_property(name, cpp_function(method_adaptor(fget)), fset, + return_value_policy::reference_internal, extra...); + } + + /// Uses cpp_function's return_value_policy by default + template + class_ &def_property(const char *name, const cpp_function &fget, const cpp_function &fset, const Extra& ...extra) { + return def_property_static(name, fget, fset, is_method(*this), extra...); + } + + /// Uses return_value_policy::reference by default + template + class_ &def_property_static(const char *name, const Getter &fget, const cpp_function &fset, const Extra& ...extra) { + return def_property_static(name, cpp_function(fget), fset, return_value_policy::reference, extra...); + } + + /// Uses cpp_function's return_value_policy by default + template + class_ &def_property_static(const char *name, const cpp_function &fget, const cpp_function &fset, const Extra& ...extra) { + static_assert( 0 == detail::constexpr_sum(std::is_base_of::value...), + "Argument annotations are not allowed for properties"); + auto rec_fget = get_function_record(fget), rec_fset = get_function_record(fset); + auto *rec_active = rec_fget; + if (rec_fget) { + char *doc_prev = rec_fget->doc; /* 'extra' field may include a property-specific documentation string */ + detail::process_attributes::init(extra..., rec_fget); + if (rec_fget->doc && rec_fget->doc != doc_prev) { + free(doc_prev); + rec_fget->doc = strdup(rec_fget->doc); + } + } + if (rec_fset) { + char *doc_prev = rec_fset->doc; + detail::process_attributes::init(extra..., rec_fset); + if (rec_fset->doc && rec_fset->doc != doc_prev) { + free(doc_prev); + rec_fset->doc = strdup(rec_fset->doc); + } + if (! rec_active) rec_active = rec_fset; + } + def_property_static_impl(name, fget, fset, rec_active); + return *this; + } + +private: + /// Initialize holder object, variant 1: object derives from enable_shared_from_this + template + static void init_holder(detail::instance *inst, detail::value_and_holder &v_h, + const holder_type * /* unused */, const std::enable_shared_from_this * /* dummy */) { + try { + auto sh = std::dynamic_pointer_cast( + v_h.value_ptr()->shared_from_this()); + if (sh) { + new (std::addressof(v_h.holder())) holder_type(std::move(sh)); + v_h.set_holder_constructed(); + } + } catch (const std::bad_weak_ptr &) {} + + if (!v_h.holder_constructed() && inst->owned) { + new (std::addressof(v_h.holder())) holder_type(v_h.value_ptr()); + v_h.set_holder_constructed(); + } + } + + static void init_holder_from_existing(const detail::value_and_holder &v_h, + const holder_type *holder_ptr, std::true_type /*is_copy_constructible*/) { + new (std::addressof(v_h.holder())) holder_type(*reinterpret_cast(holder_ptr)); + } + + static void init_holder_from_existing(const detail::value_and_holder &v_h, + const holder_type *holder_ptr, std::false_type /*is_copy_constructible*/) { + new (std::addressof(v_h.holder())) holder_type(std::move(*const_cast(holder_ptr))); + } + + /// Initialize holder object, variant 2: try to construct from existing holder object, if possible + static void init_holder(detail::instance *inst, detail::value_and_holder &v_h, + const holder_type *holder_ptr, const void * /* dummy -- not enable_shared_from_this) */) { + if (holder_ptr) { + init_holder_from_existing(v_h, holder_ptr, std::is_copy_constructible()); + v_h.set_holder_constructed(); + } else if (inst->owned || detail::always_construct_holder::value) { + new (std::addressof(v_h.holder())) holder_type(v_h.value_ptr()); + v_h.set_holder_constructed(); + } + } + + /// Performs instance initialization including constructing a holder and registering the known + /// instance. Should be called as soon as the `type` value_ptr is set for an instance. Takes an + /// optional pointer to an existing holder to use; if not specified and the instance is + /// `.owned`, a new holder will be constructed to manage the value pointer. + static void init_instance(detail::instance *inst, const void *holder_ptr) { + auto v_h = inst->get_value_and_holder(detail::get_type_info(typeid(type))); + if (!v_h.instance_registered()) { + register_instance(inst, v_h.value_ptr(), v_h.type); + v_h.set_instance_registered(); + } + init_holder(inst, v_h, (const holder_type *) holder_ptr, v_h.value_ptr()); + } + + /// Deallocates an instance; via holder, if constructed; otherwise via operator delete. + static void dealloc(detail::value_and_holder &v_h) { + if (v_h.holder_constructed()) { + v_h.holder().~holder_type(); + v_h.set_holder_constructed(false); + } + else { + detail::call_operator_delete(v_h.value_ptr(), + v_h.type->type_size, + v_h.type->type_align + ); + } + v_h.value_ptr() = nullptr; + } + + static detail::function_record *get_function_record(handle h) { + h = detail::get_function(h); + return h ? (detail::function_record *) reinterpret_borrow(PyCFunction_GET_SELF(h.ptr())) + : nullptr; + } +}; + +/// Binds an existing constructor taking arguments Args... +template detail::initimpl::constructor init() { return {}; } +/// Like `init()`, but the instance is always constructed through the alias class (even +/// when not inheriting on the Python side). +template detail::initimpl::alias_constructor init_alias() { return {}; } + +/// Binds a factory function as a constructor +template > +Ret init(Func &&f) { return {std::forward(f)}; } + +/// Dual-argument factory function: the first function is called when no alias is needed, the second +/// when an alias is needed (i.e. due to python-side inheritance). Arguments must be identical. +template > +Ret init(CFunc &&c, AFunc &&a) { + return {std::forward(c), std::forward(a)}; +} + +/// Binds pickling functions `__getstate__` and `__setstate__` and ensures that the type +/// returned by `__getstate__` is the same as the argument accepted by `__setstate__`. +template +detail::initimpl::pickle_factory pickle(GetState &&g, SetState &&s) { + return {std::forward(g), std::forward(s)}; +} + +NAMESPACE_BEGIN(detail) +struct enum_base { + enum_base(handle base, handle parent) : m_base(base), m_parent(parent) { } + + PYBIND11_NOINLINE void init(bool is_arithmetic, bool is_convertible) { + m_base.attr("__entries") = dict(); + auto property = handle((PyObject *) &PyProperty_Type); + auto static_property = handle((PyObject *) get_internals().static_property_type); + + m_base.attr("__repr__") = cpp_function( + [](handle arg) -> str { + handle type = arg.get_type(); + object type_name = type.attr("__name__"); + dict entries = type.attr("__entries"); + for (const auto &kv : entries) { + object other = kv.second[int_(0)]; + if (other.equal(arg)) + return pybind11::str("{}.{}").format(type_name, kv.first); + } + return pybind11::str("{}.???").format(type_name); + }, is_method(m_base) + ); + + m_base.attr("name") = property(cpp_function( + [](handle arg) -> str { + dict entries = arg.get_type().attr("__entries"); + for (const auto &kv : entries) { + if (handle(kv.second[int_(0)]).equal(arg)) + return pybind11::str(kv.first); + } + return "???"; + }, is_method(m_base) + )); + + m_base.attr("__doc__") = static_property(cpp_function( + [](handle arg) -> std::string { + std::string docstring; + dict entries = arg.attr("__entries"); + if (((PyTypeObject *) arg.ptr())->tp_doc) + docstring += std::string(((PyTypeObject *) arg.ptr())->tp_doc) + "\n\n"; + docstring += "Members:"; + for (const auto &kv : entries) { + auto key = std::string(pybind11::str(kv.first)); + auto comment = kv.second[int_(1)]; + docstring += "\n\n " + key; + if (!comment.is_none()) + docstring += " : " + (std::string) pybind11::str(comment); + } + return docstring; + } + ), none(), none(), ""); + + m_base.attr("__members__") = static_property(cpp_function( + [](handle arg) -> dict { + dict entries = arg.attr("__entries"), m; + for (const auto &kv : entries) + m[kv.first] = kv.second[int_(0)]; + return m; + }), none(), none(), "" + ); + + #define PYBIND11_ENUM_OP_STRICT(op, expr, strict_behavior) \ + m_base.attr(op) = cpp_function( \ + [](object a, object b) { \ + if (!a.get_type().is(b.get_type())) \ + strict_behavior; \ + return expr; \ + }, \ + is_method(m_base)) + + #define PYBIND11_ENUM_OP_CONV(op, expr) \ + m_base.attr(op) = cpp_function( \ + [](object a_, object b_) { \ + int_ a(a_), b(b_); \ + return expr; \ + }, \ + is_method(m_base)) + + if (is_convertible) { + PYBIND11_ENUM_OP_CONV("__eq__", !b.is_none() && a.equal(b)); + PYBIND11_ENUM_OP_CONV("__ne__", b.is_none() || !a.equal(b)); + + if (is_arithmetic) { + PYBIND11_ENUM_OP_CONV("__lt__", a < b); + PYBIND11_ENUM_OP_CONV("__gt__", a > b); + PYBIND11_ENUM_OP_CONV("__le__", a <= b); + PYBIND11_ENUM_OP_CONV("__ge__", a >= b); + PYBIND11_ENUM_OP_CONV("__and__", a & b); + PYBIND11_ENUM_OP_CONV("__rand__", a & b); + PYBIND11_ENUM_OP_CONV("__or__", a | b); + PYBIND11_ENUM_OP_CONV("__ror__", a | b); + PYBIND11_ENUM_OP_CONV("__xor__", a ^ b); + PYBIND11_ENUM_OP_CONV("__rxor__", a ^ b); + } + } else { + PYBIND11_ENUM_OP_STRICT("__eq__", int_(a).equal(int_(b)), return false); + PYBIND11_ENUM_OP_STRICT("__ne__", !int_(a).equal(int_(b)), return true); + + if (is_arithmetic) { + #define PYBIND11_THROW throw type_error("Expected an enumeration of matching type!"); + PYBIND11_ENUM_OP_STRICT("__lt__", int_(a) < int_(b), PYBIND11_THROW); + PYBIND11_ENUM_OP_STRICT("__gt__", int_(a) > int_(b), PYBIND11_THROW); + PYBIND11_ENUM_OP_STRICT("__le__", int_(a) <= int_(b), PYBIND11_THROW); + PYBIND11_ENUM_OP_STRICT("__ge__", int_(a) >= int_(b), PYBIND11_THROW); + #undef PYBIND11_THROW + } + } + + #undef PYBIND11_ENUM_OP_CONV + #undef PYBIND11_ENUM_OP_STRICT + + object getstate = cpp_function( + [](object arg) { return int_(arg); }, is_method(m_base)); + + m_base.attr("__getstate__") = getstate; + m_base.attr("__hash__") = getstate; + } + + PYBIND11_NOINLINE void value(char const* name_, object value, const char *doc = nullptr) { + dict entries = m_base.attr("__entries"); + str name(name_); + if (entries.contains(name)) { + std::string type_name = (std::string) str(m_base.attr("__name__")); + throw value_error(type_name + ": element \"" + std::string(name_) + "\" already exists!"); + } + + entries[name] = std::make_pair(value, doc); + m_base.attr(name) = value; + } + + PYBIND11_NOINLINE void export_values() { + dict entries = m_base.attr("__entries"); + for (const auto &kv : entries) + m_parent.attr(kv.first) = kv.second[int_(0)]; + } + + handle m_base; + handle m_parent; +}; + +NAMESPACE_END(detail) + +/// Binds C++ enumerations and enumeration classes to Python +template class enum_ : public class_ { +public: + using Base = class_; + using Base::def; + using Base::attr; + using Base::def_property_readonly; + using Base::def_property_readonly_static; + using Scalar = typename std::underlying_type::type; + + template + enum_(const handle &scope, const char *name, const Extra&... extra) + : class_(scope, name, extra...), m_base(*this, scope) { + constexpr bool is_arithmetic = detail::any_of...>::value; + constexpr bool is_convertible = std::is_convertible::value; + m_base.init(is_arithmetic, is_convertible); + + def(init([](Scalar i) { return static_cast(i); })); + def("__int__", [](Type value) { return (Scalar) value; }); + #if PY_MAJOR_VERSION < 3 + def("__long__", [](Type value) { return (Scalar) value; }); + #endif + cpp_function setstate( + [](Type &value, Scalar arg) { value = static_cast(arg); }, + is_method(*this)); + attr("__setstate__") = setstate; + } + + /// Export enumeration entries into the parent scope + enum_& export_values() { + m_base.export_values(); + return *this; + } + + /// Add an enumeration entry + enum_& value(char const* name, Type value, const char *doc = nullptr) { + m_base.value(name, pybind11::cast(value, return_value_policy::copy), doc); + return *this; + } + +private: + detail::enum_base m_base; +}; + +NAMESPACE_BEGIN(detail) + + +inline void keep_alive_impl(handle nurse, handle patient) { + if (!nurse || !patient) + pybind11_fail("Could not activate keep_alive!"); + + if (patient.is_none() || nurse.is_none()) + return; /* Nothing to keep alive or nothing to be kept alive by */ + + auto tinfo = all_type_info(Py_TYPE(nurse.ptr())); + if (!tinfo.empty()) { + /* It's a pybind-registered type, so we can store the patient in the + * internal list. */ + add_patient(nurse.ptr(), patient.ptr()); + } + else { + /* Fall back to clever approach based on weak references taken from + * Boost.Python. This is not used for pybind-registered types because + * the objects can be destroyed out-of-order in a GC pass. */ + cpp_function disable_lifesupport( + [patient](handle weakref) { patient.dec_ref(); weakref.dec_ref(); }); + + weakref wr(nurse, disable_lifesupport); + + patient.inc_ref(); /* reference patient and leak the weak reference */ + (void) wr.release(); + } +} + +PYBIND11_NOINLINE inline void keep_alive_impl(size_t Nurse, size_t Patient, function_call &call, handle ret) { + auto get_arg = [&](size_t n) { + if (n == 0) + return ret; + else if (n == 1 && call.init_self) + return call.init_self; + else if (n <= call.args.size()) + return call.args[n - 1]; + return handle(); + }; + + keep_alive_impl(get_arg(Nurse), get_arg(Patient)); +} + +inline std::pair all_type_info_get_cache(PyTypeObject *type) { + auto res = get_internals().registered_types_py +#ifdef __cpp_lib_unordered_map_try_emplace + .try_emplace(type); +#else + .emplace(type, std::vector()); +#endif + if (res.second) { + // New cache entry created; set up a weak reference to automatically remove it if the type + // gets destroyed: + weakref((PyObject *) type, cpp_function([type](handle wr) { + get_internals().registered_types_py.erase(type); + wr.dec_ref(); + })).release(); + } + + return res; +} + +template +struct iterator_state { + Iterator it; + Sentinel end; + bool first_or_done; +}; + +NAMESPACE_END(detail) + +/// Makes a python iterator from a first and past-the-end C++ InputIterator. +template ()), + typename... Extra> +iterator make_iterator(Iterator first, Sentinel last, Extra &&... extra) { + typedef detail::iterator_state state; + + if (!detail::get_type_info(typeid(state), false)) { + class_(handle(), "iterator", pybind11::module_local()) + .def("__iter__", [](state &s) -> state& { return s; }) + .def("__next__", [](state &s) -> ValueType { + if (!s.first_or_done) + ++s.it; + else + s.first_or_done = false; + if (s.it == s.end) { + s.first_or_done = true; + throw stop_iteration(); + } + return *s.it; + }, std::forward(extra)..., Policy); + } + + return cast(state{first, last, true}); +} + +/// Makes an python iterator over the keys (`.first`) of a iterator over pairs from a +/// first and past-the-end InputIterator. +template ()).first), + typename... Extra> +iterator make_key_iterator(Iterator first, Sentinel last, Extra &&... extra) { + typedef detail::iterator_state state; + + if (!detail::get_type_info(typeid(state), false)) { + class_(handle(), "iterator", pybind11::module_local()) + .def("__iter__", [](state &s) -> state& { return s; }) + .def("__next__", [](state &s) -> KeyType { + if (!s.first_or_done) + ++s.it; + else + s.first_or_done = false; + if (s.it == s.end) { + s.first_or_done = true; + throw stop_iteration(); + } + return (*s.it).first; + }, std::forward(extra)..., Policy); + } + + return cast(state{first, last, true}); +} + +/// Makes an iterator over values of an stl container or other container supporting +/// `std::begin()`/`std::end()` +template iterator make_iterator(Type &value, Extra&&... extra) { + return make_iterator(std::begin(value), std::end(value), extra...); +} + +/// Makes an iterator over the keys (`.first`) of a stl map-like container supporting +/// `std::begin()`/`std::end()` +template iterator make_key_iterator(Type &value, Extra&&... extra) { + return make_key_iterator(std::begin(value), std::end(value), extra...); +} + +template void implicitly_convertible() { + struct set_flag { + bool &flag; + set_flag(bool &flag) : flag(flag) { flag = true; } + ~set_flag() { flag = false; } + }; + auto implicit_caster = [](PyObject *obj, PyTypeObject *type) -> PyObject * { + static bool currently_used = false; + if (currently_used) // implicit conversions are non-reentrant + return nullptr; + set_flag flag_helper(currently_used); + if (!detail::make_caster().load(obj, false)) + return nullptr; + tuple args(1); + args[0] = obj; + PyObject *result = PyObject_Call((PyObject *) type, args.ptr(), nullptr); + if (result == nullptr) + PyErr_Clear(); + return result; + }; + + if (auto tinfo = detail::get_type_info(typeid(OutputType))) + tinfo->implicit_conversions.push_back(implicit_caster); + else + pybind11_fail("implicitly_convertible: Unable to find type " + type_id()); +} + +template +void register_exception_translator(ExceptionTranslator&& translator) { + detail::get_internals().registered_exception_translators.push_front( + std::forward(translator)); +} + +/** + * Wrapper to generate a new Python exception type. + * + * This should only be used with PyErr_SetString for now. + * It is not (yet) possible to use as a py::base. + * Template type argument is reserved for future use. + */ +template +class exception : public object { +public: + exception() = default; + exception(handle scope, const char *name, PyObject *base = PyExc_Exception) { + std::string full_name = scope.attr("__name__").cast() + + std::string(".") + name; + m_ptr = PyErr_NewException(const_cast(full_name.c_str()), base, NULL); + if (hasattr(scope, name)) + pybind11_fail("Error during initialization: multiple incompatible " + "definitions with name \"" + std::string(name) + "\""); + scope.attr(name) = *this; + } + + // Sets the current python exception to this exception object with the given message + void operator()(const char *message) { + PyErr_SetString(m_ptr, message); + } +}; + +NAMESPACE_BEGIN(detail) +// Returns a reference to a function-local static exception object used in the simple +// register_exception approach below. (It would be simpler to have the static local variable +// directly in register_exception, but that makes clang <3.5 segfault - issue #1349). +template +exception &get_exception_object() { static exception ex; return ex; } +NAMESPACE_END(detail) + +/** + * Registers a Python exception in `m` of the given `name` and installs an exception translator to + * translate the C++ exception to the created Python exception using the exceptions what() method. + * This is intended for simple exception translations; for more complex translation, register the + * exception object and translator directly. + */ +template +exception ®ister_exception(handle scope, + const char *name, + PyObject *base = PyExc_Exception) { + auto &ex = detail::get_exception_object(); + if (!ex) ex = exception(scope, name, base); + + register_exception_translator([](std::exception_ptr p) { + if (!p) return; + try { + std::rethrow_exception(p); + } catch (const CppException &e) { + detail::get_exception_object()(e.what()); + } + }); + return ex; +} + +NAMESPACE_BEGIN(detail) +PYBIND11_NOINLINE inline void print(tuple args, dict kwargs) { + auto strings = tuple(args.size()); + for (size_t i = 0; i < args.size(); ++i) { + strings[i] = str(args[i]); + } + auto sep = kwargs.contains("sep") ? kwargs["sep"] : cast(" "); + auto line = sep.attr("join")(strings); + + object file; + if (kwargs.contains("file")) { + file = kwargs["file"].cast(); + } else { + try { + file = module::import("sys").attr("stdout"); + } catch (const error_already_set &) { + /* If print() is called from code that is executed as + part of garbage collection during interpreter shutdown, + importing 'sys' can fail. Give up rather than crashing the + interpreter in this case. */ + return; + } + } + + auto write = file.attr("write"); + write(line); + write(kwargs.contains("end") ? kwargs["end"] : cast("\n")); + + if (kwargs.contains("flush") && kwargs["flush"].cast()) + file.attr("flush")(); +} +NAMESPACE_END(detail) + +template +void print(Args &&...args) { + auto c = detail::collect_arguments(std::forward(args)...); + detail::print(c.args(), c.kwargs()); +} + +#if defined(WITH_THREAD) && !defined(PYPY_VERSION) + +/* The functions below essentially reproduce the PyGILState_* API using a RAII + * pattern, but there are a few important differences: + * + * 1. When acquiring the GIL from an non-main thread during the finalization + * phase, the GILState API blindly terminates the calling thread, which + * is often not what is wanted. This API does not do this. + * + * 2. The gil_scoped_release function can optionally cut the relationship + * of a PyThreadState and its associated thread, which allows moving it to + * another thread (this is a fairly rare/advanced use case). + * + * 3. The reference count of an acquired thread state can be controlled. This + * can be handy to prevent cases where callbacks issued from an external + * thread would otherwise constantly construct and destroy thread state data + * structures. + * + * See the Python bindings of NanoGUI (http://github.com/wjakob/nanogui) for an + * example which uses features 2 and 3 to migrate the Python thread of + * execution to another thread (to run the event loop on the original thread, + * in this case). + */ + +class gil_scoped_acquire { +public: + PYBIND11_NOINLINE gil_scoped_acquire() { + auto const &internals = detail::get_internals(); + tstate = (PyThreadState *) PYBIND11_TLS_GET_VALUE(internals.tstate); + + if (!tstate) { + /* Check if the GIL was acquired using the PyGILState_* API instead (e.g. if + calling from a Python thread). Since we use a different key, this ensures + we don't create a new thread state and deadlock in PyEval_AcquireThread + below. Note we don't save this state with internals.tstate, since we don't + create it we would fail to clear it (its reference count should be > 0). */ + tstate = PyGILState_GetThisThreadState(); + } + + if (!tstate) { + tstate = PyThreadState_New(internals.istate); + #if !defined(NDEBUG) + if (!tstate) + pybind11_fail("scoped_acquire: could not create thread state!"); + #endif + tstate->gilstate_counter = 0; + PYBIND11_TLS_REPLACE_VALUE(internals.tstate, tstate); + } else { + release = detail::get_thread_state_unchecked() != tstate; + } + + if (release) { + /* Work around an annoying assertion in PyThreadState_Swap */ + #if defined(Py_DEBUG) + PyInterpreterState *interp = tstate->interp; + tstate->interp = nullptr; + #endif + PyEval_AcquireThread(tstate); + #if defined(Py_DEBUG) + tstate->interp = interp; + #endif + } + + inc_ref(); + } + + void inc_ref() { + ++tstate->gilstate_counter; + } + + PYBIND11_NOINLINE void dec_ref() { + --tstate->gilstate_counter; + #if !defined(NDEBUG) + if (detail::get_thread_state_unchecked() != tstate) + pybind11_fail("scoped_acquire::dec_ref(): thread state must be current!"); + if (tstate->gilstate_counter < 0) + pybind11_fail("scoped_acquire::dec_ref(): reference count underflow!"); + #endif + if (tstate->gilstate_counter == 0) { + #if !defined(NDEBUG) + if (!release) + pybind11_fail("scoped_acquire::dec_ref(): internal error!"); + #endif + PyThreadState_Clear(tstate); + PyThreadState_DeleteCurrent(); + PYBIND11_TLS_DELETE_VALUE(detail::get_internals().tstate); + release = false; + } + } + + PYBIND11_NOINLINE ~gil_scoped_acquire() { + dec_ref(); + if (release) + PyEval_SaveThread(); + } +private: + PyThreadState *tstate = nullptr; + bool release = true; +}; + +class gil_scoped_release { +public: + explicit gil_scoped_release(bool disassoc = false) : disassoc(disassoc) { + // `get_internals()` must be called here unconditionally in order to initialize + // `internals.tstate` for subsequent `gil_scoped_acquire` calls. Otherwise, an + // initialization race could occur as multiple threads try `gil_scoped_acquire`. + const auto &internals = detail::get_internals(); + tstate = PyEval_SaveThread(); + if (disassoc) { + auto key = internals.tstate; + PYBIND11_TLS_DELETE_VALUE(key); + } + } + ~gil_scoped_release() { + if (!tstate) + return; + PyEval_RestoreThread(tstate); + if (disassoc) { + auto key = detail::get_internals().tstate; + PYBIND11_TLS_REPLACE_VALUE(key, tstate); + } + } +private: + PyThreadState *tstate; + bool disassoc; +}; +#elif defined(PYPY_VERSION) +class gil_scoped_acquire { + PyGILState_STATE state; +public: + gil_scoped_acquire() { state = PyGILState_Ensure(); } + ~gil_scoped_acquire() { PyGILState_Release(state); } +}; + +class gil_scoped_release { + PyThreadState *state; +public: + gil_scoped_release() { state = PyEval_SaveThread(); } + ~gil_scoped_release() { PyEval_RestoreThread(state); } +}; +#else +class gil_scoped_acquire { }; +class gil_scoped_release { }; +#endif + +error_already_set::~error_already_set() { + if (m_type) { + error_scope scope; + gil_scoped_acquire gil; + m_type.release().dec_ref(); + m_value.release().dec_ref(); + m_trace.release().dec_ref(); + } +} + +inline function get_type_overload(const void *this_ptr, const detail::type_info *this_type, const char *name) { + handle self = detail::get_object_handle(this_ptr, this_type); + if (!self) + return function(); + handle type = self.get_type(); + auto key = std::make_pair(type.ptr(), name); + + /* Cache functions that aren't overloaded in Python to avoid + many costly Python dictionary lookups below */ + auto &cache = detail::get_internals().inactive_overload_cache; + if (cache.find(key) != cache.end()) + return function(); + + function overload = getattr(self, name, function()); + if (overload.is_cpp_function()) { + cache.insert(key); + return function(); + } + + /* Don't call dispatch code if invoked from overridden function. + Unfortunately this doesn't work on PyPy. */ +#if !defined(PYPY_VERSION) + PyFrameObject *frame = PyThreadState_Get()->frame; + if (frame && (std::string) str(frame->f_code->co_name) == name && + frame->f_code->co_argcount > 0) { + PyFrame_FastToLocals(frame); + PyObject *self_caller = PyDict_GetItem( + frame->f_locals, PyTuple_GET_ITEM(frame->f_code->co_varnames, 0)); + if (self_caller == self.ptr()) + return function(); + } +#else + /* PyPy currently doesn't provide a detailed cpyext emulation of + frame objects, so we have to emulate this using Python. This + is going to be slow..*/ + dict d; d["self"] = self; d["name"] = pybind11::str(name); + PyObject *result = PyRun_String( + "import inspect\n" + "frame = inspect.currentframe()\n" + "if frame is not None:\n" + " frame = frame.f_back\n" + " if frame is not None and str(frame.f_code.co_name) == name and " + "frame.f_code.co_argcount > 0:\n" + " self_caller = frame.f_locals[frame.f_code.co_varnames[0]]\n" + " if self_caller == self:\n" + " self = None\n", + Py_file_input, d.ptr(), d.ptr()); + if (result == nullptr) + throw error_already_set(); + if (d["self"].is_none()) + return function(); + Py_DECREF(result); +#endif + + return overload; +} + +/** \rst + Try to retrieve a python method by the provided name from the instance pointed to by the this_ptr. + + :this_ptr: The pointer to the object the overload should be retrieved for. This should be the first + non-trampoline class encountered in the inheritance chain. + :name: The name of the overloaded Python method to retrieve. + :return: The Python method by this name from the object or an empty function wrapper. + \endrst */ +template function get_overload(const T *this_ptr, const char *name) { + auto tinfo = detail::get_type_info(typeid(T)); + return tinfo ? get_type_overload(this_ptr, tinfo, name) : function(); +} + +#define PYBIND11_OVERLOAD_INT(ret_type, cname, name, ...) { \ + pybind11::gil_scoped_acquire gil; \ + pybind11::function overload = pybind11::get_overload(static_cast(this), name); \ + if (overload) { \ + auto o = overload(__VA_ARGS__); \ + if (pybind11::detail::cast_is_temporary_value_reference::value) { \ + static pybind11::detail::overload_caster_t caster; \ + return pybind11::detail::cast_ref(std::move(o), caster); \ + } \ + else return pybind11::detail::cast_safe(std::move(o)); \ + } \ + } + +/** \rst + Macro to populate the virtual method in the trampoline class. This macro tries to look up a method named 'fn' + from the Python side, deals with the :ref:`gil` and necessary argument conversions to call this method and return + the appropriate type. See :ref:`overriding_virtuals` for more information. This macro should be used when the method + name in C is not the same as the method name in Python. For example with `__str__`. + + .. code-block:: cpp + + std::string toString() override { + PYBIND11_OVERLOAD_NAME( + std::string, // Return type (ret_type) + Animal, // Parent class (cname) + toString, // Name of function in C++ (name) + "__str__", // Name of method in Python (fn) + ); + } +\endrst */ +#define PYBIND11_OVERLOAD_NAME(ret_type, cname, name, fn, ...) \ + PYBIND11_OVERLOAD_INT(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, __VA_ARGS__) \ + return cname::fn(__VA_ARGS__) + +/** \rst + Macro for pure virtual functions, this function is identical to :c:macro:`PYBIND11_OVERLOAD_NAME`, except that it + throws if no overload can be found. +\endrst */ +#define PYBIND11_OVERLOAD_PURE_NAME(ret_type, cname, name, fn, ...) \ + PYBIND11_OVERLOAD_INT(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, __VA_ARGS__) \ + pybind11::pybind11_fail("Tried to call pure virtual function \"" PYBIND11_STRINGIFY(cname) "::" name "\""); + +/** \rst + Macro to populate the virtual method in the trampoline class. This macro tries to look up the method + from the Python side, deals with the :ref:`gil` and necessary argument conversions to call this method and return + the appropriate type. This macro should be used if the method name in C and in Python are identical. + See :ref:`overriding_virtuals` for more information. + + .. code-block:: cpp + + class PyAnimal : public Animal { + public: + // Inherit the constructors + using Animal::Animal; + + // Trampoline (need one for each virtual function) + std::string go(int n_times) override { + PYBIND11_OVERLOAD_PURE( + std::string, // Return type (ret_type) + Animal, // Parent class (cname) + go, // Name of function in C++ (must match Python name) (fn) + n_times // Argument(s) (...) + ); + } + }; +\endrst */ +#define PYBIND11_OVERLOAD(ret_type, cname, fn, ...) \ + PYBIND11_OVERLOAD_NAME(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), #fn, fn, __VA_ARGS__) + +/** \rst + Macro for pure virtual functions, this function is identical to :c:macro:`PYBIND11_OVERLOAD`, except that it throws + if no overload can be found. +\endrst */ +#define PYBIND11_OVERLOAD_PURE(ret_type, cname, fn, ...) \ + PYBIND11_OVERLOAD_PURE_NAME(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), #fn, fn, __VA_ARGS__) + +NAMESPACE_END(PYBIND11_NAMESPACE) + +#if defined(_MSC_VER) && !defined(__INTEL_COMPILER) +# pragma warning(pop) +#elif defined(__GNUG__) && !defined(__clang__) +# pragma GCC diagnostic pop +#endif diff --git a/wrap/python/pybind11/include/pybind11/pytypes.h b/wrap/python/pybind11/include/pybind11/pytypes.h new file mode 100644 index 000000000..2d573dfad --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/pytypes.h @@ -0,0 +1,1471 @@ +/* + pybind11/pytypes.h: Convenience wrapper classes for basic Python types + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "detail/common.h" +#include "buffer_info.h" +#include +#include + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) + +/* A few forward declarations */ +class handle; class object; +class str; class iterator; +struct arg; struct arg_v; + +NAMESPACE_BEGIN(detail) +class args_proxy; +inline bool isinstance_generic(handle obj, const std::type_info &tp); + +// Accessor forward declarations +template class accessor; +namespace accessor_policies { + struct obj_attr; + struct str_attr; + struct generic_item; + struct sequence_item; + struct list_item; + struct tuple_item; +} +using obj_attr_accessor = accessor; +using str_attr_accessor = accessor; +using item_accessor = accessor; +using sequence_accessor = accessor; +using list_accessor = accessor; +using tuple_accessor = accessor; + +/// Tag and check to identify a class which implements the Python object API +class pyobject_tag { }; +template using is_pyobject = std::is_base_of>; + +/** \rst + A mixin class which adds common functions to `handle`, `object` and various accessors. + The only requirement for `Derived` is to implement ``PyObject *Derived::ptr() const``. +\endrst */ +template +class object_api : public pyobject_tag { + const Derived &derived() const { return static_cast(*this); } + +public: + /** \rst + Return an iterator equivalent to calling ``iter()`` in Python. The object + must be a collection which supports the iteration protocol. + \endrst */ + iterator begin() const; + /// Return a sentinel which ends iteration. + iterator end() const; + + /** \rst + Return an internal functor to invoke the object's sequence protocol. Casting + the returned ``detail::item_accessor`` instance to a `handle` or `object` + subclass causes a corresponding call to ``__getitem__``. Assigning a `handle` + or `object` subclass causes a call to ``__setitem__``. + \endrst */ + item_accessor operator[](handle key) const; + /// See above (the only difference is that they key is provided as a string literal) + item_accessor operator[](const char *key) const; + + /** \rst + Return an internal functor to access the object's attributes. Casting the + returned ``detail::obj_attr_accessor`` instance to a `handle` or `object` + subclass causes a corresponding call to ``getattr``. Assigning a `handle` + or `object` subclass causes a call to ``setattr``. + \endrst */ + obj_attr_accessor attr(handle key) const; + /// See above (the only difference is that they key is provided as a string literal) + str_attr_accessor attr(const char *key) const; + + /** \rst + Matches * unpacking in Python, e.g. to unpack arguments out of a ``tuple`` + or ``list`` for a function call. Applying another * to the result yields + ** unpacking, e.g. to unpack a dict as function keyword arguments. + See :ref:`calling_python_functions`. + \endrst */ + args_proxy operator*() const; + + /// Check if the given item is contained within this object, i.e. ``item in obj``. + template bool contains(T &&item) const; + + /** \rst + Assuming the Python object is a function or implements the ``__call__`` + protocol, ``operator()`` invokes the underlying function, passing an + arbitrary set of parameters. The result is returned as a `object` and + may need to be converted back into a Python object using `handle::cast()`. + + When some of the arguments cannot be converted to Python objects, the + function will throw a `cast_error` exception. When the Python function + call fails, a `error_already_set` exception is thrown. + \endrst */ + template + object operator()(Args &&...args) const; + template + PYBIND11_DEPRECATED("call(...) was deprecated in favor of operator()(...)") + object call(Args&&... args) const; + + /// Equivalent to ``obj is other`` in Python. + bool is(object_api const& other) const { return derived().ptr() == other.derived().ptr(); } + /// Equivalent to ``obj is None`` in Python. + bool is_none() const { return derived().ptr() == Py_None; } + /// Equivalent to obj == other in Python + bool equal(object_api const &other) const { return rich_compare(other, Py_EQ); } + bool not_equal(object_api const &other) const { return rich_compare(other, Py_NE); } + bool operator<(object_api const &other) const { return rich_compare(other, Py_LT); } + bool operator<=(object_api const &other) const { return rich_compare(other, Py_LE); } + bool operator>(object_api const &other) const { return rich_compare(other, Py_GT); } + bool operator>=(object_api const &other) const { return rich_compare(other, Py_GE); } + + object operator-() const; + object operator~() const; + object operator+(object_api const &other) const; + object operator+=(object_api const &other) const; + object operator-(object_api const &other) const; + object operator-=(object_api const &other) const; + object operator*(object_api const &other) const; + object operator*=(object_api const &other) const; + object operator/(object_api const &other) const; + object operator/=(object_api const &other) const; + object operator|(object_api const &other) const; + object operator|=(object_api const &other) const; + object operator&(object_api const &other) const; + object operator&=(object_api const &other) const; + object operator^(object_api const &other) const; + object operator^=(object_api const &other) const; + object operator<<(object_api const &other) const; + object operator<<=(object_api const &other) const; + object operator>>(object_api const &other) const; + object operator>>=(object_api const &other) const; + + PYBIND11_DEPRECATED("Use py::str(obj) instead") + pybind11::str str() const; + + /// Get or set the object's docstring, i.e. ``obj.__doc__``. + str_attr_accessor doc() const; + + /// Return the object's current reference count + int ref_count() const { return static_cast(Py_REFCNT(derived().ptr())); } + /// Return a handle to the Python type object underlying the instance + handle get_type() const; + +private: + bool rich_compare(object_api const &other, int value) const; +}; + +NAMESPACE_END(detail) + +/** \rst + Holds a reference to a Python object (no reference counting) + + The `handle` class is a thin wrapper around an arbitrary Python object (i.e. a + ``PyObject *`` in Python's C API). It does not perform any automatic reference + counting and merely provides a basic C++ interface to various Python API functions. + + .. seealso:: + The `object` class inherits from `handle` and adds automatic reference + counting features. +\endrst */ +class handle : public detail::object_api { +public: + /// The default constructor creates a handle with a ``nullptr``-valued pointer + handle() = default; + /// Creates a ``handle`` from the given raw Python object pointer + handle(PyObject *ptr) : m_ptr(ptr) { } // Allow implicit conversion from PyObject* + + /// Return the underlying ``PyObject *`` pointer + PyObject *ptr() const { return m_ptr; } + PyObject *&ptr() { return m_ptr; } + + /** \rst + Manually increase the reference count of the Python object. Usually, it is + preferable to use the `object` class which derives from `handle` and calls + this function automatically. Returns a reference to itself. + \endrst */ + const handle& inc_ref() const & { Py_XINCREF(m_ptr); return *this; } + + /** \rst + Manually decrease the reference count of the Python object. Usually, it is + preferable to use the `object` class which derives from `handle` and calls + this function automatically. Returns a reference to itself. + \endrst */ + const handle& dec_ref() const & { Py_XDECREF(m_ptr); return *this; } + + /** \rst + Attempt to cast the Python object into the given C++ type. A `cast_error` + will be throw upon failure. + \endrst */ + template T cast() const; + /// Return ``true`` when the `handle` wraps a valid Python object + explicit operator bool() const { return m_ptr != nullptr; } + /** \rst + Deprecated: Check that the underlying pointers are the same. + Equivalent to ``obj1 is obj2`` in Python. + \endrst */ + PYBIND11_DEPRECATED("Use obj1.is(obj2) instead") + bool operator==(const handle &h) const { return m_ptr == h.m_ptr; } + PYBIND11_DEPRECATED("Use !obj1.is(obj2) instead") + bool operator!=(const handle &h) const { return m_ptr != h.m_ptr; } + PYBIND11_DEPRECATED("Use handle::operator bool() instead") + bool check() const { return m_ptr != nullptr; } +protected: + PyObject *m_ptr = nullptr; +}; + +/** \rst + Holds a reference to a Python object (with reference counting) + + Like `handle`, the `object` class is a thin wrapper around an arbitrary Python + object (i.e. a ``PyObject *`` in Python's C API). In contrast to `handle`, it + optionally increases the object's reference count upon construction, and it + *always* decreases the reference count when the `object` instance goes out of + scope and is destructed. When using `object` instances consistently, it is much + easier to get reference counting right at the first attempt. +\endrst */ +class object : public handle { +public: + object() = default; + PYBIND11_DEPRECATED("Use reinterpret_borrow() or reinterpret_steal()") + object(handle h, bool is_borrowed) : handle(h) { if (is_borrowed) inc_ref(); } + /// Copy constructor; always increases the reference count + object(const object &o) : handle(o) { inc_ref(); } + /// Move constructor; steals the object from ``other`` and preserves its reference count + object(object &&other) noexcept { m_ptr = other.m_ptr; other.m_ptr = nullptr; } + /// Destructor; automatically calls `handle::dec_ref()` + ~object() { dec_ref(); } + + /** \rst + Resets the internal pointer to ``nullptr`` without without decreasing the + object's reference count. The function returns a raw handle to the original + Python object. + \endrst */ + handle release() { + PyObject *tmp = m_ptr; + m_ptr = nullptr; + return handle(tmp); + } + + object& operator=(const object &other) { + other.inc_ref(); + dec_ref(); + m_ptr = other.m_ptr; + return *this; + } + + object& operator=(object &&other) noexcept { + if (this != &other) { + handle temp(m_ptr); + m_ptr = other.m_ptr; + other.m_ptr = nullptr; + temp.dec_ref(); + } + return *this; + } + + // Calling cast() on an object lvalue just copies (via handle::cast) + template T cast() const &; + // Calling on an object rvalue does a move, if needed and/or possible + template T cast() &&; + +protected: + // Tags for choosing constructors from raw PyObject * + struct borrowed_t { }; + struct stolen_t { }; + + template friend T reinterpret_borrow(handle); + template friend T reinterpret_steal(handle); + +public: + // Only accessible from derived classes and the reinterpret_* functions + object(handle h, borrowed_t) : handle(h) { inc_ref(); } + object(handle h, stolen_t) : handle(h) { } +}; + +/** \rst + Declare that a `handle` or ``PyObject *`` is a certain type and borrow the reference. + The target type ``T`` must be `object` or one of its derived classes. The function + doesn't do any conversions or checks. It's up to the user to make sure that the + target type is correct. + + .. code-block:: cpp + + PyObject *p = PyList_GetItem(obj, index); + py::object o = reinterpret_borrow(p); + // or + py::tuple t = reinterpret_borrow(p); // <-- `p` must be already be a `tuple` +\endrst */ +template T reinterpret_borrow(handle h) { return {h, object::borrowed_t{}}; } + +/** \rst + Like `reinterpret_borrow`, but steals the reference. + + .. code-block:: cpp + + PyObject *p = PyObject_Str(obj); + py::str s = reinterpret_steal(p); // <-- `p` must be already be a `str` +\endrst */ +template T reinterpret_steal(handle h) { return {h, object::stolen_t{}}; } + +NAMESPACE_BEGIN(detail) +inline std::string error_string(); +NAMESPACE_END(detail) + +/// Fetch and hold an error which was already set in Python. An instance of this is typically +/// thrown to propagate python-side errors back through C++ which can either be caught manually or +/// else falls back to the function dispatcher (which then raises the captured error back to +/// python). +class error_already_set : public std::runtime_error { +public: + /// Constructs a new exception from the current Python error indicator, if any. The current + /// Python error indicator will be cleared. + error_already_set() : std::runtime_error(detail::error_string()) { + PyErr_Fetch(&m_type.ptr(), &m_value.ptr(), &m_trace.ptr()); + } + + error_already_set(const error_already_set &) = default; + error_already_set(error_already_set &&) = default; + + inline ~error_already_set(); + + /// Give the currently-held error back to Python, if any. If there is currently a Python error + /// already set it is cleared first. After this call, the current object no longer stores the + /// error variables (but the `.what()` string is still available). + void restore() { PyErr_Restore(m_type.release().ptr(), m_value.release().ptr(), m_trace.release().ptr()); } + + // Does nothing; provided for backwards compatibility. + PYBIND11_DEPRECATED("Use of error_already_set.clear() is deprecated") + void clear() {} + + /// Check if the currently trapped error type matches the given Python exception class (or a + /// subclass thereof). May also be passed a tuple to search for any exception class matches in + /// the given tuple. + bool matches(handle exc) const { return PyErr_GivenExceptionMatches(m_type.ptr(), exc.ptr()); } + + const object& type() const { return m_type; } + const object& value() const { return m_value; } + const object& trace() const { return m_trace; } + +private: + object m_type, m_value, m_trace; +}; + +/** \defgroup python_builtins _ + Unless stated otherwise, the following C++ functions behave the same + as their Python counterparts. + */ + +/** \ingroup python_builtins + \rst + Return true if ``obj`` is an instance of ``T``. Type ``T`` must be a subclass of + `object` or a class which was exposed to Python as ``py::class_``. +\endrst */ +template ::value, int> = 0> +bool isinstance(handle obj) { return T::check_(obj); } + +template ::value, int> = 0> +bool isinstance(handle obj) { return detail::isinstance_generic(obj, typeid(T)); } + +template <> inline bool isinstance(handle obj) = delete; +template <> inline bool isinstance(handle obj) { return obj.ptr() != nullptr; } + +/// \ingroup python_builtins +/// Return true if ``obj`` is an instance of the ``type``. +inline bool isinstance(handle obj, handle type) { + const auto result = PyObject_IsInstance(obj.ptr(), type.ptr()); + if (result == -1) + throw error_already_set(); + return result != 0; +} + +/// \addtogroup python_builtins +/// @{ +inline bool hasattr(handle obj, handle name) { + return PyObject_HasAttr(obj.ptr(), name.ptr()) == 1; +} + +inline bool hasattr(handle obj, const char *name) { + return PyObject_HasAttrString(obj.ptr(), name) == 1; +} + +inline void delattr(handle obj, handle name) { + if (PyObject_DelAttr(obj.ptr(), name.ptr()) != 0) { throw error_already_set(); } +} + +inline void delattr(handle obj, const char *name) { + if (PyObject_DelAttrString(obj.ptr(), name) != 0) { throw error_already_set(); } +} + +inline object getattr(handle obj, handle name) { + PyObject *result = PyObject_GetAttr(obj.ptr(), name.ptr()); + if (!result) { throw error_already_set(); } + return reinterpret_steal(result); +} + +inline object getattr(handle obj, const char *name) { + PyObject *result = PyObject_GetAttrString(obj.ptr(), name); + if (!result) { throw error_already_set(); } + return reinterpret_steal(result); +} + +inline object getattr(handle obj, handle name, handle default_) { + if (PyObject *result = PyObject_GetAttr(obj.ptr(), name.ptr())) { + return reinterpret_steal(result); + } else { + PyErr_Clear(); + return reinterpret_borrow(default_); + } +} + +inline object getattr(handle obj, const char *name, handle default_) { + if (PyObject *result = PyObject_GetAttrString(obj.ptr(), name)) { + return reinterpret_steal(result); + } else { + PyErr_Clear(); + return reinterpret_borrow(default_); + } +} + +inline void setattr(handle obj, handle name, handle value) { + if (PyObject_SetAttr(obj.ptr(), name.ptr(), value.ptr()) != 0) { throw error_already_set(); } +} + +inline void setattr(handle obj, const char *name, handle value) { + if (PyObject_SetAttrString(obj.ptr(), name, value.ptr()) != 0) { throw error_already_set(); } +} + +inline ssize_t hash(handle obj) { + auto h = PyObject_Hash(obj.ptr()); + if (h == -1) { throw error_already_set(); } + return h; +} + +/// @} python_builtins + +NAMESPACE_BEGIN(detail) +inline handle get_function(handle value) { + if (value) { +#if PY_MAJOR_VERSION >= 3 + if (PyInstanceMethod_Check(value.ptr())) + value = PyInstanceMethod_GET_FUNCTION(value.ptr()); + else +#endif + if (PyMethod_Check(value.ptr())) + value = PyMethod_GET_FUNCTION(value.ptr()); + } + return value; +} + +// Helper aliases/functions to support implicit casting of values given to python accessors/methods. +// When given a pyobject, this simply returns the pyobject as-is; for other C++ type, the value goes +// through pybind11::cast(obj) to convert it to an `object`. +template ::value, int> = 0> +auto object_or_cast(T &&o) -> decltype(std::forward(o)) { return std::forward(o); } +// The following casting version is implemented in cast.h: +template ::value, int> = 0> +object object_or_cast(T &&o); +// Match a PyObject*, which we want to convert directly to handle via its converting constructor +inline handle object_or_cast(PyObject *ptr) { return ptr; } + +template +class accessor : public object_api> { + using key_type = typename Policy::key_type; + +public: + accessor(handle obj, key_type key) : obj(obj), key(std::move(key)) { } + accessor(const accessor &) = default; + accessor(accessor &&) = default; + + // accessor overload required to override default assignment operator (templates are not allowed + // to replace default compiler-generated assignments). + void operator=(const accessor &a) && { std::move(*this).operator=(handle(a)); } + void operator=(const accessor &a) & { operator=(handle(a)); } + + template void operator=(T &&value) && { + Policy::set(obj, key, object_or_cast(std::forward(value))); + } + template void operator=(T &&value) & { + get_cache() = reinterpret_borrow(object_or_cast(std::forward(value))); + } + + template + PYBIND11_DEPRECATED("Use of obj.attr(...) as bool is deprecated in favor of pybind11::hasattr(obj, ...)") + explicit operator enable_if_t::value || + std::is_same::value, bool>() const { + return hasattr(obj, key); + } + template + PYBIND11_DEPRECATED("Use of obj[key] as bool is deprecated in favor of obj.contains(key)") + explicit operator enable_if_t::value, bool>() const { + return obj.contains(key); + } + + operator object() const { return get_cache(); } + PyObject *ptr() const { return get_cache().ptr(); } + template T cast() const { return get_cache().template cast(); } + +private: + object &get_cache() const { + if (!cache) { cache = Policy::get(obj, key); } + return cache; + } + +private: + handle obj; + key_type key; + mutable object cache; +}; + +NAMESPACE_BEGIN(accessor_policies) +struct obj_attr { + using key_type = object; + static object get(handle obj, handle key) { return getattr(obj, key); } + static void set(handle obj, handle key, handle val) { setattr(obj, key, val); } +}; + +struct str_attr { + using key_type = const char *; + static object get(handle obj, const char *key) { return getattr(obj, key); } + static void set(handle obj, const char *key, handle val) { setattr(obj, key, val); } +}; + +struct generic_item { + using key_type = object; + + static object get(handle obj, handle key) { + PyObject *result = PyObject_GetItem(obj.ptr(), key.ptr()); + if (!result) { throw error_already_set(); } + return reinterpret_steal(result); + } + + static void set(handle obj, handle key, handle val) { + if (PyObject_SetItem(obj.ptr(), key.ptr(), val.ptr()) != 0) { throw error_already_set(); } + } +}; + +struct sequence_item { + using key_type = size_t; + + static object get(handle obj, size_t index) { + PyObject *result = PySequence_GetItem(obj.ptr(), static_cast(index)); + if (!result) { throw error_already_set(); } + return reinterpret_steal(result); + } + + static void set(handle obj, size_t index, handle val) { + // PySequence_SetItem does not steal a reference to 'val' + if (PySequence_SetItem(obj.ptr(), static_cast(index), val.ptr()) != 0) { + throw error_already_set(); + } + } +}; + +struct list_item { + using key_type = size_t; + + static object get(handle obj, size_t index) { + PyObject *result = PyList_GetItem(obj.ptr(), static_cast(index)); + if (!result) { throw error_already_set(); } + return reinterpret_borrow(result); + } + + static void set(handle obj, size_t index, handle val) { + // PyList_SetItem steals a reference to 'val' + if (PyList_SetItem(obj.ptr(), static_cast(index), val.inc_ref().ptr()) != 0) { + throw error_already_set(); + } + } +}; + +struct tuple_item { + using key_type = size_t; + + static object get(handle obj, size_t index) { + PyObject *result = PyTuple_GetItem(obj.ptr(), static_cast(index)); + if (!result) { throw error_already_set(); } + return reinterpret_borrow(result); + } + + static void set(handle obj, size_t index, handle val) { + // PyTuple_SetItem steals a reference to 'val' + if (PyTuple_SetItem(obj.ptr(), static_cast(index), val.inc_ref().ptr()) != 0) { + throw error_already_set(); + } + } +}; +NAMESPACE_END(accessor_policies) + +/// STL iterator template used for tuple, list, sequence and dict +template +class generic_iterator : public Policy { + using It = generic_iterator; + +public: + using difference_type = ssize_t; + using iterator_category = typename Policy::iterator_category; + using value_type = typename Policy::value_type; + using reference = typename Policy::reference; + using pointer = typename Policy::pointer; + + generic_iterator() = default; + generic_iterator(handle seq, ssize_t index) : Policy(seq, index) { } + + reference operator*() const { return Policy::dereference(); } + reference operator[](difference_type n) const { return *(*this + n); } + pointer operator->() const { return **this; } + + It &operator++() { Policy::increment(); return *this; } + It operator++(int) { auto copy = *this; Policy::increment(); return copy; } + It &operator--() { Policy::decrement(); return *this; } + It operator--(int) { auto copy = *this; Policy::decrement(); return copy; } + It &operator+=(difference_type n) { Policy::advance(n); return *this; } + It &operator-=(difference_type n) { Policy::advance(-n); return *this; } + + friend It operator+(const It &a, difference_type n) { auto copy = a; return copy += n; } + friend It operator+(difference_type n, const It &b) { return b + n; } + friend It operator-(const It &a, difference_type n) { auto copy = a; return copy -= n; } + friend difference_type operator-(const It &a, const It &b) { return a.distance_to(b); } + + friend bool operator==(const It &a, const It &b) { return a.equal(b); } + friend bool operator!=(const It &a, const It &b) { return !(a == b); } + friend bool operator< (const It &a, const It &b) { return b - a > 0; } + friend bool operator> (const It &a, const It &b) { return b < a; } + friend bool operator>=(const It &a, const It &b) { return !(a < b); } + friend bool operator<=(const It &a, const It &b) { return !(a > b); } +}; + +NAMESPACE_BEGIN(iterator_policies) +/// Quick proxy class needed to implement ``operator->`` for iterators which can't return pointers +template +struct arrow_proxy { + T value; + + arrow_proxy(T &&value) : value(std::move(value)) { } + T *operator->() const { return &value; } +}; + +/// Lightweight iterator policy using just a simple pointer: see ``PySequence_Fast_ITEMS`` +class sequence_fast_readonly { +protected: + using iterator_category = std::random_access_iterator_tag; + using value_type = handle; + using reference = const handle; + using pointer = arrow_proxy; + + sequence_fast_readonly(handle obj, ssize_t n) : ptr(PySequence_Fast_ITEMS(obj.ptr()) + n) { } + + reference dereference() const { return *ptr; } + void increment() { ++ptr; } + void decrement() { --ptr; } + void advance(ssize_t n) { ptr += n; } + bool equal(const sequence_fast_readonly &b) const { return ptr == b.ptr; } + ssize_t distance_to(const sequence_fast_readonly &b) const { return ptr - b.ptr; } + +private: + PyObject **ptr; +}; + +/// Full read and write access using the sequence protocol: see ``detail::sequence_accessor`` +class sequence_slow_readwrite { +protected: + using iterator_category = std::random_access_iterator_tag; + using value_type = object; + using reference = sequence_accessor; + using pointer = arrow_proxy; + + sequence_slow_readwrite(handle obj, ssize_t index) : obj(obj), index(index) { } + + reference dereference() const { return {obj, static_cast(index)}; } + void increment() { ++index; } + void decrement() { --index; } + void advance(ssize_t n) { index += n; } + bool equal(const sequence_slow_readwrite &b) const { return index == b.index; } + ssize_t distance_to(const sequence_slow_readwrite &b) const { return index - b.index; } + +private: + handle obj; + ssize_t index; +}; + +/// Python's dictionary protocol permits this to be a forward iterator +class dict_readonly { +protected: + using iterator_category = std::forward_iterator_tag; + using value_type = std::pair; + using reference = const value_type; + using pointer = arrow_proxy; + + dict_readonly() = default; + dict_readonly(handle obj, ssize_t pos) : obj(obj), pos(pos) { increment(); } + + reference dereference() const { return {key, value}; } + void increment() { if (!PyDict_Next(obj.ptr(), &pos, &key, &value)) { pos = -1; } } + bool equal(const dict_readonly &b) const { return pos == b.pos; } + +private: + handle obj; + PyObject *key = nullptr, *value = nullptr; + ssize_t pos = -1; +}; +NAMESPACE_END(iterator_policies) + +#if !defined(PYPY_VERSION) +using tuple_iterator = generic_iterator; +using list_iterator = generic_iterator; +#else +using tuple_iterator = generic_iterator; +using list_iterator = generic_iterator; +#endif + +using sequence_iterator = generic_iterator; +using dict_iterator = generic_iterator; + +inline bool PyIterable_Check(PyObject *obj) { + PyObject *iter = PyObject_GetIter(obj); + if (iter) { + Py_DECREF(iter); + return true; + } else { + PyErr_Clear(); + return false; + } +} + +inline bool PyNone_Check(PyObject *o) { return o == Py_None; } +#if PY_MAJOR_VERSION >= 3 +inline bool PyEllipsis_Check(PyObject *o) { return o == Py_Ellipsis; } +#endif + +inline bool PyUnicode_Check_Permissive(PyObject *o) { return PyUnicode_Check(o) || PYBIND11_BYTES_CHECK(o); } + +inline bool PyStaticMethod_Check(PyObject *o) { return o->ob_type == &PyStaticMethod_Type; } + +class kwargs_proxy : public handle { +public: + explicit kwargs_proxy(handle h) : handle(h) { } +}; + +class args_proxy : public handle { +public: + explicit args_proxy(handle h) : handle(h) { } + kwargs_proxy operator*() const { return kwargs_proxy(*this); } +}; + +/// Python argument categories (using PEP 448 terms) +template using is_keyword = std::is_base_of; +template using is_s_unpacking = std::is_same; // * unpacking +template using is_ds_unpacking = std::is_same; // ** unpacking +template using is_positional = satisfies_none_of; +template using is_keyword_or_ds = satisfies_any_of; + +// Call argument collector forward declarations +template +class simple_collector; +template +class unpacking_collector; + +NAMESPACE_END(detail) + +// TODO: After the deprecated constructors are removed, this macro can be simplified by +// inheriting ctors: `using Parent::Parent`. It's not an option right now because +// the `using` statement triggers the parent deprecation warning even if the ctor +// isn't even used. +#define PYBIND11_OBJECT_COMMON(Name, Parent, CheckFun) \ + public: \ + PYBIND11_DEPRECATED("Use reinterpret_borrow<"#Name">() or reinterpret_steal<"#Name">()") \ + Name(handle h, bool is_borrowed) : Parent(is_borrowed ? Parent(h, borrowed_t{}) : Parent(h, stolen_t{})) { } \ + Name(handle h, borrowed_t) : Parent(h, borrowed_t{}) { } \ + Name(handle h, stolen_t) : Parent(h, stolen_t{}) { } \ + PYBIND11_DEPRECATED("Use py::isinstance(obj) instead") \ + bool check() const { return m_ptr != nullptr && (bool) CheckFun(m_ptr); } \ + static bool check_(handle h) { return h.ptr() != nullptr && CheckFun(h.ptr()); } + +#define PYBIND11_OBJECT_CVT(Name, Parent, CheckFun, ConvertFun) \ + PYBIND11_OBJECT_COMMON(Name, Parent, CheckFun) \ + /* This is deliberately not 'explicit' to allow implicit conversion from object: */ \ + Name(const object &o) \ + : Parent(check_(o) ? o.inc_ref().ptr() : ConvertFun(o.ptr()), stolen_t{}) \ + { if (!m_ptr) throw error_already_set(); } \ + Name(object &&o) \ + : Parent(check_(o) ? o.release().ptr() : ConvertFun(o.ptr()), stolen_t{}) \ + { if (!m_ptr) throw error_already_set(); } \ + template \ + Name(const ::pybind11::detail::accessor &a) : Name(object(a)) { } + +#define PYBIND11_OBJECT(Name, Parent, CheckFun) \ + PYBIND11_OBJECT_COMMON(Name, Parent, CheckFun) \ + /* This is deliberately not 'explicit' to allow implicit conversion from object: */ \ + Name(const object &o) : Parent(o) { } \ + Name(object &&o) : Parent(std::move(o)) { } + +#define PYBIND11_OBJECT_DEFAULT(Name, Parent, CheckFun) \ + PYBIND11_OBJECT(Name, Parent, CheckFun) \ + Name() : Parent() { } + +/// \addtogroup pytypes +/// @{ + +/** \rst + Wraps a Python iterator so that it can also be used as a C++ input iterator + + Caveat: copying an iterator does not (and cannot) clone the internal + state of the Python iterable. This also applies to the post-increment + operator. This iterator should only be used to retrieve the current + value using ``operator*()``. +\endrst */ +class iterator : public object { +public: + using iterator_category = std::input_iterator_tag; + using difference_type = ssize_t; + using value_type = handle; + using reference = const handle; + using pointer = const handle *; + + PYBIND11_OBJECT_DEFAULT(iterator, object, PyIter_Check) + + iterator& operator++() { + advance(); + return *this; + } + + iterator operator++(int) { + auto rv = *this; + advance(); + return rv; + } + + reference operator*() const { + if (m_ptr && !value.ptr()) { + auto& self = const_cast(*this); + self.advance(); + } + return value; + } + + pointer operator->() const { operator*(); return &value; } + + /** \rst + The value which marks the end of the iteration. ``it == iterator::sentinel()`` + is equivalent to catching ``StopIteration`` in Python. + + .. code-block:: cpp + + void foo(py::iterator it) { + while (it != py::iterator::sentinel()) { + // use `*it` + ++it; + } + } + \endrst */ + static iterator sentinel() { return {}; } + + friend bool operator==(const iterator &a, const iterator &b) { return a->ptr() == b->ptr(); } + friend bool operator!=(const iterator &a, const iterator &b) { return a->ptr() != b->ptr(); } + +private: + void advance() { + value = reinterpret_steal(PyIter_Next(m_ptr)); + if (PyErr_Occurred()) { throw error_already_set(); } + } + +private: + object value = {}; +}; + +class iterable : public object { +public: + PYBIND11_OBJECT_DEFAULT(iterable, object, detail::PyIterable_Check) +}; + +class bytes; + +class str : public object { +public: + PYBIND11_OBJECT_CVT(str, object, detail::PyUnicode_Check_Permissive, raw_str) + + str(const char *c, size_t n) + : object(PyUnicode_FromStringAndSize(c, (ssize_t) n), stolen_t{}) { + if (!m_ptr) pybind11_fail("Could not allocate string object!"); + } + + // 'explicit' is explicitly omitted from the following constructors to allow implicit conversion to py::str from C++ string-like objects + str(const char *c = "") + : object(PyUnicode_FromString(c), stolen_t{}) { + if (!m_ptr) pybind11_fail("Could not allocate string object!"); + } + + str(const std::string &s) : str(s.data(), s.size()) { } + + explicit str(const bytes &b); + + /** \rst + Return a string representation of the object. This is analogous to + the ``str()`` function in Python. + \endrst */ + explicit str(handle h) : object(raw_str(h.ptr()), stolen_t{}) { } + + operator std::string() const { + object temp = *this; + if (PyUnicode_Check(m_ptr)) { + temp = reinterpret_steal(PyUnicode_AsUTF8String(m_ptr)); + if (!temp) + pybind11_fail("Unable to extract string contents! (encoding issue)"); + } + char *buffer; + ssize_t length; + if (PYBIND11_BYTES_AS_STRING_AND_SIZE(temp.ptr(), &buffer, &length)) + pybind11_fail("Unable to extract string contents! (invalid type)"); + return std::string(buffer, (size_t) length); + } + + template + str format(Args &&...args) const { + return attr("format")(std::forward(args)...); + } + +private: + /// Return string representation -- always returns a new reference, even if already a str + static PyObject *raw_str(PyObject *op) { + PyObject *str_value = PyObject_Str(op); +#if PY_MAJOR_VERSION < 3 + if (!str_value) throw error_already_set(); + PyObject *unicode = PyUnicode_FromEncodedObject(str_value, "utf-8", nullptr); + Py_XDECREF(str_value); str_value = unicode; +#endif + return str_value; + } +}; +/// @} pytypes + +inline namespace literals { +/** \rst + String literal version of `str` + \endrst */ +inline str operator"" _s(const char *s, size_t size) { return {s, size}; } +} + +/// \addtogroup pytypes +/// @{ +class bytes : public object { +public: + PYBIND11_OBJECT(bytes, object, PYBIND11_BYTES_CHECK) + + // Allow implicit conversion: + bytes(const char *c = "") + : object(PYBIND11_BYTES_FROM_STRING(c), stolen_t{}) { + if (!m_ptr) pybind11_fail("Could not allocate bytes object!"); + } + + bytes(const char *c, size_t n) + : object(PYBIND11_BYTES_FROM_STRING_AND_SIZE(c, (ssize_t) n), stolen_t{}) { + if (!m_ptr) pybind11_fail("Could not allocate bytes object!"); + } + + // Allow implicit conversion: + bytes(const std::string &s) : bytes(s.data(), s.size()) { } + + explicit bytes(const pybind11::str &s); + + operator std::string() const { + char *buffer; + ssize_t length; + if (PYBIND11_BYTES_AS_STRING_AND_SIZE(m_ptr, &buffer, &length)) + pybind11_fail("Unable to extract bytes contents!"); + return std::string(buffer, (size_t) length); + } +}; + +inline bytes::bytes(const pybind11::str &s) { + object temp = s; + if (PyUnicode_Check(s.ptr())) { + temp = reinterpret_steal(PyUnicode_AsUTF8String(s.ptr())); + if (!temp) + pybind11_fail("Unable to extract string contents! (encoding issue)"); + } + char *buffer; + ssize_t length; + if (PYBIND11_BYTES_AS_STRING_AND_SIZE(temp.ptr(), &buffer, &length)) + pybind11_fail("Unable to extract string contents! (invalid type)"); + auto obj = reinterpret_steal(PYBIND11_BYTES_FROM_STRING_AND_SIZE(buffer, length)); + if (!obj) + pybind11_fail("Could not allocate bytes object!"); + m_ptr = obj.release().ptr(); +} + +inline str::str(const bytes& b) { + char *buffer; + ssize_t length; + if (PYBIND11_BYTES_AS_STRING_AND_SIZE(b.ptr(), &buffer, &length)) + pybind11_fail("Unable to extract bytes contents!"); + auto obj = reinterpret_steal(PyUnicode_FromStringAndSize(buffer, (ssize_t) length)); + if (!obj) + pybind11_fail("Could not allocate string object!"); + m_ptr = obj.release().ptr(); +} + +class none : public object { +public: + PYBIND11_OBJECT(none, object, detail::PyNone_Check) + none() : object(Py_None, borrowed_t{}) { } +}; + +#if PY_MAJOR_VERSION >= 3 +class ellipsis : public object { +public: + PYBIND11_OBJECT(ellipsis, object, detail::PyEllipsis_Check) + ellipsis() : object(Py_Ellipsis, borrowed_t{}) { } +}; +#endif + +class bool_ : public object { +public: + PYBIND11_OBJECT_CVT(bool_, object, PyBool_Check, raw_bool) + bool_() : object(Py_False, borrowed_t{}) { } + // Allow implicit conversion from and to `bool`: + bool_(bool value) : object(value ? Py_True : Py_False, borrowed_t{}) { } + operator bool() const { return m_ptr && PyLong_AsLong(m_ptr) != 0; } + +private: + /// Return the truth value of an object -- always returns a new reference + static PyObject *raw_bool(PyObject *op) { + const auto value = PyObject_IsTrue(op); + if (value == -1) return nullptr; + return handle(value ? Py_True : Py_False).inc_ref().ptr(); + } +}; + +NAMESPACE_BEGIN(detail) +// Converts a value to the given unsigned type. If an error occurs, you get back (Unsigned) -1; +// otherwise you get back the unsigned long or unsigned long long value cast to (Unsigned). +// (The distinction is critically important when casting a returned -1 error value to some other +// unsigned type: (A)-1 != (B)-1 when A and B are unsigned types of different sizes). +template +Unsigned as_unsigned(PyObject *o) { + if (sizeof(Unsigned) <= sizeof(unsigned long) +#if PY_VERSION_HEX < 0x03000000 + || PyInt_Check(o) +#endif + ) { + unsigned long v = PyLong_AsUnsignedLong(o); + return v == (unsigned long) -1 && PyErr_Occurred() ? (Unsigned) -1 : (Unsigned) v; + } + else { + unsigned long long v = PyLong_AsUnsignedLongLong(o); + return v == (unsigned long long) -1 && PyErr_Occurred() ? (Unsigned) -1 : (Unsigned) v; + } +} +NAMESPACE_END(detail) + +class int_ : public object { +public: + PYBIND11_OBJECT_CVT(int_, object, PYBIND11_LONG_CHECK, PyNumber_Long) + int_() : object(PyLong_FromLong(0), stolen_t{}) { } + // Allow implicit conversion from C++ integral types: + template ::value, int> = 0> + int_(T value) { + if (sizeof(T) <= sizeof(long)) { + if (std::is_signed::value) + m_ptr = PyLong_FromLong((long) value); + else + m_ptr = PyLong_FromUnsignedLong((unsigned long) value); + } else { + if (std::is_signed::value) + m_ptr = PyLong_FromLongLong((long long) value); + else + m_ptr = PyLong_FromUnsignedLongLong((unsigned long long) value); + } + if (!m_ptr) pybind11_fail("Could not allocate int object!"); + } + + template ::value, int> = 0> + operator T() const { + return std::is_unsigned::value + ? detail::as_unsigned(m_ptr) + : sizeof(T) <= sizeof(long) + ? (T) PyLong_AsLong(m_ptr) + : (T) PYBIND11_LONG_AS_LONGLONG(m_ptr); + } +}; + +class float_ : public object { +public: + PYBIND11_OBJECT_CVT(float_, object, PyFloat_Check, PyNumber_Float) + // Allow implicit conversion from float/double: + float_(float value) : object(PyFloat_FromDouble((double) value), stolen_t{}) { + if (!m_ptr) pybind11_fail("Could not allocate float object!"); + } + float_(double value = .0) : object(PyFloat_FromDouble((double) value), stolen_t{}) { + if (!m_ptr) pybind11_fail("Could not allocate float object!"); + } + operator float() const { return (float) PyFloat_AsDouble(m_ptr); } + operator double() const { return (double) PyFloat_AsDouble(m_ptr); } +}; + +class weakref : public object { +public: + PYBIND11_OBJECT_DEFAULT(weakref, object, PyWeakref_Check) + explicit weakref(handle obj, handle callback = {}) + : object(PyWeakref_NewRef(obj.ptr(), callback.ptr()), stolen_t{}) { + if (!m_ptr) pybind11_fail("Could not allocate weak reference!"); + } +}; + +class slice : public object { +public: + PYBIND11_OBJECT_DEFAULT(slice, object, PySlice_Check) + slice(ssize_t start_, ssize_t stop_, ssize_t step_) { + int_ start(start_), stop(stop_), step(step_); + m_ptr = PySlice_New(start.ptr(), stop.ptr(), step.ptr()); + if (!m_ptr) pybind11_fail("Could not allocate slice object!"); + } + bool compute(size_t length, size_t *start, size_t *stop, size_t *step, + size_t *slicelength) const { + return PySlice_GetIndicesEx((PYBIND11_SLICE_OBJECT *) m_ptr, + (ssize_t) length, (ssize_t *) start, + (ssize_t *) stop, (ssize_t *) step, + (ssize_t *) slicelength) == 0; + } + bool compute(ssize_t length, ssize_t *start, ssize_t *stop, ssize_t *step, + ssize_t *slicelength) const { + return PySlice_GetIndicesEx((PYBIND11_SLICE_OBJECT *) m_ptr, + length, start, + stop, step, + slicelength) == 0; + } +}; + +class capsule : public object { +public: + PYBIND11_OBJECT_DEFAULT(capsule, object, PyCapsule_CheckExact) + PYBIND11_DEPRECATED("Use reinterpret_borrow() or reinterpret_steal()") + capsule(PyObject *ptr, bool is_borrowed) : object(is_borrowed ? object(ptr, borrowed_t{}) : object(ptr, stolen_t{})) { } + + explicit capsule(const void *value, const char *name = nullptr, void (*destructor)(PyObject *) = nullptr) + : object(PyCapsule_New(const_cast(value), name, destructor), stolen_t{}) { + if (!m_ptr) + pybind11_fail("Could not allocate capsule object!"); + } + + PYBIND11_DEPRECATED("Please pass a destructor that takes a void pointer as input") + capsule(const void *value, void (*destruct)(PyObject *)) + : object(PyCapsule_New(const_cast(value), nullptr, destruct), stolen_t{}) { + if (!m_ptr) + pybind11_fail("Could not allocate capsule object!"); + } + + capsule(const void *value, void (*destructor)(void *)) { + m_ptr = PyCapsule_New(const_cast(value), nullptr, [](PyObject *o) { + auto destructor = reinterpret_cast(PyCapsule_GetContext(o)); + void *ptr = PyCapsule_GetPointer(o, nullptr); + destructor(ptr); + }); + + if (!m_ptr) + pybind11_fail("Could not allocate capsule object!"); + + if (PyCapsule_SetContext(m_ptr, (void *) destructor) != 0) + pybind11_fail("Could not set capsule context!"); + } + + capsule(void (*destructor)()) { + m_ptr = PyCapsule_New(reinterpret_cast(destructor), nullptr, [](PyObject *o) { + auto destructor = reinterpret_cast(PyCapsule_GetPointer(o, nullptr)); + destructor(); + }); + + if (!m_ptr) + pybind11_fail("Could not allocate capsule object!"); + } + + template operator T *() const { + auto name = this->name(); + T * result = static_cast(PyCapsule_GetPointer(m_ptr, name)); + if (!result) pybind11_fail("Unable to extract capsule contents!"); + return result; + } + + const char *name() const { return PyCapsule_GetName(m_ptr); } +}; + +class tuple : public object { +public: + PYBIND11_OBJECT_CVT(tuple, object, PyTuple_Check, PySequence_Tuple) + explicit tuple(size_t size = 0) : object(PyTuple_New((ssize_t) size), stolen_t{}) { + if (!m_ptr) pybind11_fail("Could not allocate tuple object!"); + } + size_t size() const { return (size_t) PyTuple_Size(m_ptr); } + detail::tuple_accessor operator[](size_t index) const { return {*this, index}; } + detail::item_accessor operator[](handle h) const { return object::operator[](h); } + detail::tuple_iterator begin() const { return {*this, 0}; } + detail::tuple_iterator end() const { return {*this, PyTuple_GET_SIZE(m_ptr)}; } +}; + +class dict : public object { +public: + PYBIND11_OBJECT_CVT(dict, object, PyDict_Check, raw_dict) + dict() : object(PyDict_New(), stolen_t{}) { + if (!m_ptr) pybind11_fail("Could not allocate dict object!"); + } + template ...>::value>, + // MSVC workaround: it can't compile an out-of-line definition, so defer the collector + typename collector = detail::deferred_t, Args...>> + explicit dict(Args &&...args) : dict(collector(std::forward(args)...).kwargs()) { } + + size_t size() const { return (size_t) PyDict_Size(m_ptr); } + detail::dict_iterator begin() const { return {*this, 0}; } + detail::dict_iterator end() const { return {}; } + void clear() const { PyDict_Clear(ptr()); } + bool contains(handle key) const { return PyDict_Contains(ptr(), key.ptr()) == 1; } + bool contains(const char *key) const { return PyDict_Contains(ptr(), pybind11::str(key).ptr()) == 1; } + +private: + /// Call the `dict` Python type -- always returns a new reference + static PyObject *raw_dict(PyObject *op) { + if (PyDict_Check(op)) + return handle(op).inc_ref().ptr(); + return PyObject_CallFunctionObjArgs((PyObject *) &PyDict_Type, op, nullptr); + } +}; + +class sequence : public object { +public: + PYBIND11_OBJECT_DEFAULT(sequence, object, PySequence_Check) + size_t size() const { return (size_t) PySequence_Size(m_ptr); } + detail::sequence_accessor operator[](size_t index) const { return {*this, index}; } + detail::item_accessor operator[](handle h) const { return object::operator[](h); } + detail::sequence_iterator begin() const { return {*this, 0}; } + detail::sequence_iterator end() const { return {*this, PySequence_Size(m_ptr)}; } +}; + +class list : public object { +public: + PYBIND11_OBJECT_CVT(list, object, PyList_Check, PySequence_List) + explicit list(size_t size = 0) : object(PyList_New((ssize_t) size), stolen_t{}) { + if (!m_ptr) pybind11_fail("Could not allocate list object!"); + } + size_t size() const { return (size_t) PyList_Size(m_ptr); } + detail::list_accessor operator[](size_t index) const { return {*this, index}; } + detail::item_accessor operator[](handle h) const { return object::operator[](h); } + detail::list_iterator begin() const { return {*this, 0}; } + detail::list_iterator end() const { return {*this, PyList_GET_SIZE(m_ptr)}; } + template void append(T &&val) const { + PyList_Append(m_ptr, detail::object_or_cast(std::forward(val)).ptr()); + } +}; + +class args : public tuple { PYBIND11_OBJECT_DEFAULT(args, tuple, PyTuple_Check) }; +class kwargs : public dict { PYBIND11_OBJECT_DEFAULT(kwargs, dict, PyDict_Check) }; + +class set : public object { +public: + PYBIND11_OBJECT_CVT(set, object, PySet_Check, PySet_New) + set() : object(PySet_New(nullptr), stolen_t{}) { + if (!m_ptr) pybind11_fail("Could not allocate set object!"); + } + size_t size() const { return (size_t) PySet_Size(m_ptr); } + template bool add(T &&val) const { + return PySet_Add(m_ptr, detail::object_or_cast(std::forward(val)).ptr()) == 0; + } + void clear() const { PySet_Clear(m_ptr); } +}; + +class function : public object { +public: + PYBIND11_OBJECT_DEFAULT(function, object, PyCallable_Check) + handle cpp_function() const { + handle fun = detail::get_function(m_ptr); + if (fun && PyCFunction_Check(fun.ptr())) + return fun; + return handle(); + } + bool is_cpp_function() const { return (bool) cpp_function(); } +}; + +class staticmethod : public object { +public: + PYBIND11_OBJECT_CVT(staticmethod, object, detail::PyStaticMethod_Check, PyStaticMethod_New) +}; + +class buffer : public object { +public: + PYBIND11_OBJECT_DEFAULT(buffer, object, PyObject_CheckBuffer) + + buffer_info request(bool writable = false) { + int flags = PyBUF_STRIDES | PyBUF_FORMAT; + if (writable) flags |= PyBUF_WRITABLE; + Py_buffer *view = new Py_buffer(); + if (PyObject_GetBuffer(m_ptr, view, flags) != 0) { + delete view; + throw error_already_set(); + } + return buffer_info(view); + } +}; + +class memoryview : public object { +public: + explicit memoryview(const buffer_info& info) { + static Py_buffer buf { }; + // Py_buffer uses signed sizes, strides and shape!.. + static std::vector py_strides { }; + static std::vector py_shape { }; + buf.buf = info.ptr; + buf.itemsize = info.itemsize; + buf.format = const_cast(info.format.c_str()); + buf.ndim = (int) info.ndim; + buf.len = info.size; + py_strides.clear(); + py_shape.clear(); + for (size_t i = 0; i < (size_t) info.ndim; ++i) { + py_strides.push_back(info.strides[i]); + py_shape.push_back(info.shape[i]); + } + buf.strides = py_strides.data(); + buf.shape = py_shape.data(); + buf.suboffsets = nullptr; + buf.readonly = false; + buf.internal = nullptr; + + m_ptr = PyMemoryView_FromBuffer(&buf); + if (!m_ptr) + pybind11_fail("Unable to create memoryview from buffer descriptor"); + } + + PYBIND11_OBJECT_CVT(memoryview, object, PyMemoryView_Check, PyMemoryView_FromObject) +}; +/// @} pytypes + +/// \addtogroup python_builtins +/// @{ +inline size_t len(handle h) { + ssize_t result = PyObject_Length(h.ptr()); + if (result < 0) + pybind11_fail("Unable to compute length of object"); + return (size_t) result; +} + +inline size_t len_hint(handle h) { +#if PY_VERSION_HEX >= 0x03040000 + ssize_t result = PyObject_LengthHint(h.ptr(), 0); +#else + ssize_t result = PyObject_Length(h.ptr()); +#endif + if (result < 0) { + // Sometimes a length can't be determined at all (eg generators) + // In which case simply return 0 + PyErr_Clear(); + return 0; + } + return (size_t) result; +} + +inline str repr(handle h) { + PyObject *str_value = PyObject_Repr(h.ptr()); + if (!str_value) throw error_already_set(); +#if PY_MAJOR_VERSION < 3 + PyObject *unicode = PyUnicode_FromEncodedObject(str_value, "utf-8", nullptr); + Py_XDECREF(str_value); str_value = unicode; + if (!str_value) throw error_already_set(); +#endif + return reinterpret_steal(str_value); +} + +inline iterator iter(handle obj) { + PyObject *result = PyObject_GetIter(obj.ptr()); + if (!result) { throw error_already_set(); } + return reinterpret_steal(result); +} +/// @} python_builtins + +NAMESPACE_BEGIN(detail) +template iterator object_api::begin() const { return iter(derived()); } +template iterator object_api::end() const { return iterator::sentinel(); } +template item_accessor object_api::operator[](handle key) const { + return {derived(), reinterpret_borrow(key)}; +} +template item_accessor object_api::operator[](const char *key) const { + return {derived(), pybind11::str(key)}; +} +template obj_attr_accessor object_api::attr(handle key) const { + return {derived(), reinterpret_borrow(key)}; +} +template str_attr_accessor object_api::attr(const char *key) const { + return {derived(), key}; +} +template args_proxy object_api::operator*() const { + return args_proxy(derived().ptr()); +} +template template bool object_api::contains(T &&item) const { + return attr("__contains__")(std::forward(item)).template cast(); +} + +template +pybind11::str object_api::str() const { return pybind11::str(derived()); } + +template +str_attr_accessor object_api::doc() const { return attr("__doc__"); } + +template +handle object_api::get_type() const { return (PyObject *) Py_TYPE(derived().ptr()); } + +template +bool object_api::rich_compare(object_api const &other, int value) const { + int rv = PyObject_RichCompareBool(derived().ptr(), other.derived().ptr(), value); + if (rv == -1) + throw error_already_set(); + return rv == 1; +} + +#define PYBIND11_MATH_OPERATOR_UNARY(op, fn) \ + template object object_api::op() const { \ + object result = reinterpret_steal(fn(derived().ptr())); \ + if (!result.ptr()) \ + throw error_already_set(); \ + return result; \ + } + +#define PYBIND11_MATH_OPERATOR_BINARY(op, fn) \ + template \ + object object_api::op(object_api const &other) const { \ + object result = reinterpret_steal( \ + fn(derived().ptr(), other.derived().ptr())); \ + if (!result.ptr()) \ + throw error_already_set(); \ + return result; \ + } + +PYBIND11_MATH_OPERATOR_UNARY (operator~, PyNumber_Invert) +PYBIND11_MATH_OPERATOR_UNARY (operator-, PyNumber_Negative) +PYBIND11_MATH_OPERATOR_BINARY(operator+, PyNumber_Add) +PYBIND11_MATH_OPERATOR_BINARY(operator+=, PyNumber_InPlaceAdd) +PYBIND11_MATH_OPERATOR_BINARY(operator-, PyNumber_Subtract) +PYBIND11_MATH_OPERATOR_BINARY(operator-=, PyNumber_InPlaceSubtract) +PYBIND11_MATH_OPERATOR_BINARY(operator*, PyNumber_Multiply) +PYBIND11_MATH_OPERATOR_BINARY(operator*=, PyNumber_InPlaceMultiply) +PYBIND11_MATH_OPERATOR_BINARY(operator/, PyNumber_TrueDivide) +PYBIND11_MATH_OPERATOR_BINARY(operator/=, PyNumber_InPlaceTrueDivide) +PYBIND11_MATH_OPERATOR_BINARY(operator|, PyNumber_Or) +PYBIND11_MATH_OPERATOR_BINARY(operator|=, PyNumber_InPlaceOr) +PYBIND11_MATH_OPERATOR_BINARY(operator&, PyNumber_And) +PYBIND11_MATH_OPERATOR_BINARY(operator&=, PyNumber_InPlaceAnd) +PYBIND11_MATH_OPERATOR_BINARY(operator^, PyNumber_Xor) +PYBIND11_MATH_OPERATOR_BINARY(operator^=, PyNumber_InPlaceXor) +PYBIND11_MATH_OPERATOR_BINARY(operator<<, PyNumber_Lshift) +PYBIND11_MATH_OPERATOR_BINARY(operator<<=, PyNumber_InPlaceLshift) +PYBIND11_MATH_OPERATOR_BINARY(operator>>, PyNumber_Rshift) +PYBIND11_MATH_OPERATOR_BINARY(operator>>=, PyNumber_InPlaceRshift) + +#undef PYBIND11_MATH_OPERATOR_UNARY +#undef PYBIND11_MATH_OPERATOR_BINARY + +NAMESPACE_END(detail) +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/include/pybind11/stl.h b/wrap/python/pybind11/include/pybind11/stl.h new file mode 100644 index 000000000..32f8d294a --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/stl.h @@ -0,0 +1,386 @@ +/* + pybind11/stl.h: Transparent conversion for STL data types + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "pybind11.h" +#include +#include +#include +#include +#include +#include +#include +#include + +#if defined(_MSC_VER) +#pragma warning(push) +#pragma warning(disable: 4127) // warning C4127: Conditional expression is constant +#endif + +#ifdef __has_include +// std::optional (but including it in c++14 mode isn't allowed) +# if defined(PYBIND11_CPP17) && __has_include() +# include +# define PYBIND11_HAS_OPTIONAL 1 +# endif +// std::experimental::optional (but not allowed in c++11 mode) +# if defined(PYBIND11_CPP14) && (__has_include() && \ + !__has_include()) +# include +# define PYBIND11_HAS_EXP_OPTIONAL 1 +# endif +// std::variant +# if defined(PYBIND11_CPP17) && __has_include() +# include +# define PYBIND11_HAS_VARIANT 1 +# endif +#elif defined(_MSC_VER) && defined(PYBIND11_CPP17) +# include +# include +# define PYBIND11_HAS_OPTIONAL 1 +# define PYBIND11_HAS_VARIANT 1 +#endif + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) + +/// Extracts an const lvalue reference or rvalue reference for U based on the type of T (e.g. for +/// forwarding a container element). Typically used indirect via forwarded_type(), below. +template +using forwarded_type = conditional_t< + std::is_lvalue_reference::value, remove_reference_t &, remove_reference_t &&>; + +/// Forwards a value U as rvalue or lvalue according to whether T is rvalue or lvalue; typically +/// used for forwarding a container's elements. +template +forwarded_type forward_like(U &&u) { + return std::forward>(std::forward(u)); +} + +template struct set_caster { + using type = Type; + using key_conv = make_caster; + + bool load(handle src, bool convert) { + if (!isinstance(src)) + return false; + auto s = reinterpret_borrow(src); + value.clear(); + for (auto entry : s) { + key_conv conv; + if (!conv.load(entry, convert)) + return false; + value.insert(cast_op(std::move(conv))); + } + return true; + } + + template + static handle cast(T &&src, return_value_policy policy, handle parent) { + if (!std::is_lvalue_reference::value) + policy = return_value_policy_override::policy(policy); + pybind11::set s; + for (auto &&value : src) { + auto value_ = reinterpret_steal(key_conv::cast(forward_like(value), policy, parent)); + if (!value_ || !s.add(value_)) + return handle(); + } + return s.release(); + } + + PYBIND11_TYPE_CASTER(type, _("Set[") + key_conv::name + _("]")); +}; + +template struct map_caster { + using key_conv = make_caster; + using value_conv = make_caster; + + bool load(handle src, bool convert) { + if (!isinstance(src)) + return false; + auto d = reinterpret_borrow(src); + value.clear(); + for (auto it : d) { + key_conv kconv; + value_conv vconv; + if (!kconv.load(it.first.ptr(), convert) || + !vconv.load(it.second.ptr(), convert)) + return false; + value.emplace(cast_op(std::move(kconv)), cast_op(std::move(vconv))); + } + return true; + } + + template + static handle cast(T &&src, return_value_policy policy, handle parent) { + dict d; + return_value_policy policy_key = policy; + return_value_policy policy_value = policy; + if (!std::is_lvalue_reference::value) { + policy_key = return_value_policy_override::policy(policy_key); + policy_value = return_value_policy_override::policy(policy_value); + } + for (auto &&kv : src) { + auto key = reinterpret_steal(key_conv::cast(forward_like(kv.first), policy_key, parent)); + auto value = reinterpret_steal(value_conv::cast(forward_like(kv.second), policy_value, parent)); + if (!key || !value) + return handle(); + d[key] = value; + } + return d.release(); + } + + PYBIND11_TYPE_CASTER(Type, _("Dict[") + key_conv::name + _(", ") + value_conv::name + _("]")); +}; + +template struct list_caster { + using value_conv = make_caster; + + bool load(handle src, bool convert) { + if (!isinstance(src) || isinstance(src)) + return false; + auto s = reinterpret_borrow(src); + value.clear(); + reserve_maybe(s, &value); + for (auto it : s) { + value_conv conv; + if (!conv.load(it, convert)) + return false; + value.push_back(cast_op(std::move(conv))); + } + return true; + } + +private: + template ().reserve(0)), void>::value, int> = 0> + void reserve_maybe(sequence s, Type *) { value.reserve(s.size()); } + void reserve_maybe(sequence, void *) { } + +public: + template + static handle cast(T &&src, return_value_policy policy, handle parent) { + if (!std::is_lvalue_reference::value) + policy = return_value_policy_override::policy(policy); + list l(src.size()); + size_t index = 0; + for (auto &&value : src) { + auto value_ = reinterpret_steal(value_conv::cast(forward_like(value), policy, parent)); + if (!value_) + return handle(); + PyList_SET_ITEM(l.ptr(), (ssize_t) index++, value_.release().ptr()); // steals a reference + } + return l.release(); + } + + PYBIND11_TYPE_CASTER(Type, _("List[") + value_conv::name + _("]")); +}; + +template struct type_caster> + : list_caster, Type> { }; + +template struct type_caster> + : list_caster, Type> { }; + +template struct type_caster> + : list_caster, Type> { }; + +template struct array_caster { + using value_conv = make_caster; + +private: + template + bool require_size(enable_if_t size) { + if (value.size() != size) + value.resize(size); + return true; + } + template + bool require_size(enable_if_t size) { + return size == Size; + } + +public: + bool load(handle src, bool convert) { + if (!isinstance(src)) + return false; + auto l = reinterpret_borrow(src); + if (!require_size(l.size())) + return false; + size_t ctr = 0; + for (auto it : l) { + value_conv conv; + if (!conv.load(it, convert)) + return false; + value[ctr++] = cast_op(std::move(conv)); + } + return true; + } + + template + static handle cast(T &&src, return_value_policy policy, handle parent) { + list l(src.size()); + size_t index = 0; + for (auto &&value : src) { + auto value_ = reinterpret_steal(value_conv::cast(forward_like(value), policy, parent)); + if (!value_) + return handle(); + PyList_SET_ITEM(l.ptr(), (ssize_t) index++, value_.release().ptr()); // steals a reference + } + return l.release(); + } + + PYBIND11_TYPE_CASTER(ArrayType, _("List[") + value_conv::name + _(_(""), _("[") + _() + _("]")) + _("]")); +}; + +template struct type_caster> + : array_caster, Type, false, Size> { }; + +template struct type_caster> + : array_caster, Type, true> { }; + +template struct type_caster> + : set_caster, Key> { }; + +template struct type_caster> + : set_caster, Key> { }; + +template struct type_caster> + : map_caster, Key, Value> { }; + +template struct type_caster> + : map_caster, Key, Value> { }; + +// This type caster is intended to be used for std::optional and std::experimental::optional +template struct optional_caster { + using value_conv = make_caster; + + template + static handle cast(T_ &&src, return_value_policy policy, handle parent) { + if (!src) + return none().inc_ref(); + policy = return_value_policy_override::policy(policy); + return value_conv::cast(*std::forward(src), policy, parent); + } + + bool load(handle src, bool convert) { + if (!src) { + return false; + } else if (src.is_none()) { + return true; // default-constructed value is already empty + } + value_conv inner_caster; + if (!inner_caster.load(src, convert)) + return false; + + value.emplace(cast_op(std::move(inner_caster))); + return true; + } + + PYBIND11_TYPE_CASTER(T, _("Optional[") + value_conv::name + _("]")); +}; + +#if PYBIND11_HAS_OPTIONAL +template struct type_caster> + : public optional_caster> {}; + +template<> struct type_caster + : public void_caster {}; +#endif + +#if PYBIND11_HAS_EXP_OPTIONAL +template struct type_caster> + : public optional_caster> {}; + +template<> struct type_caster + : public void_caster {}; +#endif + +/// Visit a variant and cast any found type to Python +struct variant_caster_visitor { + return_value_policy policy; + handle parent; + + using result_type = handle; // required by boost::variant in C++11 + + template + result_type operator()(T &&src) const { + return make_caster::cast(std::forward(src), policy, parent); + } +}; + +/// Helper class which abstracts away variant's `visit` function. `std::variant` and similar +/// `namespace::variant` types which provide a `namespace::visit()` function are handled here +/// automatically using argument-dependent lookup. Users can provide specializations for other +/// variant-like classes, e.g. `boost::variant` and `boost::apply_visitor`. +template class Variant> +struct visit_helper { + template + static auto call(Args &&...args) -> decltype(visit(std::forward(args)...)) { + return visit(std::forward(args)...); + } +}; + +/// Generic variant caster +template struct variant_caster; + +template class V, typename... Ts> +struct variant_caster> { + static_assert(sizeof...(Ts) > 0, "Variant must consist of at least one alternative."); + + template + bool load_alternative(handle src, bool convert, type_list) { + auto caster = make_caster(); + if (caster.load(src, convert)) { + value = cast_op(caster); + return true; + } + return load_alternative(src, convert, type_list{}); + } + + bool load_alternative(handle, bool, type_list<>) { return false; } + + bool load(handle src, bool convert) { + // Do a first pass without conversions to improve constructor resolution. + // E.g. `py::int_(1).cast>()` needs to fill the `int` + // slot of the variant. Without two-pass loading `double` would be filled + // because it appears first and a conversion is possible. + if (convert && load_alternative(src, false, type_list{})) + return true; + return load_alternative(src, convert, type_list{}); + } + + template + static handle cast(Variant &&src, return_value_policy policy, handle parent) { + return visit_helper::call(variant_caster_visitor{policy, parent}, + std::forward(src)); + } + + using Type = V; + PYBIND11_TYPE_CASTER(Type, _("Union[") + detail::concat(make_caster::name...) + _("]")); +}; + +#if PYBIND11_HAS_VARIANT +template +struct type_caster> : variant_caster> { }; +#endif + +NAMESPACE_END(detail) + +inline std::ostream &operator<<(std::ostream &os, const handle &obj) { + os << (std::string) str(obj); + return os; +} + +NAMESPACE_END(PYBIND11_NAMESPACE) + +#if defined(_MSC_VER) +#pragma warning(pop) +#endif diff --git a/wrap/python/pybind11/include/pybind11/stl_bind.h b/wrap/python/pybind11/include/pybind11/stl_bind.h new file mode 100644 index 000000000..1f8725260 --- /dev/null +++ b/wrap/python/pybind11/include/pybind11/stl_bind.h @@ -0,0 +1,630 @@ +/* + pybind11/std_bind.h: Binding generators for STL data types + + Copyright (c) 2016 Sergey Lyskov and Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#pragma once + +#include "detail/common.h" +#include "operators.h" + +#include +#include + +NAMESPACE_BEGIN(PYBIND11_NAMESPACE) +NAMESPACE_BEGIN(detail) + +/* SFINAE helper class used by 'is_comparable */ +template struct container_traits { + template static std::true_type test_comparable(decltype(std::declval() == std::declval())*); + template static std::false_type test_comparable(...); + template static std::true_type test_value(typename T2::value_type *); + template static std::false_type test_value(...); + template static std::true_type test_pair(typename T2::first_type *, typename T2::second_type *); + template static std::false_type test_pair(...); + + static constexpr const bool is_comparable = std::is_same(nullptr))>::value; + static constexpr const bool is_pair = std::is_same(nullptr, nullptr))>::value; + static constexpr const bool is_vector = std::is_same(nullptr))>::value; + static constexpr const bool is_element = !is_pair && !is_vector; +}; + +/* Default: is_comparable -> std::false_type */ +template +struct is_comparable : std::false_type { }; + +/* For non-map data structures, check whether operator== can be instantiated */ +template +struct is_comparable< + T, enable_if_t::is_element && + container_traits::is_comparable>> + : std::true_type { }; + +/* For a vector/map data structure, recursively check the value type (which is std::pair for maps) */ +template +struct is_comparable::is_vector>> { + static constexpr const bool value = + is_comparable::value; +}; + +/* For pairs, recursively check the two data types */ +template +struct is_comparable::is_pair>> { + static constexpr const bool value = + is_comparable::value && + is_comparable::value; +}; + +/* Fallback functions */ +template void vector_if_copy_constructible(const Args &...) { } +template void vector_if_equal_operator(const Args &...) { } +template void vector_if_insertion_operator(const Args &...) { } +template void vector_modifiers(const Args &...) { } + +template +void vector_if_copy_constructible(enable_if_t::value, Class_> &cl) { + cl.def(init(), "Copy constructor"); +} + +template +void vector_if_equal_operator(enable_if_t::value, Class_> &cl) { + using T = typename Vector::value_type; + + cl.def(self == self); + cl.def(self != self); + + cl.def("count", + [](const Vector &v, const T &x) { + return std::count(v.begin(), v.end(), x); + }, + arg("x"), + "Return the number of times ``x`` appears in the list" + ); + + cl.def("remove", [](Vector &v, const T &x) { + auto p = std::find(v.begin(), v.end(), x); + if (p != v.end()) + v.erase(p); + else + throw value_error(); + }, + arg("x"), + "Remove the first item from the list whose value is x. " + "It is an error if there is no such item." + ); + + cl.def("__contains__", + [](const Vector &v, const T &x) { + return std::find(v.begin(), v.end(), x) != v.end(); + }, + arg("x"), + "Return true the container contains ``x``" + ); +} + +// Vector modifiers -- requires a copyable vector_type: +// (Technically, some of these (pop and __delitem__) don't actually require copyability, but it seems +// silly to allow deletion but not insertion, so include them here too.) +template +void vector_modifiers(enable_if_t::value, Class_> &cl) { + using T = typename Vector::value_type; + using SizeType = typename Vector::size_type; + using DiffType = typename Vector::difference_type; + + cl.def("append", + [](Vector &v, const T &value) { v.push_back(value); }, + arg("x"), + "Add an item to the end of the list"); + + cl.def(init([](iterable it) { + auto v = std::unique_ptr(new Vector()); + v->reserve(len_hint(it)); + for (handle h : it) + v->push_back(h.cast()); + return v.release(); + })); + + cl.def("extend", + [](Vector &v, const Vector &src) { + v.insert(v.end(), src.begin(), src.end()); + }, + arg("L"), + "Extend the list by appending all the items in the given list" + ); + + cl.def("extend", + [](Vector &v, iterable it) { + const size_t old_size = v.size(); + v.reserve(old_size + len_hint(it)); + try { + for (handle h : it) { + v.push_back(h.cast()); + } + } catch (const cast_error &) { + v.erase(v.begin() + static_cast(old_size), v.end()); + try { + v.shrink_to_fit(); + } catch (const std::exception &) { + // Do nothing + } + throw; + } + }, + arg("L"), + "Extend the list by appending all the items in the given list" + ); + + cl.def("insert", + [](Vector &v, SizeType i, const T &x) { + if (i > v.size()) + throw index_error(); + v.insert(v.begin() + (DiffType) i, x); + }, + arg("i") , arg("x"), + "Insert an item at a given position." + ); + + cl.def("pop", + [](Vector &v) { + if (v.empty()) + throw index_error(); + T t = v.back(); + v.pop_back(); + return t; + }, + "Remove and return the last item" + ); + + cl.def("pop", + [](Vector &v, SizeType i) { + if (i >= v.size()) + throw index_error(); + T t = v[i]; + v.erase(v.begin() + (DiffType) i); + return t; + }, + arg("i"), + "Remove and return the item at index ``i``" + ); + + cl.def("__setitem__", + [](Vector &v, SizeType i, const T &t) { + if (i >= v.size()) + throw index_error(); + v[i] = t; + } + ); + + /// Slicing protocol + cl.def("__getitem__", + [](const Vector &v, slice slice) -> Vector * { + size_t start, stop, step, slicelength; + + if (!slice.compute(v.size(), &start, &stop, &step, &slicelength)) + throw error_already_set(); + + Vector *seq = new Vector(); + seq->reserve((size_t) slicelength); + + for (size_t i=0; ipush_back(v[start]); + start += step; + } + return seq; + }, + arg("s"), + "Retrieve list elements using a slice object" + ); + + cl.def("__setitem__", + [](Vector &v, slice slice, const Vector &value) { + size_t start, stop, step, slicelength; + if (!slice.compute(v.size(), &start, &stop, &step, &slicelength)) + throw error_already_set(); + + if (slicelength != value.size()) + throw std::runtime_error("Left and right hand size of slice assignment have different sizes!"); + + for (size_t i=0; i= v.size()) + throw index_error(); + v.erase(v.begin() + DiffType(i)); + }, + "Delete the list elements at index ``i``" + ); + + cl.def("__delitem__", + [](Vector &v, slice slice) { + size_t start, stop, step, slicelength; + + if (!slice.compute(v.size(), &start, &stop, &step, &slicelength)) + throw error_already_set(); + + if (step == 1 && false) { + v.erase(v.begin() + (DiffType) start, v.begin() + DiffType(start + slicelength)); + } else { + for (size_t i = 0; i < slicelength; ++i) { + v.erase(v.begin() + DiffType(start)); + start += step - 1; + } + } + }, + "Delete list elements using a slice object" + ); + +} + +// If the type has an operator[] that doesn't return a reference (most notably std::vector), +// we have to access by copying; otherwise we return by reference. +template using vector_needs_copy = negation< + std::is_same()[typename Vector::size_type()]), typename Vector::value_type &>>; + +// The usual case: access and iterate by reference +template +void vector_accessor(enable_if_t::value, Class_> &cl) { + using T = typename Vector::value_type; + using SizeType = typename Vector::size_type; + using ItType = typename Vector::iterator; + + cl.def("__getitem__", + [](Vector &v, SizeType i) -> T & { + if (i >= v.size()) + throw index_error(); + return v[i]; + }, + return_value_policy::reference_internal // ref + keepalive + ); + + cl.def("__iter__", + [](Vector &v) { + return make_iterator< + return_value_policy::reference_internal, ItType, ItType, T&>( + v.begin(), v.end()); + }, + keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */ + ); +} + +// The case for special objects, like std::vector, that have to be returned-by-copy: +template +void vector_accessor(enable_if_t::value, Class_> &cl) { + using T = typename Vector::value_type; + using SizeType = typename Vector::size_type; + using ItType = typename Vector::iterator; + cl.def("__getitem__", + [](const Vector &v, SizeType i) -> T { + if (i >= v.size()) + throw index_error(); + return v[i]; + } + ); + + cl.def("__iter__", + [](Vector &v) { + return make_iterator< + return_value_policy::copy, ItType, ItType, T>( + v.begin(), v.end()); + }, + keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */ + ); +} + +template auto vector_if_insertion_operator(Class_ &cl, std::string const &name) + -> decltype(std::declval() << std::declval(), void()) { + using size_type = typename Vector::size_type; + + cl.def("__repr__", + [name](Vector &v) { + std::ostringstream s; + s << name << '['; + for (size_type i=0; i < v.size(); ++i) { + s << v[i]; + if (i != v.size() - 1) + s << ", "; + } + s << ']'; + return s.str(); + }, + "Return the canonical string representation of this list." + ); +} + +// Provide the buffer interface for vectors if we have data() and we have a format for it +// GCC seems to have "void std::vector::data()" - doing SFINAE on the existence of data() is insufficient, we need to check it returns an appropriate pointer +template +struct vector_has_data_and_format : std::false_type {}; +template +struct vector_has_data_and_format::format(), std::declval().data()), typename Vector::value_type*>::value>> : std::true_type {}; + +// Add the buffer interface to a vector +template +enable_if_t...>::value> +vector_buffer(Class_& cl) { + using T = typename Vector::value_type; + + static_assert(vector_has_data_and_format::value, "There is not an appropriate format descriptor for this vector"); + + // numpy.h declares this for arbitrary types, but it may raise an exception and crash hard at runtime if PYBIND11_NUMPY_DTYPE hasn't been called, so check here + format_descriptor::format(); + + cl.def_buffer([](Vector& v) -> buffer_info { + return buffer_info(v.data(), static_cast(sizeof(T)), format_descriptor::format(), 1, {v.size()}, {sizeof(T)}); + }); + + cl.def(init([](buffer buf) { + auto info = buf.request(); + if (info.ndim != 1 || info.strides[0] % static_cast(sizeof(T))) + throw type_error("Only valid 1D buffers can be copied to a vector"); + if (!detail::compare_buffer_info::compare(info) || (ssize_t) sizeof(T) != info.itemsize) + throw type_error("Format mismatch (Python: " + info.format + " C++: " + format_descriptor::format() + ")"); + + auto vec = std::unique_ptr(new Vector()); + vec->reserve((size_t) info.shape[0]); + T *p = static_cast(info.ptr); + ssize_t step = info.strides[0] / static_cast(sizeof(T)); + T *end = p + info.shape[0] * step; + for (; p != end; p += step) + vec->push_back(*p); + return vec.release(); + })); + + return; +} + +template +enable_if_t...>::value> vector_buffer(Class_&) {} + +NAMESPACE_END(detail) + +// +// std::vector +// +template , typename... Args> +class_ bind_vector(handle scope, std::string const &name, Args&&... args) { + using Class_ = class_; + + // If the value_type is unregistered (e.g. a converting type) or is itself registered + // module-local then make the vector binding module-local as well: + using vtype = typename Vector::value_type; + auto vtype_info = detail::get_type_info(typeid(vtype)); + bool local = !vtype_info || vtype_info->module_local; + + Class_ cl(scope, name.c_str(), pybind11::module_local(local), std::forward(args)...); + + // Declare the buffer interface if a buffer_protocol() is passed in + detail::vector_buffer(cl); + + cl.def(init<>()); + + // Register copy constructor (if possible) + detail::vector_if_copy_constructible(cl); + + // Register comparison-related operators and functions (if possible) + detail::vector_if_equal_operator(cl); + + // Register stream insertion operator (if possible) + detail::vector_if_insertion_operator(cl, name); + + // Modifiers require copyable vector value type + detail::vector_modifiers(cl); + + // Accessor and iterator; return by value if copyable, otherwise we return by ref + keep-alive + detail::vector_accessor(cl); + + cl.def("__bool__", + [](const Vector &v) -> bool { + return !v.empty(); + }, + "Check whether the list is nonempty" + ); + + cl.def("__len__", &Vector::size); + + + + +#if 0 + // C++ style functions deprecated, leaving it here as an example + cl.def(init()); + + cl.def("resize", + (void (Vector::*) (size_type count)) & Vector::resize, + "changes the number of elements stored"); + + cl.def("erase", + [](Vector &v, SizeType i) { + if (i >= v.size()) + throw index_error(); + v.erase(v.begin() + i); + }, "erases element at index ``i``"); + + cl.def("empty", &Vector::empty, "checks whether the container is empty"); + cl.def("size", &Vector::size, "returns the number of elements"); + cl.def("push_back", (void (Vector::*)(const T&)) &Vector::push_back, "adds an element to the end"); + cl.def("pop_back", &Vector::pop_back, "removes the last element"); + + cl.def("max_size", &Vector::max_size, "returns the maximum possible number of elements"); + cl.def("reserve", &Vector::reserve, "reserves storage"); + cl.def("capacity", &Vector::capacity, "returns the number of elements that can be held in currently allocated storage"); + cl.def("shrink_to_fit", &Vector::shrink_to_fit, "reduces memory usage by freeing unused memory"); + + cl.def("clear", &Vector::clear, "clears the contents"); + cl.def("swap", &Vector::swap, "swaps the contents"); + + cl.def("front", [](Vector &v) { + if (v.size()) return v.front(); + else throw index_error(); + }, "access the first element"); + + cl.def("back", [](Vector &v) { + if (v.size()) return v.back(); + else throw index_error(); + }, "access the last element "); + +#endif + + return cl; +} + + + +// +// std::map, std::unordered_map +// + +NAMESPACE_BEGIN(detail) + +/* Fallback functions */ +template void map_if_insertion_operator(const Args &...) { } +template void map_assignment(const Args &...) { } + +// Map assignment when copy-assignable: just copy the value +template +void map_assignment(enable_if_t::value, Class_> &cl) { + using KeyType = typename Map::key_type; + using MappedType = typename Map::mapped_type; + + cl.def("__setitem__", + [](Map &m, const KeyType &k, const MappedType &v) { + auto it = m.find(k); + if (it != m.end()) it->second = v; + else m.emplace(k, v); + } + ); +} + +// Not copy-assignable, but still copy-constructible: we can update the value by erasing and reinserting +template +void map_assignment(enable_if_t< + !std::is_copy_assignable::value && + is_copy_constructible::value, + Class_> &cl) { + using KeyType = typename Map::key_type; + using MappedType = typename Map::mapped_type; + + cl.def("__setitem__", + [](Map &m, const KeyType &k, const MappedType &v) { + // We can't use m[k] = v; because value type might not be default constructable + auto r = m.emplace(k, v); + if (!r.second) { + // value type is not copy assignable so the only way to insert it is to erase it first... + m.erase(r.first); + m.emplace(k, v); + } + } + ); +} + + +template auto map_if_insertion_operator(Class_ &cl, std::string const &name) +-> decltype(std::declval() << std::declval() << std::declval(), void()) { + + cl.def("__repr__", + [name](Map &m) { + std::ostringstream s; + s << name << '{'; + bool f = false; + for (auto const &kv : m) { + if (f) + s << ", "; + s << kv.first << ": " << kv.second; + f = true; + } + s << '}'; + return s.str(); + }, + "Return the canonical string representation of this map." + ); +} + + +NAMESPACE_END(detail) + +template , typename... Args> +class_ bind_map(handle scope, const std::string &name, Args&&... args) { + using KeyType = typename Map::key_type; + using MappedType = typename Map::mapped_type; + using Class_ = class_; + + // If either type is a non-module-local bound type then make the map binding non-local as well; + // otherwise (e.g. both types are either module-local or converting) the map will be + // module-local. + auto tinfo = detail::get_type_info(typeid(MappedType)); + bool local = !tinfo || tinfo->module_local; + if (local) { + tinfo = detail::get_type_info(typeid(KeyType)); + local = !tinfo || tinfo->module_local; + } + + Class_ cl(scope, name.c_str(), pybind11::module_local(local), std::forward(args)...); + + cl.def(init<>()); + + // Register stream insertion operator (if possible) + detail::map_if_insertion_operator(cl, name); + + cl.def("__bool__", + [](const Map &m) -> bool { return !m.empty(); }, + "Check whether the map is nonempty" + ); + + cl.def("__iter__", + [](Map &m) { return make_key_iterator(m.begin(), m.end()); }, + keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */ + ); + + cl.def("items", + [](Map &m) { return make_iterator(m.begin(), m.end()); }, + keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */ + ); + + cl.def("__getitem__", + [](Map &m, const KeyType &k) -> MappedType & { + auto it = m.find(k); + if (it == m.end()) + throw key_error(); + return it->second; + }, + return_value_policy::reference_internal // ref + keepalive + ); + + cl.def("__contains__", + [](Map &m, const KeyType &k) -> bool { + auto it = m.find(k); + if (it == m.end()) + return false; + return true; + } + ); + + // Assignment provided only if the type is copyable + detail::map_assignment(cl); + + cl.def("__delitem__", + [](Map &m, const KeyType &k) { + auto it = m.find(k); + if (it == m.end()) + throw key_error(); + m.erase(it); + } + ); + + cl.def("__len__", &Map::size); + + return cl; +} + +NAMESPACE_END(PYBIND11_NAMESPACE) diff --git a/wrap/python/pybind11/pybind11/__init__.py b/wrap/python/pybind11/pybind11/__init__.py new file mode 100644 index 000000000..5782ffea2 --- /dev/null +++ b/wrap/python/pybind11/pybind11/__init__.py @@ -0,0 +1,28 @@ +from ._version import version_info, __version__ # noqa: F401 imported but unused + + +def get_include(user=False): + from distutils.dist import Distribution + import os + import sys + + # Are we running in a virtual environment? + virtualenv = hasattr(sys, 'real_prefix') or \ + sys.prefix != getattr(sys, "base_prefix", sys.prefix) + + if virtualenv: + return os.path.join(sys.prefix, 'include', 'site', + 'python' + sys.version[:3]) + else: + dist = Distribution({'name': 'pybind11'}) + dist.parse_config_files() + + dist_cobj = dist.get_command_obj('install', create=True) + + # Search for packages in user's home directory? + if user: + dist_cobj.user = user + dist_cobj.prefix = "" + dist_cobj.finalize_options() + + return os.path.dirname(dist_cobj.install_headers) diff --git a/wrap/python/pybind11/pybind11/__main__.py b/wrap/python/pybind11/pybind11/__main__.py new file mode 100644 index 000000000..9ef837802 --- /dev/null +++ b/wrap/python/pybind11/pybind11/__main__.py @@ -0,0 +1,37 @@ +from __future__ import print_function + +import argparse +import sys +import sysconfig + +from . import get_include + + +def print_includes(): + dirs = [sysconfig.get_path('include'), + sysconfig.get_path('platinclude'), + get_include(), + get_include(True)] + + # Make unique but preserve order + unique_dirs = [] + for d in dirs: + if d not in unique_dirs: + unique_dirs.append(d) + + print(' '.join('-I' + d for d in unique_dirs)) + + +def main(): + parser = argparse.ArgumentParser(prog='python -m pybind11') + parser.add_argument('--includes', action='store_true', + help='Include flags for both pybind11 and Python headers.') + args = parser.parse_args() + if not sys.argv[1:]: + parser.print_help() + if args.includes: + print_includes() + + +if __name__ == '__main__': + main() diff --git a/wrap/python/pybind11/pybind11/_version.py b/wrap/python/pybind11/pybind11/_version.py new file mode 100644 index 000000000..fef541bdb --- /dev/null +++ b/wrap/python/pybind11/pybind11/_version.py @@ -0,0 +1,2 @@ +version_info = (2, 3, 'dev1') +__version__ = '.'.join(map(str, version_info)) diff --git a/wrap/python/pybind11/setup.cfg b/wrap/python/pybind11/setup.cfg new file mode 100644 index 000000000..002f38d10 --- /dev/null +++ b/wrap/python/pybind11/setup.cfg @@ -0,0 +1,12 @@ +[bdist_wheel] +universal=1 + +[flake8] +max-line-length = 99 +show_source = True +exclude = .git, __pycache__, build, dist, docs, tools, venv +ignore = + # required for pretty matrix formatting: multiple spaces after `,` and `[` + E201, E241, W504, + # camelcase 'cPickle' imported as lowercase 'pickle' + N813 diff --git a/wrap/python/pybind11/setup.py b/wrap/python/pybind11/setup.py new file mode 100644 index 000000000..f677f2af4 --- /dev/null +++ b/wrap/python/pybind11/setup.py @@ -0,0 +1,108 @@ +#!/usr/bin/env python + +# Setup script for PyPI; use CMakeFile.txt to build extension modules + +from setuptools import setup +from distutils.command.install_headers import install_headers +from pybind11 import __version__ +import os + +# Prevent installation of pybind11 headers by setting +# PYBIND11_USE_CMAKE. +if os.environ.get('PYBIND11_USE_CMAKE'): + headers = [] +else: + headers = [ + 'include/pybind11/detail/class.h', + 'include/pybind11/detail/common.h', + 'include/pybind11/detail/descr.h', + 'include/pybind11/detail/init.h', + 'include/pybind11/detail/internals.h', + 'include/pybind11/detail/typeid.h', + 'include/pybind11/attr.h', + 'include/pybind11/buffer_info.h', + 'include/pybind11/cast.h', + 'include/pybind11/chrono.h', + 'include/pybind11/common.h', + 'include/pybind11/complex.h', + 'include/pybind11/eigen.h', + 'include/pybind11/embed.h', + 'include/pybind11/eval.h', + 'include/pybind11/functional.h', + 'include/pybind11/iostream.h', + 'include/pybind11/numpy.h', + 'include/pybind11/operators.h', + 'include/pybind11/options.h', + 'include/pybind11/pybind11.h', + 'include/pybind11/pytypes.h', + 'include/pybind11/stl.h', + 'include/pybind11/stl_bind.h', + ] + + +class InstallHeaders(install_headers): + """Use custom header installer because the default one flattens subdirectories""" + def run(self): + if not self.distribution.headers: + return + + for header in self.distribution.headers: + subdir = os.path.dirname(os.path.relpath(header, 'include/pybind11')) + install_dir = os.path.join(self.install_dir, subdir) + self.mkpath(install_dir) + + (out, _) = self.copy_file(header, install_dir) + self.outfiles.append(out) + + +setup( + name='pybind11', + version=__version__, + description='Seamless operability between C++11 and Python', + author='Wenzel Jakob', + author_email='wenzel.jakob@epfl.ch', + url='https://github.com/pybind/pybind11', + download_url='https://github.com/pybind/pybind11/tarball/v' + __version__, + packages=['pybind11'], + license='BSD', + headers=headers, + cmdclass=dict(install_headers=InstallHeaders), + classifiers=[ + 'Development Status :: 5 - Production/Stable', + 'Intended Audience :: Developers', + 'Topic :: Software Development :: Libraries :: Python Modules', + 'Topic :: Utilities', + 'Programming Language :: C++', + 'Programming Language :: Python :: 2.7', + 'Programming Language :: Python :: 3', + 'Programming Language :: Python :: 3.2', + 'Programming Language :: Python :: 3.3', + 'Programming Language :: Python :: 3.4', + 'Programming Language :: Python :: 3.5', + 'Programming Language :: Python :: 3.6', + 'License :: OSI Approved :: BSD License' + ], + keywords='C++11, Python bindings', + long_description="""pybind11 is a lightweight header-only library that +exposes C++ types in Python and vice versa, mainly to create Python bindings of +existing C++ code. Its goals and syntax are similar to the excellent +Boost.Python by David Abrahams: to minimize boilerplate code in traditional +extension modules by inferring type information using compile-time +introspection. + +The main issue with Boost.Python-and the reason for creating such a similar +project-is Boost. Boost is an enormously large and complex suite of utility +libraries that works with almost every C++ compiler in existence. This +compatibility has its cost: arcane template tricks and workarounds are +necessary to support the oldest and buggiest of compiler specimens. Now that +C++11-compatible compilers are widely available, this heavy machinery has +become an excessively large and unnecessary dependency. + +Think of this library as a tiny self-contained version of Boost.Python with +everything stripped away that isn't relevant for binding generation. Without +comments, the core header files only require ~4K lines of code and depend on +Python (2.7 or 3.x, or PyPy2.7 >= 5.7) and the C++ standard library. This +compact implementation was possible thanks to some of the new C++11 language +features (specifically: tuples, lambda functions and variadic templates). Since +its creation, this library has grown beyond Boost.Python in many ways, leading +to dramatically simpler binding code in many common situations.""") diff --git a/wrap/python/pybind11/tests/CMakeLists.txt b/wrap/python/pybind11/tests/CMakeLists.txt new file mode 100644 index 000000000..9a701108c --- /dev/null +++ b/wrap/python/pybind11/tests/CMakeLists.txt @@ -0,0 +1,239 @@ +# CMakeLists.txt -- Build system for the pybind11 test suite +# +# Copyright (c) 2015 Wenzel Jakob +# +# All rights reserved. Use of this source code is governed by a +# BSD-style license that can be found in the LICENSE file. + +cmake_minimum_required(VERSION 2.8.12) + +option(PYBIND11_WERROR "Report all warnings as errors" OFF) + +if (CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR) + # We're being loaded directly, i.e. not via add_subdirectory, so make this + # work as its own project and load the pybind11Config to get the tools we need + project(pybind11_tests CXX) + + find_package(pybind11 REQUIRED CONFIG) +endif() + +if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + message(STATUS "Setting tests build type to MinSizeRel as none was specified") + set(CMAKE_BUILD_TYPE MinSizeRel CACHE STRING "Choose the type of build." FORCE) + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" + "MinSizeRel" "RelWithDebInfo") +endif() + +# Full set of test files (you can override these; see below) +set(PYBIND11_TEST_FILES + test_buffers.cpp + test_builtin_casters.cpp + test_call_policies.cpp + test_callbacks.cpp + test_chrono.cpp + test_class.cpp + test_constants_and_functions.cpp + test_copy_move.cpp + test_docstring_options.cpp + test_eigen.cpp + test_enum.cpp + test_eval.cpp + test_exceptions.cpp + test_factory_constructors.cpp + test_gil_scoped.cpp + test_iostream.cpp + test_kwargs_and_defaults.cpp + test_local_bindings.cpp + test_methods_and_attributes.cpp + test_modules.cpp + test_multiple_inheritance.cpp + test_numpy_array.cpp + test_numpy_dtypes.cpp + test_numpy_vectorize.cpp + test_opaque_types.cpp + test_operator_overloading.cpp + test_pickling.cpp + test_pytypes.cpp + test_sequences_and_iterators.cpp + test_smart_ptr.cpp + test_stl.cpp + test_stl_binders.cpp + test_tagbased_polymorphic.cpp + test_union.cpp + test_virtual_functions.cpp +) + +# Invoking cmake with something like: +# cmake -DPYBIND11_TEST_OVERRIDE="test_callbacks.cpp;test_picking.cpp" .. +# lets you override the tests that get compiled and run. You can restore to all tests with: +# cmake -DPYBIND11_TEST_OVERRIDE= .. +if (PYBIND11_TEST_OVERRIDE) + set(PYBIND11_TEST_FILES ${PYBIND11_TEST_OVERRIDE}) +endif() + +string(REPLACE ".cpp" ".py" PYBIND11_PYTEST_FILES "${PYBIND11_TEST_FILES}") + +# Contains the set of test files that require pybind11_cross_module_tests to be +# built; if none of these are built (i.e. because TEST_OVERRIDE is used and +# doesn't include them) the second module doesn't get built. +set(PYBIND11_CROSS_MODULE_TESTS + test_exceptions.py + test_local_bindings.py + test_stl.py + test_stl_binders.py +) + +# Check if Eigen is available; if not, remove from PYBIND11_TEST_FILES (but +# keep it in PYBIND11_PYTEST_FILES, so that we get the "eigen is not installed" +# skip message). +list(FIND PYBIND11_TEST_FILES test_eigen.cpp PYBIND11_TEST_FILES_EIGEN_I) +if(PYBIND11_TEST_FILES_EIGEN_I GREATER -1) + # Try loading via newer Eigen's Eigen3Config first (bypassing tools/FindEigen3.cmake). + # Eigen 3.3.1+ exports a cmake 3.0+ target for handling dependency requirements, but also + # produces a fatal error if loaded from a pre-3.0 cmake. + if (NOT CMAKE_VERSION VERSION_LESS 3.0) + find_package(Eigen3 3.2.7 QUIET CONFIG) + if (EIGEN3_FOUND) + if (EIGEN3_VERSION_STRING AND NOT EIGEN3_VERSION_STRING VERSION_LESS 3.3.1) + set(PYBIND11_EIGEN_VIA_TARGET 1) + endif() + endif() + endif() + if (NOT EIGEN3_FOUND) + # Couldn't load via target, so fall back to allowing module mode finding, which will pick up + # tools/FindEigen3.cmake + find_package(Eigen3 3.2.7 QUIET) + endif() + + if(EIGEN3_FOUND) + # Eigen 3.3.1+ cmake sets EIGEN3_VERSION_STRING (and hard codes the version when installed + # rather than looking it up in the cmake script); older versions, and the + # tools/FindEigen3.cmake, set EIGEN3_VERSION instead. + if(NOT EIGEN3_VERSION AND EIGEN3_VERSION_STRING) + set(EIGEN3_VERSION ${EIGEN3_VERSION_STRING}) + endif() + message(STATUS "Building tests with Eigen v${EIGEN3_VERSION}") + else() + list(REMOVE_AT PYBIND11_TEST_FILES ${PYBIND11_TEST_FILES_EIGEN_I}) + message(STATUS "Building tests WITHOUT Eigen") + endif() +endif() + +# Optional dependency for some tests (boost::variant is only supported with version >= 1.56) +find_package(Boost 1.56) + +# Compile with compiler warnings turned on +function(pybind11_enable_warnings target_name) + if(MSVC) + target_compile_options(${target_name} PRIVATE /W4) + elseif(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Intel|Clang)") + target_compile_options(${target_name} PRIVATE -Wall -Wextra -Wconversion -Wcast-qual -Wdeprecated) + endif() + + if(PYBIND11_WERROR) + if(MSVC) + target_compile_options(${target_name} PRIVATE /WX) + elseif(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Intel|Clang)") + target_compile_options(${target_name} PRIVATE -Werror) + endif() + endif() +endfunction() + +set(test_targets pybind11_tests) + +# Build pybind11_cross_module_tests if any test_whatever.py are being built that require it +foreach(t ${PYBIND11_CROSS_MODULE_TESTS}) + list(FIND PYBIND11_PYTEST_FILES ${t} i) + if (i GREATER -1) + list(APPEND test_targets pybind11_cross_module_tests) + break() + endif() +endforeach() + +set(testdir ${CMAKE_CURRENT_SOURCE_DIR}) +foreach(target ${test_targets}) + set(test_files ${PYBIND11_TEST_FILES}) + if(NOT target STREQUAL "pybind11_tests") + set(test_files "") + endif() + + # Create the binding library + pybind11_add_module(${target} THIN_LTO ${target}.cpp ${test_files} ${PYBIND11_HEADERS}) + pybind11_enable_warnings(${target}) + + if(MSVC) + target_compile_options(${target} PRIVATE /utf-8) + endif() + + if(EIGEN3_FOUND) + if (PYBIND11_EIGEN_VIA_TARGET) + target_link_libraries(${target} PRIVATE Eigen3::Eigen) + else() + target_include_directories(${target} PRIVATE ${EIGEN3_INCLUDE_DIR}) + endif() + target_compile_definitions(${target} PRIVATE -DPYBIND11_TEST_EIGEN) + endif() + + if(Boost_FOUND) + target_include_directories(${target} PRIVATE ${Boost_INCLUDE_DIRS}) + target_compile_definitions(${target} PRIVATE -DPYBIND11_TEST_BOOST) + endif() + + # Always write the output file directly into the 'tests' directory (even on MSVC) + if(NOT CMAKE_LIBRARY_OUTPUT_DIRECTORY) + set_target_properties(${target} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${testdir}) + foreach(config ${CMAKE_CONFIGURATION_TYPES}) + string(TOUPPER ${config} config) + set_target_properties(${target} PROPERTIES LIBRARY_OUTPUT_DIRECTORY_${config} ${testdir}) + endforeach() + endif() +endforeach() + +# Make sure pytest is found or produce a fatal error +if(NOT PYBIND11_PYTEST_FOUND) + execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import pytest; print(pytest.__version__)" + RESULT_VARIABLE pytest_not_found OUTPUT_VARIABLE pytest_version ERROR_QUIET) + if(pytest_not_found) + message(FATAL_ERROR "Running the tests requires pytest. Please install it manually" + " (try: ${PYTHON_EXECUTABLE} -m pip install pytest)") + elseif(pytest_version VERSION_LESS 3.0) + message(FATAL_ERROR "Running the tests requires pytest >= 3.0. Found: ${pytest_version}" + "Please update it (try: ${PYTHON_EXECUTABLE} -m pip install -U pytest)") + endif() + set(PYBIND11_PYTEST_FOUND TRUE CACHE INTERNAL "") +endif() + +if(CMAKE_VERSION VERSION_LESS 3.2) + set(PYBIND11_USES_TERMINAL "") +else() + set(PYBIND11_USES_TERMINAL "USES_TERMINAL") +endif() + +# A single command to compile and run the tests +add_custom_target(pytest COMMAND ${PYTHON_EXECUTABLE} -m pytest ${PYBIND11_PYTEST_FILES} + DEPENDS ${test_targets} WORKING_DIRECTORY ${testdir} ${PYBIND11_USES_TERMINAL}) + +if(PYBIND11_TEST_OVERRIDE) + add_custom_command(TARGET pytest POST_BUILD + COMMAND ${CMAKE_COMMAND} -E echo "Note: not all tests run: -DPYBIND11_TEST_OVERRIDE is in effect") +endif() + +# Add a check target to run all the tests, starting with pytest (we add dependencies to this below) +add_custom_target(check DEPENDS pytest) + +# The remaining tests only apply when being built as part of the pybind11 project, but not if the +# tests are being built independently. +if (NOT PROJECT_NAME STREQUAL "pybind11") + return() +endif() + +# Add a post-build comment to show the primary test suite .so size and, if a previous size, compare it: +add_custom_command(TARGET pybind11_tests POST_BUILD + COMMAND ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/tools/libsize.py + $ ${CMAKE_CURRENT_BINARY_DIR}/sosize-$.txt) + +# Test embedding the interpreter. Provides the `cpptest` target. +add_subdirectory(test_embed) + +# Test CMake build using functions and targets from subdirectory or installed location +add_subdirectory(test_cmake_build) diff --git a/wrap/python/pybind11/tests/conftest.py b/wrap/python/pybind11/tests/conftest.py new file mode 100644 index 000000000..55d9d0d53 --- /dev/null +++ b/wrap/python/pybind11/tests/conftest.py @@ -0,0 +1,239 @@ +"""pytest configuration + +Extends output capture as needed by pybind11: ignore constructors, optional unordered lines. +Adds docstring and exceptions message sanitizers: ignore Python 2 vs 3 differences. +""" + +import pytest +import textwrap +import difflib +import re +import sys +import contextlib +import platform +import gc + +_unicode_marker = re.compile(r'u(\'[^\']*\')') +_long_marker = re.compile(r'([0-9])L') +_hexadecimal = re.compile(r'0x[0-9a-fA-F]+') + + +def _strip_and_dedent(s): + """For triple-quote strings""" + return textwrap.dedent(s.lstrip('\n').rstrip()) + + +def _split_and_sort(s): + """For output which does not require specific line order""" + return sorted(_strip_and_dedent(s).splitlines()) + + +def _make_explanation(a, b): + """Explanation for a failed assert -- the a and b arguments are List[str]""" + return ["--- actual / +++ expected"] + [line.strip('\n') for line in difflib.ndiff(a, b)] + + +class Output(object): + """Basic output post-processing and comparison""" + def __init__(self, string): + self.string = string + self.explanation = [] + + def __str__(self): + return self.string + + def __eq__(self, other): + # Ignore constructor/destructor output which is prefixed with "###" + a = [line for line in self.string.strip().splitlines() if not line.startswith("###")] + b = _strip_and_dedent(other).splitlines() + if a == b: + return True + else: + self.explanation = _make_explanation(a, b) + return False + + +class Unordered(Output): + """Custom comparison for output without strict line ordering""" + def __eq__(self, other): + a = _split_and_sort(self.string) + b = _split_and_sort(other) + if a == b: + return True + else: + self.explanation = _make_explanation(a, b) + return False + + +class Capture(object): + def __init__(self, capfd): + self.capfd = capfd + self.out = "" + self.err = "" + + def __enter__(self): + self.capfd.readouterr() + return self + + def __exit__(self, *args): + self.out, self.err = self.capfd.readouterr() + + def __eq__(self, other): + a = Output(self.out) + b = other + if a == b: + return True + else: + self.explanation = a.explanation + return False + + def __str__(self): + return self.out + + def __contains__(self, item): + return item in self.out + + @property + def unordered(self): + return Unordered(self.out) + + @property + def stderr(self): + return Output(self.err) + + +@pytest.fixture +def capture(capsys): + """Extended `capsys` with context manager and custom equality operators""" + return Capture(capsys) + + +class SanitizedString(object): + def __init__(self, sanitizer): + self.sanitizer = sanitizer + self.string = "" + self.explanation = [] + + def __call__(self, thing): + self.string = self.sanitizer(thing) + return self + + def __eq__(self, other): + a = self.string + b = _strip_and_dedent(other) + if a == b: + return True + else: + self.explanation = _make_explanation(a.splitlines(), b.splitlines()) + return False + + +def _sanitize_general(s): + s = s.strip() + s = s.replace("pybind11_tests.", "m.") + s = s.replace("unicode", "str") + s = _long_marker.sub(r"\1", s) + s = _unicode_marker.sub(r"\1", s) + return s + + +def _sanitize_docstring(thing): + s = thing.__doc__ + s = _sanitize_general(s) + return s + + +@pytest.fixture +def doc(): + """Sanitize docstrings and add custom failure explanation""" + return SanitizedString(_sanitize_docstring) + + +def _sanitize_message(thing): + s = str(thing) + s = _sanitize_general(s) + s = _hexadecimal.sub("0", s) + return s + + +@pytest.fixture +def msg(): + """Sanitize messages and add custom failure explanation""" + return SanitizedString(_sanitize_message) + + +# noinspection PyUnusedLocal +def pytest_assertrepr_compare(op, left, right): + """Hook to insert custom failure explanation""" + if hasattr(left, 'explanation'): + return left.explanation + + +@contextlib.contextmanager +def suppress(exception): + """Suppress the desired exception""" + try: + yield + except exception: + pass + + +def gc_collect(): + ''' Run the garbage collector twice (needed when running + reference counting tests with PyPy) ''' + gc.collect() + gc.collect() + + +def pytest_configure(): + """Add import suppression and test requirements to `pytest` namespace""" + try: + import numpy as np + except ImportError: + np = None + try: + import scipy + except ImportError: + scipy = None + try: + from pybind11_tests.eigen import have_eigen + except ImportError: + have_eigen = False + pypy = platform.python_implementation() == "PyPy" + + skipif = pytest.mark.skipif + pytest.suppress = suppress + pytest.requires_numpy = skipif(not np, reason="numpy is not installed") + pytest.requires_scipy = skipif(not np, reason="scipy is not installed") + pytest.requires_eigen_and_numpy = skipif(not have_eigen or not np, + reason="eigen and/or numpy are not installed") + pytest.requires_eigen_and_scipy = skipif( + not have_eigen or not scipy, reason="eigen and/or scipy are not installed") + pytest.unsupported_on_pypy = skipif(pypy, reason="unsupported on PyPy") + pytest.unsupported_on_py2 = skipif(sys.version_info.major < 3, + reason="unsupported on Python 2.x") + pytest.gc_collect = gc_collect + + +def _test_import_pybind11(): + """Early diagnostic for test module initialization errors + + When there is an error during initialization, the first import will report the + real error while all subsequent imports will report nonsense. This import test + is done early (in the pytest configuration file, before any tests) in order to + avoid the noise of having all tests fail with identical error messages. + + Any possible exception is caught here and reported manually *without* the stack + trace. This further reduces noise since the trace would only show pytest internals + which are not useful for debugging pybind11 module issues. + """ + # noinspection PyBroadException + try: + import pybind11_tests # noqa: F401 imported but unused + except Exception as e: + print("Failed to import pybind11_tests from pytest:") + print(" {}: {}".format(type(e).__name__, e)) + sys.exit(1) + + +_test_import_pybind11() diff --git a/wrap/python/pybind11/tests/constructor_stats.h b/wrap/python/pybind11/tests/constructor_stats.h new file mode 100644 index 000000000..f026e70f9 --- /dev/null +++ b/wrap/python/pybind11/tests/constructor_stats.h @@ -0,0 +1,276 @@ +#pragma once +/* + tests/constructor_stats.h -- framework for printing and tracking object + instance lifetimes in example/test code. + + Copyright (c) 2016 Jason Rhinelander + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. + +This header provides a few useful tools for writing examples or tests that want to check and/or +display object instance lifetimes. It requires that you include this header and add the following +function calls to constructors: + + class MyClass { + MyClass() { ...; print_default_created(this); } + ~MyClass() { ...; print_destroyed(this); } + MyClass(const MyClass &c) { ...; print_copy_created(this); } + MyClass(MyClass &&c) { ...; print_move_created(this); } + MyClass(int a, int b) { ...; print_created(this, a, b); } + MyClass &operator=(const MyClass &c) { ...; print_copy_assigned(this); } + MyClass &operator=(MyClass &&c) { ...; print_move_assigned(this); } + + ... + } + +You can find various examples of these in several of the existing testing .cpp files. (Of course +you don't need to add any of the above constructors/operators that you don't actually have, except +for the destructor). + +Each of these will print an appropriate message such as: + + ### MyClass @ 0x2801910 created via default constructor + ### MyClass @ 0x27fa780 created 100 200 + ### MyClass @ 0x2801910 destroyed + ### MyClass @ 0x27fa780 destroyed + +You can also include extra arguments (such as the 100, 200 in the output above, coming from the +value constructor) for all of the above methods which will be included in the output. + +For testing, each of these also keeps track the created instances and allows you to check how many +of the various constructors have been invoked from the Python side via code such as: + + from pybind11_tests import ConstructorStats + cstats = ConstructorStats.get(MyClass) + print(cstats.alive()) + print(cstats.default_constructions) + +Note that `.alive()` should usually be the first thing you call as it invokes Python's garbage +collector to actually destroy objects that aren't yet referenced. + +For everything except copy and move constructors and destructors, any extra values given to the +print_...() function is stored in a class-specific values list which you can retrieve and inspect +from the ConstructorStats instance `.values()` method. + +In some cases, when you need to track instances of a C++ class not registered with pybind11, you +need to add a function returning the ConstructorStats for the C++ class; this can be done with: + + m.def("get_special_cstats", &ConstructorStats::get, py::return_value_policy::reference) + +Finally, you can suppress the output messages, but keep the constructor tracking (for +inspection/testing in python) by using the functions with `print_` replaced with `track_` (e.g. +`track_copy_created(this)`). + +*/ + +#include "pybind11_tests.h" +#include +#include +#include +#include + +class ConstructorStats { +protected: + std::unordered_map _instances; // Need a map rather than set because members can shared address with parents + std::list _values; // Used to track values (e.g. of value constructors) +public: + int default_constructions = 0; + int copy_constructions = 0; + int move_constructions = 0; + int copy_assignments = 0; + int move_assignments = 0; + + void copy_created(void *inst) { + created(inst); + copy_constructions++; + } + + void move_created(void *inst) { + created(inst); + move_constructions++; + } + + void default_created(void *inst) { + created(inst); + default_constructions++; + } + + void created(void *inst) { + ++_instances[inst]; + } + + void destroyed(void *inst) { + if (--_instances[inst] < 0) + throw std::runtime_error("cstats.destroyed() called with unknown " + "instance; potential double-destruction " + "or a missing cstats.created()"); + } + + static void gc() { + // Force garbage collection to ensure any pending destructors are invoked: +#if defined(PYPY_VERSION) + PyObject *globals = PyEval_GetGlobals(); + PyObject *result = PyRun_String( + "import gc\n" + "for i in range(2):" + " gc.collect()\n", + Py_file_input, globals, globals); + if (result == nullptr) + throw py::error_already_set(); + Py_DECREF(result); +#else + py::module::import("gc").attr("collect")(); +#endif + } + + int alive() { + gc(); + int total = 0; + for (const auto &p : _instances) + if (p.second > 0) + total += p.second; + return total; + } + + void value() {} // Recursion terminator + // Takes one or more values, converts them to strings, then stores them. + template void value(const T &v, Tmore &&...args) { + std::ostringstream oss; + oss << v; + _values.push_back(oss.str()); + value(std::forward(args)...); + } + + // Move out stored values + py::list values() { + py::list l; + for (const auto &v : _values) l.append(py::cast(v)); + _values.clear(); + return l; + } + + // Gets constructor stats from a C++ type index + static ConstructorStats& get(std::type_index type) { + static std::unordered_map all_cstats; + return all_cstats[type]; + } + + // Gets constructor stats from a C++ type + template static ConstructorStats& get() { +#if defined(PYPY_VERSION) + gc(); +#endif + return get(typeid(T)); + } + + // Gets constructor stats from a Python class + static ConstructorStats& get(py::object class_) { + auto &internals = py::detail::get_internals(); + const std::type_index *t1 = nullptr, *t2 = nullptr; + try { + auto *type_info = internals.registered_types_py.at((PyTypeObject *) class_.ptr()).at(0); + for (auto &p : internals.registered_types_cpp) { + if (p.second == type_info) { + if (t1) { + t2 = &p.first; + break; + } + t1 = &p.first; + } + } + } + catch (const std::out_of_range &) {} + if (!t1) throw std::runtime_error("Unknown class passed to ConstructorStats::get()"); + auto &cs1 = get(*t1); + // If we have both a t1 and t2 match, one is probably the trampoline class; return whichever + // has more constructions (typically one or the other will be 0) + if (t2) { + auto &cs2 = get(*t2); + int cs1_total = cs1.default_constructions + cs1.copy_constructions + cs1.move_constructions + (int) cs1._values.size(); + int cs2_total = cs2.default_constructions + cs2.copy_constructions + cs2.move_constructions + (int) cs2._values.size(); + if (cs2_total > cs1_total) return cs2; + } + return cs1; + } +}; + +// To track construction/destruction, you need to call these methods from the various +// constructors/operators. The ones that take extra values record the given values in the +// constructor stats values for later inspection. +template void track_copy_created(T *inst) { ConstructorStats::get().copy_created(inst); } +template void track_move_created(T *inst) { ConstructorStats::get().move_created(inst); } +template void track_copy_assigned(T *, Values &&...values) { + auto &cst = ConstructorStats::get(); + cst.copy_assignments++; + cst.value(std::forward(values)...); +} +template void track_move_assigned(T *, Values &&...values) { + auto &cst = ConstructorStats::get(); + cst.move_assignments++; + cst.value(std::forward(values)...); +} +template void track_default_created(T *inst, Values &&...values) { + auto &cst = ConstructorStats::get(); + cst.default_created(inst); + cst.value(std::forward(values)...); +} +template void track_created(T *inst, Values &&...values) { + auto &cst = ConstructorStats::get(); + cst.created(inst); + cst.value(std::forward(values)...); +} +template void track_destroyed(T *inst) { + ConstructorStats::get().destroyed(inst); +} +template void track_values(T *, Values &&...values) { + ConstructorStats::get().value(std::forward(values)...); +} + +/// Don't cast pointers to Python, print them as strings +inline const char *format_ptrs(const char *p) { return p; } +template +py::str format_ptrs(T *p) { return "{:#x}"_s.format(reinterpret_cast(p)); } +template +auto format_ptrs(T &&x) -> decltype(std::forward(x)) { return std::forward(x); } + +template +void print_constr_details(T *inst, const std::string &action, Output &&...output) { + py::print("###", py::type_id(), "@", format_ptrs(inst), action, + format_ptrs(std::forward(output))...); +} + +// Verbose versions of the above: +template void print_copy_created(T *inst, Values &&...values) { // NB: this prints, but doesn't store, given values + print_constr_details(inst, "created via copy constructor", values...); + track_copy_created(inst); +} +template void print_move_created(T *inst, Values &&...values) { // NB: this prints, but doesn't store, given values + print_constr_details(inst, "created via move constructor", values...); + track_move_created(inst); +} +template void print_copy_assigned(T *inst, Values &&...values) { + print_constr_details(inst, "assigned via copy assignment", values...); + track_copy_assigned(inst, values...); +} +template void print_move_assigned(T *inst, Values &&...values) { + print_constr_details(inst, "assigned via move assignment", values...); + track_move_assigned(inst, values...); +} +template void print_default_created(T *inst, Values &&...values) { + print_constr_details(inst, "created via default constructor", values...); + track_default_created(inst, values...); +} +template void print_created(T *inst, Values &&...values) { + print_constr_details(inst, "created", values...); + track_created(inst, values...); +} +template void print_destroyed(T *inst, Values &&...values) { // Prints but doesn't store given values + print_constr_details(inst, "destroyed", values...); + track_destroyed(inst); +} +template void print_values(T *inst, Values &&...values) { + print_constr_details(inst, ":", values...); + track_values(inst, values...); +} + diff --git a/wrap/python/pybind11/tests/local_bindings.h b/wrap/python/pybind11/tests/local_bindings.h new file mode 100644 index 000000000..b6afb8086 --- /dev/null +++ b/wrap/python/pybind11/tests/local_bindings.h @@ -0,0 +1,64 @@ +#pragma once +#include "pybind11_tests.h" + +/// Simple class used to test py::local: +template class LocalBase { +public: + LocalBase(int i) : i(i) { } + int i = -1; +}; + +/// Registered with py::module_local in both main and secondary modules: +using LocalType = LocalBase<0>; +/// Registered without py::module_local in both modules: +using NonLocalType = LocalBase<1>; +/// A second non-local type (for stl_bind tests): +using NonLocal2 = LocalBase<2>; +/// Tests within-module, different-compilation-unit local definition conflict: +using LocalExternal = LocalBase<3>; +/// Mixed: registered local first, then global +using MixedLocalGlobal = LocalBase<4>; +/// Mixed: global first, then local +using MixedGlobalLocal = LocalBase<5>; + +/// Registered with py::module_local only in the secondary module: +using ExternalType1 = LocalBase<6>; +using ExternalType2 = LocalBase<7>; + +using LocalVec = std::vector; +using LocalVec2 = std::vector; +using LocalMap = std::unordered_map; +using NonLocalVec = std::vector; +using NonLocalVec2 = std::vector; +using NonLocalMap = std::unordered_map; +using NonLocalMap2 = std::unordered_map; + +PYBIND11_MAKE_OPAQUE(LocalVec); +PYBIND11_MAKE_OPAQUE(LocalVec2); +PYBIND11_MAKE_OPAQUE(LocalMap); +PYBIND11_MAKE_OPAQUE(NonLocalVec); +//PYBIND11_MAKE_OPAQUE(NonLocalVec2); // same type as LocalVec2 +PYBIND11_MAKE_OPAQUE(NonLocalMap); +PYBIND11_MAKE_OPAQUE(NonLocalMap2); + + +// Simple bindings (used with the above): +template +py::class_ bind_local(Args && ...args) { + return py::class_(std::forward(args)...) + .def(py::init()) + .def("get", [](T &i) { return i.i + Adjust; }); +}; + +// Simulate a foreign library base class (to match the example in the docs): +namespace pets { +class Pet { +public: + Pet(std::string name) : name_(name) {} + std::string name_; + const std::string &name() { return name_; } +}; +} + +struct MixGL { int i; MixGL(int i) : i{i} {} }; +struct MixGL2 { int i; MixGL2(int i) : i{i} {} }; diff --git a/wrap/python/pybind11/tests/object.h b/wrap/python/pybind11/tests/object.h new file mode 100644 index 000000000..9235f19c2 --- /dev/null +++ b/wrap/python/pybind11/tests/object.h @@ -0,0 +1,175 @@ +#if !defined(__OBJECT_H) +#define __OBJECT_H + +#include +#include "constructor_stats.h" + +/// Reference counted object base class +class Object { +public: + /// Default constructor + Object() { print_default_created(this); } + + /// Copy constructor + Object(const Object &) : m_refCount(0) { print_copy_created(this); } + + /// Return the current reference count + int getRefCount() const { return m_refCount; }; + + /// Increase the object's reference count by one + void incRef() const { ++m_refCount; } + + /** \brief Decrease the reference count of + * the object and possibly deallocate it. + * + * The object will automatically be deallocated once + * the reference count reaches zero. + */ + void decRef(bool dealloc = true) const { + --m_refCount; + if (m_refCount == 0 && dealloc) + delete this; + else if (m_refCount < 0) + throw std::runtime_error("Internal error: reference count < 0!"); + } + + virtual std::string toString() const = 0; +protected: + /** \brief Virtual protected deconstructor. + * (Will only be called by \ref ref) + */ + virtual ~Object() { print_destroyed(this); } +private: + mutable std::atomic m_refCount { 0 }; +}; + +// Tag class used to track constructions of ref objects. When we track constructors, below, we +// track and print out the actual class (e.g. ref), and *also* add a fake tracker for +// ref_tag. This lets us check that the total number of ref constructors/destructors is +// correct without having to check each individual ref type individually. +class ref_tag {}; + +/** + * \brief Reference counting helper + * + * The \a ref refeference template is a simple wrapper to store a + * pointer to an object. It takes care of increasing and decreasing + * the reference count of the object. When the last reference goes + * out of scope, the associated object will be deallocated. + * + * \ingroup libcore + */ +template class ref { +public: + /// Create a nullptr reference + ref() : m_ptr(nullptr) { print_default_created(this); track_default_created((ref_tag*) this); } + + /// Construct a reference from a pointer + ref(T *ptr) : m_ptr(ptr) { + if (m_ptr) ((Object *) m_ptr)->incRef(); + + print_created(this, "from pointer", m_ptr); track_created((ref_tag*) this, "from pointer"); + + } + + /// Copy constructor + ref(const ref &r) : m_ptr(r.m_ptr) { + if (m_ptr) + ((Object *) m_ptr)->incRef(); + + print_copy_created(this, "with pointer", m_ptr); track_copy_created((ref_tag*) this); + } + + /// Move constructor + ref(ref &&r) : m_ptr(r.m_ptr) { + r.m_ptr = nullptr; + + print_move_created(this, "with pointer", m_ptr); track_move_created((ref_tag*) this); + } + + /// Destroy this reference + ~ref() { + if (m_ptr) + ((Object *) m_ptr)->decRef(); + + print_destroyed(this); track_destroyed((ref_tag*) this); + } + + /// Move another reference into the current one + ref& operator=(ref&& r) { + print_move_assigned(this, "pointer", r.m_ptr); track_move_assigned((ref_tag*) this); + + if (*this == r) + return *this; + if (m_ptr) + ((Object *) m_ptr)->decRef(); + m_ptr = r.m_ptr; + r.m_ptr = nullptr; + return *this; + } + + /// Overwrite this reference with another reference + ref& operator=(const ref& r) { + print_copy_assigned(this, "pointer", r.m_ptr); track_copy_assigned((ref_tag*) this); + + if (m_ptr == r.m_ptr) + return *this; + if (m_ptr) + ((Object *) m_ptr)->decRef(); + m_ptr = r.m_ptr; + if (m_ptr) + ((Object *) m_ptr)->incRef(); + return *this; + } + + /// Overwrite this reference with a pointer to another object + ref& operator=(T *ptr) { + print_values(this, "assigned pointer"); track_values((ref_tag*) this, "assigned pointer"); + + if (m_ptr == ptr) + return *this; + if (m_ptr) + ((Object *) m_ptr)->decRef(); + m_ptr = ptr; + if (m_ptr) + ((Object *) m_ptr)->incRef(); + return *this; + } + + /// Compare this reference with another reference + bool operator==(const ref &r) const { return m_ptr == r.m_ptr; } + + /// Compare this reference with another reference + bool operator!=(const ref &r) const { return m_ptr != r.m_ptr; } + + /// Compare this reference with a pointer + bool operator==(const T* ptr) const { return m_ptr == ptr; } + + /// Compare this reference with a pointer + bool operator!=(const T* ptr) const { return m_ptr != ptr; } + + /// Access the object referenced by this reference + T* operator->() { return m_ptr; } + + /// Access the object referenced by this reference + const T* operator->() const { return m_ptr; } + + /// Return a C++ reference to the referenced object + T& operator*() { return *m_ptr; } + + /// Return a const C++ reference to the referenced object + const T& operator*() const { return *m_ptr; } + + /// Return a pointer to the referenced object + operator T* () { return m_ptr; } + + /// Return a const pointer to the referenced object + T* get_ptr() { return m_ptr; } + + /// Return a pointer to the referenced object + const T* get_ptr() const { return m_ptr; } +private: + T *m_ptr; +}; + +#endif /* __OBJECT_H */ diff --git a/wrap/python/pybind11/tests/pybind11_cross_module_tests.cpp b/wrap/python/pybind11/tests/pybind11_cross_module_tests.cpp new file mode 100644 index 000000000..f705e3106 --- /dev/null +++ b/wrap/python/pybind11/tests/pybind11_cross_module_tests.cpp @@ -0,0 +1,123 @@ +/* + tests/pybind11_cross_module_tests.cpp -- contains tests that require multiple modules + + Copyright (c) 2017 Jason Rhinelander + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "local_bindings.h" +#include +#include + +PYBIND11_MODULE(pybind11_cross_module_tests, m) { + m.doc() = "pybind11 cross-module test module"; + + // test_local_bindings.py tests: + // + // Definitions here are tested by importing both this module and the + // relevant pybind11_tests submodule from a test_whatever.py + + // test_load_external + bind_local(m, "ExternalType1", py::module_local()); + bind_local(m, "ExternalType2", py::module_local()); + + // test_exceptions.py + m.def("raise_runtime_error", []() { PyErr_SetString(PyExc_RuntimeError, "My runtime error"); throw py::error_already_set(); }); + m.def("raise_value_error", []() { PyErr_SetString(PyExc_ValueError, "My value error"); throw py::error_already_set(); }); + m.def("throw_pybind_value_error", []() { throw py::value_error("pybind11 value error"); }); + m.def("throw_pybind_type_error", []() { throw py::type_error("pybind11 type error"); }); + m.def("throw_stop_iteration", []() { throw py::stop_iteration(); }); + + // test_local_bindings.py + // Local to both: + bind_local(m, "LocalType", py::module_local()) + .def("get2", [](LocalType &t) { return t.i + 2; }) + ; + + // Can only be called with our python type: + m.def("local_value", [](LocalType &l) { return l.i; }); + + // test_nonlocal_failure + // This registration will fail (global registration when LocalFail is already registered + // globally in the main test module): + m.def("register_nonlocal", [m]() { + bind_local(m, "NonLocalType"); + }); + + // test_stl_bind_local + // stl_bind.h binders defaults to py::module_local if the types are local or converting: + py::bind_vector(m, "LocalVec"); + py::bind_map(m, "LocalMap"); + + // test_stl_bind_global + // and global if the type (or one of the types, for the map) is global (so these will fail, + // assuming pybind11_tests is already loaded): + m.def("register_nonlocal_vec", [m]() { + py::bind_vector(m, "NonLocalVec"); + }); + m.def("register_nonlocal_map", [m]() { + py::bind_map(m, "NonLocalMap"); + }); + // The default can, however, be overridden to global using `py::module_local()` or + // `py::module_local(false)`. + // Explicitly made local: + py::bind_vector(m, "NonLocalVec2", py::module_local()); + // Explicitly made global (and so will fail to bind): + m.def("register_nonlocal_map2", [m]() { + py::bind_map(m, "NonLocalMap2", py::module_local(false)); + }); + + // test_mixed_local_global + // We try this both with the global type registered first and vice versa (the order shouldn't + // matter). + m.def("register_mixed_global_local", [m]() { + bind_local(m, "MixedGlobalLocal", py::module_local()); + }); + m.def("register_mixed_local_global", [m]() { + bind_local(m, "MixedLocalGlobal", py::module_local(false)); + }); + m.def("get_mixed_gl", [](int i) { return MixedGlobalLocal(i); }); + m.def("get_mixed_lg", [](int i) { return MixedLocalGlobal(i); }); + + // test_internal_locals_differ + m.def("local_cpp_types_addr", []() { return (uintptr_t) &py::detail::registered_local_types_cpp(); }); + + // test_stl_caster_vs_stl_bind + py::bind_vector>(m, "VectorInt"); + + m.def("load_vector_via_binding", [](std::vector &v) { + return std::accumulate(v.begin(), v.end(), 0); + }); + + // test_cross_module_calls + m.def("return_self", [](LocalVec *v) { return v; }); + m.def("return_copy", [](const LocalVec &v) { return LocalVec(v); }); + + class Dog : public pets::Pet { public: Dog(std::string name) : Pet(name) {}; }; + py::class_(m, "Pet", py::module_local()) + .def("name", &pets::Pet::name); + // Binding for local extending class: + py::class_(m, "Dog") + .def(py::init()); + m.def("pet_name", [](pets::Pet &p) { return p.name(); }); + + py::class_(m, "MixGL", py::module_local()).def(py::init()); + m.def("get_gl_value", [](MixGL &o) { return o.i + 100; }); + + py::class_(m, "MixGL2", py::module_local()).def(py::init()); + + // test_vector_bool + // We can't test both stl.h and stl_bind.h conversions of `std::vector` within + // the same module (it would be an ODR violation). Therefore `bind_vector` of `bool` + // is defined here and tested in `test_stl_binders.py`. + py::bind_vector>(m, "VectorBool"); + + // test_missing_header_message + // The main module already includes stl.h, but we need to test the error message + // which appears when this header is missing. + m.def("missing_header_arg", [](std::vector) { }); + m.def("missing_header_return", []() { return std::vector(); }); +} diff --git a/wrap/python/pybind11/tests/pybind11_tests.cpp b/wrap/python/pybind11/tests/pybind11_tests.cpp new file mode 100644 index 000000000..bc7d2c3e7 --- /dev/null +++ b/wrap/python/pybind11/tests/pybind11_tests.cpp @@ -0,0 +1,93 @@ +/* + tests/pybind11_tests.cpp -- pybind example plugin + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" + +#include +#include + +/* +For testing purposes, we define a static global variable here in a function that each individual +test .cpp calls with its initialization lambda. It's convenient here because we can just not +compile some test files to disable/ignore some of the test code. + +It is NOT recommended as a way to use pybind11 in practice, however: the initialization order will +be essentially random, which is okay for our test scripts (there are no dependencies between the +individual pybind11 test .cpp files), but most likely not what you want when using pybind11 +productively. + +Instead, see the "How can I reduce the build time?" question in the "Frequently asked questions" +section of the documentation for good practice on splitting binding code over multiple files. +*/ +std::list> &initializers() { + static std::list> inits; + return inits; +} + +test_initializer::test_initializer(Initializer init) { + initializers().push_back(init); +} + +test_initializer::test_initializer(const char *submodule_name, Initializer init) { + initializers().push_back([=](py::module &parent) { + auto m = parent.def_submodule(submodule_name); + init(m); + }); +} + +void bind_ConstructorStats(py::module &m) { + py::class_(m, "ConstructorStats") + .def("alive", &ConstructorStats::alive) + .def("values", &ConstructorStats::values) + .def_readwrite("default_constructions", &ConstructorStats::default_constructions) + .def_readwrite("copy_assignments", &ConstructorStats::copy_assignments) + .def_readwrite("move_assignments", &ConstructorStats::move_assignments) + .def_readwrite("copy_constructions", &ConstructorStats::copy_constructions) + .def_readwrite("move_constructions", &ConstructorStats::move_constructions) + .def_static("get", (ConstructorStats &(*)(py::object)) &ConstructorStats::get, py::return_value_policy::reference_internal) + + // Not exactly ConstructorStats, but related: expose the internal pybind number of registered instances + // to allow instance cleanup checks (invokes a GC first) + .def_static("detail_reg_inst", []() { + ConstructorStats::gc(); + return py::detail::get_internals().registered_instances.size(); + }) + ; +} + +PYBIND11_MODULE(pybind11_tests, m) { + m.doc() = "pybind11 test module"; + + bind_ConstructorStats(m); + +#if !defined(NDEBUG) + m.attr("debug_enabled") = true; +#else + m.attr("debug_enabled") = false; +#endif + + py::class_(m, "UserType", "A `py::class_` type for testing") + .def(py::init<>()) + .def(py::init()) + .def("get_value", &UserType::value, "Get value using a method") + .def("set_value", &UserType::set, "Set value using a method") + .def_property("value", &UserType::value, &UserType::set, "Get/set value using a property") + .def("__repr__", [](const UserType& u) { return "UserType({})"_s.format(u.value()); }); + + py::class_(m, "IncType") + .def(py::init<>()) + .def(py::init()) + .def("__repr__", [](const IncType& u) { return "IncType({})"_s.format(u.value()); }); + + for (const auto &initializer : initializers()) + initializer(m); + + if (!py::hasattr(m, "have_eigen")) m.attr("have_eigen") = false; +} diff --git a/wrap/python/pybind11/tests/pybind11_tests.h b/wrap/python/pybind11/tests/pybind11_tests.h new file mode 100644 index 000000000..90963a5de --- /dev/null +++ b/wrap/python/pybind11/tests/pybind11_tests.h @@ -0,0 +1,65 @@ +#pragma once +#include + +#if defined(_MSC_VER) && _MSC_VER < 1910 +// We get some really long type names here which causes MSVC 2015 to emit warnings +# pragma warning(disable: 4503) // warning C4503: decorated name length exceeded, name was truncated +#endif + +namespace py = pybind11; +using namespace pybind11::literals; + +class test_initializer { + using Initializer = void (*)(py::module &); + +public: + test_initializer(Initializer init); + test_initializer(const char *submodule_name, Initializer init); +}; + +#define TEST_SUBMODULE(name, variable) \ + void test_submodule_##name(py::module &); \ + test_initializer name(#name, test_submodule_##name); \ + void test_submodule_##name(py::module &variable) + + +/// Dummy type which is not exported anywhere -- something to trigger a conversion error +struct UnregisteredType { }; + +/// A user-defined type which is exported and can be used by any test +class UserType { +public: + UserType() = default; + UserType(int i) : i(i) { } + + int value() const { return i; } + void set(int set) { i = set; } + +private: + int i = -1; +}; + +/// Like UserType, but increments `value` on copy for quick reference vs. copy tests +class IncType : public UserType { +public: + using UserType::UserType; + IncType() = default; + IncType(const IncType &other) : IncType(other.value() + 1) { } + IncType(IncType &&) = delete; + IncType &operator=(const IncType &) = delete; + IncType &operator=(IncType &&) = delete; +}; + +/// Custom cast-only type that casts to a string "rvalue" or "lvalue" depending on the cast context. +/// Used to test recursive casters (e.g. std::tuple, stl containers). +struct RValueCaster {}; +NAMESPACE_BEGIN(pybind11) +NAMESPACE_BEGIN(detail) +template<> class type_caster { +public: + PYBIND11_TYPE_CASTER(RValueCaster, _("RValueCaster")); + static handle cast(RValueCaster &&, return_value_policy, handle) { return py::str("rvalue").release(); } + static handle cast(const RValueCaster &, return_value_policy, handle) { return py::str("lvalue").release(); } +}; +NAMESPACE_END(detail) +NAMESPACE_END(pybind11) diff --git a/wrap/python/pybind11/tests/pytest.ini b/wrap/python/pybind11/tests/pytest.ini new file mode 100644 index 000000000..f209964a4 --- /dev/null +++ b/wrap/python/pybind11/tests/pytest.ini @@ -0,0 +1,16 @@ +[pytest] +minversion = 3.0 +norecursedirs = test_cmake_build test_embed +addopts = + # show summary of skipped tests + -rs + # capture only Python print and C++ py::print, but not C output (low-level Python errors) + --capture=sys +filterwarnings = + # make warnings into errors but ignore certain third-party extension issues + error + # importing scipy submodules on some version of Python + ignore::ImportWarning + # bogus numpy ABI warning (see numpy/#432) + ignore:.*numpy.dtype size changed.*:RuntimeWarning + ignore:.*numpy.ufunc size changed.*:RuntimeWarning diff --git a/wrap/python/pybind11/tests/test_buffers.cpp b/wrap/python/pybind11/tests/test_buffers.cpp new file mode 100644 index 000000000..5199cf646 --- /dev/null +++ b/wrap/python/pybind11/tests/test_buffers.cpp @@ -0,0 +1,169 @@ +/* + tests/test_buffers.cpp -- supporting Pythons' buffer protocol + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" + +TEST_SUBMODULE(buffers, m) { + // test_from_python / test_to_python: + class Matrix { + public: + Matrix(ssize_t rows, ssize_t cols) : m_rows(rows), m_cols(cols) { + print_created(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix"); + m_data = new float[(size_t) (rows*cols)]; + memset(m_data, 0, sizeof(float) * (size_t) (rows * cols)); + } + + Matrix(const Matrix &s) : m_rows(s.m_rows), m_cols(s.m_cols) { + print_copy_created(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix"); + m_data = new float[(size_t) (m_rows * m_cols)]; + memcpy(m_data, s.m_data, sizeof(float) * (size_t) (m_rows * m_cols)); + } + + Matrix(Matrix &&s) : m_rows(s.m_rows), m_cols(s.m_cols), m_data(s.m_data) { + print_move_created(this); + s.m_rows = 0; + s.m_cols = 0; + s.m_data = nullptr; + } + + ~Matrix() { + print_destroyed(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix"); + delete[] m_data; + } + + Matrix &operator=(const Matrix &s) { + print_copy_assigned(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix"); + delete[] m_data; + m_rows = s.m_rows; + m_cols = s.m_cols; + m_data = new float[(size_t) (m_rows * m_cols)]; + memcpy(m_data, s.m_data, sizeof(float) * (size_t) (m_rows * m_cols)); + return *this; + } + + Matrix &operator=(Matrix &&s) { + print_move_assigned(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix"); + if (&s != this) { + delete[] m_data; + m_rows = s.m_rows; m_cols = s.m_cols; m_data = s.m_data; + s.m_rows = 0; s.m_cols = 0; s.m_data = nullptr; + } + return *this; + } + + float operator()(ssize_t i, ssize_t j) const { + return m_data[(size_t) (i*m_cols + j)]; + } + + float &operator()(ssize_t i, ssize_t j) { + return m_data[(size_t) (i*m_cols + j)]; + } + + float *data() { return m_data; } + + ssize_t rows() const { return m_rows; } + ssize_t cols() const { return m_cols; } + private: + ssize_t m_rows; + ssize_t m_cols; + float *m_data; + }; + py::class_(m, "Matrix", py::buffer_protocol()) + .def(py::init()) + /// Construct from a buffer + .def(py::init([](py::buffer b) { + py::buffer_info info = b.request(); + if (info.format != py::format_descriptor::format() || info.ndim != 2) + throw std::runtime_error("Incompatible buffer format!"); + + auto v = new Matrix(info.shape[0], info.shape[1]); + memcpy(v->data(), info.ptr, sizeof(float) * (size_t) (v->rows() * v->cols())); + return v; + })) + + .def("rows", &Matrix::rows) + .def("cols", &Matrix::cols) + + /// Bare bones interface + .def("__getitem__", [](const Matrix &m, std::pair i) { + if (i.first >= m.rows() || i.second >= m.cols()) + throw py::index_error(); + return m(i.first, i.second); + }) + .def("__setitem__", [](Matrix &m, std::pair i, float v) { + if (i.first >= m.rows() || i.second >= m.cols()) + throw py::index_error(); + m(i.first, i.second) = v; + }) + /// Provide buffer access + .def_buffer([](Matrix &m) -> py::buffer_info { + return py::buffer_info( + m.data(), /* Pointer to buffer */ + { m.rows(), m.cols() }, /* Buffer dimensions */ + { sizeof(float) * size_t(m.cols()), /* Strides (in bytes) for each index */ + sizeof(float) } + ); + }) + ; + + + // test_inherited_protocol + class SquareMatrix : public Matrix { + public: + SquareMatrix(ssize_t n) : Matrix(n, n) { } + }; + // Derived classes inherit the buffer protocol and the buffer access function + py::class_(m, "SquareMatrix") + .def(py::init()); + + + // test_pointer_to_member_fn + // Tests that passing a pointer to member to the base class works in + // the derived class. + struct Buffer { + int32_t value = 0; + + py::buffer_info get_buffer_info() { + return py::buffer_info(&value, sizeof(value), + py::format_descriptor::format(), 1); + } + }; + py::class_(m, "Buffer", py::buffer_protocol()) + .def(py::init<>()) + .def_readwrite("value", &Buffer::value) + .def_buffer(&Buffer::get_buffer_info); + + + class ConstBuffer { + std::unique_ptr value; + + public: + int32_t get_value() const { return *value; } + void set_value(int32_t v) { *value = v; } + + py::buffer_info get_buffer_info() const { + return py::buffer_info(value.get(), sizeof(*value), + py::format_descriptor::format(), 1); + } + + ConstBuffer() : value(new int32_t{0}) { }; + }; + py::class_(m, "ConstBuffer", py::buffer_protocol()) + .def(py::init<>()) + .def_property("value", &ConstBuffer::get_value, &ConstBuffer::set_value) + .def_buffer(&ConstBuffer::get_buffer_info); + + struct DerivedBuffer : public Buffer { }; + py::class_(m, "DerivedBuffer", py::buffer_protocol()) + .def(py::init<>()) + .def_readwrite("value", (int32_t DerivedBuffer::*) &DerivedBuffer::value) + .def_buffer(&DerivedBuffer::get_buffer_info); + +} diff --git a/wrap/python/pybind11/tests/test_buffers.py b/wrap/python/pybind11/tests/test_buffers.py new file mode 100644 index 000000000..f006552bf --- /dev/null +++ b/wrap/python/pybind11/tests/test_buffers.py @@ -0,0 +1,87 @@ +import struct +import pytest +from pybind11_tests import buffers as m +from pybind11_tests import ConstructorStats + +pytestmark = pytest.requires_numpy + +with pytest.suppress(ImportError): + import numpy as np + + +def test_from_python(): + with pytest.raises(RuntimeError) as excinfo: + m.Matrix(np.array([1, 2, 3])) # trying to assign a 1D array + assert str(excinfo.value) == "Incompatible buffer format!" + + m3 = np.array([[1, 2, 3], [4, 5, 6]]).astype(np.float32) + m4 = m.Matrix(m3) + + for i in range(m4.rows()): + for j in range(m4.cols()): + assert m3[i, j] == m4[i, j] + + cstats = ConstructorStats.get(m.Matrix) + assert cstats.alive() == 1 + del m3, m4 + assert cstats.alive() == 0 + assert cstats.values() == ["2x3 matrix"] + assert cstats.copy_constructions == 0 + # assert cstats.move_constructions >= 0 # Don't invoke any + assert cstats.copy_assignments == 0 + assert cstats.move_assignments == 0 + + +# PyPy: Memory leak in the "np.array(m, copy=False)" call +# https://bitbucket.org/pypy/pypy/issues/2444 +@pytest.unsupported_on_pypy +def test_to_python(): + mat = m.Matrix(5, 4) + assert memoryview(mat).shape == (5, 4) + + assert mat[2, 3] == 0 + mat[2, 3] = 4.0 + mat[3, 2] = 7.0 + assert mat[2, 3] == 4 + assert mat[3, 2] == 7 + assert struct.unpack_from('f', mat, (3 * 4 + 2) * 4) == (7, ) + assert struct.unpack_from('f', mat, (2 * 4 + 3) * 4) == (4, ) + + mat2 = np.array(mat, copy=False) + assert mat2.shape == (5, 4) + assert abs(mat2).sum() == 11 + assert mat2[2, 3] == 4 and mat2[3, 2] == 7 + mat2[2, 3] = 5 + assert mat2[2, 3] == 5 + + cstats = ConstructorStats.get(m.Matrix) + assert cstats.alive() == 1 + del mat + pytest.gc_collect() + assert cstats.alive() == 1 + del mat2 # holds a mat reference + pytest.gc_collect() + assert cstats.alive() == 0 + assert cstats.values() == ["5x4 matrix"] + assert cstats.copy_constructions == 0 + # assert cstats.move_constructions >= 0 # Don't invoke any + assert cstats.copy_assignments == 0 + assert cstats.move_assignments == 0 + + +@pytest.unsupported_on_pypy +def test_inherited_protocol(): + """SquareMatrix is derived from Matrix and inherits the buffer protocol""" + + matrix = m.SquareMatrix(5) + assert memoryview(matrix).shape == (5, 5) + assert np.asarray(matrix).shape == (5, 5) + + +@pytest.unsupported_on_pypy +def test_pointer_to_member_fn(): + for cls in [m.Buffer, m.ConstBuffer, m.DerivedBuffer]: + buf = cls() + buf.value = 0x12345678 + value = struct.unpack('i', bytearray(buf))[0] + assert value == 0x12345678 diff --git a/wrap/python/pybind11/tests/test_builtin_casters.cpp b/wrap/python/pybind11/tests/test_builtin_casters.cpp new file mode 100644 index 000000000..e026127f8 --- /dev/null +++ b/wrap/python/pybind11/tests/test_builtin_casters.cpp @@ -0,0 +1,170 @@ +/* + tests/test_builtin_casters.cpp -- Casters available without any additional headers + + Copyright (c) 2017 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include + +#if defined(_MSC_VER) +# pragma warning(push) +# pragma warning(disable: 4127) // warning C4127: Conditional expression is constant +#endif + +TEST_SUBMODULE(builtin_casters, m) { + // test_simple_string + m.def("string_roundtrip", [](const char *s) { return s; }); + + // test_unicode_conversion + // Some test characters in utf16 and utf32 encodings. The last one (the 𝐀) contains a null byte + char32_t a32 = 0x61 /*a*/, z32 = 0x7a /*z*/, ib32 = 0x203d /*‽*/, cake32 = 0x1f382 /*🎂*/, mathbfA32 = 0x1d400 /*𝐀*/; + char16_t b16 = 0x62 /*b*/, z16 = 0x7a, ib16 = 0x203d, cake16_1 = 0xd83c, cake16_2 = 0xdf82, mathbfA16_1 = 0xd835, mathbfA16_2 = 0xdc00; + std::wstring wstr; + wstr.push_back(0x61); // a + wstr.push_back(0x2e18); // ⸘ + if (sizeof(wchar_t) == 2) { wstr.push_back(mathbfA16_1); wstr.push_back(mathbfA16_2); } // 𝐀, utf16 + else { wstr.push_back((wchar_t) mathbfA32); } // 𝐀, utf32 + wstr.push_back(0x7a); // z + + m.def("good_utf8_string", []() { return std::string(u8"Say utf8\u203d \U0001f382 \U0001d400"); }); // Say utf8‽ 🎂 𝐀 + m.def("good_utf16_string", [=]() { return std::u16string({ b16, ib16, cake16_1, cake16_2, mathbfA16_1, mathbfA16_2, z16 }); }); // b‽🎂𝐀z + m.def("good_utf32_string", [=]() { return std::u32string({ a32, mathbfA32, cake32, ib32, z32 }); }); // a𝐀🎂‽z + m.def("good_wchar_string", [=]() { return wstr; }); // a‽𝐀z + m.def("bad_utf8_string", []() { return std::string("abc\xd0" "def"); }); + m.def("bad_utf16_string", [=]() { return std::u16string({ b16, char16_t(0xd800), z16 }); }); + // Under Python 2.7, invalid unicode UTF-32 characters don't appear to trigger UnicodeDecodeError + if (PY_MAJOR_VERSION >= 3) + m.def("bad_utf32_string", [=]() { return std::u32string({ a32, char32_t(0xd800), z32 }); }); + if (PY_MAJOR_VERSION >= 3 || sizeof(wchar_t) == 2) + m.def("bad_wchar_string", [=]() { return std::wstring({ wchar_t(0x61), wchar_t(0xd800) }); }); + m.def("u8_Z", []() -> char { return 'Z'; }); + m.def("u8_eacute", []() -> char { return '\xe9'; }); + m.def("u16_ibang", [=]() -> char16_t { return ib16; }); + m.def("u32_mathbfA", [=]() -> char32_t { return mathbfA32; }); + m.def("wchar_heart", []() -> wchar_t { return 0x2665; }); + + // test_single_char_arguments + m.attr("wchar_size") = py::cast(sizeof(wchar_t)); + m.def("ord_char", [](char c) -> int { return static_cast(c); }); + m.def("ord_char_lv", [](char &c) -> int { return static_cast(c); }); + m.def("ord_char16", [](char16_t c) -> uint16_t { return c; }); + m.def("ord_char16_lv", [](char16_t &c) -> uint16_t { return c; }); + m.def("ord_char32", [](char32_t c) -> uint32_t { return c; }); + m.def("ord_wchar", [](wchar_t c) -> int { return c; }); + + // test_bytes_to_string + m.def("strlen", [](char *s) { return strlen(s); }); + m.def("string_length", [](std::string s) { return s.length(); }); + + // test_string_view +#ifdef PYBIND11_HAS_STRING_VIEW + m.attr("has_string_view") = true; + m.def("string_view_print", [](std::string_view s) { py::print(s, s.size()); }); + m.def("string_view16_print", [](std::u16string_view s) { py::print(s, s.size()); }); + m.def("string_view32_print", [](std::u32string_view s) { py::print(s, s.size()); }); + m.def("string_view_chars", [](std::string_view s) { py::list l; for (auto c : s) l.append((std::uint8_t) c); return l; }); + m.def("string_view16_chars", [](std::u16string_view s) { py::list l; for (auto c : s) l.append((int) c); return l; }); + m.def("string_view32_chars", [](std::u32string_view s) { py::list l; for (auto c : s) l.append((int) c); return l; }); + m.def("string_view_return", []() { return std::string_view(u8"utf8 secret \U0001f382"); }); + m.def("string_view16_return", []() { return std::u16string_view(u"utf16 secret \U0001f382"); }); + m.def("string_view32_return", []() { return std::u32string_view(U"utf32 secret \U0001f382"); }); +#endif + + // test_integer_casting + m.def("i32_str", [](std::int32_t v) { return std::to_string(v); }); + m.def("u32_str", [](std::uint32_t v) { return std::to_string(v); }); + m.def("i64_str", [](std::int64_t v) { return std::to_string(v); }); + m.def("u64_str", [](std::uint64_t v) { return std::to_string(v); }); + + // test_tuple + m.def("pair_passthrough", [](std::pair input) { + return std::make_pair(input.second, input.first); + }, "Return a pair in reversed order"); + m.def("tuple_passthrough", [](std::tuple input) { + return std::make_tuple(std::get<2>(input), std::get<1>(input), std::get<0>(input)); + }, "Return a triple in reversed order"); + m.def("empty_tuple", []() { return std::tuple<>(); }); + static std::pair lvpair; + static std::tuple lvtuple; + static std::pair>> lvnested; + m.def("rvalue_pair", []() { return std::make_pair(RValueCaster{}, RValueCaster{}); }); + m.def("lvalue_pair", []() -> const decltype(lvpair) & { return lvpair; }); + m.def("rvalue_tuple", []() { return std::make_tuple(RValueCaster{}, RValueCaster{}, RValueCaster{}); }); + m.def("lvalue_tuple", []() -> const decltype(lvtuple) & { return lvtuple; }); + m.def("rvalue_nested", []() { + return std::make_pair(RValueCaster{}, std::make_tuple(RValueCaster{}, std::make_pair(RValueCaster{}, RValueCaster{}))); }); + m.def("lvalue_nested", []() -> const decltype(lvnested) & { return lvnested; }); + + // test_builtins_cast_return_none + m.def("return_none_string", []() -> std::string * { return nullptr; }); + m.def("return_none_char", []() -> const char * { return nullptr; }); + m.def("return_none_bool", []() -> bool * { return nullptr; }); + m.def("return_none_int", []() -> int * { return nullptr; }); + m.def("return_none_float", []() -> float * { return nullptr; }); + + // test_none_deferred + m.def("defer_none_cstring", [](char *) { return false; }); + m.def("defer_none_cstring", [](py::none) { return true; }); + m.def("defer_none_custom", [](UserType *) { return false; }); + m.def("defer_none_custom", [](py::none) { return true; }); + m.def("nodefer_none_void", [](void *) { return true; }); + m.def("nodefer_none_void", [](py::none) { return false; }); + + // test_void_caster + m.def("load_nullptr_t", [](std::nullptr_t) {}); // not useful, but it should still compile + m.def("cast_nullptr_t", []() { return std::nullptr_t{}; }); + + // test_bool_caster + m.def("bool_passthrough", [](bool arg) { return arg; }); + m.def("bool_passthrough_noconvert", [](bool arg) { return arg; }, py::arg().noconvert()); + + // test_reference_wrapper + m.def("refwrap_builtin", [](std::reference_wrapper p) { return 10 * p.get(); }); + m.def("refwrap_usertype", [](std::reference_wrapper p) { return p.get().value(); }); + // Not currently supported (std::pair caster has return-by-value cast operator); + // triggers static_assert failure. + //m.def("refwrap_pair", [](std::reference_wrapper>) { }); + + m.def("refwrap_list", [](bool copy) { + static IncType x1(1), x2(2); + py::list l; + for (auto &f : {std::ref(x1), std::ref(x2)}) { + l.append(py::cast(f, copy ? py::return_value_policy::copy + : py::return_value_policy::reference)); + } + return l; + }, "copy"_a); + + m.def("refwrap_iiw", [](const IncType &w) { return w.value(); }); + m.def("refwrap_call_iiw", [](IncType &w, py::function f) { + py::list l; + l.append(f(std::ref(w))); + l.append(f(std::cref(w))); + IncType x(w.value()); + l.append(f(std::ref(x))); + IncType y(w.value()); + auto r3 = std::ref(y); + l.append(f(r3)); + return l; + }); + + // test_complex + m.def("complex_cast", [](float x) { return "{}"_s.format(x); }); + m.def("complex_cast", [](std::complex x) { return "({}, {})"_s.format(x.real(), x.imag()); }); + + // test int vs. long (Python 2) + m.def("int_cast", []() {return (int) 42;}); + m.def("long_cast", []() {return (long) 42;}); + m.def("longlong_cast", []() {return ULLONG_MAX;}); + + /// test void* cast operator + m.def("test_void_caster", []() -> bool { + void *v = (void *) 0xabcd; + py::object o = py::cast(v); + return py::cast(o) == v; + }); +} diff --git a/wrap/python/pybind11/tests/test_builtin_casters.py b/wrap/python/pybind11/tests/test_builtin_casters.py new file mode 100644 index 000000000..73cc465f5 --- /dev/null +++ b/wrap/python/pybind11/tests/test_builtin_casters.py @@ -0,0 +1,342 @@ +# Python < 3 needs this: coding=utf-8 +import pytest + +from pybind11_tests import builtin_casters as m +from pybind11_tests import UserType, IncType + + +def test_simple_string(): + assert m.string_roundtrip("const char *") == "const char *" + + +def test_unicode_conversion(): + """Tests unicode conversion and error reporting.""" + assert m.good_utf8_string() == u"Say utf8‽ 🎂 𝐀" + assert m.good_utf16_string() == u"b‽🎂𝐀z" + assert m.good_utf32_string() == u"a𝐀🎂‽z" + assert m.good_wchar_string() == u"a⸘𝐀z" + + with pytest.raises(UnicodeDecodeError): + m.bad_utf8_string() + + with pytest.raises(UnicodeDecodeError): + m.bad_utf16_string() + + # These are provided only if they actually fail (they don't when 32-bit and under Python 2.7) + if hasattr(m, "bad_utf32_string"): + with pytest.raises(UnicodeDecodeError): + m.bad_utf32_string() + if hasattr(m, "bad_wchar_string"): + with pytest.raises(UnicodeDecodeError): + m.bad_wchar_string() + + assert m.u8_Z() == 'Z' + assert m.u8_eacute() == u'é' + assert m.u16_ibang() == u'‽' + assert m.u32_mathbfA() == u'𝐀' + assert m.wchar_heart() == u'♥' + + +def test_single_char_arguments(): + """Tests failures for passing invalid inputs to char-accepting functions""" + def toobig_message(r): + return "Character code point not in range({0:#x})".format(r) + toolong_message = "Expected a character, but multi-character string found" + + assert m.ord_char(u'a') == 0x61 # simple ASCII + assert m.ord_char_lv(u'b') == 0x62 + assert m.ord_char(u'é') == 0xE9 # requires 2 bytes in utf-8, but can be stuffed in a char + with pytest.raises(ValueError) as excinfo: + assert m.ord_char(u'Ā') == 0x100 # requires 2 bytes, doesn't fit in a char + assert str(excinfo.value) == toobig_message(0x100) + with pytest.raises(ValueError) as excinfo: + assert m.ord_char(u'ab') + assert str(excinfo.value) == toolong_message + + assert m.ord_char16(u'a') == 0x61 + assert m.ord_char16(u'é') == 0xE9 + assert m.ord_char16_lv(u'ê') == 0xEA + assert m.ord_char16(u'Ā') == 0x100 + assert m.ord_char16(u'‽') == 0x203d + assert m.ord_char16(u'♥') == 0x2665 + assert m.ord_char16_lv(u'♡') == 0x2661 + with pytest.raises(ValueError) as excinfo: + assert m.ord_char16(u'🎂') == 0x1F382 # requires surrogate pair + assert str(excinfo.value) == toobig_message(0x10000) + with pytest.raises(ValueError) as excinfo: + assert m.ord_char16(u'aa') + assert str(excinfo.value) == toolong_message + + assert m.ord_char32(u'a') == 0x61 + assert m.ord_char32(u'é') == 0xE9 + assert m.ord_char32(u'Ā') == 0x100 + assert m.ord_char32(u'‽') == 0x203d + assert m.ord_char32(u'♥') == 0x2665 + assert m.ord_char32(u'🎂') == 0x1F382 + with pytest.raises(ValueError) as excinfo: + assert m.ord_char32(u'aa') + assert str(excinfo.value) == toolong_message + + assert m.ord_wchar(u'a') == 0x61 + assert m.ord_wchar(u'é') == 0xE9 + assert m.ord_wchar(u'Ā') == 0x100 + assert m.ord_wchar(u'‽') == 0x203d + assert m.ord_wchar(u'♥') == 0x2665 + if m.wchar_size == 2: + with pytest.raises(ValueError) as excinfo: + assert m.ord_wchar(u'🎂') == 0x1F382 # requires surrogate pair + assert str(excinfo.value) == toobig_message(0x10000) + else: + assert m.ord_wchar(u'🎂') == 0x1F382 + with pytest.raises(ValueError) as excinfo: + assert m.ord_wchar(u'aa') + assert str(excinfo.value) == toolong_message + + +def test_bytes_to_string(): + """Tests the ability to pass bytes to C++ string-accepting functions. Note that this is + one-way: the only way to return bytes to Python is via the pybind11::bytes class.""" + # Issue #816 + import sys + byte = bytes if sys.version_info[0] < 3 else str + + assert m.strlen(byte("hi")) == 2 + assert m.string_length(byte("world")) == 5 + assert m.string_length(byte("a\x00b")) == 3 + assert m.strlen(byte("a\x00b")) == 1 # C-string limitation + + # passing in a utf8 encoded string should work + assert m.string_length(u'💩'.encode("utf8")) == 4 + + +@pytest.mark.skipif(not hasattr(m, "has_string_view"), reason="no ") +def test_string_view(capture): + """Tests support for C++17 string_view arguments and return values""" + assert m.string_view_chars("Hi") == [72, 105] + assert m.string_view_chars("Hi 🎂") == [72, 105, 32, 0xf0, 0x9f, 0x8e, 0x82] + assert m.string_view16_chars("Hi 🎂") == [72, 105, 32, 0xd83c, 0xdf82] + assert m.string_view32_chars("Hi 🎂") == [72, 105, 32, 127874] + + assert m.string_view_return() == "utf8 secret 🎂" + assert m.string_view16_return() == "utf16 secret 🎂" + assert m.string_view32_return() == "utf32 secret 🎂" + + with capture: + m.string_view_print("Hi") + m.string_view_print("utf8 🎂") + m.string_view16_print("utf16 🎂") + m.string_view32_print("utf32 🎂") + assert capture == """ + Hi 2 + utf8 🎂 9 + utf16 🎂 8 + utf32 🎂 7 + """ + + with capture: + m.string_view_print("Hi, ascii") + m.string_view_print("Hi, utf8 🎂") + m.string_view16_print("Hi, utf16 🎂") + m.string_view32_print("Hi, utf32 🎂") + assert capture == """ + Hi, ascii 9 + Hi, utf8 🎂 13 + Hi, utf16 🎂 12 + Hi, utf32 🎂 11 + """ + + +def test_integer_casting(): + """Issue #929 - out-of-range integer values shouldn't be accepted""" + import sys + assert m.i32_str(-1) == "-1" + assert m.i64_str(-1) == "-1" + assert m.i32_str(2000000000) == "2000000000" + assert m.u32_str(2000000000) == "2000000000" + if sys.version_info < (3,): + assert m.i32_str(long(-1)) == "-1" # noqa: F821 undefined name 'long' + assert m.i64_str(long(-1)) == "-1" # noqa: F821 undefined name 'long' + assert m.i64_str(long(-999999999999)) == "-999999999999" # noqa: F821 undefined name + assert m.u64_str(long(999999999999)) == "999999999999" # noqa: F821 undefined name 'long' + else: + assert m.i64_str(-999999999999) == "-999999999999" + assert m.u64_str(999999999999) == "999999999999" + + with pytest.raises(TypeError) as excinfo: + m.u32_str(-1) + assert "incompatible function arguments" in str(excinfo.value) + with pytest.raises(TypeError) as excinfo: + m.u64_str(-1) + assert "incompatible function arguments" in str(excinfo.value) + with pytest.raises(TypeError) as excinfo: + m.i32_str(-3000000000) + assert "incompatible function arguments" in str(excinfo.value) + with pytest.raises(TypeError) as excinfo: + m.i32_str(3000000000) + assert "incompatible function arguments" in str(excinfo.value) + + if sys.version_info < (3,): + with pytest.raises(TypeError) as excinfo: + m.u32_str(long(-1)) # noqa: F821 undefined name 'long' + assert "incompatible function arguments" in str(excinfo.value) + with pytest.raises(TypeError) as excinfo: + m.u64_str(long(-1)) # noqa: F821 undefined name 'long' + assert "incompatible function arguments" in str(excinfo.value) + + +def test_tuple(doc): + """std::pair <-> tuple & std::tuple <-> tuple""" + assert m.pair_passthrough((True, "test")) == ("test", True) + assert m.tuple_passthrough((True, "test", 5)) == (5, "test", True) + # Any sequence can be cast to a std::pair or std::tuple + assert m.pair_passthrough([True, "test"]) == ("test", True) + assert m.tuple_passthrough([True, "test", 5]) == (5, "test", True) + assert m.empty_tuple() == () + + assert doc(m.pair_passthrough) == """ + pair_passthrough(arg0: Tuple[bool, str]) -> Tuple[str, bool] + + Return a pair in reversed order + """ + assert doc(m.tuple_passthrough) == """ + tuple_passthrough(arg0: Tuple[bool, str, int]) -> Tuple[int, str, bool] + + Return a triple in reversed order + """ + + assert m.rvalue_pair() == ("rvalue", "rvalue") + assert m.lvalue_pair() == ("lvalue", "lvalue") + assert m.rvalue_tuple() == ("rvalue", "rvalue", "rvalue") + assert m.lvalue_tuple() == ("lvalue", "lvalue", "lvalue") + assert m.rvalue_nested() == ("rvalue", ("rvalue", ("rvalue", "rvalue"))) + assert m.lvalue_nested() == ("lvalue", ("lvalue", ("lvalue", "lvalue"))) + + +def test_builtins_cast_return_none(): + """Casters produced with PYBIND11_TYPE_CASTER() should convert nullptr to None""" + assert m.return_none_string() is None + assert m.return_none_char() is None + assert m.return_none_bool() is None + assert m.return_none_int() is None + assert m.return_none_float() is None + + +def test_none_deferred(): + """None passed as various argument types should defer to other overloads""" + assert not m.defer_none_cstring("abc") + assert m.defer_none_cstring(None) + assert not m.defer_none_custom(UserType()) + assert m.defer_none_custom(None) + assert m.nodefer_none_void(None) + + +def test_void_caster(): + assert m.load_nullptr_t(None) is None + assert m.cast_nullptr_t() is None + + +def test_reference_wrapper(): + """std::reference_wrapper for builtin and user types""" + assert m.refwrap_builtin(42) == 420 + assert m.refwrap_usertype(UserType(42)) == 42 + + with pytest.raises(TypeError) as excinfo: + m.refwrap_builtin(None) + assert "incompatible function arguments" in str(excinfo.value) + + with pytest.raises(TypeError) as excinfo: + m.refwrap_usertype(None) + assert "incompatible function arguments" in str(excinfo.value) + + a1 = m.refwrap_list(copy=True) + a2 = m.refwrap_list(copy=True) + assert [x.value for x in a1] == [2, 3] + assert [x.value for x in a2] == [2, 3] + assert not a1[0] is a2[0] and not a1[1] is a2[1] + + b1 = m.refwrap_list(copy=False) + b2 = m.refwrap_list(copy=False) + assert [x.value for x in b1] == [1, 2] + assert [x.value for x in b2] == [1, 2] + assert b1[0] is b2[0] and b1[1] is b2[1] + + assert m.refwrap_iiw(IncType(5)) == 5 + assert m.refwrap_call_iiw(IncType(10), m.refwrap_iiw) == [10, 10, 10, 10] + + +def test_complex_cast(): + """std::complex casts""" + assert m.complex_cast(1) == "1.0" + assert m.complex_cast(2j) == "(0.0, 2.0)" + + +def test_bool_caster(): + """Test bool caster implicit conversions.""" + convert, noconvert = m.bool_passthrough, m.bool_passthrough_noconvert + + def require_implicit(v): + pytest.raises(TypeError, noconvert, v) + + def cant_convert(v): + pytest.raises(TypeError, convert, v) + + # straight up bool + assert convert(True) is True + assert convert(False) is False + assert noconvert(True) is True + assert noconvert(False) is False + + # None requires implicit conversion + require_implicit(None) + assert convert(None) is False + + class A(object): + def __init__(self, x): + self.x = x + + def __nonzero__(self): + return self.x + + def __bool__(self): + return self.x + + class B(object): + pass + + # Arbitrary objects are not accepted + cant_convert(object()) + cant_convert(B()) + + # Objects with __nonzero__ / __bool__ defined can be converted + require_implicit(A(True)) + assert convert(A(True)) is True + assert convert(A(False)) is False + + +@pytest.requires_numpy +def test_numpy_bool(): + import numpy as np + convert, noconvert = m.bool_passthrough, m.bool_passthrough_noconvert + + # np.bool_ is not considered implicit + assert convert(np.bool_(True)) is True + assert convert(np.bool_(False)) is False + assert noconvert(np.bool_(True)) is True + assert noconvert(np.bool_(False)) is False + + +def test_int_long(): + """In Python 2, a C++ int should return a Python int rather than long + if possible: longs are not always accepted where ints are used (such + as the argument to sys.exit()). A C++ long long is always a Python + long.""" + + import sys + must_be_long = type(getattr(sys, 'maxint', 1) + 1) + assert isinstance(m.int_cast(), int) + assert isinstance(m.long_cast(), int) + assert isinstance(m.longlong_cast(), must_be_long) + + +def test_void_caster_2(): + assert m.test_void_caster() diff --git a/wrap/python/pybind11/tests/test_call_policies.cpp b/wrap/python/pybind11/tests/test_call_policies.cpp new file mode 100644 index 000000000..fd2455783 --- /dev/null +++ b/wrap/python/pybind11/tests/test_call_policies.cpp @@ -0,0 +1,100 @@ +/* + tests/test_call_policies.cpp -- keep_alive and call_guard + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" + +struct CustomGuard { + static bool enabled; + + CustomGuard() { enabled = true; } + ~CustomGuard() { enabled = false; } + + static const char *report_status() { return enabled ? "guarded" : "unguarded"; } +}; +bool CustomGuard::enabled = false; + +struct DependentGuard { + static bool enabled; + + DependentGuard() { enabled = CustomGuard::enabled; } + ~DependentGuard() { enabled = false; } + + static const char *report_status() { return enabled ? "guarded" : "unguarded"; } +}; +bool DependentGuard::enabled = false; + +TEST_SUBMODULE(call_policies, m) { + // Parent/Child are used in: + // test_keep_alive_argument, test_keep_alive_return_value, test_alive_gc_derived, + // test_alive_gc_multi_derived, test_return_none, test_keep_alive_constructor + class Child { + public: + Child() { py::print("Allocating child."); } + Child(const Child &) = default; + Child(Child &&) = default; + ~Child() { py::print("Releasing child."); } + }; + py::class_(m, "Child") + .def(py::init<>()); + + class Parent { + public: + Parent() { py::print("Allocating parent."); } + ~Parent() { py::print("Releasing parent."); } + void addChild(Child *) { } + Child *returnChild() { return new Child(); } + Child *returnNullChild() { return nullptr; } + }; + py::class_(m, "Parent") + .def(py::init<>()) + .def(py::init([](Child *) { return new Parent(); }), py::keep_alive<1, 2>()) + .def("addChild", &Parent::addChild) + .def("addChildKeepAlive", &Parent::addChild, py::keep_alive<1, 2>()) + .def("returnChild", &Parent::returnChild) + .def("returnChildKeepAlive", &Parent::returnChild, py::keep_alive<1, 0>()) + .def("returnNullChildKeepAliveChild", &Parent::returnNullChild, py::keep_alive<1, 0>()) + .def("returnNullChildKeepAliveParent", &Parent::returnNullChild, py::keep_alive<0, 1>()); + +#if !defined(PYPY_VERSION) + // test_alive_gc + class ParentGC : public Parent { + public: + using Parent::Parent; + }; + py::class_(m, "ParentGC", py::dynamic_attr()) + .def(py::init<>()); +#endif + + // test_call_guard + m.def("unguarded_call", &CustomGuard::report_status); + m.def("guarded_call", &CustomGuard::report_status, py::call_guard()); + + m.def("multiple_guards_correct_order", []() { + return CustomGuard::report_status() + std::string(" & ") + DependentGuard::report_status(); + }, py::call_guard()); + + m.def("multiple_guards_wrong_order", []() { + return DependentGuard::report_status() + std::string(" & ") + CustomGuard::report_status(); + }, py::call_guard()); + +#if defined(WITH_THREAD) && !defined(PYPY_VERSION) + // `py::call_guard()` should work in PyPy as well, + // but it's unclear how to test it without `PyGILState_GetThisThreadState`. + auto report_gil_status = []() { + auto is_gil_held = false; + if (auto tstate = py::detail::get_thread_state_unchecked()) + is_gil_held = (tstate == PyGILState_GetThisThreadState()); + + return is_gil_held ? "GIL held" : "GIL released"; + }; + + m.def("with_gil", report_gil_status); + m.def("without_gil", report_gil_status, py::call_guard()); +#endif +} diff --git a/wrap/python/pybind11/tests/test_call_policies.py b/wrap/python/pybind11/tests/test_call_policies.py new file mode 100644 index 000000000..7c835599c --- /dev/null +++ b/wrap/python/pybind11/tests/test_call_policies.py @@ -0,0 +1,187 @@ +import pytest +from pybind11_tests import call_policies as m +from pybind11_tests import ConstructorStats + + +def test_keep_alive_argument(capture): + n_inst = ConstructorStats.detail_reg_inst() + with capture: + p = m.Parent() + assert capture == "Allocating parent." + with capture: + p.addChild(m.Child()) + assert ConstructorStats.detail_reg_inst() == n_inst + 1 + assert capture == """ + Allocating child. + Releasing child. + """ + with capture: + del p + assert ConstructorStats.detail_reg_inst() == n_inst + assert capture == "Releasing parent." + + with capture: + p = m.Parent() + assert capture == "Allocating parent." + with capture: + p.addChildKeepAlive(m.Child()) + assert ConstructorStats.detail_reg_inst() == n_inst + 2 + assert capture == "Allocating child." + with capture: + del p + assert ConstructorStats.detail_reg_inst() == n_inst + assert capture == """ + Releasing parent. + Releasing child. + """ + + +def test_keep_alive_return_value(capture): + n_inst = ConstructorStats.detail_reg_inst() + with capture: + p = m.Parent() + assert capture == "Allocating parent." + with capture: + p.returnChild() + assert ConstructorStats.detail_reg_inst() == n_inst + 1 + assert capture == """ + Allocating child. + Releasing child. + """ + with capture: + del p + assert ConstructorStats.detail_reg_inst() == n_inst + assert capture == "Releasing parent." + + with capture: + p = m.Parent() + assert capture == "Allocating parent." + with capture: + p.returnChildKeepAlive() + assert ConstructorStats.detail_reg_inst() == n_inst + 2 + assert capture == "Allocating child." + with capture: + del p + assert ConstructorStats.detail_reg_inst() == n_inst + assert capture == """ + Releasing parent. + Releasing child. + """ + + +# https://bitbucket.org/pypy/pypy/issues/2447 +@pytest.unsupported_on_pypy +def test_alive_gc(capture): + n_inst = ConstructorStats.detail_reg_inst() + p = m.ParentGC() + p.addChildKeepAlive(m.Child()) + assert ConstructorStats.detail_reg_inst() == n_inst + 2 + lst = [p] + lst.append(lst) # creates a circular reference + with capture: + del p, lst + assert ConstructorStats.detail_reg_inst() == n_inst + assert capture == """ + Releasing parent. + Releasing child. + """ + + +def test_alive_gc_derived(capture): + class Derived(m.Parent): + pass + + n_inst = ConstructorStats.detail_reg_inst() + p = Derived() + p.addChildKeepAlive(m.Child()) + assert ConstructorStats.detail_reg_inst() == n_inst + 2 + lst = [p] + lst.append(lst) # creates a circular reference + with capture: + del p, lst + assert ConstructorStats.detail_reg_inst() == n_inst + assert capture == """ + Releasing parent. + Releasing child. + """ + + +def test_alive_gc_multi_derived(capture): + class Derived(m.Parent, m.Child): + def __init__(self): + m.Parent.__init__(self) + m.Child.__init__(self) + + n_inst = ConstructorStats.detail_reg_inst() + p = Derived() + p.addChildKeepAlive(m.Child()) + # +3 rather than +2 because Derived corresponds to two registered instances + assert ConstructorStats.detail_reg_inst() == n_inst + 3 + lst = [p] + lst.append(lst) # creates a circular reference + with capture: + del p, lst + assert ConstructorStats.detail_reg_inst() == n_inst + assert capture == """ + Releasing parent. + Releasing child. + Releasing child. + """ + + +def test_return_none(capture): + n_inst = ConstructorStats.detail_reg_inst() + with capture: + p = m.Parent() + assert capture == "Allocating parent." + with capture: + p.returnNullChildKeepAliveChild() + assert ConstructorStats.detail_reg_inst() == n_inst + 1 + assert capture == "" + with capture: + del p + assert ConstructorStats.detail_reg_inst() == n_inst + assert capture == "Releasing parent." + + with capture: + p = m.Parent() + assert capture == "Allocating parent." + with capture: + p.returnNullChildKeepAliveParent() + assert ConstructorStats.detail_reg_inst() == n_inst + 1 + assert capture == "" + with capture: + del p + assert ConstructorStats.detail_reg_inst() == n_inst + assert capture == "Releasing parent." + + +def test_keep_alive_constructor(capture): + n_inst = ConstructorStats.detail_reg_inst() + + with capture: + p = m.Parent(m.Child()) + assert ConstructorStats.detail_reg_inst() == n_inst + 2 + assert capture == """ + Allocating child. + Allocating parent. + """ + with capture: + del p + assert ConstructorStats.detail_reg_inst() == n_inst + assert capture == """ + Releasing parent. + Releasing child. + """ + + +def test_call_guard(): + assert m.unguarded_call() == "unguarded" + assert m.guarded_call() == "guarded" + + assert m.multiple_guards_correct_order() == "guarded & guarded" + assert m.multiple_guards_wrong_order() == "unguarded & guarded" + + if hasattr(m, "with_gil"): + assert m.with_gil() == "GIL held" + assert m.without_gil() == "GIL released" diff --git a/wrap/python/pybind11/tests/test_callbacks.cpp b/wrap/python/pybind11/tests/test_callbacks.cpp new file mode 100644 index 000000000..71b88c44c --- /dev/null +++ b/wrap/python/pybind11/tests/test_callbacks.cpp @@ -0,0 +1,168 @@ +/* + tests/test_callbacks.cpp -- callbacks + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" +#include +#include + + +int dummy_function(int i) { return i + 1; } + +TEST_SUBMODULE(callbacks, m) { + // test_callbacks, test_function_signatures + m.def("test_callback1", [](py::object func) { return func(); }); + m.def("test_callback2", [](py::object func) { return func("Hello", 'x', true, 5); }); + m.def("test_callback3", [](const std::function &func) { + return "func(43) = " + std::to_string(func(43)); }); + m.def("test_callback4", []() -> std::function { return [](int i) { return i+1; }; }); + m.def("test_callback5", []() { + return py::cpp_function([](int i) { return i+1; }, py::arg("number")); + }); + + // test_keyword_args_and_generalized_unpacking + m.def("test_tuple_unpacking", [](py::function f) { + auto t1 = py::make_tuple(2, 3); + auto t2 = py::make_tuple(5, 6); + return f("positional", 1, *t1, 4, *t2); + }); + + m.def("test_dict_unpacking", [](py::function f) { + auto d1 = py::dict("key"_a="value", "a"_a=1); + auto d2 = py::dict(); + auto d3 = py::dict("b"_a=2); + return f("positional", 1, **d1, **d2, **d3); + }); + + m.def("test_keyword_args", [](py::function f) { + return f("x"_a=10, "y"_a=20); + }); + + m.def("test_unpacking_and_keywords1", [](py::function f) { + auto args = py::make_tuple(2); + auto kwargs = py::dict("d"_a=4); + return f(1, *args, "c"_a=3, **kwargs); + }); + + m.def("test_unpacking_and_keywords2", [](py::function f) { + auto kwargs1 = py::dict("a"_a=1); + auto kwargs2 = py::dict("c"_a=3, "d"_a=4); + return f("positional", *py::make_tuple(1), 2, *py::make_tuple(3, 4), 5, + "key"_a="value", **kwargs1, "b"_a=2, **kwargs2, "e"_a=5); + }); + + m.def("test_unpacking_error1", [](py::function f) { + auto kwargs = py::dict("x"_a=3); + return f("x"_a=1, "y"_a=2, **kwargs); // duplicate ** after keyword + }); + + m.def("test_unpacking_error2", [](py::function f) { + auto kwargs = py::dict("x"_a=3); + return f(**kwargs, "x"_a=1); // duplicate keyword after ** + }); + + m.def("test_arg_conversion_error1", [](py::function f) { + f(234, UnregisteredType(), "kw"_a=567); + }); + + m.def("test_arg_conversion_error2", [](py::function f) { + f(234, "expected_name"_a=UnregisteredType(), "kw"_a=567); + }); + + // test_lambda_closure_cleanup + struct Payload { + Payload() { print_default_created(this); } + ~Payload() { print_destroyed(this); } + Payload(const Payload &) { print_copy_created(this); } + Payload(Payload &&) { print_move_created(this); } + }; + // Export the payload constructor statistics for testing purposes: + m.def("payload_cstats", &ConstructorStats::get); + /* Test cleanup of lambda closure */ + m.def("test_cleanup", []() -> std::function { + Payload p; + + return [p]() { + /* p should be cleaned up when the returned function is garbage collected */ + (void) p; + }; + }); + + // test_cpp_function_roundtrip + /* Test if passing a function pointer from C++ -> Python -> C++ yields the original pointer */ + m.def("dummy_function", &dummy_function); + m.def("dummy_function2", [](int i, int j) { return i + j; }); + m.def("roundtrip", [](std::function f, bool expect_none = false) { + if (expect_none && f) + throw std::runtime_error("Expected None to be converted to empty std::function"); + return f; + }, py::arg("f"), py::arg("expect_none")=false); + m.def("test_dummy_function", [](const std::function &f) -> std::string { + using fn_type = int (*)(int); + auto result = f.target(); + if (!result) { + auto r = f(1); + return "can't convert to function pointer: eval(1) = " + std::to_string(r); + } else if (*result == dummy_function) { + auto r = (*result)(1); + return "matches dummy_function: eval(1) = " + std::to_string(r); + } else { + return "argument does NOT match dummy_function. This should never happen!"; + } + }); + + class AbstractBase { public: virtual unsigned int func() = 0; }; + m.def("func_accepting_func_accepting_base", [](std::function) { }); + + struct MovableObject { + bool valid = true; + + MovableObject() = default; + MovableObject(const MovableObject &) = default; + MovableObject &operator=(const MovableObject &) = default; + MovableObject(MovableObject &&o) : valid(o.valid) { o.valid = false; } + MovableObject &operator=(MovableObject &&o) { + valid = o.valid; + o.valid = false; + return *this; + } + }; + py::class_(m, "MovableObject"); + + // test_movable_object + m.def("callback_with_movable", [](std::function f) { + auto x = MovableObject(); + f(x); // lvalue reference shouldn't move out object + return x.valid; // must still return `true` + }); + + // test_bound_method_callback + struct CppBoundMethodTest {}; + py::class_(m, "CppBoundMethodTest") + .def(py::init<>()) + .def("triple", [](CppBoundMethodTest &, int val) { return 3 * val; }); + + // test async Python callbacks + using callback_f = std::function; + m.def("test_async_callback", [](callback_f f, py::list work) { + // make detached thread that calls `f` with piece of work after a little delay + auto start_f = [f](int j) { + auto invoke_f = [f, j] { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + f(j); + }; + auto t = std::thread(std::move(invoke_f)); + t.detach(); + }; + + // spawn worker threads + for (auto i : work) + start_f(py::cast(i)); + }); +} diff --git a/wrap/python/pybind11/tests/test_callbacks.py b/wrap/python/pybind11/tests/test_callbacks.py new file mode 100644 index 000000000..6439c8e72 --- /dev/null +++ b/wrap/python/pybind11/tests/test_callbacks.py @@ -0,0 +1,136 @@ +import pytest +from pybind11_tests import callbacks as m +from threading import Thread + + +def test_callbacks(): + from functools import partial + + def func1(): + return "func1" + + def func2(a, b, c, d): + return "func2", a, b, c, d + + def func3(a): + return "func3({})".format(a) + + assert m.test_callback1(func1) == "func1" + assert m.test_callback2(func2) == ("func2", "Hello", "x", True, 5) + assert m.test_callback1(partial(func2, 1, 2, 3, 4)) == ("func2", 1, 2, 3, 4) + assert m.test_callback1(partial(func3, "partial")) == "func3(partial)" + assert m.test_callback3(lambda i: i + 1) == "func(43) = 44" + + f = m.test_callback4() + assert f(43) == 44 + f = m.test_callback5() + assert f(number=43) == 44 + + +def test_bound_method_callback(): + # Bound Python method: + class MyClass: + def double(self, val): + return 2 * val + + z = MyClass() + assert m.test_callback3(z.double) == "func(43) = 86" + + z = m.CppBoundMethodTest() + assert m.test_callback3(z.triple) == "func(43) = 129" + + +def test_keyword_args_and_generalized_unpacking(): + + def f(*args, **kwargs): + return args, kwargs + + assert m.test_tuple_unpacking(f) == (("positional", 1, 2, 3, 4, 5, 6), {}) + assert m.test_dict_unpacking(f) == (("positional", 1), {"key": "value", "a": 1, "b": 2}) + assert m.test_keyword_args(f) == ((), {"x": 10, "y": 20}) + assert m.test_unpacking_and_keywords1(f) == ((1, 2), {"c": 3, "d": 4}) + assert m.test_unpacking_and_keywords2(f) == ( + ("positional", 1, 2, 3, 4, 5), + {"key": "value", "a": 1, "b": 2, "c": 3, "d": 4, "e": 5} + ) + + with pytest.raises(TypeError) as excinfo: + m.test_unpacking_error1(f) + assert "Got multiple values for keyword argument" in str(excinfo.value) + + with pytest.raises(TypeError) as excinfo: + m.test_unpacking_error2(f) + assert "Got multiple values for keyword argument" in str(excinfo.value) + + with pytest.raises(RuntimeError) as excinfo: + m.test_arg_conversion_error1(f) + assert "Unable to convert call argument" in str(excinfo.value) + + with pytest.raises(RuntimeError) as excinfo: + m.test_arg_conversion_error2(f) + assert "Unable to convert call argument" in str(excinfo.value) + + +def test_lambda_closure_cleanup(): + m.test_cleanup() + cstats = m.payload_cstats() + assert cstats.alive() == 0 + assert cstats.copy_constructions == 1 + assert cstats.move_constructions >= 1 + + +def test_cpp_function_roundtrip(): + """Test if passing a function pointer from C++ -> Python -> C++ yields the original pointer""" + + assert m.test_dummy_function(m.dummy_function) == "matches dummy_function: eval(1) = 2" + assert (m.test_dummy_function(m.roundtrip(m.dummy_function)) == + "matches dummy_function: eval(1) = 2") + assert m.roundtrip(None, expect_none=True) is None + assert (m.test_dummy_function(lambda x: x + 2) == + "can't convert to function pointer: eval(1) = 3") + + with pytest.raises(TypeError) as excinfo: + m.test_dummy_function(m.dummy_function2) + assert "incompatible function arguments" in str(excinfo.value) + + with pytest.raises(TypeError) as excinfo: + m.test_dummy_function(lambda x, y: x + y) + assert any(s in str(excinfo.value) for s in ("missing 1 required positional argument", + "takes exactly 2 arguments")) + + +def test_function_signatures(doc): + assert doc(m.test_callback3) == "test_callback3(arg0: Callable[[int], int]) -> str" + assert doc(m.test_callback4) == "test_callback4() -> Callable[[int], int]" + + +def test_movable_object(): + assert m.callback_with_movable(lambda _: None) is True + + +def test_async_callbacks(): + # serves as state for async callback + class Item: + def __init__(self, value): + self.value = value + + res = [] + + # generate stateful lambda that will store result in `res` + def gen_f(): + s = Item(3) + return lambda j: res.append(s.value + j) + + # do some work async + work = [1, 2, 3, 4] + m.test_async_callback(gen_f(), work) + # wait until work is done + from time import sleep + sleep(0.5) + assert sum(res) == sum([x + 3 for x in work]) + + +def test_async_async_callbacks(): + t = Thread(target=test_async_callbacks) + t.start() + t.join() diff --git a/wrap/python/pybind11/tests/test_chrono.cpp b/wrap/python/pybind11/tests/test_chrono.cpp new file mode 100644 index 000000000..899d08d8d --- /dev/null +++ b/wrap/python/pybind11/tests/test_chrono.cpp @@ -0,0 +1,55 @@ +/* + tests/test_chrono.cpp -- test conversions to/from std::chrono types + + Copyright (c) 2016 Trent Houliston and + Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include + +TEST_SUBMODULE(chrono, m) { + using system_time = std::chrono::system_clock::time_point; + using steady_time = std::chrono::steady_clock::time_point; + + using timespan = std::chrono::duration; + using timestamp = std::chrono::time_point; + + // test_chrono_system_clock + // Return the current time off the wall clock + m.def("test_chrono1", []() { return std::chrono::system_clock::now(); }); + + // test_chrono_system_clock_roundtrip + // Round trip the passed in system clock time + m.def("test_chrono2", [](system_time t) { return t; }); + + // test_chrono_duration_roundtrip + // Round trip the passed in duration + m.def("test_chrono3", [](std::chrono::system_clock::duration d) { return d; }); + + // test_chrono_duration_subtraction_equivalence + // Difference between two passed in time_points + m.def("test_chrono4", [](system_time a, system_time b) { return a - b; }); + + // test_chrono_steady_clock + // Return the current time off the steady_clock + m.def("test_chrono5", []() { return std::chrono::steady_clock::now(); }); + + // test_chrono_steady_clock_roundtrip + // Round trip a steady clock timepoint + m.def("test_chrono6", [](steady_time t) { return t; }); + + // test_floating_point_duration + // Roundtrip a duration in microseconds from a float argument + m.def("test_chrono7", [](std::chrono::microseconds t) { return t; }); + // Float durations (issue #719) + m.def("test_chrono_float_diff", [](std::chrono::duration a, std::chrono::duration b) { + return a - b; }); + + m.def("test_nano_timepoint", [](timestamp start, timespan delta) -> timestamp { + return start + delta; + }); +} diff --git a/wrap/python/pybind11/tests/test_chrono.py b/wrap/python/pybind11/tests/test_chrono.py new file mode 100644 index 000000000..f308de977 --- /dev/null +++ b/wrap/python/pybind11/tests/test_chrono.py @@ -0,0 +1,107 @@ +from pybind11_tests import chrono as m +import datetime + + +def test_chrono_system_clock(): + + # Get the time from both c++ and datetime + date1 = m.test_chrono1() + date2 = datetime.datetime.today() + + # The returned value should be a datetime + assert isinstance(date1, datetime.datetime) + + # The numbers should vary by a very small amount (time it took to execute) + diff = abs(date1 - date2) + + # There should never be a days/seconds difference + assert diff.days == 0 + assert diff.seconds == 0 + + # We test that no more than about 0.5 seconds passes here + # This makes sure that the dates created are very close to the same + # but if the testing system is incredibly overloaded this should still pass + assert diff.microseconds < 500000 + + +def test_chrono_system_clock_roundtrip(): + date1 = datetime.datetime.today() + + # Roundtrip the time + date2 = m.test_chrono2(date1) + + # The returned value should be a datetime + assert isinstance(date2, datetime.datetime) + + # They should be identical (no information lost on roundtrip) + diff = abs(date1 - date2) + assert diff.days == 0 + assert diff.seconds == 0 + assert diff.microseconds == 0 + + +def test_chrono_duration_roundtrip(): + + # Get the difference between two times (a timedelta) + date1 = datetime.datetime.today() + date2 = datetime.datetime.today() + diff = date2 - date1 + + # Make sure this is a timedelta + assert isinstance(diff, datetime.timedelta) + + cpp_diff = m.test_chrono3(diff) + + assert cpp_diff.days == diff.days + assert cpp_diff.seconds == diff.seconds + assert cpp_diff.microseconds == diff.microseconds + + +def test_chrono_duration_subtraction_equivalence(): + + date1 = datetime.datetime.today() + date2 = datetime.datetime.today() + + diff = date2 - date1 + cpp_diff = m.test_chrono4(date2, date1) + + assert cpp_diff.days == diff.days + assert cpp_diff.seconds == diff.seconds + assert cpp_diff.microseconds == diff.microseconds + + +def test_chrono_steady_clock(): + time1 = m.test_chrono5() + assert isinstance(time1, datetime.timedelta) + + +def test_chrono_steady_clock_roundtrip(): + time1 = datetime.timedelta(days=10, seconds=10, microseconds=100) + time2 = m.test_chrono6(time1) + + assert isinstance(time2, datetime.timedelta) + + # They should be identical (no information lost on roundtrip) + assert time1.days == time2.days + assert time1.seconds == time2.seconds + assert time1.microseconds == time2.microseconds + + +def test_floating_point_duration(): + # Test using a floating point number in seconds + time = m.test_chrono7(35.525123) + + assert isinstance(time, datetime.timedelta) + + assert time.seconds == 35 + assert 525122 <= time.microseconds <= 525123 + + diff = m.test_chrono_float_diff(43.789012, 1.123456) + assert diff.seconds == 42 + assert 665556 <= diff.microseconds <= 665557 + + +def test_nano_timepoint(): + time = datetime.datetime.now() + time1 = m.test_nano_timepoint(time, datetime.timedelta(seconds=60)) + assert(time1 == time + datetime.timedelta(seconds=60)) diff --git a/wrap/python/pybind11/tests/test_class.cpp b/wrap/python/pybind11/tests/test_class.cpp new file mode 100644 index 000000000..499d0cc51 --- /dev/null +++ b/wrap/python/pybind11/tests/test_class.cpp @@ -0,0 +1,422 @@ +/* + tests/test_class.cpp -- test py::class_ definitions and basic functionality + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" +#include "local_bindings.h" +#include + +#if defined(_MSC_VER) +# pragma warning(disable: 4324) // warning C4324: structure was padded due to alignment specifier +#endif + +// test_brace_initialization +struct NoBraceInitialization { + NoBraceInitialization(std::vector v) : vec{std::move(v)} {} + template + NoBraceInitialization(std::initializer_list l) : vec(l) {} + + std::vector vec; +}; + +TEST_SUBMODULE(class_, m) { + // test_instance + struct NoConstructor { + NoConstructor() = default; + NoConstructor(const NoConstructor &) = default; + NoConstructor(NoConstructor &&) = default; + static NoConstructor *new_instance() { + auto *ptr = new NoConstructor(); + print_created(ptr, "via new_instance"); + return ptr; + } + ~NoConstructor() { print_destroyed(this); } + }; + + py::class_(m, "NoConstructor") + .def_static("new_instance", &NoConstructor::new_instance, "Return an instance"); + + // test_inheritance + class Pet { + public: + Pet(const std::string &name, const std::string &species) + : m_name(name), m_species(species) {} + std::string name() const { return m_name; } + std::string species() const { return m_species; } + private: + std::string m_name; + std::string m_species; + }; + + class Dog : public Pet { + public: + Dog(const std::string &name) : Pet(name, "dog") {} + std::string bark() const { return "Woof!"; } + }; + + class Rabbit : public Pet { + public: + Rabbit(const std::string &name) : Pet(name, "parrot") {} + }; + + class Hamster : public Pet { + public: + Hamster(const std::string &name) : Pet(name, "rodent") {} + }; + + class Chimera : public Pet { + Chimera() : Pet("Kimmy", "chimera") {} + }; + + py::class_ pet_class(m, "Pet"); + pet_class + .def(py::init()) + .def("name", &Pet::name) + .def("species", &Pet::species); + + /* One way of declaring a subclass relationship: reference parent's class_ object */ + py::class_(m, "Dog", pet_class) + .def(py::init()); + + /* Another way of declaring a subclass relationship: reference parent's C++ type */ + py::class_(m, "Rabbit") + .def(py::init()); + + /* And another: list parent in class template arguments */ + py::class_(m, "Hamster") + .def(py::init()); + + /* Constructors are not inherited by default */ + py::class_(m, "Chimera"); + + m.def("pet_name_species", [](const Pet &pet) { return pet.name() + " is a " + pet.species(); }); + m.def("dog_bark", [](const Dog &dog) { return dog.bark(); }); + + // test_automatic_upcasting + struct BaseClass { + BaseClass() = default; + BaseClass(const BaseClass &) = default; + BaseClass(BaseClass &&) = default; + virtual ~BaseClass() {} + }; + struct DerivedClass1 : BaseClass { }; + struct DerivedClass2 : BaseClass { }; + + py::class_(m, "BaseClass").def(py::init<>()); + py::class_(m, "DerivedClass1").def(py::init<>()); + py::class_(m, "DerivedClass2").def(py::init<>()); + + m.def("return_class_1", []() -> BaseClass* { return new DerivedClass1(); }); + m.def("return_class_2", []() -> BaseClass* { return new DerivedClass2(); }); + m.def("return_class_n", [](int n) -> BaseClass* { + if (n == 1) return new DerivedClass1(); + if (n == 2) return new DerivedClass2(); + return new BaseClass(); + }); + m.def("return_none", []() -> BaseClass* { return nullptr; }); + + // test_isinstance + m.def("check_instances", [](py::list l) { + return py::make_tuple( + py::isinstance(l[0]), + py::isinstance(l[1]), + py::isinstance(l[2]), + py::isinstance(l[3]), + py::isinstance(l[4]), + py::isinstance(l[5]), + py::isinstance(l[6]) + ); + }); + + // test_mismatched_holder + struct MismatchBase1 { }; + struct MismatchDerived1 : MismatchBase1 { }; + + struct MismatchBase2 { }; + struct MismatchDerived2 : MismatchBase2 { }; + + m.def("mismatched_holder_1", []() { + auto mod = py::module::import("__main__"); + py::class_>(mod, "MismatchBase1"); + py::class_(mod, "MismatchDerived1"); + }); + m.def("mismatched_holder_2", []() { + auto mod = py::module::import("__main__"); + py::class_(mod, "MismatchBase2"); + py::class_, + MismatchBase2>(mod, "MismatchDerived2"); + }); + + // test_override_static + // #511: problem with inheritance + overwritten def_static + struct MyBase { + static std::unique_ptr make() { + return std::unique_ptr(new MyBase()); + } + }; + + struct MyDerived : MyBase { + static std::unique_ptr make() { + return std::unique_ptr(new MyDerived()); + } + }; + + py::class_(m, "MyBase") + .def_static("make", &MyBase::make); + + py::class_(m, "MyDerived") + .def_static("make", &MyDerived::make) + .def_static("make2", &MyDerived::make); + + // test_implicit_conversion_life_support + struct ConvertibleFromUserType { + int i; + + ConvertibleFromUserType(UserType u) : i(u.value()) { } + }; + + py::class_(m, "AcceptsUserType") + .def(py::init()); + py::implicitly_convertible(); + + m.def("implicitly_convert_argument", [](const ConvertibleFromUserType &r) { return r.i; }); + m.def("implicitly_convert_variable", [](py::object o) { + // `o` is `UserType` and `r` is a reference to a temporary created by implicit + // conversion. This is valid when called inside a bound function because the temp + // object is attached to the same life support system as the arguments. + const auto &r = o.cast(); + return r.i; + }); + m.add_object("implicitly_convert_variable_fail", [&] { + auto f = [](PyObject *, PyObject *args) -> PyObject * { + auto o = py::reinterpret_borrow(args)[0]; + try { // It should fail here because there is no life support. + o.cast(); + } catch (const py::cast_error &e) { + return py::str(e.what()).release().ptr(); + } + return py::str().release().ptr(); + }; + + auto def = new PyMethodDef{"f", f, METH_VARARGS, nullptr}; + return py::reinterpret_steal(PyCFunction_NewEx(def, nullptr, m.ptr())); + }()); + + // test_operator_new_delete + struct HasOpNewDel { + std::uint64_t i; + static void *operator new(size_t s) { py::print("A new", s); return ::operator new(s); } + static void *operator new(size_t s, void *ptr) { py::print("A placement-new", s); return ptr; } + static void operator delete(void *p) { py::print("A delete"); return ::operator delete(p); } + }; + struct HasOpNewDelSize { + std::uint32_t i; + static void *operator new(size_t s) { py::print("B new", s); return ::operator new(s); } + static void *operator new(size_t s, void *ptr) { py::print("B placement-new", s); return ptr; } + static void operator delete(void *p, size_t s) { py::print("B delete", s); return ::operator delete(p); } + }; + struct AliasedHasOpNewDelSize { + std::uint64_t i; + static void *operator new(size_t s) { py::print("C new", s); return ::operator new(s); } + static void *operator new(size_t s, void *ptr) { py::print("C placement-new", s); return ptr; } + static void operator delete(void *p, size_t s) { py::print("C delete", s); return ::operator delete(p); } + virtual ~AliasedHasOpNewDelSize() = default; + }; + struct PyAliasedHasOpNewDelSize : AliasedHasOpNewDelSize { + PyAliasedHasOpNewDelSize() = default; + PyAliasedHasOpNewDelSize(int) { } + std::uint64_t j; + }; + struct HasOpNewDelBoth { + std::uint32_t i[8]; + static void *operator new(size_t s) { py::print("D new", s); return ::operator new(s); } + static void *operator new(size_t s, void *ptr) { py::print("D placement-new", s); return ptr; } + static void operator delete(void *p) { py::print("D delete"); return ::operator delete(p); } + static void operator delete(void *p, size_t s) { py::print("D wrong delete", s); return ::operator delete(p); } + }; + py::class_(m, "HasOpNewDel").def(py::init<>()); + py::class_(m, "HasOpNewDelSize").def(py::init<>()); + py::class_(m, "HasOpNewDelBoth").def(py::init<>()); + py::class_ aliased(m, "AliasedHasOpNewDelSize"); + aliased.def(py::init<>()); + aliased.attr("size_noalias") = py::int_(sizeof(AliasedHasOpNewDelSize)); + aliased.attr("size_alias") = py::int_(sizeof(PyAliasedHasOpNewDelSize)); + + // This test is actually part of test_local_bindings (test_duplicate_local), but we need a + // definition in a different compilation unit within the same module: + bind_local(m, "LocalExternal", py::module_local()); + + // test_bind_protected_functions + class ProtectedA { + protected: + int foo() const { return value; } + + private: + int value = 42; + }; + + class PublicistA : public ProtectedA { + public: + using ProtectedA::foo; + }; + + py::class_(m, "ProtectedA") + .def(py::init<>()) +#if !defined(_MSC_VER) || _MSC_VER >= 1910 + .def("foo", &PublicistA::foo); +#else + .def("foo", static_cast(&PublicistA::foo)); +#endif + + class ProtectedB { + public: + virtual ~ProtectedB() = default; + + protected: + virtual int foo() const { return value; } + + private: + int value = 42; + }; + + class TrampolineB : public ProtectedB { + public: + int foo() const override { PYBIND11_OVERLOAD(int, ProtectedB, foo, ); } + }; + + class PublicistB : public ProtectedB { + public: + using ProtectedB::foo; + }; + + py::class_(m, "ProtectedB") + .def(py::init<>()) +#if !defined(_MSC_VER) || _MSC_VER >= 1910 + .def("foo", &PublicistB::foo); +#else + .def("foo", static_cast(&PublicistB::foo)); +#endif + + // test_brace_initialization + struct BraceInitialization { + int field1; + std::string field2; + }; + + py::class_(m, "BraceInitialization") + .def(py::init()) + .def_readwrite("field1", &BraceInitialization::field1) + .def_readwrite("field2", &BraceInitialization::field2); + // We *don't* want to construct using braces when the given constructor argument maps to a + // constructor, because brace initialization could go to the wrong place (in particular when + // there is also an `initializer_list`-accept constructor): + py::class_(m, "NoBraceInitialization") + .def(py::init>()) + .def_readonly("vec", &NoBraceInitialization::vec); + + // test_reentrant_implicit_conversion_failure + // #1035: issue with runaway reentrant implicit conversion + struct BogusImplicitConversion { + BogusImplicitConversion(const BogusImplicitConversion &) { } + }; + + py::class_(m, "BogusImplicitConversion") + .def(py::init()); + + py::implicitly_convertible(); + + // test_qualname + // #1166: nested class docstring doesn't show nested name + // Also related: tests that __qualname__ is set properly + struct NestBase {}; + struct Nested {}; + py::class_ base(m, "NestBase"); + base.def(py::init<>()); + py::class_(base, "Nested") + .def(py::init<>()) + .def("fn", [](Nested &, int, NestBase &, Nested &) {}) + .def("fa", [](Nested &, int, NestBase &, Nested &) {}, + "a"_a, "b"_a, "c"_a); + base.def("g", [](NestBase &, Nested &) {}); + base.def("h", []() { return NestBase(); }); + + // test_error_after_conversion + // The second-pass path through dispatcher() previously didn't + // remember which overload was used, and would crash trying to + // generate a useful error message + + struct NotRegistered {}; + struct StringWrapper { std::string str; }; + m.def("test_error_after_conversions", [](int) {}); + m.def("test_error_after_conversions", + [](StringWrapper) -> NotRegistered { return {}; }); + py::class_(m, "StringWrapper").def(py::init()); + py::implicitly_convertible(); + + #if defined(PYBIND11_CPP17) + struct alignas(1024) Aligned { + std::uintptr_t ptr() const { return (uintptr_t) this; } + }; + py::class_(m, "Aligned") + .def(py::init<>()) + .def("ptr", &Aligned::ptr); + #endif +} + +template class BreaksBase { public: virtual ~BreaksBase() = default; }; +template class BreaksTramp : public BreaksBase {}; +// These should all compile just fine: +typedef py::class_, std::unique_ptr>, BreaksTramp<1>> DoesntBreak1; +typedef py::class_, BreaksTramp<2>, std::unique_ptr>> DoesntBreak2; +typedef py::class_, std::unique_ptr>> DoesntBreak3; +typedef py::class_, BreaksTramp<4>> DoesntBreak4; +typedef py::class_> DoesntBreak5; +typedef py::class_, std::shared_ptr>, BreaksTramp<6>> DoesntBreak6; +typedef py::class_, BreaksTramp<7>, std::shared_ptr>> DoesntBreak7; +typedef py::class_, std::shared_ptr>> DoesntBreak8; +#define CHECK_BASE(N) static_assert(std::is_same>::value, \ + "DoesntBreak" #N " has wrong type!") +CHECK_BASE(1); CHECK_BASE(2); CHECK_BASE(3); CHECK_BASE(4); CHECK_BASE(5); CHECK_BASE(6); CHECK_BASE(7); CHECK_BASE(8); +#define CHECK_ALIAS(N) static_assert(DoesntBreak##N::has_alias && std::is_same>::value, \ + "DoesntBreak" #N " has wrong type_alias!") +#define CHECK_NOALIAS(N) static_assert(!DoesntBreak##N::has_alias && std::is_void::value, \ + "DoesntBreak" #N " has type alias, but shouldn't!") +CHECK_ALIAS(1); CHECK_ALIAS(2); CHECK_NOALIAS(3); CHECK_ALIAS(4); CHECK_NOALIAS(5); CHECK_ALIAS(6); CHECK_ALIAS(7); CHECK_NOALIAS(8); +#define CHECK_HOLDER(N, TYPE) static_assert(std::is_same>>::value, \ + "DoesntBreak" #N " has wrong holder_type!") +CHECK_HOLDER(1, unique); CHECK_HOLDER(2, unique); CHECK_HOLDER(3, unique); CHECK_HOLDER(4, unique); CHECK_HOLDER(5, unique); +CHECK_HOLDER(6, shared); CHECK_HOLDER(7, shared); CHECK_HOLDER(8, shared); + +// There's no nice way to test that these fail because they fail to compile; leave them here, +// though, so that they can be manually tested by uncommenting them (and seeing that compilation +// failures occurs). + +// We have to actually look into the type: the typedef alone isn't enough to instantiate the type: +#define CHECK_BROKEN(N) static_assert(std::is_same>::value, \ + "Breaks1 has wrong type!"); + +//// Two holder classes: +//typedef py::class_, std::unique_ptr>, std::unique_ptr>> Breaks1; +//CHECK_BROKEN(1); +//// Two aliases: +//typedef py::class_, BreaksTramp<-2>, BreaksTramp<-2>> Breaks2; +//CHECK_BROKEN(2); +//// Holder + 2 aliases +//typedef py::class_, std::unique_ptr>, BreaksTramp<-3>, BreaksTramp<-3>> Breaks3; +//CHECK_BROKEN(3); +//// Alias + 2 holders +//typedef py::class_, std::unique_ptr>, BreaksTramp<-4>, std::shared_ptr>> Breaks4; +//CHECK_BROKEN(4); +//// Invalid option (not a subclass or holder) +//typedef py::class_, BreaksTramp<-4>> Breaks5; +//CHECK_BROKEN(5); +//// Invalid option: multiple inheritance not supported: +//template <> struct BreaksBase<-8> : BreaksBase<-6>, BreaksBase<-7> {}; +//typedef py::class_, BreaksBase<-6>, BreaksBase<-7>> Breaks8; +//CHECK_BROKEN(8); diff --git a/wrap/python/pybind11/tests/test_class.py b/wrap/python/pybind11/tests/test_class.py new file mode 100644 index 000000000..ed63ca853 --- /dev/null +++ b/wrap/python/pybind11/tests/test_class.py @@ -0,0 +1,281 @@ +import pytest + +from pybind11_tests import class_ as m +from pybind11_tests import UserType, ConstructorStats + + +def test_repr(): + # In Python 3.3+, repr() accesses __qualname__ + assert "pybind11_type" in repr(type(UserType)) + assert "UserType" in repr(UserType) + + +def test_instance(msg): + with pytest.raises(TypeError) as excinfo: + m.NoConstructor() + assert msg(excinfo.value) == "m.class_.NoConstructor: No constructor defined!" + + instance = m.NoConstructor.new_instance() + + cstats = ConstructorStats.get(m.NoConstructor) + assert cstats.alive() == 1 + del instance + assert cstats.alive() == 0 + + +def test_docstrings(doc): + assert doc(UserType) == "A `py::class_` type for testing" + assert UserType.__name__ == "UserType" + assert UserType.__module__ == "pybind11_tests" + assert UserType.get_value.__name__ == "get_value" + assert UserType.get_value.__module__ == "pybind11_tests" + + assert doc(UserType.get_value) == """ + get_value(self: m.UserType) -> int + + Get value using a method + """ + assert doc(UserType.value) == "Get/set value using a property" + + assert doc(m.NoConstructor.new_instance) == """ + new_instance() -> m.class_.NoConstructor + + Return an instance + """ + + +def test_qualname(doc): + """Tests that a properly qualified name is set in __qualname__ (even in pre-3.3, where we + backport the attribute) and that generated docstrings properly use it and the module name""" + assert m.NestBase.__qualname__ == "NestBase" + assert m.NestBase.Nested.__qualname__ == "NestBase.Nested" + + assert doc(m.NestBase.__init__) == """ + __init__(self: m.class_.NestBase) -> None + """ + assert doc(m.NestBase.g) == """ + g(self: m.class_.NestBase, arg0: m.class_.NestBase.Nested) -> None + """ + assert doc(m.NestBase.Nested.__init__) == """ + __init__(self: m.class_.NestBase.Nested) -> None + """ + assert doc(m.NestBase.Nested.fn) == """ + fn(self: m.class_.NestBase.Nested, arg0: int, arg1: m.class_.NestBase, arg2: m.class_.NestBase.Nested) -> None + """ # noqa: E501 line too long + assert doc(m.NestBase.Nested.fa) == """ + fa(self: m.class_.NestBase.Nested, a: int, b: m.class_.NestBase, c: m.class_.NestBase.Nested) -> None + """ # noqa: E501 line too long + assert m.NestBase.__module__ == "pybind11_tests.class_" + assert m.NestBase.Nested.__module__ == "pybind11_tests.class_" + + +def test_inheritance(msg): + roger = m.Rabbit('Rabbit') + assert roger.name() + " is a " + roger.species() == "Rabbit is a parrot" + assert m.pet_name_species(roger) == "Rabbit is a parrot" + + polly = m.Pet('Polly', 'parrot') + assert polly.name() + " is a " + polly.species() == "Polly is a parrot" + assert m.pet_name_species(polly) == "Polly is a parrot" + + molly = m.Dog('Molly') + assert molly.name() + " is a " + molly.species() == "Molly is a dog" + assert m.pet_name_species(molly) == "Molly is a dog" + + fred = m.Hamster('Fred') + assert fred.name() + " is a " + fred.species() == "Fred is a rodent" + + assert m.dog_bark(molly) == "Woof!" + + with pytest.raises(TypeError) as excinfo: + m.dog_bark(polly) + assert msg(excinfo.value) == """ + dog_bark(): incompatible function arguments. The following argument types are supported: + 1. (arg0: m.class_.Dog) -> str + + Invoked with: + """ + + with pytest.raises(TypeError) as excinfo: + m.Chimera("lion", "goat") + assert "No constructor defined!" in str(excinfo.value) + + +def test_automatic_upcasting(): + assert type(m.return_class_1()).__name__ == "DerivedClass1" + assert type(m.return_class_2()).__name__ == "DerivedClass2" + assert type(m.return_none()).__name__ == "NoneType" + # Repeat these a few times in a random order to ensure no invalid caching is applied + assert type(m.return_class_n(1)).__name__ == "DerivedClass1" + assert type(m.return_class_n(2)).__name__ == "DerivedClass2" + assert type(m.return_class_n(0)).__name__ == "BaseClass" + assert type(m.return_class_n(2)).__name__ == "DerivedClass2" + assert type(m.return_class_n(2)).__name__ == "DerivedClass2" + assert type(m.return_class_n(0)).__name__ == "BaseClass" + assert type(m.return_class_n(1)).__name__ == "DerivedClass1" + + +def test_isinstance(): + objects = [tuple(), dict(), m.Pet("Polly", "parrot")] + [m.Dog("Molly")] * 4 + expected = (True, True, True, True, True, False, False) + assert m.check_instances(objects) == expected + + +def test_mismatched_holder(): + import re + + with pytest.raises(RuntimeError) as excinfo: + m.mismatched_holder_1() + assert re.match('generic_type: type ".*MismatchDerived1" does not have a non-default ' + 'holder type while its base ".*MismatchBase1" does', str(excinfo.value)) + + with pytest.raises(RuntimeError) as excinfo: + m.mismatched_holder_2() + assert re.match('generic_type: type ".*MismatchDerived2" has a non-default holder type ' + 'while its base ".*MismatchBase2" does not', str(excinfo.value)) + + +def test_override_static(): + """#511: problem with inheritance + overwritten def_static""" + b = m.MyBase.make() + d1 = m.MyDerived.make2() + d2 = m.MyDerived.make() + + assert isinstance(b, m.MyBase) + assert isinstance(d1, m.MyDerived) + assert isinstance(d2, m.MyDerived) + + +def test_implicit_conversion_life_support(): + """Ensure the lifetime of temporary objects created for implicit conversions""" + assert m.implicitly_convert_argument(UserType(5)) == 5 + assert m.implicitly_convert_variable(UserType(5)) == 5 + + assert "outside a bound function" in m.implicitly_convert_variable_fail(UserType(5)) + + +def test_operator_new_delete(capture): + """Tests that class-specific operator new/delete functions are invoked""" + + class SubAliased(m.AliasedHasOpNewDelSize): + pass + + with capture: + a = m.HasOpNewDel() + b = m.HasOpNewDelSize() + d = m.HasOpNewDelBoth() + assert capture == """ + A new 8 + B new 4 + D new 32 + """ + sz_alias = str(m.AliasedHasOpNewDelSize.size_alias) + sz_noalias = str(m.AliasedHasOpNewDelSize.size_noalias) + with capture: + c = m.AliasedHasOpNewDelSize() + c2 = SubAliased() + assert capture == ( + "C new " + sz_noalias + "\n" + + "C new " + sz_alias + "\n" + ) + + with capture: + del a + pytest.gc_collect() + del b + pytest.gc_collect() + del d + pytest.gc_collect() + assert capture == """ + A delete + B delete 4 + D delete + """ + + with capture: + del c + pytest.gc_collect() + del c2 + pytest.gc_collect() + assert capture == ( + "C delete " + sz_noalias + "\n" + + "C delete " + sz_alias + "\n" + ) + + +def test_bind_protected_functions(): + """Expose protected member functions to Python using a helper class""" + a = m.ProtectedA() + assert a.foo() == 42 + + b = m.ProtectedB() + assert b.foo() == 42 + + class C(m.ProtectedB): + def __init__(self): + m.ProtectedB.__init__(self) + + def foo(self): + return 0 + + c = C() + assert c.foo() == 0 + + +def test_brace_initialization(): + """ Tests that simple POD classes can be constructed using C++11 brace initialization """ + a = m.BraceInitialization(123, "test") + assert a.field1 == 123 + assert a.field2 == "test" + + # Tests that a non-simple class doesn't get brace initialization (if the + # class defines an initializer_list constructor, in particular, it would + # win over the expected constructor). + b = m.NoBraceInitialization([123, 456]) + assert b.vec == [123, 456] + + +@pytest.unsupported_on_pypy +def test_class_refcount(): + """Instances must correctly increase/decrease the reference count of their types (#1029)""" + from sys import getrefcount + + class PyDog(m.Dog): + pass + + for cls in m.Dog, PyDog: + refcount_1 = getrefcount(cls) + molly = [cls("Molly") for _ in range(10)] + refcount_2 = getrefcount(cls) + + del molly + pytest.gc_collect() + refcount_3 = getrefcount(cls) + + assert refcount_1 == refcount_3 + assert refcount_2 > refcount_1 + + +def test_reentrant_implicit_conversion_failure(msg): + # ensure that there is no runaway reentrant implicit conversion (#1035) + with pytest.raises(TypeError) as excinfo: + m.BogusImplicitConversion(0) + assert msg(excinfo.value) == ''' + __init__(): incompatible constructor arguments. The following argument types are supported: + 1. m.class_.BogusImplicitConversion(arg0: m.class_.BogusImplicitConversion) + + Invoked with: 0 + ''' + + +def test_error_after_conversions(): + with pytest.raises(TypeError) as exc_info: + m.test_error_after_conversions("hello") + assert str(exc_info.value).startswith( + "Unable to convert function return value to a Python type!") + + +def test_aligned(): + if hasattr(m, "Aligned"): + p = m.Aligned().ptr() + assert p % 1024 == 0 diff --git a/wrap/python/pybind11/tests/test_cmake_build/CMakeLists.txt b/wrap/python/pybind11/tests/test_cmake_build/CMakeLists.txt new file mode 100644 index 000000000..c9b5fcb2e --- /dev/null +++ b/wrap/python/pybind11/tests/test_cmake_build/CMakeLists.txt @@ -0,0 +1,58 @@ +add_custom_target(test_cmake_build) + +if(CMAKE_VERSION VERSION_LESS 3.1) + # 3.0 needed for interface library for subdirectory_target/installed_target + # 3.1 needed for cmake -E env for testing + return() +endif() + +include(CMakeParseArguments) +function(pybind11_add_build_test name) + cmake_parse_arguments(ARG "INSTALL" "" "" ${ARGN}) + + set(build_options "-DCMAKE_PREFIX_PATH=${PROJECT_BINARY_DIR}/mock_install" + "-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}" + "-DPYTHON_EXECUTABLE:FILEPATH=${PYTHON_EXECUTABLE}" + "-DPYBIND11_CPP_STANDARD=${PYBIND11_CPP_STANDARD}") + if(NOT ARG_INSTALL) + list(APPEND build_options "-DPYBIND11_PROJECT_DIR=${PROJECT_SOURCE_DIR}") + endif() + + add_custom_target(test_${name} ${CMAKE_CTEST_COMMAND} + --quiet --output-log ${name}.log + --build-and-test "${CMAKE_CURRENT_SOURCE_DIR}/${name}" + "${CMAKE_CURRENT_BINARY_DIR}/${name}" + --build-config Release + --build-noclean + --build-generator ${CMAKE_GENERATOR} + $<$:--build-generator-platform> ${CMAKE_GENERATOR_PLATFORM} + --build-makeprogram ${CMAKE_MAKE_PROGRAM} + --build-target check + --build-options ${build_options} + ) + if(ARG_INSTALL) + add_dependencies(test_${name} mock_install) + endif() + add_dependencies(test_cmake_build test_${name}) +endfunction() + +pybind11_add_build_test(subdirectory_function) +pybind11_add_build_test(subdirectory_target) +if(NOT ${PYTHON_MODULE_EXTENSION} MATCHES "pypy") + pybind11_add_build_test(subdirectory_embed) +endif() + +if(PYBIND11_INSTALL) + add_custom_target(mock_install ${CMAKE_COMMAND} + "-DCMAKE_INSTALL_PREFIX=${PROJECT_BINARY_DIR}/mock_install" + -P "${PROJECT_BINARY_DIR}/cmake_install.cmake" + ) + + pybind11_add_build_test(installed_function INSTALL) + pybind11_add_build_test(installed_target INSTALL) + if(NOT ${PYTHON_MODULE_EXTENSION} MATCHES "pypy") + pybind11_add_build_test(installed_embed INSTALL) + endif() +endif() + +add_dependencies(check test_cmake_build) diff --git a/wrap/python/pybind11/tests/test_cmake_build/embed.cpp b/wrap/python/pybind11/tests/test_cmake_build/embed.cpp new file mode 100644 index 000000000..b9581d2fd --- /dev/null +++ b/wrap/python/pybind11/tests/test_cmake_build/embed.cpp @@ -0,0 +1,21 @@ +#include +namespace py = pybind11; + +PYBIND11_EMBEDDED_MODULE(test_cmake_build, m) { + m.def("add", [](int i, int j) { return i + j; }); +} + +int main(int argc, char *argv[]) { + if (argc != 2) + throw std::runtime_error("Expected test.py file as the first argument"); + auto test_py_file = argv[1]; + + py::scoped_interpreter guard{}; + + auto m = py::module::import("test_cmake_build"); + if (m.attr("add")(1, 2).cast() != 3) + throw std::runtime_error("embed.cpp failed"); + + py::module::import("sys").attr("argv") = py::make_tuple("test.py", "embed.cpp"); + py::eval_file(test_py_file, py::globals()); +} diff --git a/wrap/python/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt b/wrap/python/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt new file mode 100644 index 000000000..f7fc09c21 --- /dev/null +++ b/wrap/python/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.0) +project(test_installed_embed CXX) + +set(CMAKE_MODULE_PATH "") +find_package(pybind11 CONFIG REQUIRED) +message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") + +add_executable(test_cmake_build ../embed.cpp) +target_link_libraries(test_cmake_build PRIVATE pybind11::embed) + +# Do not treat includes from IMPORTED target as SYSTEM (Python headers in pybind11::embed). +# This may be needed to resolve header conflicts, e.g. between Python release and debug headers. +set_target_properties(test_cmake_build PROPERTIES NO_SYSTEM_FROM_IMPORTED ON) + +add_custom_target(check $ ${PROJECT_SOURCE_DIR}/../test.py) diff --git a/wrap/python/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt b/wrap/python/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt new file mode 100644 index 000000000..e0c20a8a3 --- /dev/null +++ b/wrap/python/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 2.8.12) +project(test_installed_module CXX) + +set(CMAKE_MODULE_PATH "") + +find_package(pybind11 CONFIG REQUIRED) +message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") + +pybind11_add_module(test_cmake_build SHARED NO_EXTRAS ../main.cpp) + +add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ + ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) diff --git a/wrap/python/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt b/wrap/python/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt new file mode 100644 index 000000000..cd3ae6f7d --- /dev/null +++ b/wrap/python/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 3.0) +project(test_installed_target CXX) + +set(CMAKE_MODULE_PATH "") + +find_package(pybind11 CONFIG REQUIRED) +message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") + +add_library(test_cmake_build MODULE ../main.cpp) + +target_link_libraries(test_cmake_build PRIVATE pybind11::module) + +# make sure result is, for example, test_installed_target.so, not libtest_installed_target.dylib +set_target_properties(test_cmake_build PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}" + SUFFIX "${PYTHON_MODULE_EXTENSION}") + +# Do not treat includes from IMPORTED target as SYSTEM (Python headers in pybind11::module). +# This may be needed to resolve header conflicts, e.g. between Python release and debug headers. +set_target_properties(test_cmake_build PROPERTIES NO_SYSTEM_FROM_IMPORTED ON) + +add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ + ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) diff --git a/wrap/python/pybind11/tests/test_cmake_build/main.cpp b/wrap/python/pybind11/tests/test_cmake_build/main.cpp new file mode 100644 index 000000000..e30f2c4b9 --- /dev/null +++ b/wrap/python/pybind11/tests/test_cmake_build/main.cpp @@ -0,0 +1,6 @@ +#include +namespace py = pybind11; + +PYBIND11_MODULE(test_cmake_build, m) { + m.def("add", [](int i, int j) { return i + j; }); +} diff --git a/wrap/python/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt b/wrap/python/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt new file mode 100644 index 000000000..88ba60dd5 --- /dev/null +++ b/wrap/python/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt @@ -0,0 +1,25 @@ +cmake_minimum_required(VERSION 3.0) +project(test_subdirectory_embed CXX) + +set(PYBIND11_INSTALL ON CACHE BOOL "") +set(PYBIND11_EXPORT_NAME test_export) + +add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11) + +# Test basic target functionality +add_executable(test_cmake_build ../embed.cpp) +target_link_libraries(test_cmake_build PRIVATE pybind11::embed) + +add_custom_target(check $ ${PROJECT_SOURCE_DIR}/../test.py) + +# Test custom export group -- PYBIND11_EXPORT_NAME +add_library(test_embed_lib ../embed.cpp) +target_link_libraries(test_embed_lib PRIVATE pybind11::embed) + +install(TARGETS test_embed_lib + EXPORT test_export + ARCHIVE DESTINATION bin + LIBRARY DESTINATION lib + RUNTIME DESTINATION lib) +install(EXPORT test_export + DESTINATION lib/cmake/test_export/test_export-Targets.cmake) diff --git a/wrap/python/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt b/wrap/python/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt new file mode 100644 index 000000000..278007aeb --- /dev/null +++ b/wrap/python/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt @@ -0,0 +1,8 @@ +cmake_minimum_required(VERSION 2.8.12) +project(test_subdirectory_module CXX) + +add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11) +pybind11_add_module(test_cmake_build THIN_LTO ../main.cpp) + +add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ + ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) diff --git a/wrap/python/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt b/wrap/python/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt new file mode 100644 index 000000000..6b142d62a --- /dev/null +++ b/wrap/python/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.0) +project(test_subdirectory_target CXX) + +add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11) + +add_library(test_cmake_build MODULE ../main.cpp) + +target_link_libraries(test_cmake_build PRIVATE pybind11::module) + +# make sure result is, for example, test_installed_target.so, not libtest_installed_target.dylib +set_target_properties(test_cmake_build PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}" + SUFFIX "${PYTHON_MODULE_EXTENSION}") + +add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ + ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) diff --git a/wrap/python/pybind11/tests/test_cmake_build/test.py b/wrap/python/pybind11/tests/test_cmake_build/test.py new file mode 100644 index 000000000..1467a61dc --- /dev/null +++ b/wrap/python/pybind11/tests/test_cmake_build/test.py @@ -0,0 +1,5 @@ +import sys +import test_cmake_build + +assert test_cmake_build.add(1, 2) == 3 +print("{} imports, runs, and adds: 1 + 2 = 3".format(sys.argv[1])) diff --git a/wrap/python/pybind11/tests/test_constants_and_functions.cpp b/wrap/python/pybind11/tests/test_constants_and_functions.cpp new file mode 100644 index 000000000..e8ec74b7b --- /dev/null +++ b/wrap/python/pybind11/tests/test_constants_and_functions.cpp @@ -0,0 +1,127 @@ +/* + tests/test_constants_and_functions.cpp -- global constants and functions, enumerations, raw byte strings + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" + +enum MyEnum { EFirstEntry = 1, ESecondEntry }; + +std::string test_function1() { + return "test_function()"; +} + +std::string test_function2(MyEnum k) { + return "test_function(enum=" + std::to_string(k) + ")"; +} + +std::string test_function3(int i) { + return "test_function(" + std::to_string(i) + ")"; +} + +py::str test_function4() { return "test_function()"; } +py::str test_function4(char *) { return "test_function(char *)"; } +py::str test_function4(int, float) { return "test_function(int, float)"; } +py::str test_function4(float, int) { return "test_function(float, int)"; } + +py::bytes return_bytes() { + const char *data = "\x01\x00\x02\x00"; + return std::string(data, 4); +} + +std::string print_bytes(py::bytes bytes) { + std::string ret = "bytes["; + const auto value = static_cast(bytes); + for (size_t i = 0; i < value.length(); ++i) { + ret += std::to_string(static_cast(value[i])) + " "; + } + ret.back() = ']'; + return ret; +} + +// Test that we properly handle C++17 exception specifiers (which are part of the function signature +// in C++17). These should all still work before C++17, but don't affect the function signature. +namespace test_exc_sp { +int f1(int x) noexcept { return x+1; } +int f2(int x) noexcept(true) { return x+2; } +int f3(int x) noexcept(false) { return x+3; } +#if defined(__GNUG__) +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wdeprecated" +#endif +int f4(int x) throw() { return x+4; } // Deprecated equivalent to noexcept(true) +#if defined(__GNUG__) +# pragma GCC diagnostic pop +#endif +struct C { + int m1(int x) noexcept { return x-1; } + int m2(int x) const noexcept { return x-2; } + int m3(int x) noexcept(true) { return x-3; } + int m4(int x) const noexcept(true) { return x-4; } + int m5(int x) noexcept(false) { return x-5; } + int m6(int x) const noexcept(false) { return x-6; } +#if defined(__GNUG__) +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wdeprecated" +#endif + int m7(int x) throw() { return x-7; } + int m8(int x) const throw() { return x-8; } +#if defined(__GNUG__) +# pragma GCC diagnostic pop +#endif +}; +} + + +TEST_SUBMODULE(constants_and_functions, m) { + // test_constants + m.attr("some_constant") = py::int_(14); + + // test_function_overloading + m.def("test_function", &test_function1); + m.def("test_function", &test_function2); + m.def("test_function", &test_function3); + +#if defined(PYBIND11_OVERLOAD_CAST) + m.def("test_function", py::overload_cast<>(&test_function4)); + m.def("test_function", py::overload_cast(&test_function4)); + m.def("test_function", py::overload_cast(&test_function4)); + m.def("test_function", py::overload_cast(&test_function4)); +#else + m.def("test_function", static_cast(&test_function4)); + m.def("test_function", static_cast(&test_function4)); + m.def("test_function", static_cast(&test_function4)); + m.def("test_function", static_cast(&test_function4)); +#endif + + py::enum_(m, "MyEnum") + .value("EFirstEntry", EFirstEntry) + .value("ESecondEntry", ESecondEntry) + .export_values(); + + // test_bytes + m.def("return_bytes", &return_bytes); + m.def("print_bytes", &print_bytes); + + // test_exception_specifiers + using namespace test_exc_sp; + py::class_(m, "C") + .def(py::init<>()) + .def("m1", &C::m1) + .def("m2", &C::m2) + .def("m3", &C::m3) + .def("m4", &C::m4) + .def("m5", &C::m5) + .def("m6", &C::m6) + .def("m7", &C::m7) + .def("m8", &C::m8) + ; + m.def("f1", f1); + m.def("f2", f2); + m.def("f3", f3); + m.def("f4", f4); +} diff --git a/wrap/python/pybind11/tests/test_constants_and_functions.py b/wrap/python/pybind11/tests/test_constants_and_functions.py new file mode 100644 index 000000000..472682d61 --- /dev/null +++ b/wrap/python/pybind11/tests/test_constants_and_functions.py @@ -0,0 +1,39 @@ +from pybind11_tests import constants_and_functions as m + + +def test_constants(): + assert m.some_constant == 14 + + +def test_function_overloading(): + assert m.test_function() == "test_function()" + assert m.test_function(7) == "test_function(7)" + assert m.test_function(m.MyEnum.EFirstEntry) == "test_function(enum=1)" + assert m.test_function(m.MyEnum.ESecondEntry) == "test_function(enum=2)" + + assert m.test_function() == "test_function()" + assert m.test_function("abcd") == "test_function(char *)" + assert m.test_function(1, 1.0) == "test_function(int, float)" + assert m.test_function(1, 1.0) == "test_function(int, float)" + assert m.test_function(2.0, 2) == "test_function(float, int)" + + +def test_bytes(): + assert m.print_bytes(m.return_bytes()) == "bytes[1 0 2 0]" + + +def test_exception_specifiers(): + c = m.C() + assert c.m1(2) == 1 + assert c.m2(3) == 1 + assert c.m3(5) == 2 + assert c.m4(7) == 3 + assert c.m5(10) == 5 + assert c.m6(14) == 8 + assert c.m7(20) == 13 + assert c.m8(29) == 21 + + assert m.f1(33) == 34 + assert m.f2(53) == 55 + assert m.f3(86) == 89 + assert m.f4(140) == 144 diff --git a/wrap/python/pybind11/tests/test_copy_move.cpp b/wrap/python/pybind11/tests/test_copy_move.cpp new file mode 100644 index 000000000..98d5e0a0b --- /dev/null +++ b/wrap/python/pybind11/tests/test_copy_move.cpp @@ -0,0 +1,213 @@ +/* + tests/test_copy_move_policies.cpp -- 'copy' and 'move' return value policies + and related tests + + Copyright (c) 2016 Ben North + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" +#include + +template +struct empty { + static const derived& get_one() { return instance_; } + static derived instance_; +}; + +struct lacking_copy_ctor : public empty { + lacking_copy_ctor() {} + lacking_copy_ctor(const lacking_copy_ctor& other) = delete; +}; + +template <> lacking_copy_ctor empty::instance_ = {}; + +struct lacking_move_ctor : public empty { + lacking_move_ctor() {} + lacking_move_ctor(const lacking_move_ctor& other) = delete; + lacking_move_ctor(lacking_move_ctor&& other) = delete; +}; + +template <> lacking_move_ctor empty::instance_ = {}; + +/* Custom type caster move/copy test classes */ +class MoveOnlyInt { +public: + MoveOnlyInt() { print_default_created(this); } + MoveOnlyInt(int v) : value{std::move(v)} { print_created(this, value); } + MoveOnlyInt(MoveOnlyInt &&m) { print_move_created(this, m.value); std::swap(value, m.value); } + MoveOnlyInt &operator=(MoveOnlyInt &&m) { print_move_assigned(this, m.value); std::swap(value, m.value); return *this; } + MoveOnlyInt(const MoveOnlyInt &) = delete; + MoveOnlyInt &operator=(const MoveOnlyInt &) = delete; + ~MoveOnlyInt() { print_destroyed(this); } + + int value; +}; +class MoveOrCopyInt { +public: + MoveOrCopyInt() { print_default_created(this); } + MoveOrCopyInt(int v) : value{std::move(v)} { print_created(this, value); } + MoveOrCopyInt(MoveOrCopyInt &&m) { print_move_created(this, m.value); std::swap(value, m.value); } + MoveOrCopyInt &operator=(MoveOrCopyInt &&m) { print_move_assigned(this, m.value); std::swap(value, m.value); return *this; } + MoveOrCopyInt(const MoveOrCopyInt &c) { print_copy_created(this, c.value); value = c.value; } + MoveOrCopyInt &operator=(const MoveOrCopyInt &c) { print_copy_assigned(this, c.value); value = c.value; return *this; } + ~MoveOrCopyInt() { print_destroyed(this); } + + int value; +}; +class CopyOnlyInt { +public: + CopyOnlyInt() { print_default_created(this); } + CopyOnlyInt(int v) : value{std::move(v)} { print_created(this, value); } + CopyOnlyInt(const CopyOnlyInt &c) { print_copy_created(this, c.value); value = c.value; } + CopyOnlyInt &operator=(const CopyOnlyInt &c) { print_copy_assigned(this, c.value); value = c.value; return *this; } + ~CopyOnlyInt() { print_destroyed(this); } + + int value; +}; +NAMESPACE_BEGIN(pybind11) +NAMESPACE_BEGIN(detail) +template <> struct type_caster { + PYBIND11_TYPE_CASTER(MoveOnlyInt, _("MoveOnlyInt")); + bool load(handle src, bool) { value = MoveOnlyInt(src.cast()); return true; } + static handle cast(const MoveOnlyInt &m, return_value_policy r, handle p) { return pybind11::cast(m.value, r, p); } +}; + +template <> struct type_caster { + PYBIND11_TYPE_CASTER(MoveOrCopyInt, _("MoveOrCopyInt")); + bool load(handle src, bool) { value = MoveOrCopyInt(src.cast()); return true; } + static handle cast(const MoveOrCopyInt &m, return_value_policy r, handle p) { return pybind11::cast(m.value, r, p); } +}; + +template <> struct type_caster { +protected: + CopyOnlyInt value; +public: + static constexpr auto name = _("CopyOnlyInt"); + bool load(handle src, bool) { value = CopyOnlyInt(src.cast()); return true; } + static handle cast(const CopyOnlyInt &m, return_value_policy r, handle p) { return pybind11::cast(m.value, r, p); } + static handle cast(const CopyOnlyInt *src, return_value_policy policy, handle parent) { + if (!src) return none().release(); + return cast(*src, policy, parent); + } + operator CopyOnlyInt*() { return &value; } + operator CopyOnlyInt&() { return value; } + template using cast_op_type = pybind11::detail::cast_op_type; +}; +NAMESPACE_END(detail) +NAMESPACE_END(pybind11) + +TEST_SUBMODULE(copy_move_policies, m) { + // test_lacking_copy_ctor + py::class_(m, "lacking_copy_ctor") + .def_static("get_one", &lacking_copy_ctor::get_one, + py::return_value_policy::copy); + // test_lacking_move_ctor + py::class_(m, "lacking_move_ctor") + .def_static("get_one", &lacking_move_ctor::get_one, + py::return_value_policy::move); + + // test_move_and_copy_casts + m.def("move_and_copy_casts", [](py::object o) { + int r = 0; + r += py::cast(o).value; /* moves */ + r += py::cast(o).value; /* moves */ + r += py::cast(o).value; /* copies */ + MoveOrCopyInt m1(py::cast(o)); /* moves */ + MoveOnlyInt m2(py::cast(o)); /* moves */ + CopyOnlyInt m3(py::cast(o)); /* copies */ + r += m1.value + m2.value + m3.value; + + return r; + }); + + // test_move_and_copy_loads + m.def("move_only", [](MoveOnlyInt m) { return m.value; }); + m.def("move_or_copy", [](MoveOrCopyInt m) { return m.value; }); + m.def("copy_only", [](CopyOnlyInt m) { return m.value; }); + m.def("move_pair", [](std::pair p) { + return p.first.value + p.second.value; + }); + m.def("move_tuple", [](std::tuple t) { + return std::get<0>(t).value + std::get<1>(t).value + std::get<2>(t).value; + }); + m.def("copy_tuple", [](std::tuple t) { + return std::get<0>(t).value + std::get<1>(t).value; + }); + m.def("move_copy_nested", [](std::pair>, MoveOrCopyInt>> x) { + return x.first.value + std::get<0>(x.second.first).value + std::get<1>(x.second.first).value + + std::get<0>(std::get<2>(x.second.first)).value + x.second.second.value; + }); + m.def("move_and_copy_cstats", []() { + ConstructorStats::gc(); + // Reset counts to 0 so that previous tests don't affect later ones: + auto &mc = ConstructorStats::get(); + mc.move_assignments = mc.move_constructions = mc.copy_assignments = mc.copy_constructions = 0; + auto &mo = ConstructorStats::get(); + mo.move_assignments = mo.move_constructions = mo.copy_assignments = mo.copy_constructions = 0; + auto &co = ConstructorStats::get(); + co.move_assignments = co.move_constructions = co.copy_assignments = co.copy_constructions = 0; + py::dict d; + d["MoveOrCopyInt"] = py::cast(mc, py::return_value_policy::reference); + d["MoveOnlyInt"] = py::cast(mo, py::return_value_policy::reference); + d["CopyOnlyInt"] = py::cast(co, py::return_value_policy::reference); + return d; + }); +#ifdef PYBIND11_HAS_OPTIONAL + // test_move_and_copy_load_optional + m.attr("has_optional") = true; + m.def("move_optional", [](std::optional o) { + return o->value; + }); + m.def("move_or_copy_optional", [](std::optional o) { + return o->value; + }); + m.def("copy_optional", [](std::optional o) { + return o->value; + }); + m.def("move_optional_tuple", [](std::optional> x) { + return std::get<0>(*x).value + std::get<1>(*x).value + std::get<2>(*x).value; + }); +#else + m.attr("has_optional") = false; +#endif + + // #70 compilation issue if operator new is not public + struct PrivateOpNew { + int value = 1; + private: +#if defined(_MSC_VER) +# pragma warning(disable: 4822) // warning C4822: local class member function does not have a body +#endif + void *operator new(size_t bytes); + }; + py::class_(m, "PrivateOpNew").def_readonly("value", &PrivateOpNew::value); + m.def("private_op_new_value", []() { return PrivateOpNew(); }); + m.def("private_op_new_reference", []() -> const PrivateOpNew & { + static PrivateOpNew x{}; + return x; + }, py::return_value_policy::reference); + + // test_move_fallback + // #389: rvp::move should fall-through to copy on non-movable objects + struct MoveIssue1 { + int v; + MoveIssue1(int v) : v{v} {} + MoveIssue1(const MoveIssue1 &c) = default; + MoveIssue1(MoveIssue1 &&) = delete; + }; + py::class_(m, "MoveIssue1").def(py::init()).def_readwrite("value", &MoveIssue1::v); + + struct MoveIssue2 { + int v; + MoveIssue2(int v) : v{v} {} + MoveIssue2(MoveIssue2 &&) = default; + }; + py::class_(m, "MoveIssue2").def(py::init()).def_readwrite("value", &MoveIssue2::v); + + m.def("get_moveissue1", [](int i) { return new MoveIssue1(i); }, py::return_value_policy::move); + m.def("get_moveissue2", [](int i) { return MoveIssue2(i); }, py::return_value_policy::move); +} diff --git a/wrap/python/pybind11/tests/test_copy_move.py b/wrap/python/pybind11/tests/test_copy_move.py new file mode 100644 index 000000000..aff2d99f2 --- /dev/null +++ b/wrap/python/pybind11/tests/test_copy_move.py @@ -0,0 +1,112 @@ +import pytest +from pybind11_tests import copy_move_policies as m + + +def test_lacking_copy_ctor(): + with pytest.raises(RuntimeError) as excinfo: + m.lacking_copy_ctor.get_one() + assert "the object is non-copyable!" in str(excinfo.value) + + +def test_lacking_move_ctor(): + with pytest.raises(RuntimeError) as excinfo: + m.lacking_move_ctor.get_one() + assert "the object is neither movable nor copyable!" in str(excinfo.value) + + +def test_move_and_copy_casts(): + """Cast some values in C++ via custom type casters and count the number of moves/copies.""" + + cstats = m.move_and_copy_cstats() + c_m, c_mc, c_c = cstats["MoveOnlyInt"], cstats["MoveOrCopyInt"], cstats["CopyOnlyInt"] + + # The type move constructions/assignments below each get incremented: the move assignment comes + # from the type_caster load; the move construction happens when extracting that via a cast or + # loading into an argument. + assert m.move_and_copy_casts(3) == 18 + assert c_m.copy_assignments + c_m.copy_constructions == 0 + assert c_m.move_assignments == 2 + assert c_m.move_constructions >= 2 + assert c_mc.alive() == 0 + assert c_mc.copy_assignments + c_mc.copy_constructions == 0 + assert c_mc.move_assignments == 2 + assert c_mc.move_constructions >= 2 + assert c_c.alive() == 0 + assert c_c.copy_assignments == 2 + assert c_c.copy_constructions >= 2 + assert c_m.alive() + c_mc.alive() + c_c.alive() == 0 + + +def test_move_and_copy_loads(): + """Call some functions that load arguments via custom type casters and count the number of + moves/copies.""" + + cstats = m.move_and_copy_cstats() + c_m, c_mc, c_c = cstats["MoveOnlyInt"], cstats["MoveOrCopyInt"], cstats["CopyOnlyInt"] + + assert m.move_only(10) == 10 # 1 move, c_m + assert m.move_or_copy(11) == 11 # 1 move, c_mc + assert m.copy_only(12) == 12 # 1 copy, c_c + assert m.move_pair((13, 14)) == 27 # 1 c_m move, 1 c_mc move + assert m.move_tuple((15, 16, 17)) == 48 # 2 c_m moves, 1 c_mc move + assert m.copy_tuple((18, 19)) == 37 # 2 c_c copies + # Direct constructions: 2 c_m moves, 2 c_mc moves, 1 c_c copy + # Extra moves/copies when moving pairs/tuples: 3 c_m, 3 c_mc, 2 c_c + assert m.move_copy_nested((1, ((2, 3, (4,)), 5))) == 15 + + assert c_m.copy_assignments + c_m.copy_constructions == 0 + assert c_m.move_assignments == 6 + assert c_m.move_constructions == 9 + assert c_mc.copy_assignments + c_mc.copy_constructions == 0 + assert c_mc.move_assignments == 5 + assert c_mc.move_constructions == 8 + assert c_c.copy_assignments == 4 + assert c_c.copy_constructions == 6 + assert c_m.alive() + c_mc.alive() + c_c.alive() == 0 + + +@pytest.mark.skipif(not m.has_optional, reason='no ') +def test_move_and_copy_load_optional(): + """Tests move/copy loads of std::optional arguments""" + + cstats = m.move_and_copy_cstats() + c_m, c_mc, c_c = cstats["MoveOnlyInt"], cstats["MoveOrCopyInt"], cstats["CopyOnlyInt"] + + # The extra move/copy constructions below come from the std::optional move (which has to move + # its arguments): + assert m.move_optional(10) == 10 # c_m: 1 move assign, 2 move construct + assert m.move_or_copy_optional(11) == 11 # c_mc: 1 move assign, 2 move construct + assert m.copy_optional(12) == 12 # c_c: 1 copy assign, 2 copy construct + # 1 move assign + move construct moves each of c_m, c_mc, 1 c_c copy + # +1 move/copy construct each from moving the tuple + # +1 move/copy construct each from moving the optional (which moves the tuple again) + assert m.move_optional_tuple((3, 4, 5)) == 12 + + assert c_m.copy_assignments + c_m.copy_constructions == 0 + assert c_m.move_assignments == 2 + assert c_m.move_constructions == 5 + assert c_mc.copy_assignments + c_mc.copy_constructions == 0 + assert c_mc.move_assignments == 2 + assert c_mc.move_constructions == 5 + assert c_c.copy_assignments == 2 + assert c_c.copy_constructions == 5 + assert c_m.alive() + c_mc.alive() + c_c.alive() == 0 + + +def test_private_op_new(): + """An object with a private `operator new` cannot be returned by value""" + + with pytest.raises(RuntimeError) as excinfo: + m.private_op_new_value() + assert "the object is neither movable nor copyable" in str(excinfo.value) + + assert m.private_op_new_reference().value == 1 + + +def test_move_fallback(): + """#389: rvp::move should fall-through to copy on non-movable objects""" + + m2 = m.get_moveissue2(2) + assert m2.value == 2 + m1 = m.get_moveissue1(1) + assert m1.value == 1 diff --git a/wrap/python/pybind11/tests/test_docstring_options.cpp b/wrap/python/pybind11/tests/test_docstring_options.cpp new file mode 100644 index 000000000..8c8f79fd5 --- /dev/null +++ b/wrap/python/pybind11/tests/test_docstring_options.cpp @@ -0,0 +1,61 @@ +/* + tests/test_docstring_options.cpp -- generation of docstrings and signatures + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" + +TEST_SUBMODULE(docstring_options, m) { + // test_docstring_options + { + py::options options; + options.disable_function_signatures(); + + m.def("test_function1", [](int, int) {}, py::arg("a"), py::arg("b")); + m.def("test_function2", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring"); + + m.def("test_overloaded1", [](int) {}, py::arg("i"), "Overload docstring"); + m.def("test_overloaded1", [](double) {}, py::arg("d")); + + m.def("test_overloaded2", [](int) {}, py::arg("i"), "overload docstring 1"); + m.def("test_overloaded2", [](double) {}, py::arg("d"), "overload docstring 2"); + + m.def("test_overloaded3", [](int) {}, py::arg("i")); + m.def("test_overloaded3", [](double) {}, py::arg("d"), "Overload docstr"); + + options.enable_function_signatures(); + + m.def("test_function3", [](int, int) {}, py::arg("a"), py::arg("b")); + m.def("test_function4", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring"); + + options.disable_function_signatures().disable_user_defined_docstrings(); + + m.def("test_function5", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring"); + + { + py::options nested_options; + nested_options.enable_user_defined_docstrings(); + m.def("test_function6", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring"); + } + } + + m.def("test_function7", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring"); + + { + py::options options; + options.disable_user_defined_docstrings(); + + struct DocstringTestFoo { + int value; + void setValue(int v) { value = v; } + int getValue() const { return value; } + }; + py::class_(m, "DocstringTestFoo", "This is a class docstring") + .def_property("value_prop", &DocstringTestFoo::getValue, &DocstringTestFoo::setValue, "This is a property docstring") + ; + } +} diff --git a/wrap/python/pybind11/tests/test_docstring_options.py b/wrap/python/pybind11/tests/test_docstring_options.py new file mode 100644 index 000000000..0dbca609e --- /dev/null +++ b/wrap/python/pybind11/tests/test_docstring_options.py @@ -0,0 +1,38 @@ +from pybind11_tests import docstring_options as m + + +def test_docstring_options(): + # options.disable_function_signatures() + assert not m.test_function1.__doc__ + + assert m.test_function2.__doc__ == "A custom docstring" + + # docstring specified on just the first overload definition: + assert m.test_overloaded1.__doc__ == "Overload docstring" + + # docstring on both overloads: + assert m.test_overloaded2.__doc__ == "overload docstring 1\noverload docstring 2" + + # docstring on only second overload: + assert m.test_overloaded3.__doc__ == "Overload docstr" + + # options.enable_function_signatures() + assert m.test_function3.__doc__ .startswith("test_function3(a: int, b: int) -> None") + + assert m.test_function4.__doc__ .startswith("test_function4(a: int, b: int) -> None") + assert m.test_function4.__doc__ .endswith("A custom docstring\n") + + # options.disable_function_signatures() + # options.disable_user_defined_docstrings() + assert not m.test_function5.__doc__ + + # nested options.enable_user_defined_docstrings() + assert m.test_function6.__doc__ == "A custom docstring" + + # RAII destructor + assert m.test_function7.__doc__ .startswith("test_function7(a: int, b: int) -> None") + assert m.test_function7.__doc__ .endswith("A custom docstring\n") + + # Suppression of user-defined docstrings for non-function objects + assert not m.DocstringTestFoo.__doc__ + assert not m.DocstringTestFoo.value_prop.__doc__ diff --git a/wrap/python/pybind11/tests/test_eigen.cpp b/wrap/python/pybind11/tests/test_eigen.cpp new file mode 100644 index 000000000..aba088d72 --- /dev/null +++ b/wrap/python/pybind11/tests/test_eigen.cpp @@ -0,0 +1,329 @@ +/* + tests/eigen.cpp -- automatic conversion of Eigen types + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" +#include +#include + +#if defined(_MSC_VER) +# pragma warning(disable: 4996) // C4996: std::unary_negation is deprecated +#endif + +#include + +using MatrixXdR = Eigen::Matrix; + + + +// Sets/resets a testing reference matrix to have values of 10*r + c, where r and c are the +// (1-based) row/column number. +template void reset_ref(M &x) { + for (int i = 0; i < x.rows(); i++) for (int j = 0; j < x.cols(); j++) + x(i, j) = 11 + 10*i + j; +} + +// Returns a static, column-major matrix +Eigen::MatrixXd &get_cm() { + static Eigen::MatrixXd *x; + if (!x) { + x = new Eigen::MatrixXd(3, 3); + reset_ref(*x); + } + return *x; +} +// Likewise, but row-major +MatrixXdR &get_rm() { + static MatrixXdR *x; + if (!x) { + x = new MatrixXdR(3, 3); + reset_ref(*x); + } + return *x; +} +// Resets the values of the static matrices returned by get_cm()/get_rm() +void reset_refs() { + reset_ref(get_cm()); + reset_ref(get_rm()); +} + +// Returns element 2,1 from a matrix (used to test copy/nocopy) +double get_elem(Eigen::Ref m) { return m(2, 1); }; + + +// Returns a matrix with 10*r + 100*c added to each matrix element (to help test that the matrix +// reference is referencing rows/columns correctly). +template Eigen::MatrixXd adjust_matrix(MatrixArgType m) { + Eigen::MatrixXd ret(m); + for (int c = 0; c < m.cols(); c++) for (int r = 0; r < m.rows(); r++) + ret(r, c) += 10*r + 100*c; + return ret; +} + +struct CustomOperatorNew { + CustomOperatorNew() = default; + + Eigen::Matrix4d a = Eigen::Matrix4d::Zero(); + Eigen::Matrix4d b = Eigen::Matrix4d::Identity(); + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW; +}; + +TEST_SUBMODULE(eigen, m) { + using FixedMatrixR = Eigen::Matrix; + using FixedMatrixC = Eigen::Matrix; + using DenseMatrixR = Eigen::Matrix; + using DenseMatrixC = Eigen::Matrix; + using FourRowMatrixC = Eigen::Matrix; + using FourColMatrixC = Eigen::Matrix; + using FourRowMatrixR = Eigen::Matrix; + using FourColMatrixR = Eigen::Matrix; + using SparseMatrixR = Eigen::SparseMatrix; + using SparseMatrixC = Eigen::SparseMatrix; + + m.attr("have_eigen") = true; + + // various tests + m.def("double_col", [](const Eigen::VectorXf &x) -> Eigen::VectorXf { return 2.0f * x; }); + m.def("double_row", [](const Eigen::RowVectorXf &x) -> Eigen::RowVectorXf { return 2.0f * x; }); + m.def("double_complex", [](const Eigen::VectorXcf &x) -> Eigen::VectorXcf { return 2.0f * x; }); + m.def("double_threec", [](py::EigenDRef x) { x *= 2; }); + m.def("double_threer", [](py::EigenDRef x) { x *= 2; }); + m.def("double_mat_cm", [](Eigen::MatrixXf x) -> Eigen::MatrixXf { return 2.0f * x; }); + m.def("double_mat_rm", [](DenseMatrixR x) -> DenseMatrixR { return 2.0f * x; }); + + // test_eigen_ref_to_python + // Different ways of passing via Eigen::Ref; the first and second are the Eigen-recommended + m.def("cholesky1", [](Eigen::Ref x) -> Eigen::MatrixXd { return x.llt().matrixL(); }); + m.def("cholesky2", [](const Eigen::Ref &x) -> Eigen::MatrixXd { return x.llt().matrixL(); }); + m.def("cholesky3", [](const Eigen::Ref &x) -> Eigen::MatrixXd { return x.llt().matrixL(); }); + m.def("cholesky4", [](Eigen::Ref x) -> Eigen::MatrixXd { return x.llt().matrixL(); }); + + // test_eigen_ref_mutators + // Mutators: these add some value to the given element using Eigen, but Eigen should be mapping into + // the numpy array data and so the result should show up there. There are three versions: one that + // works on a contiguous-row matrix (numpy's default), one for a contiguous-column matrix, and one + // for any matrix. + auto add_rm = [](Eigen::Ref x, int r, int c, double v) { x(r,c) += v; }; + auto add_cm = [](Eigen::Ref x, int r, int c, double v) { x(r,c) += v; }; + + // Mutators (Eigen maps into numpy variables): + m.def("add_rm", add_rm); // Only takes row-contiguous + m.def("add_cm", add_cm); // Only takes column-contiguous + // Overloaded versions that will accept either row or column contiguous: + m.def("add1", add_rm); + m.def("add1", add_cm); + m.def("add2", add_cm); + m.def("add2", add_rm); + // This one accepts a matrix of any stride: + m.def("add_any", [](py::EigenDRef x, int r, int c, double v) { x(r,c) += v; }); + + // Return mutable references (numpy maps into eigen variables) + m.def("get_cm_ref", []() { return Eigen::Ref(get_cm()); }); + m.def("get_rm_ref", []() { return Eigen::Ref(get_rm()); }); + // The same references, but non-mutable (numpy maps into eigen variables, but is !writeable) + m.def("get_cm_const_ref", []() { return Eigen::Ref(get_cm()); }); + m.def("get_rm_const_ref", []() { return Eigen::Ref(get_rm()); }); + + m.def("reset_refs", reset_refs); // Restores get_{cm,rm}_ref to original values + + // Increments and returns ref to (same) matrix + m.def("incr_matrix", [](Eigen::Ref m, double v) { + m += Eigen::MatrixXd::Constant(m.rows(), m.cols(), v); + return m; + }, py::return_value_policy::reference); + + // Same, but accepts a matrix of any strides + m.def("incr_matrix_any", [](py::EigenDRef m, double v) { + m += Eigen::MatrixXd::Constant(m.rows(), m.cols(), v); + return m; + }, py::return_value_policy::reference); + + // Returns an eigen slice of even rows + m.def("even_rows", [](py::EigenDRef m) { + return py::EigenDMap( + m.data(), (m.rows() + 1) / 2, m.cols(), + py::EigenDStride(m.outerStride(), 2 * m.innerStride())); + }, py::return_value_policy::reference); + + // Returns an eigen slice of even columns + m.def("even_cols", [](py::EigenDRef m) { + return py::EigenDMap( + m.data(), m.rows(), (m.cols() + 1) / 2, + py::EigenDStride(2 * m.outerStride(), m.innerStride())); + }, py::return_value_policy::reference); + + // Returns diagonals: a vector-like object with an inner stride != 1 + m.def("diagonal", [](const Eigen::Ref &x) { return x.diagonal(); }); + m.def("diagonal_1", [](const Eigen::Ref &x) { return x.diagonal<1>(); }); + m.def("diagonal_n", [](const Eigen::Ref &x, int index) { return x.diagonal(index); }); + + // Return a block of a matrix (gives non-standard strides) + m.def("block", [](const Eigen::Ref &x, int start_row, int start_col, int block_rows, int block_cols) { + return x.block(start_row, start_col, block_rows, block_cols); + }); + + // test_eigen_return_references, test_eigen_keepalive + // return value referencing/copying tests: + class ReturnTester { + Eigen::MatrixXd mat = create(); + public: + ReturnTester() { print_created(this); } + ~ReturnTester() { print_destroyed(this); } + static Eigen::MatrixXd create() { return Eigen::MatrixXd::Ones(10, 10); } + static const Eigen::MatrixXd createConst() { return Eigen::MatrixXd::Ones(10, 10); } + Eigen::MatrixXd &get() { return mat; } + Eigen::MatrixXd *getPtr() { return &mat; } + const Eigen::MatrixXd &view() { return mat; } + const Eigen::MatrixXd *viewPtr() { return &mat; } + Eigen::Ref ref() { return mat; } + Eigen::Ref refConst() { return mat; } + Eigen::Block block(int r, int c, int nrow, int ncol) { return mat.block(r, c, nrow, ncol); } + Eigen::Block blockConst(int r, int c, int nrow, int ncol) const { return mat.block(r, c, nrow, ncol); } + py::EigenDMap corners() { return py::EigenDMap(mat.data(), + py::EigenDStride(mat.outerStride() * (mat.outerSize()-1), mat.innerStride() * (mat.innerSize()-1))); } + py::EigenDMap cornersConst() const { return py::EigenDMap(mat.data(), + py::EigenDStride(mat.outerStride() * (mat.outerSize()-1), mat.innerStride() * (mat.innerSize()-1))); } + }; + using rvp = py::return_value_policy; + py::class_(m, "ReturnTester") + .def(py::init<>()) + .def_static("create", &ReturnTester::create) + .def_static("create_const", &ReturnTester::createConst) + .def("get", &ReturnTester::get, rvp::reference_internal) + .def("get_ptr", &ReturnTester::getPtr, rvp::reference_internal) + .def("view", &ReturnTester::view, rvp::reference_internal) + .def("view_ptr", &ReturnTester::view, rvp::reference_internal) + .def("copy_get", &ReturnTester::get) // Default rvp: copy + .def("copy_view", &ReturnTester::view) // " + .def("ref", &ReturnTester::ref) // Default for Ref is to reference + .def("ref_const", &ReturnTester::refConst) // Likewise, but const + .def("ref_safe", &ReturnTester::ref, rvp::reference_internal) + .def("ref_const_safe", &ReturnTester::refConst, rvp::reference_internal) + .def("copy_ref", &ReturnTester::ref, rvp::copy) + .def("copy_ref_const", &ReturnTester::refConst, rvp::copy) + .def("block", &ReturnTester::block) + .def("block_safe", &ReturnTester::block, rvp::reference_internal) + .def("block_const", &ReturnTester::blockConst, rvp::reference_internal) + .def("copy_block", &ReturnTester::block, rvp::copy) + .def("corners", &ReturnTester::corners, rvp::reference_internal) + .def("corners_const", &ReturnTester::cornersConst, rvp::reference_internal) + ; + + // test_special_matrix_objects + // Returns a DiagonalMatrix with diagonal (1,2,3,...) + m.def("incr_diag", [](int k) { + Eigen::DiagonalMatrix m(k); + for (int i = 0; i < k; i++) m.diagonal()[i] = i+1; + return m; + }); + + // Returns a SelfAdjointView referencing the lower triangle of m + m.def("symmetric_lower", [](const Eigen::MatrixXi &m) { + return m.selfadjointView(); + }); + // Returns a SelfAdjointView referencing the lower triangle of m + m.def("symmetric_upper", [](const Eigen::MatrixXi &m) { + return m.selfadjointView(); + }); + + // Test matrix for various functions below. + Eigen::MatrixXf mat(5, 6); + mat << 0, 3, 0, 0, 0, 11, + 22, 0, 0, 0, 17, 11, + 7, 5, 0, 1, 0, 11, + 0, 0, 0, 0, 0, 11, + 0, 0, 14, 0, 8, 11; + + // test_fixed, and various other tests + m.def("fixed_r", [mat]() -> FixedMatrixR { return FixedMatrixR(mat); }); + m.def("fixed_r_const", [mat]() -> const FixedMatrixR { return FixedMatrixR(mat); }); + m.def("fixed_c", [mat]() -> FixedMatrixC { return FixedMatrixC(mat); }); + m.def("fixed_copy_r", [](const FixedMatrixR &m) -> FixedMatrixR { return m; }); + m.def("fixed_copy_c", [](const FixedMatrixC &m) -> FixedMatrixC { return m; }); + // test_mutator_descriptors + m.def("fixed_mutator_r", [](Eigen::Ref) {}); + m.def("fixed_mutator_c", [](Eigen::Ref) {}); + m.def("fixed_mutator_a", [](py::EigenDRef) {}); + // test_dense + m.def("dense_r", [mat]() -> DenseMatrixR { return DenseMatrixR(mat); }); + m.def("dense_c", [mat]() -> DenseMatrixC { return DenseMatrixC(mat); }); + m.def("dense_copy_r", [](const DenseMatrixR &m) -> DenseMatrixR { return m; }); + m.def("dense_copy_c", [](const DenseMatrixC &m) -> DenseMatrixC { return m; }); + // test_sparse, test_sparse_signature + m.def("sparse_r", [mat]() -> SparseMatrixR { return Eigen::SparseView(mat); }); + m.def("sparse_c", [mat]() -> SparseMatrixC { return Eigen::SparseView(mat); }); + m.def("sparse_copy_r", [](const SparseMatrixR &m) -> SparseMatrixR { return m; }); + m.def("sparse_copy_c", [](const SparseMatrixC &m) -> SparseMatrixC { return m; }); + // test_partially_fixed + m.def("partial_copy_four_rm_r", [](const FourRowMatrixR &m) -> FourRowMatrixR { return m; }); + m.def("partial_copy_four_rm_c", [](const FourColMatrixR &m) -> FourColMatrixR { return m; }); + m.def("partial_copy_four_cm_r", [](const FourRowMatrixC &m) -> FourRowMatrixC { return m; }); + m.def("partial_copy_four_cm_c", [](const FourColMatrixC &m) -> FourColMatrixC { return m; }); + + // test_cpp_casting + // Test that we can cast a numpy object to a Eigen::MatrixXd explicitly + m.def("cpp_copy", [](py::handle m) { return m.cast()(1, 0); }); + m.def("cpp_ref_c", [](py::handle m) { return m.cast>()(1, 0); }); + m.def("cpp_ref_r", [](py::handle m) { return m.cast>()(1, 0); }); + m.def("cpp_ref_any", [](py::handle m) { return m.cast>()(1, 0); }); + + + // test_nocopy_wrapper + // Test that we can prevent copying into an argument that would normally copy: First a version + // that would allow copying (if types or strides don't match) for comparison: + m.def("get_elem", &get_elem); + // Now this alternative that calls the tells pybind to fail rather than copy: + m.def("get_elem_nocopy", [](Eigen::Ref m) -> double { return get_elem(m); }, + py::arg().noconvert()); + // Also test a row-major-only no-copy const ref: + m.def("get_elem_rm_nocopy", [](Eigen::Ref> &m) -> long { return m(2, 1); }, + py::arg().noconvert()); + + // test_issue738 + // Issue #738: 1xN or Nx1 2D matrices were neither accepted nor properly copied with an + // incompatible stride value on the length-1 dimension--but that should be allowed (without + // requiring a copy!) because the stride value can be safely ignored on a size-1 dimension. + m.def("iss738_f1", &adjust_matrix &>, py::arg().noconvert()); + m.def("iss738_f2", &adjust_matrix> &>, py::arg().noconvert()); + + // test_issue1105 + // Issue #1105: when converting from a numpy two-dimensional (Nx1) or (1xN) value into a dense + // eigen Vector or RowVector, the argument would fail to load because the numpy copy would fail: + // numpy won't broadcast a Nx1 into a 1-dimensional vector. + m.def("iss1105_col", [](Eigen::VectorXd) { return true; }); + m.def("iss1105_row", [](Eigen::RowVectorXd) { return true; }); + + // test_named_arguments + // Make sure named arguments are working properly: + m.def("matrix_multiply", [](const py::EigenDRef A, const py::EigenDRef B) + -> Eigen::MatrixXd { + if (A.cols() != B.rows()) throw std::domain_error("Nonconformable matrices!"); + return A * B; + }, py::arg("A"), py::arg("B")); + + // test_custom_operator_new + py::class_(m, "CustomOperatorNew") + .def(py::init<>()) + .def_readonly("a", &CustomOperatorNew::a) + .def_readonly("b", &CustomOperatorNew::b); + + // test_eigen_ref_life_support + // In case of a failure (the caster's temp array does not live long enough), creating + // a new array (np.ones(10)) increases the chances that the temp array will be garbage + // collected and/or that its memory will be overridden with different values. + m.def("get_elem_direct", [](Eigen::Ref v) { + py::module::import("numpy").attr("ones")(10); + return v(5); + }); + m.def("get_elem_indirect", [](std::vector> v) { + py::module::import("numpy").attr("ones")(10); + return v[0](5); + }); +} diff --git a/wrap/python/pybind11/tests/test_eigen.py b/wrap/python/pybind11/tests/test_eigen.py new file mode 100644 index 000000000..45f64ca94 --- /dev/null +++ b/wrap/python/pybind11/tests/test_eigen.py @@ -0,0 +1,694 @@ +import pytest +from pybind11_tests import ConstructorStats + +pytestmark = pytest.requires_eigen_and_numpy + +with pytest.suppress(ImportError): + from pybind11_tests import eigen as m + import numpy as np + + ref = np.array([[ 0., 3, 0, 0, 0, 11], + [22, 0, 0, 0, 17, 11], + [ 7, 5, 0, 1, 0, 11], + [ 0, 0, 0, 0, 0, 11], + [ 0, 0, 14, 0, 8, 11]]) + + +def assert_equal_ref(mat): + np.testing.assert_array_equal(mat, ref) + + +def assert_sparse_equal_ref(sparse_mat): + assert_equal_ref(sparse_mat.toarray()) + + +def test_fixed(): + assert_equal_ref(m.fixed_c()) + assert_equal_ref(m.fixed_r()) + assert_equal_ref(m.fixed_copy_r(m.fixed_r())) + assert_equal_ref(m.fixed_copy_c(m.fixed_c())) + assert_equal_ref(m.fixed_copy_r(m.fixed_c())) + assert_equal_ref(m.fixed_copy_c(m.fixed_r())) + + +def test_dense(): + assert_equal_ref(m.dense_r()) + assert_equal_ref(m.dense_c()) + assert_equal_ref(m.dense_copy_r(m.dense_r())) + assert_equal_ref(m.dense_copy_c(m.dense_c())) + assert_equal_ref(m.dense_copy_r(m.dense_c())) + assert_equal_ref(m.dense_copy_c(m.dense_r())) + + +def test_partially_fixed(): + ref2 = np.array([[0., 1, 2, 3], [4, 5, 6, 7], [8, 9, 10, 11], [12, 13, 14, 15]]) + np.testing.assert_array_equal(m.partial_copy_four_rm_r(ref2), ref2) + np.testing.assert_array_equal(m.partial_copy_four_rm_c(ref2), ref2) + np.testing.assert_array_equal(m.partial_copy_four_rm_r(ref2[:, 1]), ref2[:, [1]]) + np.testing.assert_array_equal(m.partial_copy_four_rm_c(ref2[0, :]), ref2[[0], :]) + np.testing.assert_array_equal(m.partial_copy_four_rm_r(ref2[:, (0, 2)]), ref2[:, (0, 2)]) + np.testing.assert_array_equal( + m.partial_copy_four_rm_c(ref2[(3, 1, 2), :]), ref2[(3, 1, 2), :]) + + np.testing.assert_array_equal(m.partial_copy_four_cm_r(ref2), ref2) + np.testing.assert_array_equal(m.partial_copy_four_cm_c(ref2), ref2) + np.testing.assert_array_equal(m.partial_copy_four_cm_r(ref2[:, 1]), ref2[:, [1]]) + np.testing.assert_array_equal(m.partial_copy_four_cm_c(ref2[0, :]), ref2[[0], :]) + np.testing.assert_array_equal(m.partial_copy_four_cm_r(ref2[:, (0, 2)]), ref2[:, (0, 2)]) + np.testing.assert_array_equal( + m.partial_copy_four_cm_c(ref2[(3, 1, 2), :]), ref2[(3, 1, 2), :]) + + # TypeError should be raise for a shape mismatch + functions = [m.partial_copy_four_rm_r, m.partial_copy_four_rm_c, + m.partial_copy_four_cm_r, m.partial_copy_four_cm_c] + matrix_with_wrong_shape = [[1, 2], + [3, 4]] + for f in functions: + with pytest.raises(TypeError) as excinfo: + f(matrix_with_wrong_shape) + assert "incompatible function arguments" in str(excinfo.value) + + +def test_mutator_descriptors(): + zr = np.arange(30, dtype='float32').reshape(5, 6) # row-major + zc = zr.reshape(6, 5).transpose() # column-major + + m.fixed_mutator_r(zr) + m.fixed_mutator_c(zc) + m.fixed_mutator_a(zr) + m.fixed_mutator_a(zc) + with pytest.raises(TypeError) as excinfo: + m.fixed_mutator_r(zc) + assert ('(arg0: numpy.ndarray[float32[5, 6], flags.writeable, flags.c_contiguous]) -> None' + in str(excinfo.value)) + with pytest.raises(TypeError) as excinfo: + m.fixed_mutator_c(zr) + assert ('(arg0: numpy.ndarray[float32[5, 6], flags.writeable, flags.f_contiguous]) -> None' + in str(excinfo.value)) + with pytest.raises(TypeError) as excinfo: + m.fixed_mutator_a(np.array([[1, 2], [3, 4]], dtype='float32')) + assert ('(arg0: numpy.ndarray[float32[5, 6], flags.writeable]) -> None' + in str(excinfo.value)) + zr.flags.writeable = False + with pytest.raises(TypeError): + m.fixed_mutator_r(zr) + with pytest.raises(TypeError): + m.fixed_mutator_a(zr) + + +def test_cpp_casting(): + assert m.cpp_copy(m.fixed_r()) == 22. + assert m.cpp_copy(m.fixed_c()) == 22. + z = np.array([[5., 6], [7, 8]]) + assert m.cpp_copy(z) == 7. + assert m.cpp_copy(m.get_cm_ref()) == 21. + assert m.cpp_copy(m.get_rm_ref()) == 21. + assert m.cpp_ref_c(m.get_cm_ref()) == 21. + assert m.cpp_ref_r(m.get_rm_ref()) == 21. + with pytest.raises(RuntimeError) as excinfo: + # Can't reference m.fixed_c: it contains floats, m.cpp_ref_any wants doubles + m.cpp_ref_any(m.fixed_c()) + assert 'Unable to cast Python instance' in str(excinfo.value) + with pytest.raises(RuntimeError) as excinfo: + # Can't reference m.fixed_r: it contains floats, m.cpp_ref_any wants doubles + m.cpp_ref_any(m.fixed_r()) + assert 'Unable to cast Python instance' in str(excinfo.value) + assert m.cpp_ref_any(m.ReturnTester.create()) == 1. + + assert m.cpp_ref_any(m.get_cm_ref()) == 21. + assert m.cpp_ref_any(m.get_cm_ref()) == 21. + + +def test_pass_readonly_array(): + z = np.full((5, 6), 42.0) + z.flags.writeable = False + np.testing.assert_array_equal(z, m.fixed_copy_r(z)) + np.testing.assert_array_equal(m.fixed_r_const(), m.fixed_r()) + assert not m.fixed_r_const().flags.writeable + np.testing.assert_array_equal(m.fixed_copy_r(m.fixed_r_const()), m.fixed_r_const()) + + +def test_nonunit_stride_from_python(): + counting_mat = np.arange(9.0, dtype=np.float32).reshape((3, 3)) + second_row = counting_mat[1, :] + second_col = counting_mat[:, 1] + np.testing.assert_array_equal(m.double_row(second_row), 2.0 * second_row) + np.testing.assert_array_equal(m.double_col(second_row), 2.0 * second_row) + np.testing.assert_array_equal(m.double_complex(second_row), 2.0 * second_row) + np.testing.assert_array_equal(m.double_row(second_col), 2.0 * second_col) + np.testing.assert_array_equal(m.double_col(second_col), 2.0 * second_col) + np.testing.assert_array_equal(m.double_complex(second_col), 2.0 * second_col) + + counting_3d = np.arange(27.0, dtype=np.float32).reshape((3, 3, 3)) + slices = [counting_3d[0, :, :], counting_3d[:, 0, :], counting_3d[:, :, 0]] + for slice_idx, ref_mat in enumerate(slices): + np.testing.assert_array_equal(m.double_mat_cm(ref_mat), 2.0 * ref_mat) + np.testing.assert_array_equal(m.double_mat_rm(ref_mat), 2.0 * ref_mat) + + # Mutator: + m.double_threer(second_row) + m.double_threec(second_col) + np.testing.assert_array_equal(counting_mat, [[0., 2, 2], [6, 16, 10], [6, 14, 8]]) + + +def test_negative_stride_from_python(msg): + """Eigen doesn't support (as of yet) negative strides. When a function takes an Eigen matrix by + copy or const reference, we can pass a numpy array that has negative strides. Otherwise, an + exception will be thrown as Eigen will not be able to map the numpy array.""" + + counting_mat = np.arange(9.0, dtype=np.float32).reshape((3, 3)) + counting_mat = counting_mat[::-1, ::-1] + second_row = counting_mat[1, :] + second_col = counting_mat[:, 1] + np.testing.assert_array_equal(m.double_row(second_row), 2.0 * second_row) + np.testing.assert_array_equal(m.double_col(second_row), 2.0 * second_row) + np.testing.assert_array_equal(m.double_complex(second_row), 2.0 * second_row) + np.testing.assert_array_equal(m.double_row(second_col), 2.0 * second_col) + np.testing.assert_array_equal(m.double_col(second_col), 2.0 * second_col) + np.testing.assert_array_equal(m.double_complex(second_col), 2.0 * second_col) + + counting_3d = np.arange(27.0, dtype=np.float32).reshape((3, 3, 3)) + counting_3d = counting_3d[::-1, ::-1, ::-1] + slices = [counting_3d[0, :, :], counting_3d[:, 0, :], counting_3d[:, :, 0]] + for slice_idx, ref_mat in enumerate(slices): + np.testing.assert_array_equal(m.double_mat_cm(ref_mat), 2.0 * ref_mat) + np.testing.assert_array_equal(m.double_mat_rm(ref_mat), 2.0 * ref_mat) + + # Mutator: + with pytest.raises(TypeError) as excinfo: + m.double_threer(second_row) + assert msg(excinfo.value) == """ + double_threer(): incompatible function arguments. The following argument types are supported: + 1. (arg0: numpy.ndarray[float32[1, 3], flags.writeable]) -> None + + Invoked with: """ + repr(np.array([ 5., 4., 3.], dtype='float32')) # noqa: E501 line too long + + with pytest.raises(TypeError) as excinfo: + m.double_threec(second_col) + assert msg(excinfo.value) == """ + double_threec(): incompatible function arguments. The following argument types are supported: + 1. (arg0: numpy.ndarray[float32[3, 1], flags.writeable]) -> None + + Invoked with: """ + repr(np.array([ 7., 4., 1.], dtype='float32')) # noqa: E501 line too long + + +def test_nonunit_stride_to_python(): + assert np.all(m.diagonal(ref) == ref.diagonal()) + assert np.all(m.diagonal_1(ref) == ref.diagonal(1)) + for i in range(-5, 7): + assert np.all(m.diagonal_n(ref, i) == ref.diagonal(i)), "m.diagonal_n({})".format(i) + + assert np.all(m.block(ref, 2, 1, 3, 3) == ref[2:5, 1:4]) + assert np.all(m.block(ref, 1, 4, 4, 2) == ref[1:, 4:]) + assert np.all(m.block(ref, 1, 4, 3, 2) == ref[1:4, 4:]) + + +def test_eigen_ref_to_python(): + chols = [m.cholesky1, m.cholesky2, m.cholesky3, m.cholesky4] + for i, chol in enumerate(chols, start=1): + mymat = chol(np.array([[1., 2, 4], [2, 13, 23], [4, 23, 77]])) + assert np.all(mymat == np.array([[1, 0, 0], [2, 3, 0], [4, 5, 6]])), "cholesky{}".format(i) + + +def assign_both(a1, a2, r, c, v): + a1[r, c] = v + a2[r, c] = v + + +def array_copy_but_one(a, r, c, v): + z = np.array(a, copy=True) + z[r, c] = v + return z + + +def test_eigen_return_references(): + """Tests various ways of returning references and non-referencing copies""" + + master = np.ones((10, 10)) + a = m.ReturnTester() + a_get1 = a.get() + assert not a_get1.flags.owndata and a_get1.flags.writeable + assign_both(a_get1, master, 3, 3, 5) + a_get2 = a.get_ptr() + assert not a_get2.flags.owndata and a_get2.flags.writeable + assign_both(a_get1, master, 2, 3, 6) + + a_view1 = a.view() + assert not a_view1.flags.owndata and not a_view1.flags.writeable + with pytest.raises(ValueError): + a_view1[2, 3] = 4 + a_view2 = a.view_ptr() + assert not a_view2.flags.owndata and not a_view2.flags.writeable + with pytest.raises(ValueError): + a_view2[2, 3] = 4 + + a_copy1 = a.copy_get() + assert a_copy1.flags.owndata and a_copy1.flags.writeable + np.testing.assert_array_equal(a_copy1, master) + a_copy1[7, 7] = -44 # Shouldn't affect anything else + c1want = array_copy_but_one(master, 7, 7, -44) + a_copy2 = a.copy_view() + assert a_copy2.flags.owndata and a_copy2.flags.writeable + np.testing.assert_array_equal(a_copy2, master) + a_copy2[4, 4] = -22 # Shouldn't affect anything else + c2want = array_copy_but_one(master, 4, 4, -22) + + a_ref1 = a.ref() + assert not a_ref1.flags.owndata and a_ref1.flags.writeable + assign_both(a_ref1, master, 1, 1, 15) + a_ref2 = a.ref_const() + assert not a_ref2.flags.owndata and not a_ref2.flags.writeable + with pytest.raises(ValueError): + a_ref2[5, 5] = 33 + a_ref3 = a.ref_safe() + assert not a_ref3.flags.owndata and a_ref3.flags.writeable + assign_both(a_ref3, master, 0, 7, 99) + a_ref4 = a.ref_const_safe() + assert not a_ref4.flags.owndata and not a_ref4.flags.writeable + with pytest.raises(ValueError): + a_ref4[7, 0] = 987654321 + + a_copy3 = a.copy_ref() + assert a_copy3.flags.owndata and a_copy3.flags.writeable + np.testing.assert_array_equal(a_copy3, master) + a_copy3[8, 1] = 11 + c3want = array_copy_but_one(master, 8, 1, 11) + a_copy4 = a.copy_ref_const() + assert a_copy4.flags.owndata and a_copy4.flags.writeable + np.testing.assert_array_equal(a_copy4, master) + a_copy4[8, 4] = 88 + c4want = array_copy_but_one(master, 8, 4, 88) + + a_block1 = a.block(3, 3, 2, 2) + assert not a_block1.flags.owndata and a_block1.flags.writeable + a_block1[0, 0] = 55 + master[3, 3] = 55 + a_block2 = a.block_safe(2, 2, 3, 2) + assert not a_block2.flags.owndata and a_block2.flags.writeable + a_block2[2, 1] = -123 + master[4, 3] = -123 + a_block3 = a.block_const(6, 7, 4, 3) + assert not a_block3.flags.owndata and not a_block3.flags.writeable + with pytest.raises(ValueError): + a_block3[2, 2] = -44444 + + a_copy5 = a.copy_block(2, 2, 2, 3) + assert a_copy5.flags.owndata and a_copy5.flags.writeable + np.testing.assert_array_equal(a_copy5, master[2:4, 2:5]) + a_copy5[1, 1] = 777 + c5want = array_copy_but_one(master[2:4, 2:5], 1, 1, 777) + + a_corn1 = a.corners() + assert not a_corn1.flags.owndata and a_corn1.flags.writeable + a_corn1 *= 50 + a_corn1[1, 1] = 999 + master[0, 0] = 50 + master[0, 9] = 50 + master[9, 0] = 50 + master[9, 9] = 999 + a_corn2 = a.corners_const() + assert not a_corn2.flags.owndata and not a_corn2.flags.writeable + with pytest.raises(ValueError): + a_corn2[1, 0] = 51 + + # All of the changes made all the way along should be visible everywhere + # now (except for the copies, of course) + np.testing.assert_array_equal(a_get1, master) + np.testing.assert_array_equal(a_get2, master) + np.testing.assert_array_equal(a_view1, master) + np.testing.assert_array_equal(a_view2, master) + np.testing.assert_array_equal(a_ref1, master) + np.testing.assert_array_equal(a_ref2, master) + np.testing.assert_array_equal(a_ref3, master) + np.testing.assert_array_equal(a_ref4, master) + np.testing.assert_array_equal(a_block1, master[3:5, 3:5]) + np.testing.assert_array_equal(a_block2, master[2:5, 2:4]) + np.testing.assert_array_equal(a_block3, master[6:10, 7:10]) + np.testing.assert_array_equal(a_corn1, master[0::master.shape[0] - 1, 0::master.shape[1] - 1]) + np.testing.assert_array_equal(a_corn2, master[0::master.shape[0] - 1, 0::master.shape[1] - 1]) + + np.testing.assert_array_equal(a_copy1, c1want) + np.testing.assert_array_equal(a_copy2, c2want) + np.testing.assert_array_equal(a_copy3, c3want) + np.testing.assert_array_equal(a_copy4, c4want) + np.testing.assert_array_equal(a_copy5, c5want) + + +def assert_keeps_alive(cl, method, *args): + cstats = ConstructorStats.get(cl) + start_with = cstats.alive() + a = cl() + assert cstats.alive() == start_with + 1 + z = method(a, *args) + assert cstats.alive() == start_with + 1 + del a + # Here's the keep alive in action: + assert cstats.alive() == start_with + 1 + del z + # Keep alive should have expired: + assert cstats.alive() == start_with + + +def test_eigen_keepalive(): + a = m.ReturnTester() + cstats = ConstructorStats.get(m.ReturnTester) + assert cstats.alive() == 1 + unsafe = [a.ref(), a.ref_const(), a.block(1, 2, 3, 4)] + copies = [a.copy_get(), a.copy_view(), a.copy_ref(), a.copy_ref_const(), + a.copy_block(4, 3, 2, 1)] + del a + assert cstats.alive() == 0 + del unsafe + del copies + + for meth in [m.ReturnTester.get, m.ReturnTester.get_ptr, m.ReturnTester.view, + m.ReturnTester.view_ptr, m.ReturnTester.ref_safe, m.ReturnTester.ref_const_safe, + m.ReturnTester.corners, m.ReturnTester.corners_const]: + assert_keeps_alive(m.ReturnTester, meth) + + for meth in [m.ReturnTester.block_safe, m.ReturnTester.block_const]: + assert_keeps_alive(m.ReturnTester, meth, 4, 3, 2, 1) + + +def test_eigen_ref_mutators(): + """Tests Eigen's ability to mutate numpy values""" + + orig = np.array([[1., 2, 3], [4, 5, 6], [7, 8, 9]]) + zr = np.array(orig) + zc = np.array(orig, order='F') + m.add_rm(zr, 1, 0, 100) + assert np.all(zr == np.array([[1., 2, 3], [104, 5, 6], [7, 8, 9]])) + m.add_cm(zc, 1, 0, 200) + assert np.all(zc == np.array([[1., 2, 3], [204, 5, 6], [7, 8, 9]])) + + m.add_any(zr, 1, 0, 20) + assert np.all(zr == np.array([[1., 2, 3], [124, 5, 6], [7, 8, 9]])) + m.add_any(zc, 1, 0, 10) + assert np.all(zc == np.array([[1., 2, 3], [214, 5, 6], [7, 8, 9]])) + + # Can't reference a col-major array with a row-major Ref, and vice versa: + with pytest.raises(TypeError): + m.add_rm(zc, 1, 0, 1) + with pytest.raises(TypeError): + m.add_cm(zr, 1, 0, 1) + + # Overloads: + m.add1(zr, 1, 0, -100) + m.add2(zr, 1, 0, -20) + assert np.all(zr == orig) + m.add1(zc, 1, 0, -200) + m.add2(zc, 1, 0, -10) + assert np.all(zc == orig) + + # a non-contiguous slice (this won't work on either the row- or + # column-contiguous refs, but should work for the any) + cornersr = zr[0::2, 0::2] + cornersc = zc[0::2, 0::2] + + assert np.all(cornersr == np.array([[1., 3], [7, 9]])) + assert np.all(cornersc == np.array([[1., 3], [7, 9]])) + + with pytest.raises(TypeError): + m.add_rm(cornersr, 0, 1, 25) + with pytest.raises(TypeError): + m.add_cm(cornersr, 0, 1, 25) + with pytest.raises(TypeError): + m.add_rm(cornersc, 0, 1, 25) + with pytest.raises(TypeError): + m.add_cm(cornersc, 0, 1, 25) + m.add_any(cornersr, 0, 1, 25) + m.add_any(cornersc, 0, 1, 44) + assert np.all(zr == np.array([[1., 2, 28], [4, 5, 6], [7, 8, 9]])) + assert np.all(zc == np.array([[1., 2, 47], [4, 5, 6], [7, 8, 9]])) + + # You shouldn't be allowed to pass a non-writeable array to a mutating Eigen method: + zro = zr[0:4, 0:4] + zro.flags.writeable = False + with pytest.raises(TypeError): + m.add_rm(zro, 0, 0, 0) + with pytest.raises(TypeError): + m.add_any(zro, 0, 0, 0) + with pytest.raises(TypeError): + m.add1(zro, 0, 0, 0) + with pytest.raises(TypeError): + m.add2(zro, 0, 0, 0) + + # integer array shouldn't be passable to a double-matrix-accepting mutating func: + zi = np.array([[1, 2], [3, 4]]) + with pytest.raises(TypeError): + m.add_rm(zi) + + +def test_numpy_ref_mutators(): + """Tests numpy mutating Eigen matrices (for returned Eigen::Ref<...>s)""" + + m.reset_refs() # In case another test already changed it + + zc = m.get_cm_ref() + zcro = m.get_cm_const_ref() + zr = m.get_rm_ref() + zrro = m.get_rm_const_ref() + + assert [zc[1, 2], zcro[1, 2], zr[1, 2], zrro[1, 2]] == [23] * 4 + + assert not zc.flags.owndata and zc.flags.writeable + assert not zr.flags.owndata and zr.flags.writeable + assert not zcro.flags.owndata and not zcro.flags.writeable + assert not zrro.flags.owndata and not zrro.flags.writeable + + zc[1, 2] = 99 + expect = np.array([[11., 12, 13], [21, 22, 99], [31, 32, 33]]) + # We should have just changed zc, of course, but also zcro and the original eigen matrix + assert np.all(zc == expect) + assert np.all(zcro == expect) + assert np.all(m.get_cm_ref() == expect) + + zr[1, 2] = 99 + assert np.all(zr == expect) + assert np.all(zrro == expect) + assert np.all(m.get_rm_ref() == expect) + + # Make sure the readonly ones are numpy-readonly: + with pytest.raises(ValueError): + zcro[1, 2] = 6 + with pytest.raises(ValueError): + zrro[1, 2] = 6 + + # We should be able to explicitly copy like this (and since we're copying, + # the const should drop away) + y1 = np.array(m.get_cm_const_ref()) + + assert y1.flags.owndata and y1.flags.writeable + # We should get copies of the eigen data, which was modified above: + assert y1[1, 2] == 99 + y1[1, 2] += 12 + assert y1[1, 2] == 111 + assert zc[1, 2] == 99 # Make sure we aren't referencing the original + + +def test_both_ref_mutators(): + """Tests a complex chain of nested eigen/numpy references""" + + m.reset_refs() # In case another test already changed it + + z = m.get_cm_ref() # numpy -> eigen + z[0, 2] -= 3 + z2 = m.incr_matrix(z, 1) # numpy -> eigen -> numpy -> eigen + z2[1, 1] += 6 + z3 = m.incr_matrix(z, 2) # (numpy -> eigen)^3 + z3[2, 2] += -5 + z4 = m.incr_matrix(z, 3) # (numpy -> eigen)^4 + z4[1, 1] -= 1 + z5 = m.incr_matrix(z, 4) # (numpy -> eigen)^5 + z5[0, 0] = 0 + assert np.all(z == z2) + assert np.all(z == z3) + assert np.all(z == z4) + assert np.all(z == z5) + expect = np.array([[0., 22, 20], [31, 37, 33], [41, 42, 38]]) + assert np.all(z == expect) + + y = np.array(range(100), dtype='float64').reshape(10, 10) + y2 = m.incr_matrix_any(y, 10) # np -> eigen -> np + y3 = m.incr_matrix_any(y2[0::2, 0::2], -33) # np -> eigen -> np slice -> np -> eigen -> np + y4 = m.even_rows(y3) # numpy -> eigen slice -> (... y3) + y5 = m.even_cols(y4) # numpy -> eigen slice -> (... y4) + y6 = m.incr_matrix_any(y5, 1000) # numpy -> eigen -> (... y5) + + # Apply same mutations using just numpy: + yexpect = np.array(range(100), dtype='float64').reshape(10, 10) + yexpect += 10 + yexpect[0::2, 0::2] -= 33 + yexpect[0::4, 0::4] += 1000 + assert np.all(y6 == yexpect[0::4, 0::4]) + assert np.all(y5 == yexpect[0::4, 0::4]) + assert np.all(y4 == yexpect[0::4, 0::2]) + assert np.all(y3 == yexpect[0::2, 0::2]) + assert np.all(y2 == yexpect) + assert np.all(y == yexpect) + + +def test_nocopy_wrapper(): + # get_elem requires a column-contiguous matrix reference, but should be + # callable with other types of matrix (via copying): + int_matrix_colmajor = np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]], order='F') + dbl_matrix_colmajor = np.array(int_matrix_colmajor, dtype='double', order='F', copy=True) + int_matrix_rowmajor = np.array(int_matrix_colmajor, order='C', copy=True) + dbl_matrix_rowmajor = np.array(int_matrix_rowmajor, dtype='double', order='C', copy=True) + + # All should be callable via get_elem: + assert m.get_elem(int_matrix_colmajor) == 8 + assert m.get_elem(dbl_matrix_colmajor) == 8 + assert m.get_elem(int_matrix_rowmajor) == 8 + assert m.get_elem(dbl_matrix_rowmajor) == 8 + + # All but the second should fail with m.get_elem_nocopy: + with pytest.raises(TypeError) as excinfo: + m.get_elem_nocopy(int_matrix_colmajor) + assert ('get_elem_nocopy(): incompatible function arguments.' in str(excinfo.value) and + ', flags.f_contiguous' in str(excinfo.value)) + assert m.get_elem_nocopy(dbl_matrix_colmajor) == 8 + with pytest.raises(TypeError) as excinfo: + m.get_elem_nocopy(int_matrix_rowmajor) + assert ('get_elem_nocopy(): incompatible function arguments.' in str(excinfo.value) and + ', flags.f_contiguous' in str(excinfo.value)) + with pytest.raises(TypeError) as excinfo: + m.get_elem_nocopy(dbl_matrix_rowmajor) + assert ('get_elem_nocopy(): incompatible function arguments.' in str(excinfo.value) and + ', flags.f_contiguous' in str(excinfo.value)) + + # For the row-major test, we take a long matrix in row-major, so only the third is allowed: + with pytest.raises(TypeError) as excinfo: + m.get_elem_rm_nocopy(int_matrix_colmajor) + assert ('get_elem_rm_nocopy(): incompatible function arguments.' in str(excinfo.value) and + ', flags.c_contiguous' in str(excinfo.value)) + with pytest.raises(TypeError) as excinfo: + m.get_elem_rm_nocopy(dbl_matrix_colmajor) + assert ('get_elem_rm_nocopy(): incompatible function arguments.' in str(excinfo.value) and + ', flags.c_contiguous' in str(excinfo.value)) + assert m.get_elem_rm_nocopy(int_matrix_rowmajor) == 8 + with pytest.raises(TypeError) as excinfo: + m.get_elem_rm_nocopy(dbl_matrix_rowmajor) + assert ('get_elem_rm_nocopy(): incompatible function arguments.' in str(excinfo.value) and + ', flags.c_contiguous' in str(excinfo.value)) + + +def test_eigen_ref_life_support(): + """Ensure the lifetime of temporary arrays created by the `Ref` caster + + The `Ref` caster sometimes creates a copy which needs to stay alive. This needs to + happen both for directs casts (just the array) or indirectly (e.g. list of arrays). + """ + + a = np.full(shape=10, fill_value=8, dtype=np.int8) + assert m.get_elem_direct(a) == 8 + + list_of_a = [a] + assert m.get_elem_indirect(list_of_a) == 8 + + +def test_special_matrix_objects(): + assert np.all(m.incr_diag(7) == np.diag([1., 2, 3, 4, 5, 6, 7])) + + asymm = np.array([[ 1., 2, 3, 4], + [ 5, 6, 7, 8], + [ 9, 10, 11, 12], + [13, 14, 15, 16]]) + symm_lower = np.array(asymm) + symm_upper = np.array(asymm) + for i in range(4): + for j in range(i + 1, 4): + symm_lower[i, j] = symm_lower[j, i] + symm_upper[j, i] = symm_upper[i, j] + + assert np.all(m.symmetric_lower(asymm) == symm_lower) + assert np.all(m.symmetric_upper(asymm) == symm_upper) + + +def test_dense_signature(doc): + assert doc(m.double_col) == """ + double_col(arg0: numpy.ndarray[float32[m, 1]]) -> numpy.ndarray[float32[m, 1]] + """ + assert doc(m.double_row) == """ + double_row(arg0: numpy.ndarray[float32[1, n]]) -> numpy.ndarray[float32[1, n]] + """ + assert doc(m.double_complex) == """ + double_complex(arg0: numpy.ndarray[complex64[m, 1]]) -> numpy.ndarray[complex64[m, 1]] + """ + assert doc(m.double_mat_rm) == """ + double_mat_rm(arg0: numpy.ndarray[float32[m, n]]) -> numpy.ndarray[float32[m, n]] + """ + + +def test_named_arguments(): + a = np.array([[1.0, 2], [3, 4], [5, 6]]) + b = np.ones((2, 1)) + + assert np.all(m.matrix_multiply(a, b) == np.array([[3.], [7], [11]])) + assert np.all(m.matrix_multiply(A=a, B=b) == np.array([[3.], [7], [11]])) + assert np.all(m.matrix_multiply(B=b, A=a) == np.array([[3.], [7], [11]])) + + with pytest.raises(ValueError) as excinfo: + m.matrix_multiply(b, a) + assert str(excinfo.value) == 'Nonconformable matrices!' + + with pytest.raises(ValueError) as excinfo: + m.matrix_multiply(A=b, B=a) + assert str(excinfo.value) == 'Nonconformable matrices!' + + with pytest.raises(ValueError) as excinfo: + m.matrix_multiply(B=a, A=b) + assert str(excinfo.value) == 'Nonconformable matrices!' + + +@pytest.requires_eigen_and_scipy +def test_sparse(): + assert_sparse_equal_ref(m.sparse_r()) + assert_sparse_equal_ref(m.sparse_c()) + assert_sparse_equal_ref(m.sparse_copy_r(m.sparse_r())) + assert_sparse_equal_ref(m.sparse_copy_c(m.sparse_c())) + assert_sparse_equal_ref(m.sparse_copy_r(m.sparse_c())) + assert_sparse_equal_ref(m.sparse_copy_c(m.sparse_r())) + + +@pytest.requires_eigen_and_scipy +def test_sparse_signature(doc): + assert doc(m.sparse_copy_r) == """ + sparse_copy_r(arg0: scipy.sparse.csr_matrix[float32]) -> scipy.sparse.csr_matrix[float32] + """ # noqa: E501 line too long + assert doc(m.sparse_copy_c) == """ + sparse_copy_c(arg0: scipy.sparse.csc_matrix[float32]) -> scipy.sparse.csc_matrix[float32] + """ # noqa: E501 line too long + + +def test_issue738(): + """Ignore strides on a length-1 dimension (even if they would be incompatible length > 1)""" + assert np.all(m.iss738_f1(np.array([[1., 2, 3]])) == np.array([[1., 102, 203]])) + assert np.all(m.iss738_f1(np.array([[1.], [2], [3]])) == np.array([[1.], [12], [23]])) + + assert np.all(m.iss738_f2(np.array([[1., 2, 3]])) == np.array([[1., 102, 203]])) + assert np.all(m.iss738_f2(np.array([[1.], [2], [3]])) == np.array([[1.], [12], [23]])) + + +def test_issue1105(): + """Issue 1105: 1xN or Nx1 input arrays weren't accepted for eigen + compile-time row vectors or column vector""" + assert m.iss1105_row(np.ones((1, 7))) + assert m.iss1105_col(np.ones((7, 1))) + + # These should still fail (incompatible dimensions): + with pytest.raises(TypeError) as excinfo: + m.iss1105_row(np.ones((7, 1))) + assert "incompatible function arguments" in str(excinfo) + with pytest.raises(TypeError) as excinfo: + m.iss1105_col(np.ones((1, 7))) + assert "incompatible function arguments" in str(excinfo) + + +def test_custom_operator_new(): + """Using Eigen types as member variables requires a class-specific + operator new with proper alignment""" + + o = m.CustomOperatorNew() + np.testing.assert_allclose(o.a, 0.0) + np.testing.assert_allclose(o.b.diagonal(), 1.0) diff --git a/wrap/python/pybind11/tests/test_embed/CMakeLists.txt b/wrap/python/pybind11/tests/test_embed/CMakeLists.txt new file mode 100644 index 000000000..8b4f1f843 --- /dev/null +++ b/wrap/python/pybind11/tests/test_embed/CMakeLists.txt @@ -0,0 +1,41 @@ +if(${PYTHON_MODULE_EXTENSION} MATCHES "pypy") + add_custom_target(cpptest) # Dummy target on PyPy. Embedding is not supported. + set(_suppress_unused_variable_warning "${DOWNLOAD_CATCH}") + return() +endif() + +find_package(Catch 1.9.3) +if(CATCH_FOUND) + message(STATUS "Building interpreter tests using Catch v${CATCH_VERSION}") +else() + message(STATUS "Catch not detected. Interpreter tests will be skipped. Install Catch headers" + " manually or use `cmake -DDOWNLOAD_CATCH=1` to fetch them automatically.") + return() +endif() + +add_executable(test_embed + catch.cpp + test_interpreter.cpp +) +target_include_directories(test_embed PRIVATE ${CATCH_INCLUDE_DIR}) +pybind11_enable_warnings(test_embed) + +if(NOT CMAKE_VERSION VERSION_LESS 3.0) + target_link_libraries(test_embed PRIVATE pybind11::embed) +else() + target_include_directories(test_embed PRIVATE ${PYBIND11_INCLUDE_DIR} ${PYTHON_INCLUDE_DIRS}) + target_compile_options(test_embed PRIVATE ${PYBIND11_CPP_STANDARD}) + target_link_libraries(test_embed PRIVATE ${PYTHON_LIBRARIES}) +endif() + +find_package(Threads REQUIRED) +target_link_libraries(test_embed PUBLIC ${CMAKE_THREAD_LIBS_INIT}) + +add_custom_target(cpptest COMMAND $ + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}) + +pybind11_add_module(external_module THIN_LTO external_module.cpp) +set_target_properties(external_module PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}) +add_dependencies(cpptest external_module) + +add_dependencies(check cpptest) diff --git a/wrap/python/pybind11/tests/test_embed/catch.cpp b/wrap/python/pybind11/tests/test_embed/catch.cpp new file mode 100644 index 000000000..dd137385c --- /dev/null +++ b/wrap/python/pybind11/tests/test_embed/catch.cpp @@ -0,0 +1,22 @@ +// The Catch implementation is compiled here. This is a standalone +// translation unit to avoid recompiling it for every test change. + +#include + +#ifdef _MSC_VER +// Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to catch +// 2.0.1; this should be fixed in the next catch release after 2.0.1). +# pragma warning(disable: 4996) +#endif + +#define CATCH_CONFIG_RUNNER +#include + +namespace py = pybind11; + +int main(int argc, char *argv[]) { + py::scoped_interpreter guard{}; + auto result = Catch::Session().run(argc, argv); + + return result < 0xff ? result : 0xff; +} diff --git a/wrap/python/pybind11/tests/test_embed/external_module.cpp b/wrap/python/pybind11/tests/test_embed/external_module.cpp new file mode 100644 index 000000000..e9a6058b1 --- /dev/null +++ b/wrap/python/pybind11/tests/test_embed/external_module.cpp @@ -0,0 +1,23 @@ +#include + +namespace py = pybind11; + +/* Simple test module/test class to check that the referenced internals data of external pybind11 + * modules aren't preserved over a finalize/initialize. + */ + +PYBIND11_MODULE(external_module, m) { + class A { + public: + A(int value) : v{value} {}; + int v; + }; + + py::class_(m, "A") + .def(py::init()) + .def_readwrite("value", &A::v); + + m.def("internals_at", []() { + return reinterpret_cast(&py::detail::get_internals()); + }); +} diff --git a/wrap/python/pybind11/tests/test_embed/test_interpreter.cpp b/wrap/python/pybind11/tests/test_embed/test_interpreter.cpp new file mode 100644 index 000000000..222bd565f --- /dev/null +++ b/wrap/python/pybind11/tests/test_embed/test_interpreter.cpp @@ -0,0 +1,284 @@ +#include + +#ifdef _MSC_VER +// Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to catch +// 2.0.1; this should be fixed in the next catch release after 2.0.1). +# pragma warning(disable: 4996) +#endif + +#include + +#include +#include +#include + +namespace py = pybind11; +using namespace py::literals; + +class Widget { +public: + Widget(std::string message) : message(message) { } + virtual ~Widget() = default; + + std::string the_message() const { return message; } + virtual int the_answer() const = 0; + +private: + std::string message; +}; + +class PyWidget final : public Widget { + using Widget::Widget; + + int the_answer() const override { PYBIND11_OVERLOAD_PURE(int, Widget, the_answer); } +}; + +PYBIND11_EMBEDDED_MODULE(widget_module, m) { + py::class_(m, "Widget") + .def(py::init()) + .def_property_readonly("the_message", &Widget::the_message); + + m.def("add", [](int i, int j) { return i + j; }); +} + +PYBIND11_EMBEDDED_MODULE(throw_exception, ) { + throw std::runtime_error("C++ Error"); +} + +PYBIND11_EMBEDDED_MODULE(throw_error_already_set, ) { + auto d = py::dict(); + d["missing"].cast(); +} + +TEST_CASE("Pass classes and data between modules defined in C++ and Python") { + auto module = py::module::import("test_interpreter"); + REQUIRE(py::hasattr(module, "DerivedWidget")); + + auto locals = py::dict("hello"_a="Hello, World!", "x"_a=5, **module.attr("__dict__")); + py::exec(R"( + widget = DerivedWidget("{} - {}".format(hello, x)) + message = widget.the_message + )", py::globals(), locals); + REQUIRE(locals["message"].cast() == "Hello, World! - 5"); + + auto py_widget = module.attr("DerivedWidget")("The question"); + auto message = py_widget.attr("the_message"); + REQUIRE(message.cast() == "The question"); + + const auto &cpp_widget = py_widget.cast(); + REQUIRE(cpp_widget.the_answer() == 42); +} + +TEST_CASE("Import error handling") { + REQUIRE_NOTHROW(py::module::import("widget_module")); + REQUIRE_THROWS_WITH(py::module::import("throw_exception"), + "ImportError: C++ Error"); + REQUIRE_THROWS_WITH(py::module::import("throw_error_already_set"), + Catch::Contains("ImportError: KeyError")); +} + +TEST_CASE("There can be only one interpreter") { + static_assert(std::is_move_constructible::value, ""); + static_assert(!std::is_move_assignable::value, ""); + static_assert(!std::is_copy_constructible::value, ""); + static_assert(!std::is_copy_assignable::value, ""); + + REQUIRE_THROWS_WITH(py::initialize_interpreter(), "The interpreter is already running"); + REQUIRE_THROWS_WITH(py::scoped_interpreter(), "The interpreter is already running"); + + py::finalize_interpreter(); + REQUIRE_NOTHROW(py::scoped_interpreter()); + { + auto pyi1 = py::scoped_interpreter(); + auto pyi2 = std::move(pyi1); + } + py::initialize_interpreter(); +} + +bool has_pybind11_internals_builtin() { + auto builtins = py::handle(PyEval_GetBuiltins()); + return builtins.contains(PYBIND11_INTERNALS_ID); +}; + +bool has_pybind11_internals_static() { + auto **&ipp = py::detail::get_internals_pp(); + return ipp && *ipp; +} + +TEST_CASE("Restart the interpreter") { + // Verify pre-restart state. + REQUIRE(py::module::import("widget_module").attr("add")(1, 2).cast() == 3); + REQUIRE(has_pybind11_internals_builtin()); + REQUIRE(has_pybind11_internals_static()); + REQUIRE(py::module::import("external_module").attr("A")(123).attr("value").cast() == 123); + + // local and foreign module internals should point to the same internals: + REQUIRE(reinterpret_cast(*py::detail::get_internals_pp()) == + py::module::import("external_module").attr("internals_at")().cast()); + + // Restart the interpreter. + py::finalize_interpreter(); + REQUIRE(Py_IsInitialized() == 0); + + py::initialize_interpreter(); + REQUIRE(Py_IsInitialized() == 1); + + // Internals are deleted after a restart. + REQUIRE_FALSE(has_pybind11_internals_builtin()); + REQUIRE_FALSE(has_pybind11_internals_static()); + pybind11::detail::get_internals(); + REQUIRE(has_pybind11_internals_builtin()); + REQUIRE(has_pybind11_internals_static()); + REQUIRE(reinterpret_cast(*py::detail::get_internals_pp()) == + py::module::import("external_module").attr("internals_at")().cast()); + + // Make sure that an interpreter with no get_internals() created until finalize still gets the + // internals destroyed + py::finalize_interpreter(); + py::initialize_interpreter(); + bool ran = false; + py::module::import("__main__").attr("internals_destroy_test") = + py::capsule(&ran, [](void *ran) { py::detail::get_internals(); *static_cast(ran) = true; }); + REQUIRE_FALSE(has_pybind11_internals_builtin()); + REQUIRE_FALSE(has_pybind11_internals_static()); + REQUIRE_FALSE(ran); + py::finalize_interpreter(); + REQUIRE(ran); + py::initialize_interpreter(); + REQUIRE_FALSE(has_pybind11_internals_builtin()); + REQUIRE_FALSE(has_pybind11_internals_static()); + + // C++ modules can be reloaded. + auto cpp_module = py::module::import("widget_module"); + REQUIRE(cpp_module.attr("add")(1, 2).cast() == 3); + + // C++ type information is reloaded and can be used in python modules. + auto py_module = py::module::import("test_interpreter"); + auto py_widget = py_module.attr("DerivedWidget")("Hello after restart"); + REQUIRE(py_widget.attr("the_message").cast() == "Hello after restart"); +} + +TEST_CASE("Subinterpreter") { + // Add tags to the modules in the main interpreter and test the basics. + py::module::import("__main__").attr("main_tag") = "main interpreter"; + { + auto m = py::module::import("widget_module"); + m.attr("extension_module_tag") = "added to module in main interpreter"; + + REQUIRE(m.attr("add")(1, 2).cast() == 3); + } + REQUIRE(has_pybind11_internals_builtin()); + REQUIRE(has_pybind11_internals_static()); + + /// Create and switch to a subinterpreter. + auto main_tstate = PyThreadState_Get(); + auto sub_tstate = Py_NewInterpreter(); + + // Subinterpreters get their own copy of builtins. detail::get_internals() still + // works by returning from the static variable, i.e. all interpreters share a single + // global pybind11::internals; + REQUIRE_FALSE(has_pybind11_internals_builtin()); + REQUIRE(has_pybind11_internals_static()); + + // Modules tags should be gone. + REQUIRE_FALSE(py::hasattr(py::module::import("__main__"), "tag")); + { + auto m = py::module::import("widget_module"); + REQUIRE_FALSE(py::hasattr(m, "extension_module_tag")); + + // Function bindings should still work. + REQUIRE(m.attr("add")(1, 2).cast() == 3); + } + + // Restore main interpreter. + Py_EndInterpreter(sub_tstate); + PyThreadState_Swap(main_tstate); + + REQUIRE(py::hasattr(py::module::import("__main__"), "main_tag")); + REQUIRE(py::hasattr(py::module::import("widget_module"), "extension_module_tag")); +} + +TEST_CASE("Execution frame") { + // When the interpreter is embedded, there is no execution frame, but `py::exec` + // should still function by using reasonable globals: `__main__.__dict__`. + py::exec("var = dict(number=42)"); + REQUIRE(py::globals()["var"]["number"].cast() == 42); +} + +TEST_CASE("Threads") { + // Restart interpreter to ensure threads are not initialized + py::finalize_interpreter(); + py::initialize_interpreter(); + REQUIRE_FALSE(has_pybind11_internals_static()); + + constexpr auto num_threads = 10; + auto locals = py::dict("count"_a=0); + + { + py::gil_scoped_release gil_release{}; + REQUIRE(has_pybind11_internals_static()); + + auto threads = std::vector(); + for (auto i = 0; i < num_threads; ++i) { + threads.emplace_back([&]() { + py::gil_scoped_acquire gil{}; + locals["count"] = locals["count"].cast() + 1; + }); + } + + for (auto &thread : threads) { + thread.join(); + } + } + + REQUIRE(locals["count"].cast() == num_threads); +} + +// Scope exit utility https://stackoverflow.com/a/36644501/7255855 +struct scope_exit { + std::function f_; + explicit scope_exit(std::function f) noexcept : f_(std::move(f)) {} + ~scope_exit() { if (f_) f_(); } +}; + +TEST_CASE("Reload module from file") { + // Disable generation of cached bytecode (.pyc files) for this test, otherwise + // Python might pick up an old version from the cache instead of the new versions + // of the .py files generated below + auto sys = py::module::import("sys"); + bool dont_write_bytecode = sys.attr("dont_write_bytecode").cast(); + sys.attr("dont_write_bytecode") = true; + // Reset the value at scope exit + scope_exit reset_dont_write_bytecode([&]() { + sys.attr("dont_write_bytecode") = dont_write_bytecode; + }); + + std::string module_name = "test_module_reload"; + std::string module_file = module_name + ".py"; + + // Create the module .py file + std::ofstream test_module(module_file); + test_module << "def test():\n"; + test_module << " return 1\n"; + test_module.close(); + // Delete the file at scope exit + scope_exit delete_module_file([&]() { + std::remove(module_file.c_str()); + }); + + // Import the module from file + auto module = py::module::import(module_name.c_str()); + int result = module.attr("test")().cast(); + REQUIRE(result == 1); + + // Update the module .py file with a small change + test_module.open(module_file); + test_module << "def test():\n"; + test_module << " return 2\n"; + test_module.close(); + + // Reload the module + module.reload(); + result = module.attr("test")().cast(); + REQUIRE(result == 2); +} diff --git a/wrap/python/pybind11/tests/test_embed/test_interpreter.py b/wrap/python/pybind11/tests/test_embed/test_interpreter.py new file mode 100644 index 000000000..26a047921 --- /dev/null +++ b/wrap/python/pybind11/tests/test_embed/test_interpreter.py @@ -0,0 +1,9 @@ +from widget_module import Widget + + +class DerivedWidget(Widget): + def __init__(self, message): + super(DerivedWidget, self).__init__(message) + + def the_answer(self): + return 42 diff --git a/wrap/python/pybind11/tests/test_enum.cpp b/wrap/python/pybind11/tests/test_enum.cpp new file mode 100644 index 000000000..498a00e16 --- /dev/null +++ b/wrap/python/pybind11/tests/test_enum.cpp @@ -0,0 +1,85 @@ +/* + tests/test_enums.cpp -- enumerations + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" + +TEST_SUBMODULE(enums, m) { + // test_unscoped_enum + enum UnscopedEnum { + EOne = 1, + ETwo + }; + py::enum_(m, "UnscopedEnum", py::arithmetic(), "An unscoped enumeration") + .value("EOne", EOne, "Docstring for EOne") + .value("ETwo", ETwo, "Docstring for ETwo") + .export_values(); + + // test_scoped_enum + enum class ScopedEnum { + Two = 2, + Three + }; + py::enum_(m, "ScopedEnum", py::arithmetic()) + .value("Two", ScopedEnum::Two) + .value("Three", ScopedEnum::Three); + + m.def("test_scoped_enum", [](ScopedEnum z) { + return "ScopedEnum::" + std::string(z == ScopedEnum::Two ? "Two" : "Three"); + }); + + // test_binary_operators + enum Flags { + Read = 4, + Write = 2, + Execute = 1 + }; + py::enum_(m, "Flags", py::arithmetic()) + .value("Read", Flags::Read) + .value("Write", Flags::Write) + .value("Execute", Flags::Execute) + .export_values(); + + // test_implicit_conversion + class ClassWithUnscopedEnum { + public: + enum EMode { + EFirstMode = 1, + ESecondMode + }; + + static EMode test_function(EMode mode) { + return mode; + } + }; + py::class_ exenum_class(m, "ClassWithUnscopedEnum"); + exenum_class.def_static("test_function", &ClassWithUnscopedEnum::test_function); + py::enum_(exenum_class, "EMode") + .value("EFirstMode", ClassWithUnscopedEnum::EFirstMode) + .value("ESecondMode", ClassWithUnscopedEnum::ESecondMode) + .export_values(); + + // test_enum_to_int + m.def("test_enum_to_int", [](int) { }); + m.def("test_enum_to_uint", [](uint32_t) { }); + m.def("test_enum_to_long_long", [](long long) { }); + + // test_duplicate_enum_name + enum SimpleEnum + { + ONE, TWO, THREE + }; + + m.def("register_bad_enum", [m]() { + py::enum_(m, "SimpleEnum") + .value("ONE", SimpleEnum::ONE) //NOTE: all value function calls are called with the same first parameter value + .value("ONE", SimpleEnum::TWO) + .value("ONE", SimpleEnum::THREE) + .export_values(); + }); +} diff --git a/wrap/python/pybind11/tests/test_enum.py b/wrap/python/pybind11/tests/test_enum.py new file mode 100644 index 000000000..d0989adcd --- /dev/null +++ b/wrap/python/pybind11/tests/test_enum.py @@ -0,0 +1,167 @@ +import pytest +from pybind11_tests import enums as m + + +def test_unscoped_enum(): + assert str(m.UnscopedEnum.EOne) == "UnscopedEnum.EOne" + assert str(m.UnscopedEnum.ETwo) == "UnscopedEnum.ETwo" + assert str(m.EOne) == "UnscopedEnum.EOne" + + # name property + assert m.UnscopedEnum.EOne.name == "EOne" + assert m.UnscopedEnum.ETwo.name == "ETwo" + assert m.EOne.name == "EOne" + # name readonly + with pytest.raises(AttributeError): + m.UnscopedEnum.EOne.name = "" + # name returns a copy + foo = m.UnscopedEnum.EOne.name + foo = "bar" + assert m.UnscopedEnum.EOne.name == "EOne" + + # __members__ property + assert m.UnscopedEnum.__members__ == \ + {"EOne": m.UnscopedEnum.EOne, "ETwo": m.UnscopedEnum.ETwo} + # __members__ readonly + with pytest.raises(AttributeError): + m.UnscopedEnum.__members__ = {} + # __members__ returns a copy + foo = m.UnscopedEnum.__members__ + foo["bar"] = "baz" + assert m.UnscopedEnum.__members__ == \ + {"EOne": m.UnscopedEnum.EOne, "ETwo": m.UnscopedEnum.ETwo} + + assert m.UnscopedEnum.__doc__ == \ + '''An unscoped enumeration + +Members: + + EOne : Docstring for EOne + + ETwo : Docstring for ETwo''' or m.UnscopedEnum.__doc__ == \ + '''An unscoped enumeration + +Members: + + ETwo : Docstring for ETwo + + EOne : Docstring for EOne''' + + # Unscoped enums will accept ==/!= int comparisons + y = m.UnscopedEnum.ETwo + assert y == 2 + assert 2 == y + assert y != 3 + assert 3 != y + + assert int(m.UnscopedEnum.ETwo) == 2 + assert str(m.UnscopedEnum(2)) == "UnscopedEnum.ETwo" + + # order + assert m.UnscopedEnum.EOne < m.UnscopedEnum.ETwo + assert m.UnscopedEnum.EOne < 2 + assert m.UnscopedEnum.ETwo > m.UnscopedEnum.EOne + assert m.UnscopedEnum.ETwo > 1 + assert m.UnscopedEnum.ETwo <= 2 + assert m.UnscopedEnum.ETwo >= 2 + assert m.UnscopedEnum.EOne <= m.UnscopedEnum.ETwo + assert m.UnscopedEnum.EOne <= 2 + assert m.UnscopedEnum.ETwo >= m.UnscopedEnum.EOne + assert m.UnscopedEnum.ETwo >= 1 + assert not (m.UnscopedEnum.ETwo < m.UnscopedEnum.EOne) + assert not (2 < m.UnscopedEnum.EOne) + + +def test_scoped_enum(): + assert m.test_scoped_enum(m.ScopedEnum.Three) == "ScopedEnum::Three" + z = m.ScopedEnum.Two + assert m.test_scoped_enum(z) == "ScopedEnum::Two" + + # Scoped enums will *NOT* accept ==/!= int comparisons (Will always return False) + assert not z == 3 + assert not 3 == z + assert z != 3 + assert 3 != z + # Scoped enums will *NOT* accept >, <, >= and <= int comparisons (Will throw exceptions) + with pytest.raises(TypeError): + z > 3 + with pytest.raises(TypeError): + z < 3 + with pytest.raises(TypeError): + z >= 3 + with pytest.raises(TypeError): + z <= 3 + + # order + assert m.ScopedEnum.Two < m.ScopedEnum.Three + assert m.ScopedEnum.Three > m.ScopedEnum.Two + assert m.ScopedEnum.Two <= m.ScopedEnum.Three + assert m.ScopedEnum.Two <= m.ScopedEnum.Two + assert m.ScopedEnum.Two >= m.ScopedEnum.Two + assert m.ScopedEnum.Three >= m.ScopedEnum.Two + + +def test_implicit_conversion(): + assert str(m.ClassWithUnscopedEnum.EMode.EFirstMode) == "EMode.EFirstMode" + assert str(m.ClassWithUnscopedEnum.EFirstMode) == "EMode.EFirstMode" + + f = m.ClassWithUnscopedEnum.test_function + first = m.ClassWithUnscopedEnum.EFirstMode + second = m.ClassWithUnscopedEnum.ESecondMode + + assert f(first) == 1 + + assert f(first) == f(first) + assert not f(first) != f(first) + + assert f(first) != f(second) + assert not f(first) == f(second) + + assert f(first) == int(f(first)) + assert not f(first) != int(f(first)) + + assert f(first) != int(f(second)) + assert not f(first) == int(f(second)) + + # noinspection PyDictCreation + x = {f(first): 1, f(second): 2} + x[f(first)] = 3 + x[f(second)] = 4 + # Hashing test + assert str(x) == "{EMode.EFirstMode: 3, EMode.ESecondMode: 4}" + + +def test_binary_operators(): + assert int(m.Flags.Read) == 4 + assert int(m.Flags.Write) == 2 + assert int(m.Flags.Execute) == 1 + assert int(m.Flags.Read | m.Flags.Write | m.Flags.Execute) == 7 + assert int(m.Flags.Read | m.Flags.Write) == 6 + assert int(m.Flags.Read | m.Flags.Execute) == 5 + assert int(m.Flags.Write | m.Flags.Execute) == 3 + assert int(m.Flags.Write | 1) == 3 + + state = m.Flags.Read | m.Flags.Write + assert (state & m.Flags.Read) != 0 + assert (state & m.Flags.Write) != 0 + assert (state & m.Flags.Execute) == 0 + assert (state & 1) == 0 + + state2 = ~state + assert state2 == -7 + assert int(state ^ state2) == -1 + + +def test_enum_to_int(): + m.test_enum_to_int(m.Flags.Read) + m.test_enum_to_int(m.ClassWithUnscopedEnum.EMode.EFirstMode) + m.test_enum_to_uint(m.Flags.Read) + m.test_enum_to_uint(m.ClassWithUnscopedEnum.EMode.EFirstMode) + m.test_enum_to_long_long(m.Flags.Read) + m.test_enum_to_long_long(m.ClassWithUnscopedEnum.EMode.EFirstMode) + + +def test_duplicate_enum_name(): + with pytest.raises(ValueError) as excinfo: + m.register_bad_enum() + assert str(excinfo.value) == 'SimpleEnum: element "ONE" already exists!' diff --git a/wrap/python/pybind11/tests/test_eval.cpp b/wrap/python/pybind11/tests/test_eval.cpp new file mode 100644 index 000000000..e09482191 --- /dev/null +++ b/wrap/python/pybind11/tests/test_eval.cpp @@ -0,0 +1,91 @@ +/* + tests/test_eval.cpp -- Usage of eval() and eval_file() + + Copyright (c) 2016 Klemens D. Morgenstern + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + + +#include +#include "pybind11_tests.h" + +TEST_SUBMODULE(eval_, m) { + // test_evals + + auto global = py::dict(py::module::import("__main__").attr("__dict__")); + + m.def("test_eval_statements", [global]() { + auto local = py::dict(); + local["call_test"] = py::cpp_function([&]() -> int { + return 42; + }); + + // Regular string literal + py::exec( + "message = 'Hello World!'\n" + "x = call_test()", + global, local + ); + + // Multi-line raw string literal + py::exec(R"( + if x == 42: + print(message) + else: + raise RuntimeError + )", global, local + ); + auto x = local["x"].cast(); + + return x == 42; + }); + + m.def("test_eval", [global]() { + auto local = py::dict(); + local["x"] = py::int_(42); + auto x = py::eval("x", global, local); + return x.cast() == 42; + }); + + m.def("test_eval_single_statement", []() { + auto local = py::dict(); + local["call_test"] = py::cpp_function([&]() -> int { + return 42; + }); + + auto result = py::eval("x = call_test()", py::dict(), local); + auto x = local["x"].cast(); + return result.is_none() && x == 42; + }); + + m.def("test_eval_file", [global](py::str filename) { + auto local = py::dict(); + local["y"] = py::int_(43); + + int val_out; + local["call_test2"] = py::cpp_function([&](int value) { val_out = value; }); + + auto result = py::eval_file(filename, global, local); + return val_out == 43 && result.is_none(); + }); + + m.def("test_eval_failure", []() { + try { + py::eval("nonsense code ..."); + } catch (py::error_already_set &) { + return true; + } + return false; + }); + + m.def("test_eval_file_failure", []() { + try { + py::eval_file("non-existing file"); + } catch (std::exception &) { + return true; + } + return false; + }); +} diff --git a/wrap/python/pybind11/tests/test_eval.py b/wrap/python/pybind11/tests/test_eval.py new file mode 100644 index 000000000..bda4ef6bf --- /dev/null +++ b/wrap/python/pybind11/tests/test_eval.py @@ -0,0 +1,17 @@ +import os +from pybind11_tests import eval_ as m + + +def test_evals(capture): + with capture: + assert m.test_eval_statements() + assert capture == "Hello World!" + + assert m.test_eval() + assert m.test_eval_single_statement() + + filename = os.path.join(os.path.dirname(__file__), "test_eval_call.py") + assert m.test_eval_file(filename) + + assert m.test_eval_failure() + assert m.test_eval_file_failure() diff --git a/wrap/python/pybind11/tests/test_eval_call.py b/wrap/python/pybind11/tests/test_eval_call.py new file mode 100644 index 000000000..53c7e721f --- /dev/null +++ b/wrap/python/pybind11/tests/test_eval_call.py @@ -0,0 +1,4 @@ +# This file is called from 'test_eval.py' + +if 'call_test2' in locals(): + call_test2(y) # noqa: F821 undefined name diff --git a/wrap/python/pybind11/tests/test_exceptions.cpp b/wrap/python/pybind11/tests/test_exceptions.cpp new file mode 100644 index 000000000..d30139037 --- /dev/null +++ b/wrap/python/pybind11/tests/test_exceptions.cpp @@ -0,0 +1,196 @@ +/* + tests/test_custom-exceptions.cpp -- exception translation + + Copyright (c) 2016 Pim Schellart + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" + +// A type that should be raised as an exception in Python +class MyException : public std::exception { +public: + explicit MyException(const char * m) : message{m} {} + virtual const char * what() const noexcept override {return message.c_str();} +private: + std::string message = ""; +}; + +// A type that should be translated to a standard Python exception +class MyException2 : public std::exception { +public: + explicit MyException2(const char * m) : message{m} {} + virtual const char * what() const noexcept override {return message.c_str();} +private: + std::string message = ""; +}; + +// A type that is not derived from std::exception (and is thus unknown) +class MyException3 { +public: + explicit MyException3(const char * m) : message{m} {} + virtual const char * what() const noexcept {return message.c_str();} +private: + std::string message = ""; +}; + +// A type that should be translated to MyException +// and delegated to its exception translator +class MyException4 : public std::exception { +public: + explicit MyException4(const char * m) : message{m} {} + virtual const char * what() const noexcept override {return message.c_str();} +private: + std::string message = ""; +}; + + +// Like the above, but declared via the helper function +class MyException5 : public std::logic_error { +public: + explicit MyException5(const std::string &what) : std::logic_error(what) {} +}; + +// Inherits from MyException5 +class MyException5_1 : public MyException5 { + using MyException5::MyException5; +}; + +struct PythonCallInDestructor { + PythonCallInDestructor(const py::dict &d) : d(d) {} + ~PythonCallInDestructor() { d["good"] = true; } + + py::dict d; +}; + +TEST_SUBMODULE(exceptions, m) { + m.def("throw_std_exception", []() { + throw std::runtime_error("This exception was intentionally thrown."); + }); + + // make a new custom exception and use it as a translation target + static py::exception ex(m, "MyException"); + py::register_exception_translator([](std::exception_ptr p) { + try { + if (p) std::rethrow_exception(p); + } catch (const MyException &e) { + // Set MyException as the active python error + ex(e.what()); + } + }); + + // register new translator for MyException2 + // no need to store anything here because this type will + // never by visible from Python + py::register_exception_translator([](std::exception_ptr p) { + try { + if (p) std::rethrow_exception(p); + } catch (const MyException2 &e) { + // Translate this exception to a standard RuntimeError + PyErr_SetString(PyExc_RuntimeError, e.what()); + } + }); + + // register new translator for MyException4 + // which will catch it and delegate to the previously registered + // translator for MyException by throwing a new exception + py::register_exception_translator([](std::exception_ptr p) { + try { + if (p) std::rethrow_exception(p); + } catch (const MyException4 &e) { + throw MyException(e.what()); + } + }); + + // A simple exception translation: + auto ex5 = py::register_exception(m, "MyException5"); + // A slightly more complicated one that declares MyException5_1 as a subclass of MyException5 + py::register_exception(m, "MyException5_1", ex5.ptr()); + + m.def("throws1", []() { throw MyException("this error should go to a custom type"); }); + m.def("throws2", []() { throw MyException2("this error should go to a standard Python exception"); }); + m.def("throws3", []() { throw MyException3("this error cannot be translated"); }); + m.def("throws4", []() { throw MyException4("this error is rethrown"); }); + m.def("throws5", []() { throw MyException5("this is a helper-defined translated exception"); }); + m.def("throws5_1", []() { throw MyException5_1("MyException5 subclass"); }); + m.def("throws_logic_error", []() { throw std::logic_error("this error should fall through to the standard handler"); }); + m.def("exception_matches", []() { + py::dict foo; + try { + // Assign to a py::object to force read access of nonexistent dict entry + py::object o = foo["bar"]; + } + catch (py::error_already_set& ex) { + if (!ex.matches(PyExc_KeyError)) throw; + return true; + } + return false; + }); + m.def("exception_matches_base", []() { + py::dict foo; + try { + // Assign to a py::object to force read access of nonexistent dict entry + py::object o = foo["bar"]; + } + catch (py::error_already_set &ex) { + if (!ex.matches(PyExc_Exception)) throw; + return true; + } + return false; + }); + m.def("modulenotfound_exception_matches_base", []() { + try { + // On Python >= 3.6, this raises a ModuleNotFoundError, a subclass of ImportError + py::module::import("nonexistent"); + } + catch (py::error_already_set &ex) { + if (!ex.matches(PyExc_ImportError)) throw; + return true; + } + return false; + }); + + m.def("throw_already_set", [](bool err) { + if (err) + PyErr_SetString(PyExc_ValueError, "foo"); + try { + throw py::error_already_set(); + } catch (const std::runtime_error& e) { + if ((err && e.what() != std::string("ValueError: foo")) || + (!err && e.what() != std::string("Unknown internal error occurred"))) + { + PyErr_Clear(); + throw std::runtime_error("error message mismatch"); + } + } + PyErr_Clear(); + if (err) + PyErr_SetString(PyExc_ValueError, "foo"); + throw py::error_already_set(); + }); + + m.def("python_call_in_destructor", [](py::dict d) { + try { + PythonCallInDestructor set_dict_in_destructor(d); + PyErr_SetString(PyExc_ValueError, "foo"); + throw py::error_already_set(); + } catch (const py::error_already_set&) { + return true; + } + return false; + }); + + // test_nested_throws + m.def("try_catch", [m](py::object exc_type, py::function f, py::args args) { + try { f(*args); } + catch (py::error_already_set &ex) { + if (ex.matches(exc_type)) + py::print(ex.what()); + else + throw; + } + }); + +} diff --git a/wrap/python/pybind11/tests/test_exceptions.py b/wrap/python/pybind11/tests/test_exceptions.py new file mode 100644 index 000000000..6edff9fe4 --- /dev/null +++ b/wrap/python/pybind11/tests/test_exceptions.py @@ -0,0 +1,146 @@ +import pytest + +from pybind11_tests import exceptions as m +import pybind11_cross_module_tests as cm + + +def test_std_exception(msg): + with pytest.raises(RuntimeError) as excinfo: + m.throw_std_exception() + assert msg(excinfo.value) == "This exception was intentionally thrown." + + +def test_error_already_set(msg): + with pytest.raises(RuntimeError) as excinfo: + m.throw_already_set(False) + assert msg(excinfo.value) == "Unknown internal error occurred" + + with pytest.raises(ValueError) as excinfo: + m.throw_already_set(True) + assert msg(excinfo.value) == "foo" + + +def test_cross_module_exceptions(): + with pytest.raises(RuntimeError) as excinfo: + cm.raise_runtime_error() + assert str(excinfo.value) == "My runtime error" + + with pytest.raises(ValueError) as excinfo: + cm.raise_value_error() + assert str(excinfo.value) == "My value error" + + with pytest.raises(ValueError) as excinfo: + cm.throw_pybind_value_error() + assert str(excinfo.value) == "pybind11 value error" + + with pytest.raises(TypeError) as excinfo: + cm.throw_pybind_type_error() + assert str(excinfo.value) == "pybind11 type error" + + with pytest.raises(StopIteration) as excinfo: + cm.throw_stop_iteration() + + +def test_python_call_in_catch(): + d = {} + assert m.python_call_in_destructor(d) is True + assert d["good"] is True + + +def test_exception_matches(): + assert m.exception_matches() + assert m.exception_matches_base() + assert m.modulenotfound_exception_matches_base() + + +def test_custom(msg): + # Can we catch a MyException? + with pytest.raises(m.MyException) as excinfo: + m.throws1() + assert msg(excinfo.value) == "this error should go to a custom type" + + # Can we translate to standard Python exceptions? + with pytest.raises(RuntimeError) as excinfo: + m.throws2() + assert msg(excinfo.value) == "this error should go to a standard Python exception" + + # Can we handle unknown exceptions? + with pytest.raises(RuntimeError) as excinfo: + m.throws3() + assert msg(excinfo.value) == "Caught an unknown exception!" + + # Can we delegate to another handler by rethrowing? + with pytest.raises(m.MyException) as excinfo: + m.throws4() + assert msg(excinfo.value) == "this error is rethrown" + + # Can we fall-through to the default handler? + with pytest.raises(RuntimeError) as excinfo: + m.throws_logic_error() + assert msg(excinfo.value) == "this error should fall through to the standard handler" + + # Can we handle a helper-declared exception? + with pytest.raises(m.MyException5) as excinfo: + m.throws5() + assert msg(excinfo.value) == "this is a helper-defined translated exception" + + # Exception subclassing: + with pytest.raises(m.MyException5) as excinfo: + m.throws5_1() + assert msg(excinfo.value) == "MyException5 subclass" + assert isinstance(excinfo.value, m.MyException5_1) + + with pytest.raises(m.MyException5_1) as excinfo: + m.throws5_1() + assert msg(excinfo.value) == "MyException5 subclass" + + with pytest.raises(m.MyException5) as excinfo: + try: + m.throws5() + except m.MyException5_1: + raise RuntimeError("Exception error: caught child from parent") + assert msg(excinfo.value) == "this is a helper-defined translated exception" + + +def test_nested_throws(capture): + """Tests nested (e.g. C++ -> Python -> C++) exception handling""" + + def throw_myex(): + raise m.MyException("nested error") + + def throw_myex5(): + raise m.MyException5("nested error 5") + + # In the comments below, the exception is caught in the first step, thrown in the last step + + # C++ -> Python + with capture: + m.try_catch(m.MyException5, throw_myex5) + assert str(capture).startswith("MyException5: nested error 5") + + # Python -> C++ -> Python + with pytest.raises(m.MyException) as excinfo: + m.try_catch(m.MyException5, throw_myex) + assert str(excinfo.value) == "nested error" + + def pycatch(exctype, f, *args): + try: + f(*args) + except m.MyException as e: + print(e) + + # C++ -> Python -> C++ -> Python + with capture: + m.try_catch( + m.MyException5, pycatch, m.MyException, m.try_catch, m.MyException, throw_myex5) + assert str(capture).startswith("MyException5: nested error 5") + + # C++ -> Python -> C++ + with capture: + m.try_catch(m.MyException, pycatch, m.MyException5, m.throws4) + assert capture == "this error is rethrown" + + # Python -> C++ -> Python -> C++ + with pytest.raises(m.MyException5) as excinfo: + m.try_catch(m.MyException, pycatch, m.MyException, m.throws5) + assert str(excinfo.value) == "this is a helper-defined translated exception" diff --git a/wrap/python/pybind11/tests/test_factory_constructors.cpp b/wrap/python/pybind11/tests/test_factory_constructors.cpp new file mode 100644 index 000000000..5cfbfdc3f --- /dev/null +++ b/wrap/python/pybind11/tests/test_factory_constructors.cpp @@ -0,0 +1,338 @@ +/* + tests/test_factory_constructors.cpp -- tests construction from a factory function + via py::init_factory() + + Copyright (c) 2017 Jason Rhinelander + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" +#include + +// Classes for testing python construction via C++ factory function: +// Not publicly constructible, copyable, or movable: +class TestFactory1 { + friend class TestFactoryHelper; + TestFactory1() : value("(empty)") { print_default_created(this); } + TestFactory1(int v) : value(std::to_string(v)) { print_created(this, value); } + TestFactory1(std::string v) : value(std::move(v)) { print_created(this, value); } + TestFactory1(TestFactory1 &&) = delete; + TestFactory1(const TestFactory1 &) = delete; + TestFactory1 &operator=(TestFactory1 &&) = delete; + TestFactory1 &operator=(const TestFactory1 &) = delete; +public: + std::string value; + ~TestFactory1() { print_destroyed(this); } +}; +// Non-public construction, but moveable: +class TestFactory2 { + friend class TestFactoryHelper; + TestFactory2() : value("(empty2)") { print_default_created(this); } + TestFactory2(int v) : value(std::to_string(v)) { print_created(this, value); } + TestFactory2(std::string v) : value(std::move(v)) { print_created(this, value); } +public: + TestFactory2(TestFactory2 &&m) { value = std::move(m.value); print_move_created(this); } + TestFactory2 &operator=(TestFactory2 &&m) { value = std::move(m.value); print_move_assigned(this); return *this; } + std::string value; + ~TestFactory2() { print_destroyed(this); } +}; +// Mixed direct/factory construction: +class TestFactory3 { +protected: + friend class TestFactoryHelper; + TestFactory3() : value("(empty3)") { print_default_created(this); } + TestFactory3(int v) : value(std::to_string(v)) { print_created(this, value); } +public: + TestFactory3(std::string v) : value(std::move(v)) { print_created(this, value); } + TestFactory3(TestFactory3 &&m) { value = std::move(m.value); print_move_created(this); } + TestFactory3 &operator=(TestFactory3 &&m) { value = std::move(m.value); print_move_assigned(this); return *this; } + std::string value; + virtual ~TestFactory3() { print_destroyed(this); } +}; +// Inheritance test +class TestFactory4 : public TestFactory3 { +public: + TestFactory4() : TestFactory3() { print_default_created(this); } + TestFactory4(int v) : TestFactory3(v) { print_created(this, v); } + virtual ~TestFactory4() { print_destroyed(this); } +}; +// Another class for an invalid downcast test +class TestFactory5 : public TestFactory3 { +public: + TestFactory5(int i) : TestFactory3(i) { print_created(this, i); } + virtual ~TestFactory5() { print_destroyed(this); } +}; + +class TestFactory6 { +protected: + int value; + bool alias = false; +public: + TestFactory6(int i) : value{i} { print_created(this, i); } + TestFactory6(TestFactory6 &&f) { print_move_created(this); value = f.value; alias = f.alias; } + TestFactory6(const TestFactory6 &f) { print_copy_created(this); value = f.value; alias = f.alias; } + virtual ~TestFactory6() { print_destroyed(this); } + virtual int get() { return value; } + bool has_alias() { return alias; } +}; +class PyTF6 : public TestFactory6 { +public: + // Special constructor that allows the factory to construct a PyTF6 from a TestFactory6 only + // when an alias is needed: + PyTF6(TestFactory6 &&base) : TestFactory6(std::move(base)) { alias = true; print_created(this, "move", value); } + PyTF6(int i) : TestFactory6(i) { alias = true; print_created(this, i); } + PyTF6(PyTF6 &&f) : TestFactory6(std::move(f)) { print_move_created(this); } + PyTF6(const PyTF6 &f) : TestFactory6(f) { print_copy_created(this); } + PyTF6(std::string s) : TestFactory6((int) s.size()) { alias = true; print_created(this, s); } + virtual ~PyTF6() { print_destroyed(this); } + int get() override { PYBIND11_OVERLOAD(int, TestFactory6, get, /*no args*/); } +}; + +class TestFactory7 { +protected: + int value; + bool alias = false; +public: + TestFactory7(int i) : value{i} { print_created(this, i); } + TestFactory7(TestFactory7 &&f) { print_move_created(this); value = f.value; alias = f.alias; } + TestFactory7(const TestFactory7 &f) { print_copy_created(this); value = f.value; alias = f.alias; } + virtual ~TestFactory7() { print_destroyed(this); } + virtual int get() { return value; } + bool has_alias() { return alias; } +}; +class PyTF7 : public TestFactory7 { +public: + PyTF7(int i) : TestFactory7(i) { alias = true; print_created(this, i); } + PyTF7(PyTF7 &&f) : TestFactory7(std::move(f)) { print_move_created(this); } + PyTF7(const PyTF7 &f) : TestFactory7(f) { print_copy_created(this); } + virtual ~PyTF7() { print_destroyed(this); } + int get() override { PYBIND11_OVERLOAD(int, TestFactory7, get, /*no args*/); } +}; + + +class TestFactoryHelper { +public: + // Non-movable, non-copyable type: + // Return via pointer: + static TestFactory1 *construct1() { return new TestFactory1(); } + // Holder: + static std::unique_ptr construct1(int a) { return std::unique_ptr(new TestFactory1(a)); } + // pointer again + static TestFactory1 *construct1_string(std::string a) { return new TestFactory1(a); } + + // Moveable type: + // pointer: + static TestFactory2 *construct2() { return new TestFactory2(); } + // holder: + static std::unique_ptr construct2(int a) { return std::unique_ptr(new TestFactory2(a)); } + // by value moving: + static TestFactory2 construct2(std::string a) { return TestFactory2(a); } + + // shared_ptr holder type: + // pointer: + static TestFactory3 *construct3() { return new TestFactory3(); } + // holder: + static std::shared_ptr construct3(int a) { return std::shared_ptr(new TestFactory3(a)); } +}; + +TEST_SUBMODULE(factory_constructors, m) { + + // Define various trivial types to allow simpler overload resolution: + py::module m_tag = m.def_submodule("tag"); +#define MAKE_TAG_TYPE(Name) \ + struct Name##_tag {}; \ + py::class_(m_tag, #Name "_tag").def(py::init<>()); \ + m_tag.attr(#Name) = py::cast(Name##_tag{}) + MAKE_TAG_TYPE(pointer); + MAKE_TAG_TYPE(unique_ptr); + MAKE_TAG_TYPE(move); + MAKE_TAG_TYPE(shared_ptr); + MAKE_TAG_TYPE(derived); + MAKE_TAG_TYPE(TF4); + MAKE_TAG_TYPE(TF5); + MAKE_TAG_TYPE(null_ptr); + MAKE_TAG_TYPE(base); + MAKE_TAG_TYPE(invalid_base); + MAKE_TAG_TYPE(alias); + MAKE_TAG_TYPE(unaliasable); + MAKE_TAG_TYPE(mixed); + + // test_init_factory_basic, test_bad_type + py::class_(m, "TestFactory1") + .def(py::init([](unique_ptr_tag, int v) { return TestFactoryHelper::construct1(v); })) + .def(py::init(&TestFactoryHelper::construct1_string)) // raw function pointer + .def(py::init([](pointer_tag) { return TestFactoryHelper::construct1(); })) + .def(py::init([](py::handle, int v, py::handle) { return TestFactoryHelper::construct1(v); })) + .def_readwrite("value", &TestFactory1::value) + ; + py::class_(m, "TestFactory2") + .def(py::init([](pointer_tag, int v) { return TestFactoryHelper::construct2(v); })) + .def(py::init([](unique_ptr_tag, std::string v) { return TestFactoryHelper::construct2(v); })) + .def(py::init([](move_tag) { return TestFactoryHelper::construct2(); })) + .def_readwrite("value", &TestFactory2::value) + ; + + // Stateful & reused: + int c = 1; + auto c4a = [c](pointer_tag, TF4_tag, int a) { (void) c; return new TestFactory4(a);}; + + // test_init_factory_basic, test_init_factory_casting + py::class_>(m, "TestFactory3") + .def(py::init([](pointer_tag, int v) { return TestFactoryHelper::construct3(v); })) + .def(py::init([](shared_ptr_tag) { return TestFactoryHelper::construct3(); })) + .def("__init__", [](TestFactory3 &self, std::string v) { new (&self) TestFactory3(v); }) // placement-new ctor + + // factories returning a derived type: + .def(py::init(c4a)) // derived ptr + .def(py::init([](pointer_tag, TF5_tag, int a) { return new TestFactory5(a); })) + // derived shared ptr: + .def(py::init([](shared_ptr_tag, TF4_tag, int a) { return std::make_shared(a); })) + .def(py::init([](shared_ptr_tag, TF5_tag, int a) { return std::make_shared(a); })) + + // Returns nullptr: + .def(py::init([](null_ptr_tag) { return (TestFactory3 *) nullptr; })) + + .def_readwrite("value", &TestFactory3::value) + ; + + // test_init_factory_casting + py::class_>(m, "TestFactory4") + .def(py::init(c4a)) // pointer + ; + + // Doesn't need to be registered, but registering makes getting ConstructorStats easier: + py::class_>(m, "TestFactory5"); + + // test_init_factory_alias + // Alias testing + py::class_(m, "TestFactory6") + .def(py::init([](base_tag, int i) { return TestFactory6(i); })) + .def(py::init([](alias_tag, int i) { return PyTF6(i); })) + .def(py::init([](alias_tag, std::string s) { return PyTF6(s); })) + .def(py::init([](alias_tag, pointer_tag, int i) { return new PyTF6(i); })) + .def(py::init([](base_tag, pointer_tag, int i) { return new TestFactory6(i); })) + .def(py::init([](base_tag, alias_tag, pointer_tag, int i) { return (TestFactory6 *) new PyTF6(i); })) + + .def("get", &TestFactory6::get) + .def("has_alias", &TestFactory6::has_alias) + + .def_static("get_cstats", &ConstructorStats::get, py::return_value_policy::reference) + .def_static("get_alias_cstats", &ConstructorStats::get, py::return_value_policy::reference) + ; + + // test_init_factory_dual + // Separate alias constructor testing + py::class_>(m, "TestFactory7") + .def(py::init( + [](int i) { return TestFactory7(i); }, + [](int i) { return PyTF7(i); })) + .def(py::init( + [](pointer_tag, int i) { return new TestFactory7(i); }, + [](pointer_tag, int i) { return new PyTF7(i); })) + .def(py::init( + [](mixed_tag, int i) { return new TestFactory7(i); }, + [](mixed_tag, int i) { return PyTF7(i); })) + .def(py::init( + [](mixed_tag, std::string s) { return TestFactory7((int) s.size()); }, + [](mixed_tag, std::string s) { return new PyTF7((int) s.size()); })) + .def(py::init( + [](base_tag, pointer_tag, int i) { return new TestFactory7(i); }, + [](base_tag, pointer_tag, int i) { return (TestFactory7 *) new PyTF7(i); })) + .def(py::init( + [](alias_tag, pointer_tag, int i) { return new PyTF7(i); }, + [](alias_tag, pointer_tag, int i) { return new PyTF7(10*i); })) + .def(py::init( + [](shared_ptr_tag, base_tag, int i) { return std::make_shared(i); }, + [](shared_ptr_tag, base_tag, int i) { auto *p = new PyTF7(i); return std::shared_ptr(p); })) + .def(py::init( + [](shared_ptr_tag, invalid_base_tag, int i) { return std::make_shared(i); }, + [](shared_ptr_tag, invalid_base_tag, int i) { return std::make_shared(i); })) // <-- invalid alias factory + + .def("get", &TestFactory7::get) + .def("has_alias", &TestFactory7::has_alias) + + .def_static("get_cstats", &ConstructorStats::get, py::return_value_policy::reference) + .def_static("get_alias_cstats", &ConstructorStats::get, py::return_value_policy::reference) + ; + + // test_placement_new_alternative + // Class with a custom new operator but *without* a placement new operator (issue #948) + class NoPlacementNew { + public: + NoPlacementNew(int i) : i(i) { } + static void *operator new(std::size_t s) { + auto *p = ::operator new(s); + py::print("operator new called, returning", reinterpret_cast(p)); + return p; + } + static void operator delete(void *p) { + py::print("operator delete called on", reinterpret_cast(p)); + ::operator delete(p); + } + int i; + }; + // As of 2.2, `py::init` no longer requires placement new + py::class_(m, "NoPlacementNew") + .def(py::init()) + .def(py::init([]() { return new NoPlacementNew(100); })) + .def_readwrite("i", &NoPlacementNew::i) + ; + + + // test_reallocations + // Class that has verbose operator_new/operator_delete calls + struct NoisyAlloc { + NoisyAlloc(const NoisyAlloc &) = default; + NoisyAlloc(int i) { py::print(py::str("NoisyAlloc(int {})").format(i)); } + NoisyAlloc(double d) { py::print(py::str("NoisyAlloc(double {})").format(d)); } + ~NoisyAlloc() { py::print("~NoisyAlloc()"); } + + static void *operator new(size_t s) { py::print("noisy new"); return ::operator new(s); } + static void *operator new(size_t, void *p) { py::print("noisy placement new"); return p; } + static void operator delete(void *p, size_t) { py::print("noisy delete"); ::operator delete(p); } + static void operator delete(void *, void *) { py::print("noisy placement delete"); } +#if defined(_MSC_VER) && _MSC_VER < 1910 + // MSVC 2015 bug: the above "noisy delete" isn't invoked (fixed in MSVC 2017) + static void operator delete(void *p) { py::print("noisy delete"); ::operator delete(p); } +#endif + }; + py::class_(m, "NoisyAlloc") + // Since these overloads have the same number of arguments, the dispatcher will try each of + // them until the arguments convert. Thus we can get a pre-allocation here when passing a + // single non-integer: + .def("__init__", [](NoisyAlloc *a, int i) { new (a) NoisyAlloc(i); }) // Regular constructor, runs first, requires preallocation + .def(py::init([](double d) { return new NoisyAlloc(d); })) + + // The two-argument version: first the factory pointer overload. + .def(py::init([](int i, int) { return new NoisyAlloc(i); })) + // Return-by-value: + .def(py::init([](double d, int) { return NoisyAlloc(d); })) + // Old-style placement new init; requires preallocation + .def("__init__", [](NoisyAlloc &a, double d, double) { new (&a) NoisyAlloc(d); }) + // Requires deallocation of previous overload preallocated value: + .def(py::init([](int i, double) { return new NoisyAlloc(i); })) + // Regular again: requires yet another preallocation + .def("__init__", [](NoisyAlloc &a, int i, std::string) { new (&a) NoisyAlloc(i); }) + ; + + + + + // static_assert testing (the following def's should all fail with appropriate compilation errors): +#if 0 + struct BadF1Base {}; + struct BadF1 : BadF1Base {}; + struct PyBadF1 : BadF1 {}; + py::class_> bf1(m, "BadF1"); + // wrapped factory function must return a compatible pointer, holder, or value + bf1.def(py::init([]() { return 3; })); + // incompatible factory function pointer return type + bf1.def(py::init([]() { static int three = 3; return &three; })); + // incompatible factory function std::shared_ptr return type: cannot convert shared_ptr to holder + // (non-polymorphic base) + bf1.def(py::init([]() { return std::shared_ptr(new BadF1()); })); +#endif +} diff --git a/wrap/python/pybind11/tests/test_factory_constructors.py b/wrap/python/pybind11/tests/test_factory_constructors.py new file mode 100644 index 000000000..78a3910ad --- /dev/null +++ b/wrap/python/pybind11/tests/test_factory_constructors.py @@ -0,0 +1,459 @@ +import pytest +import re + +from pybind11_tests import factory_constructors as m +from pybind11_tests.factory_constructors import tag +from pybind11_tests import ConstructorStats + + +def test_init_factory_basic(): + """Tests py::init_factory() wrapper around various ways of returning the object""" + + cstats = [ConstructorStats.get(c) for c in [m.TestFactory1, m.TestFactory2, m.TestFactory3]] + cstats[0].alive() # force gc + n_inst = ConstructorStats.detail_reg_inst() + + x1 = m.TestFactory1(tag.unique_ptr, 3) + assert x1.value == "3" + y1 = m.TestFactory1(tag.pointer) + assert y1.value == "(empty)" + z1 = m.TestFactory1("hi!") + assert z1.value == "hi!" + + assert ConstructorStats.detail_reg_inst() == n_inst + 3 + + x2 = m.TestFactory2(tag.move) + assert x2.value == "(empty2)" + y2 = m.TestFactory2(tag.pointer, 7) + assert y2.value == "7" + z2 = m.TestFactory2(tag.unique_ptr, "hi again") + assert z2.value == "hi again" + + assert ConstructorStats.detail_reg_inst() == n_inst + 6 + + x3 = m.TestFactory3(tag.shared_ptr) + assert x3.value == "(empty3)" + y3 = m.TestFactory3(tag.pointer, 42) + assert y3.value == "42" + z3 = m.TestFactory3("bye") + assert z3.value == "bye" + + with pytest.raises(TypeError) as excinfo: + m.TestFactory3(tag.null_ptr) + assert str(excinfo.value) == "pybind11::init(): factory function returned nullptr" + + assert [i.alive() for i in cstats] == [3, 3, 3] + assert ConstructorStats.detail_reg_inst() == n_inst + 9 + + del x1, y2, y3, z3 + assert [i.alive() for i in cstats] == [2, 2, 1] + assert ConstructorStats.detail_reg_inst() == n_inst + 5 + del x2, x3, y1, z1, z2 + assert [i.alive() for i in cstats] == [0, 0, 0] + assert ConstructorStats.detail_reg_inst() == n_inst + + assert [i.values() for i in cstats] == [ + ["3", "hi!"], + ["7", "hi again"], + ["42", "bye"] + ] + assert [i.default_constructions for i in cstats] == [1, 1, 1] + + +def test_init_factory_signature(msg): + with pytest.raises(TypeError) as excinfo: + m.TestFactory1("invalid", "constructor", "arguments") + assert msg(excinfo.value) == """ + __init__(): incompatible constructor arguments. The following argument types are supported: + 1. m.factory_constructors.TestFactory1(arg0: m.factory_constructors.tag.unique_ptr_tag, arg1: int) + 2. m.factory_constructors.TestFactory1(arg0: str) + 3. m.factory_constructors.TestFactory1(arg0: m.factory_constructors.tag.pointer_tag) + 4. m.factory_constructors.TestFactory1(arg0: handle, arg1: int, arg2: handle) + + Invoked with: 'invalid', 'constructor', 'arguments' + """ # noqa: E501 line too long + + assert msg(m.TestFactory1.__init__.__doc__) == """ + __init__(*args, **kwargs) + Overloaded function. + + 1. __init__(self: m.factory_constructors.TestFactory1, arg0: m.factory_constructors.tag.unique_ptr_tag, arg1: int) -> None + + 2. __init__(self: m.factory_constructors.TestFactory1, arg0: str) -> None + + 3. __init__(self: m.factory_constructors.TestFactory1, arg0: m.factory_constructors.tag.pointer_tag) -> None + + 4. __init__(self: m.factory_constructors.TestFactory1, arg0: handle, arg1: int, arg2: handle) -> None + """ # noqa: E501 line too long + + +def test_init_factory_casting(): + """Tests py::init_factory() wrapper with various upcasting and downcasting returns""" + + cstats = [ConstructorStats.get(c) for c in [m.TestFactory3, m.TestFactory4, m.TestFactory5]] + cstats[0].alive() # force gc + n_inst = ConstructorStats.detail_reg_inst() + + # Construction from derived references: + a = m.TestFactory3(tag.pointer, tag.TF4, 4) + assert a.value == "4" + b = m.TestFactory3(tag.shared_ptr, tag.TF4, 5) + assert b.value == "5" + c = m.TestFactory3(tag.pointer, tag.TF5, 6) + assert c.value == "6" + d = m.TestFactory3(tag.shared_ptr, tag.TF5, 7) + assert d.value == "7" + + assert ConstructorStats.detail_reg_inst() == n_inst + 4 + + # Shared a lambda with TF3: + e = m.TestFactory4(tag.pointer, tag.TF4, 8) + assert e.value == "8" + + assert ConstructorStats.detail_reg_inst() == n_inst + 5 + assert [i.alive() for i in cstats] == [5, 3, 2] + + del a + assert [i.alive() for i in cstats] == [4, 2, 2] + assert ConstructorStats.detail_reg_inst() == n_inst + 4 + + del b, c, e + assert [i.alive() for i in cstats] == [1, 0, 1] + assert ConstructorStats.detail_reg_inst() == n_inst + 1 + + del d + assert [i.alive() for i in cstats] == [0, 0, 0] + assert ConstructorStats.detail_reg_inst() == n_inst + + assert [i.values() for i in cstats] == [ + ["4", "5", "6", "7", "8"], + ["4", "5", "8"], + ["6", "7"] + ] + + +def test_init_factory_alias(): + """Tests py::init_factory() wrapper with value conversions and alias types""" + + cstats = [m.TestFactory6.get_cstats(), m.TestFactory6.get_alias_cstats()] + cstats[0].alive() # force gc + n_inst = ConstructorStats.detail_reg_inst() + + a = m.TestFactory6(tag.base, 1) + assert a.get() == 1 + assert not a.has_alias() + b = m.TestFactory6(tag.alias, "hi there") + assert b.get() == 8 + assert b.has_alias() + c = m.TestFactory6(tag.alias, 3) + assert c.get() == 3 + assert c.has_alias() + d = m.TestFactory6(tag.alias, tag.pointer, 4) + assert d.get() == 4 + assert d.has_alias() + e = m.TestFactory6(tag.base, tag.pointer, 5) + assert e.get() == 5 + assert not e.has_alias() + f = m.TestFactory6(tag.base, tag.alias, tag.pointer, 6) + assert f.get() == 6 + assert f.has_alias() + + assert ConstructorStats.detail_reg_inst() == n_inst + 6 + assert [i.alive() for i in cstats] == [6, 4] + + del a, b, e + assert [i.alive() for i in cstats] == [3, 3] + assert ConstructorStats.detail_reg_inst() == n_inst + 3 + del f, c, d + assert [i.alive() for i in cstats] == [0, 0] + assert ConstructorStats.detail_reg_inst() == n_inst + + class MyTest(m.TestFactory6): + def __init__(self, *args): + m.TestFactory6.__init__(self, *args) + + def get(self): + return -5 + m.TestFactory6.get(self) + + # Return Class by value, moved into new alias: + z = MyTest(tag.base, 123) + assert z.get() == 118 + assert z.has_alias() + + # Return alias by value, moved into new alias: + y = MyTest(tag.alias, "why hello!") + assert y.get() == 5 + assert y.has_alias() + + # Return Class by pointer, moved into new alias then original destroyed: + x = MyTest(tag.base, tag.pointer, 47) + assert x.get() == 42 + assert x.has_alias() + + assert ConstructorStats.detail_reg_inst() == n_inst + 3 + assert [i.alive() for i in cstats] == [3, 3] + del x, y, z + assert [i.alive() for i in cstats] == [0, 0] + assert ConstructorStats.detail_reg_inst() == n_inst + + assert [i.values() for i in cstats] == [ + ["1", "8", "3", "4", "5", "6", "123", "10", "47"], + ["hi there", "3", "4", "6", "move", "123", "why hello!", "move", "47"] + ] + + +def test_init_factory_dual(): + """Tests init factory functions with dual main/alias factory functions""" + from pybind11_tests.factory_constructors import TestFactory7 + + cstats = [TestFactory7.get_cstats(), TestFactory7.get_alias_cstats()] + cstats[0].alive() # force gc + n_inst = ConstructorStats.detail_reg_inst() + + class PythFactory7(TestFactory7): + def get(self): + return 100 + TestFactory7.get(self) + + a1 = TestFactory7(1) + a2 = PythFactory7(2) + assert a1.get() == 1 + assert a2.get() == 102 + assert not a1.has_alias() + assert a2.has_alias() + + b1 = TestFactory7(tag.pointer, 3) + b2 = PythFactory7(tag.pointer, 4) + assert b1.get() == 3 + assert b2.get() == 104 + assert not b1.has_alias() + assert b2.has_alias() + + c1 = TestFactory7(tag.mixed, 5) + c2 = PythFactory7(tag.mixed, 6) + assert c1.get() == 5 + assert c2.get() == 106 + assert not c1.has_alias() + assert c2.has_alias() + + d1 = TestFactory7(tag.base, tag.pointer, 7) + d2 = PythFactory7(tag.base, tag.pointer, 8) + assert d1.get() == 7 + assert d2.get() == 108 + assert not d1.has_alias() + assert d2.has_alias() + + # Both return an alias; the second multiplies the value by 10: + e1 = TestFactory7(tag.alias, tag.pointer, 9) + e2 = PythFactory7(tag.alias, tag.pointer, 10) + assert e1.get() == 9 + assert e2.get() == 200 + assert e1.has_alias() + assert e2.has_alias() + + f1 = TestFactory7(tag.shared_ptr, tag.base, 11) + f2 = PythFactory7(tag.shared_ptr, tag.base, 12) + assert f1.get() == 11 + assert f2.get() == 112 + assert not f1.has_alias() + assert f2.has_alias() + + g1 = TestFactory7(tag.shared_ptr, tag.invalid_base, 13) + assert g1.get() == 13 + assert not g1.has_alias() + with pytest.raises(TypeError) as excinfo: + PythFactory7(tag.shared_ptr, tag.invalid_base, 14) + assert (str(excinfo.value) == + "pybind11::init(): construction failed: returned holder-wrapped instance is not an " + "alias instance") + + assert [i.alive() for i in cstats] == [13, 7] + assert ConstructorStats.detail_reg_inst() == n_inst + 13 + + del a1, a2, b1, d1, e1, e2 + assert [i.alive() for i in cstats] == [7, 4] + assert ConstructorStats.detail_reg_inst() == n_inst + 7 + del b2, c1, c2, d2, f1, f2, g1 + assert [i.alive() for i in cstats] == [0, 0] + assert ConstructorStats.detail_reg_inst() == n_inst + + assert [i.values() for i in cstats] == [ + ["1", "2", "3", "4", "5", "6", "7", "8", "9", "100", "11", "12", "13", "14"], + ["2", "4", "6", "8", "9", "100", "12"] + ] + + +def test_no_placement_new(capture): + """Prior to 2.2, `py::init<...>` relied on the type supporting placement + new; this tests a class without placement new support.""" + with capture: + a = m.NoPlacementNew(123) + + found = re.search(r'^operator new called, returning (\d+)\n$', str(capture)) + assert found + assert a.i == 123 + with capture: + del a + pytest.gc_collect() + assert capture == "operator delete called on " + found.group(1) + + with capture: + b = m.NoPlacementNew() + + found = re.search(r'^operator new called, returning (\d+)\n$', str(capture)) + assert found + assert b.i == 100 + with capture: + del b + pytest.gc_collect() + assert capture == "operator delete called on " + found.group(1) + + +def test_multiple_inheritance(): + class MITest(m.TestFactory1, m.TestFactory2): + def __init__(self): + m.TestFactory1.__init__(self, tag.unique_ptr, 33) + m.TestFactory2.__init__(self, tag.move) + + a = MITest() + assert m.TestFactory1.value.fget(a) == "33" + assert m.TestFactory2.value.fget(a) == "(empty2)" + + +def create_and_destroy(*args): + a = m.NoisyAlloc(*args) + print("---") + del a + pytest.gc_collect() + + +def strip_comments(s): + return re.sub(r'\s+#.*', '', s) + + +def test_reallocations(capture, msg): + """When the constructor is overloaded, previous overloads can require a preallocated value. + This test makes sure that such preallocated values only happen when they might be necessary, + and that they are deallocated properly""" + + pytest.gc_collect() + + with capture: + create_and_destroy(1) + assert msg(capture) == """ + noisy new + noisy placement new + NoisyAlloc(int 1) + --- + ~NoisyAlloc() + noisy delete + """ + with capture: + create_and_destroy(1.5) + assert msg(capture) == strip_comments(""" + noisy new # allocation required to attempt first overload + noisy delete # have to dealloc before considering factory init overload + noisy new # pointer factory calling "new", part 1: allocation + NoisyAlloc(double 1.5) # ... part two, invoking constructor + --- + ~NoisyAlloc() # Destructor + noisy delete # operator delete + """) + + with capture: + create_and_destroy(2, 3) + assert msg(capture) == strip_comments(""" + noisy new # pointer factory calling "new", allocation + NoisyAlloc(int 2) # constructor + --- + ~NoisyAlloc() # Destructor + noisy delete # operator delete + """) + + with capture: + create_and_destroy(2.5, 3) + assert msg(capture) == strip_comments(""" + NoisyAlloc(double 2.5) # construction (local func variable: operator_new not called) + noisy new # return-by-value "new" part 1: allocation + ~NoisyAlloc() # moved-away local func variable destruction + --- + ~NoisyAlloc() # Destructor + noisy delete # operator delete + """) + + with capture: + create_and_destroy(3.5, 4.5) + assert msg(capture) == strip_comments(""" + noisy new # preallocation needed before invoking placement-new overload + noisy placement new # Placement new + NoisyAlloc(double 3.5) # construction + --- + ~NoisyAlloc() # Destructor + noisy delete # operator delete + """) + + with capture: + create_and_destroy(4, 0.5) + assert msg(capture) == strip_comments(""" + noisy new # preallocation needed before invoking placement-new overload + noisy delete # deallocation of preallocated storage + noisy new # Factory pointer allocation + NoisyAlloc(int 4) # factory pointer construction + --- + ~NoisyAlloc() # Destructor + noisy delete # operator delete + """) + + with capture: + create_and_destroy(5, "hi") + assert msg(capture) == strip_comments(""" + noisy new # preallocation needed before invoking first placement new + noisy delete # delete before considering new-style constructor + noisy new # preallocation for second placement new + noisy placement new # Placement new in the second placement new overload + NoisyAlloc(int 5) # construction + --- + ~NoisyAlloc() # Destructor + noisy delete # operator delete + """) + + +@pytest.unsupported_on_py2 +def test_invalid_self(): + """Tests invocation of the pybind-registered base class with an invalid `self` argument. You + can only actually do this on Python 3: Python 2 raises an exception itself if you try.""" + class NotPybindDerived(object): + pass + + # Attempts to initialize with an invalid type passed as `self`: + class BrokenTF1(m.TestFactory1): + def __init__(self, bad): + if bad == 1: + a = m.TestFactory2(tag.pointer, 1) + m.TestFactory1.__init__(a, tag.pointer) + elif bad == 2: + a = NotPybindDerived() + m.TestFactory1.__init__(a, tag.pointer) + + # Same as above, but for a class with an alias: + class BrokenTF6(m.TestFactory6): + def __init__(self, bad): + if bad == 1: + a = m.TestFactory2(tag.pointer, 1) + m.TestFactory6.__init__(a, tag.base, 1) + elif bad == 2: + a = m.TestFactory2(tag.pointer, 1) + m.TestFactory6.__init__(a, tag.alias, 1) + elif bad == 3: + m.TestFactory6.__init__(NotPybindDerived.__new__(NotPybindDerived), tag.base, 1) + elif bad == 4: + m.TestFactory6.__init__(NotPybindDerived.__new__(NotPybindDerived), tag.alias, 1) + + for arg in (1, 2): + with pytest.raises(TypeError) as excinfo: + BrokenTF1(arg) + assert str(excinfo.value) == "__init__(self, ...) called with invalid `self` argument" + + for arg in (1, 2, 3, 4): + with pytest.raises(TypeError) as excinfo: + BrokenTF6(arg) + assert str(excinfo.value) == "__init__(self, ...) called with invalid `self` argument" diff --git a/wrap/python/pybind11/tests/test_gil_scoped.cpp b/wrap/python/pybind11/tests/test_gil_scoped.cpp new file mode 100644 index 000000000..cb0010ee6 --- /dev/null +++ b/wrap/python/pybind11/tests/test_gil_scoped.cpp @@ -0,0 +1,44 @@ +/* + tests/test_gil_scoped.cpp -- acquire and release gil + + Copyright (c) 2017 Borja Zarco (Google LLC) + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include + + +class VirtClass { +public: + virtual ~VirtClass() {} + virtual void virtual_func() {} + virtual void pure_virtual_func() = 0; +}; + +class PyVirtClass : public VirtClass { + void virtual_func() override { + PYBIND11_OVERLOAD(void, VirtClass, virtual_func,); + } + void pure_virtual_func() override { + PYBIND11_OVERLOAD_PURE(void, VirtClass, pure_virtual_func,); + } +}; + +TEST_SUBMODULE(gil_scoped, m) { + py::class_(m, "VirtClass") + .def(py::init<>()) + .def("virtual_func", &VirtClass::virtual_func) + .def("pure_virtual_func", &VirtClass::pure_virtual_func); + + m.def("test_callback_py_obj", + [](py::object func) { func(); }); + m.def("test_callback_std_func", + [](const std::function &func) { func(); }); + m.def("test_callback_virtual_func", + [](VirtClass &virt) { virt.virtual_func(); }); + m.def("test_callback_pure_virtual_func", + [](VirtClass &virt) { virt.pure_virtual_func(); }); +} diff --git a/wrap/python/pybind11/tests/test_gil_scoped.py b/wrap/python/pybind11/tests/test_gil_scoped.py new file mode 100644 index 000000000..2c72fc6d6 --- /dev/null +++ b/wrap/python/pybind11/tests/test_gil_scoped.py @@ -0,0 +1,80 @@ +import multiprocessing +import threading +from pybind11_tests import gil_scoped as m + + +def _run_in_process(target, *args, **kwargs): + """Runs target in process and returns its exitcode after 10s (None if still alive).""" + process = multiprocessing.Process(target=target, args=args, kwargs=kwargs) + process.daemon = True + try: + process.start() + # Do not need to wait much, 10s should be more than enough. + process.join(timeout=10) + return process.exitcode + finally: + if process.is_alive(): + process.terminate() + + +def _python_to_cpp_to_python(): + """Calls different C++ functions that come back to Python.""" + class ExtendedVirtClass(m.VirtClass): + def virtual_func(self): + pass + + def pure_virtual_func(self): + pass + + extended = ExtendedVirtClass() + m.test_callback_py_obj(lambda: None) + m.test_callback_std_func(lambda: None) + m.test_callback_virtual_func(extended) + m.test_callback_pure_virtual_func(extended) + + +def _python_to_cpp_to_python_from_threads(num_threads, parallel=False): + """Calls different C++ functions that come back to Python, from Python threads.""" + threads = [] + for _ in range(num_threads): + thread = threading.Thread(target=_python_to_cpp_to_python) + thread.daemon = True + thread.start() + if parallel: + threads.append(thread) + else: + thread.join() + for thread in threads: + thread.join() + + +def test_python_to_cpp_to_python_from_thread(): + """Makes sure there is no GIL deadlock when running in a thread. + + It runs in a separate process to be able to stop and assert if it deadlocks. + """ + assert _run_in_process(_python_to_cpp_to_python_from_threads, 1) == 0 + + +def test_python_to_cpp_to_python_from_thread_multiple_parallel(): + """Makes sure there is no GIL deadlock when running in a thread multiple times in parallel. + + It runs in a separate process to be able to stop and assert if it deadlocks. + """ + assert _run_in_process(_python_to_cpp_to_python_from_threads, 8, parallel=True) == 0 + + +def test_python_to_cpp_to_python_from_thread_multiple_sequential(): + """Makes sure there is no GIL deadlock when running in a thread multiple times sequentially. + + It runs in a separate process to be able to stop and assert if it deadlocks. + """ + assert _run_in_process(_python_to_cpp_to_python_from_threads, 8, parallel=False) == 0 + + +def test_python_to_cpp_to_python_from_process(): + """Makes sure there is no GIL deadlock when using processes. + + This test is for completion, but it was never an issue. + """ + assert _run_in_process(_python_to_cpp_to_python) == 0 diff --git a/wrap/python/pybind11/tests/test_iostream.cpp b/wrap/python/pybind11/tests/test_iostream.cpp new file mode 100644 index 000000000..e67f88af5 --- /dev/null +++ b/wrap/python/pybind11/tests/test_iostream.cpp @@ -0,0 +1,73 @@ +/* + tests/test_iostream.cpp -- Usage of scoped_output_redirect + + Copyright (c) 2017 Henry F. Schreiner + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + + +#include +#include "pybind11_tests.h" +#include + + +void noisy_function(std::string msg, bool flush) { + + std::cout << msg; + if (flush) + std::cout << std::flush; +} + +void noisy_funct_dual(std::string msg, std::string emsg) { + std::cout << msg; + std::cerr << emsg; +} + +TEST_SUBMODULE(iostream, m) { + + add_ostream_redirect(m); + + // test_evals + + m.def("captured_output_default", [](std::string msg) { + py::scoped_ostream_redirect redir; + std::cout << msg << std::flush; + }); + + m.def("captured_output", [](std::string msg) { + py::scoped_ostream_redirect redir(std::cout, py::module::import("sys").attr("stdout")); + std::cout << msg << std::flush; + }); + + m.def("guard_output", &noisy_function, + py::call_guard(), + py::arg("msg"), py::arg("flush")=true); + + m.def("captured_err", [](std::string msg) { + py::scoped_ostream_redirect redir(std::cerr, py::module::import("sys").attr("stderr")); + std::cerr << msg << std::flush; + }); + + m.def("noisy_function", &noisy_function, py::arg("msg"), py::arg("flush") = true); + + m.def("dual_guard", &noisy_funct_dual, + py::call_guard(), + py::arg("msg"), py::arg("emsg")); + + m.def("raw_output", [](std::string msg) { + std::cout << msg << std::flush; + }); + + m.def("raw_err", [](std::string msg) { + std::cerr << msg << std::flush; + }); + + m.def("captured_dual", [](std::string msg, std::string emsg) { + py::scoped_ostream_redirect redirout(std::cout, py::module::import("sys").attr("stdout")); + py::scoped_ostream_redirect redirerr(std::cerr, py::module::import("sys").attr("stderr")); + std::cout << msg << std::flush; + std::cerr << emsg << std::flush; + }); +} diff --git a/wrap/python/pybind11/tests/test_iostream.py b/wrap/python/pybind11/tests/test_iostream.py new file mode 100644 index 000000000..27095b270 --- /dev/null +++ b/wrap/python/pybind11/tests/test_iostream.py @@ -0,0 +1,214 @@ +from pybind11_tests import iostream as m +import sys + +from contextlib import contextmanager + +try: + # Python 3 + from io import StringIO +except ImportError: + # Python 2 + try: + from cStringIO import StringIO + except ImportError: + from StringIO import StringIO + +try: + # Python 3.4 + from contextlib import redirect_stdout +except ImportError: + @contextmanager + def redirect_stdout(target): + original = sys.stdout + sys.stdout = target + yield + sys.stdout = original + +try: + # Python 3.5 + from contextlib import redirect_stderr +except ImportError: + @contextmanager + def redirect_stderr(target): + original = sys.stderr + sys.stderr = target + yield + sys.stderr = original + + +def test_captured(capsys): + msg = "I've been redirected to Python, I hope!" + m.captured_output(msg) + stdout, stderr = capsys.readouterr() + assert stdout == msg + assert stderr == '' + + m.captured_output_default(msg) + stdout, stderr = capsys.readouterr() + assert stdout == msg + assert stderr == '' + + m.captured_err(msg) + stdout, stderr = capsys.readouterr() + assert stdout == '' + assert stderr == msg + + +def test_captured_large_string(capsys): + # Make this bigger than the buffer used on the C++ side: 1024 chars + msg = "I've been redirected to Python, I hope!" + msg = msg * (1024 // len(msg) + 1) + + m.captured_output_default(msg) + stdout, stderr = capsys.readouterr() + assert stdout == msg + assert stderr == '' + + +def test_guard_capture(capsys): + msg = "I've been redirected to Python, I hope!" + m.guard_output(msg) + stdout, stderr = capsys.readouterr() + assert stdout == msg + assert stderr == '' + + +def test_series_captured(capture): + with capture: + m.captured_output("a") + m.captured_output("b") + assert capture == "ab" + + +def test_flush(capfd): + msg = "(not flushed)" + msg2 = "(flushed)" + + with m.ostream_redirect(): + m.noisy_function(msg, flush=False) + stdout, stderr = capfd.readouterr() + assert stdout == '' + + m.noisy_function(msg2, flush=True) + stdout, stderr = capfd.readouterr() + assert stdout == msg + msg2 + + m.noisy_function(msg, flush=False) + + stdout, stderr = capfd.readouterr() + assert stdout == msg + + +def test_not_captured(capfd): + msg = "Something that should not show up in log" + stream = StringIO() + with redirect_stdout(stream): + m.raw_output(msg) + stdout, stderr = capfd.readouterr() + assert stdout == msg + assert stderr == '' + assert stream.getvalue() == '' + + stream = StringIO() + with redirect_stdout(stream): + m.captured_output(msg) + stdout, stderr = capfd.readouterr() + assert stdout == '' + assert stderr == '' + assert stream.getvalue() == msg + + +def test_err(capfd): + msg = "Something that should not show up in log" + stream = StringIO() + with redirect_stderr(stream): + m.raw_err(msg) + stdout, stderr = capfd.readouterr() + assert stdout == '' + assert stderr == msg + assert stream.getvalue() == '' + + stream = StringIO() + with redirect_stderr(stream): + m.captured_err(msg) + stdout, stderr = capfd.readouterr() + assert stdout == '' + assert stderr == '' + assert stream.getvalue() == msg + + +def test_multi_captured(capfd): + stream = StringIO() + with redirect_stdout(stream): + m.captured_output("a") + m.raw_output("b") + m.captured_output("c") + m.raw_output("d") + stdout, stderr = capfd.readouterr() + assert stdout == 'bd' + assert stream.getvalue() == 'ac' + + +def test_dual(capsys): + m.captured_dual("a", "b") + stdout, stderr = capsys.readouterr() + assert stdout == "a" + assert stderr == "b" + + +def test_redirect(capfd): + msg = "Should not be in log!" + stream = StringIO() + with redirect_stdout(stream): + m.raw_output(msg) + stdout, stderr = capfd.readouterr() + assert stdout == msg + assert stream.getvalue() == '' + + stream = StringIO() + with redirect_stdout(stream): + with m.ostream_redirect(): + m.raw_output(msg) + stdout, stderr = capfd.readouterr() + assert stdout == '' + assert stream.getvalue() == msg + + stream = StringIO() + with redirect_stdout(stream): + m.raw_output(msg) + stdout, stderr = capfd.readouterr() + assert stdout == msg + assert stream.getvalue() == '' + + +def test_redirect_err(capfd): + msg = "StdOut" + msg2 = "StdErr" + + stream = StringIO() + with redirect_stderr(stream): + with m.ostream_redirect(stdout=False): + m.raw_output(msg) + m.raw_err(msg2) + stdout, stderr = capfd.readouterr() + assert stdout == msg + assert stderr == '' + assert stream.getvalue() == msg2 + + +def test_redirect_both(capfd): + msg = "StdOut" + msg2 = "StdErr" + + stream = StringIO() + stream2 = StringIO() + with redirect_stdout(stream): + with redirect_stderr(stream2): + with m.ostream_redirect(): + m.raw_output(msg) + m.raw_err(msg2) + stdout, stderr = capfd.readouterr() + assert stdout == '' + assert stderr == '' + assert stream.getvalue() == msg + assert stream2.getvalue() == msg2 diff --git a/wrap/python/pybind11/tests/test_kwargs_and_defaults.cpp b/wrap/python/pybind11/tests/test_kwargs_and_defaults.cpp new file mode 100644 index 000000000..6563fb9ad --- /dev/null +++ b/wrap/python/pybind11/tests/test_kwargs_and_defaults.cpp @@ -0,0 +1,102 @@ +/* + tests/test_kwargs_and_defaults.cpp -- keyword arguments and default values + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" +#include + +TEST_SUBMODULE(kwargs_and_defaults, m) { + auto kw_func = [](int x, int y) { return "x=" + std::to_string(x) + ", y=" + std::to_string(y); }; + + // test_named_arguments + m.def("kw_func0", kw_func); + m.def("kw_func1", kw_func, py::arg("x"), py::arg("y")); + m.def("kw_func2", kw_func, py::arg("x") = 100, py::arg("y") = 200); + m.def("kw_func3", [](const char *) { }, py::arg("data") = std::string("Hello world!")); + + /* A fancier default argument */ + std::vector list{{13, 17}}; + m.def("kw_func4", [](const std::vector &entries) { + std::string ret = "{"; + for (int i : entries) + ret += std::to_string(i) + " "; + ret.back() = '}'; + return ret; + }, py::arg("myList") = list); + + m.def("kw_func_udl", kw_func, "x"_a, "y"_a=300); + m.def("kw_func_udl_z", kw_func, "x"_a, "y"_a=0); + + // test_args_and_kwargs + m.def("args_function", [](py::args args) -> py::tuple { + return std::move(args); + }); + m.def("args_kwargs_function", [](py::args args, py::kwargs kwargs) { + return py::make_tuple(args, kwargs); + }); + + // test_mixed_args_and_kwargs + m.def("mixed_plus_args", [](int i, double j, py::args args) { + return py::make_tuple(i, j, args); + }); + m.def("mixed_plus_kwargs", [](int i, double j, py::kwargs kwargs) { + return py::make_tuple(i, j, kwargs); + }); + auto mixed_plus_both = [](int i, double j, py::args args, py::kwargs kwargs) { + return py::make_tuple(i, j, args, kwargs); + }; + m.def("mixed_plus_args_kwargs", mixed_plus_both); + + m.def("mixed_plus_args_kwargs_defaults", mixed_plus_both, + py::arg("i") = 1, py::arg("j") = 3.14159); + + // test_args_refcount + // PyPy needs a garbage collection to get the reference count values to match CPython's behaviour + #ifdef PYPY_VERSION + #define GC_IF_NEEDED ConstructorStats::gc() + #else + #define GC_IF_NEEDED + #endif + m.def("arg_refcount_h", [](py::handle h) { GC_IF_NEEDED; return h.ref_count(); }); + m.def("arg_refcount_h", [](py::handle h, py::handle, py::handle) { GC_IF_NEEDED; return h.ref_count(); }); + m.def("arg_refcount_o", [](py::object o) { GC_IF_NEEDED; return o.ref_count(); }); + m.def("args_refcount", [](py::args a) { + GC_IF_NEEDED; + py::tuple t(a.size()); + for (size_t i = 0; i < a.size(); i++) + // Use raw Python API here to avoid an extra, intermediate incref on the tuple item: + t[i] = (int) Py_REFCNT(PyTuple_GET_ITEM(a.ptr(), static_cast(i))); + return t; + }); + m.def("mixed_args_refcount", [](py::object o, py::args a) { + GC_IF_NEEDED; + py::tuple t(a.size() + 1); + t[0] = o.ref_count(); + for (size_t i = 0; i < a.size(); i++) + // Use raw Python API here to avoid an extra, intermediate incref on the tuple item: + t[i + 1] = (int) Py_REFCNT(PyTuple_GET_ITEM(a.ptr(), static_cast(i))); + return t; + }); + + // pybind11 won't allow these to be bound: args and kwargs, if present, must be at the end. + // Uncomment these to test that the static_assert is indeed working: +// m.def("bad_args1", [](py::args, int) {}); +// m.def("bad_args2", [](py::kwargs, int) {}); +// m.def("bad_args3", [](py::kwargs, py::args) {}); +// m.def("bad_args4", [](py::args, int, py::kwargs) {}); +// m.def("bad_args5", [](py::args, py::kwargs, int) {}); +// m.def("bad_args6", [](py::args, py::args) {}); +// m.def("bad_args7", [](py::kwargs, py::kwargs) {}); + + // test_function_signatures (along with most of the above) + struct KWClass { void foo(int, float) {} }; + py::class_(m, "KWClass") + .def("foo0", &KWClass::foo) + .def("foo1", &KWClass::foo, "x"_a, "y"_a); +} diff --git a/wrap/python/pybind11/tests/test_kwargs_and_defaults.py b/wrap/python/pybind11/tests/test_kwargs_and_defaults.py new file mode 100644 index 000000000..27a05a024 --- /dev/null +++ b/wrap/python/pybind11/tests/test_kwargs_and_defaults.py @@ -0,0 +1,147 @@ +import pytest +from pybind11_tests import kwargs_and_defaults as m + + +def test_function_signatures(doc): + assert doc(m.kw_func0) == "kw_func0(arg0: int, arg1: int) -> str" + assert doc(m.kw_func1) == "kw_func1(x: int, y: int) -> str" + assert doc(m.kw_func2) == "kw_func2(x: int = 100, y: int = 200) -> str" + assert doc(m.kw_func3) == "kw_func3(data: str = 'Hello world!') -> None" + assert doc(m.kw_func4) == "kw_func4(myList: List[int] = [13, 17]) -> str" + assert doc(m.kw_func_udl) == "kw_func_udl(x: int, y: int = 300) -> str" + assert doc(m.kw_func_udl_z) == "kw_func_udl_z(x: int, y: int = 0) -> str" + assert doc(m.args_function) == "args_function(*args) -> tuple" + assert doc(m.args_kwargs_function) == "args_kwargs_function(*args, **kwargs) -> tuple" + assert doc(m.KWClass.foo0) == \ + "foo0(self: m.kwargs_and_defaults.KWClass, arg0: int, arg1: float) -> None" + assert doc(m.KWClass.foo1) == \ + "foo1(self: m.kwargs_and_defaults.KWClass, x: int, y: float) -> None" + + +def test_named_arguments(msg): + assert m.kw_func0(5, 10) == "x=5, y=10" + + assert m.kw_func1(5, 10) == "x=5, y=10" + assert m.kw_func1(5, y=10) == "x=5, y=10" + assert m.kw_func1(y=10, x=5) == "x=5, y=10" + + assert m.kw_func2() == "x=100, y=200" + assert m.kw_func2(5) == "x=5, y=200" + assert m.kw_func2(x=5) == "x=5, y=200" + assert m.kw_func2(y=10) == "x=100, y=10" + assert m.kw_func2(5, 10) == "x=5, y=10" + assert m.kw_func2(x=5, y=10) == "x=5, y=10" + + with pytest.raises(TypeError) as excinfo: + # noinspection PyArgumentList + m.kw_func2(x=5, y=10, z=12) + assert excinfo.match( + r'(?s)^kw_func2\(\): incompatible.*Invoked with: kwargs: ((x=5|y=10|z=12)(, |$))' + '{3}$') + + assert m.kw_func4() == "{13 17}" + assert m.kw_func4(myList=[1, 2, 3]) == "{1 2 3}" + + assert m.kw_func_udl(x=5, y=10) == "x=5, y=10" + assert m.kw_func_udl_z(x=5) == "x=5, y=0" + + +def test_arg_and_kwargs(): + args = 'arg1_value', 'arg2_value', 3 + assert m.args_function(*args) == args + + args = 'a1', 'a2' + kwargs = dict(arg3='a3', arg4=4) + assert m.args_kwargs_function(*args, **kwargs) == (args, kwargs) + + +def test_mixed_args_and_kwargs(msg): + mpa = m.mixed_plus_args + mpk = m.mixed_plus_kwargs + mpak = m.mixed_plus_args_kwargs + mpakd = m.mixed_plus_args_kwargs_defaults + + assert mpa(1, 2.5, 4, 99.5, None) == (1, 2.5, (4, 99.5, None)) + assert mpa(1, 2.5) == (1, 2.5, ()) + with pytest.raises(TypeError) as excinfo: + assert mpa(1) + assert msg(excinfo.value) == """ + mixed_plus_args(): incompatible function arguments. The following argument types are supported: + 1. (arg0: int, arg1: float, *args) -> tuple + + Invoked with: 1 + """ # noqa: E501 line too long + with pytest.raises(TypeError) as excinfo: + assert mpa() + assert msg(excinfo.value) == """ + mixed_plus_args(): incompatible function arguments. The following argument types are supported: + 1. (arg0: int, arg1: float, *args) -> tuple + + Invoked with: + """ # noqa: E501 line too long + + assert mpk(-2, 3.5, pi=3.14159, e=2.71828) == (-2, 3.5, {'e': 2.71828, 'pi': 3.14159}) + assert mpak(7, 7.7, 7.77, 7.777, 7.7777, minusseven=-7) == ( + 7, 7.7, (7.77, 7.777, 7.7777), {'minusseven': -7}) + assert mpakd() == (1, 3.14159, (), {}) + assert mpakd(3) == (3, 3.14159, (), {}) + assert mpakd(j=2.71828) == (1, 2.71828, (), {}) + assert mpakd(k=42) == (1, 3.14159, (), {'k': 42}) + assert mpakd(1, 1, 2, 3, 5, 8, then=13, followedby=21) == ( + 1, 1, (2, 3, 5, 8), {'then': 13, 'followedby': 21}) + # Arguments specified both positionally and via kwargs should fail: + with pytest.raises(TypeError) as excinfo: + assert mpakd(1, i=1) + assert msg(excinfo.value) == """ + mixed_plus_args_kwargs_defaults(): incompatible function arguments. The following argument types are supported: + 1. (i: int = 1, j: float = 3.14159, *args, **kwargs) -> tuple + + Invoked with: 1; kwargs: i=1 + """ # noqa: E501 line too long + with pytest.raises(TypeError) as excinfo: + assert mpakd(1, 2, j=1) + assert msg(excinfo.value) == """ + mixed_plus_args_kwargs_defaults(): incompatible function arguments. The following argument types are supported: + 1. (i: int = 1, j: float = 3.14159, *args, **kwargs) -> tuple + + Invoked with: 1, 2; kwargs: j=1 + """ # noqa: E501 line too long + + +def test_args_refcount(): + """Issue/PR #1216 - py::args elements get double-inc_ref()ed when combined with regular + arguments""" + refcount = m.arg_refcount_h + + myval = 54321 + expected = refcount(myval) + assert m.arg_refcount_h(myval) == expected + assert m.arg_refcount_o(myval) == expected + 1 + assert m.arg_refcount_h(myval) == expected + assert refcount(myval) == expected + + assert m.mixed_plus_args(1, 2.0, "a", myval) == (1, 2.0, ("a", myval)) + assert refcount(myval) == expected + + assert m.mixed_plus_kwargs(3, 4.0, a=1, b=myval) == (3, 4.0, {"a": 1, "b": myval}) + assert refcount(myval) == expected + + assert m.args_function(-1, myval) == (-1, myval) + assert refcount(myval) == expected + + assert m.mixed_plus_args_kwargs(5, 6.0, myval, a=myval) == (5, 6.0, (myval,), {"a": myval}) + assert refcount(myval) == expected + + assert m.args_kwargs_function(7, 8, myval, a=1, b=myval) == \ + ((7, 8, myval), {"a": 1, "b": myval}) + assert refcount(myval) == expected + + exp3 = refcount(myval, myval, myval) + assert m.args_refcount(myval, myval, myval) == (exp3, exp3, exp3) + assert refcount(myval) == expected + + # This function takes the first arg as a `py::object` and the rest as a `py::args`. Unlike the + # previous case, when we have both positional and `py::args` we need to construct a new tuple + # for the `py::args`; in the previous case, we could simply inc_ref and pass on Python's input + # tuple without having to inc_ref the individual elements, but here we can't, hence the extra + # refs. + assert m.mixed_args_refcount(myval, myval, myval) == (exp3 + 3, exp3 + 3, exp3 + 3) diff --git a/wrap/python/pybind11/tests/test_local_bindings.cpp b/wrap/python/pybind11/tests/test_local_bindings.cpp new file mode 100644 index 000000000..97c02dbeb --- /dev/null +++ b/wrap/python/pybind11/tests/test_local_bindings.cpp @@ -0,0 +1,101 @@ +/* + tests/test_local_bindings.cpp -- tests the py::module_local class feature which makes a class + binding local to the module in which it is defined. + + Copyright (c) 2017 Jason Rhinelander + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "local_bindings.h" +#include +#include +#include + +TEST_SUBMODULE(local_bindings, m) { + // test_load_external + m.def("load_external1", [](ExternalType1 &e) { return e.i; }); + m.def("load_external2", [](ExternalType2 &e) { return e.i; }); + + // test_local_bindings + // Register a class with py::module_local: + bind_local(m, "LocalType", py::module_local()) + .def("get3", [](LocalType &t) { return t.i + 3; }) + ; + + m.def("local_value", [](LocalType &l) { return l.i; }); + + // test_nonlocal_failure + // The main pybind11 test module is loaded first, so this registration will succeed (the second + // one, in pybind11_cross_module_tests.cpp, is designed to fail): + bind_local(m, "NonLocalType") + .def(py::init()) + .def("get", [](LocalType &i) { return i.i; }) + ; + + // test_duplicate_local + // py::module_local declarations should be visible across compilation units that get linked together; + // this tries to register a duplicate local. It depends on a definition in test_class.cpp and + // should raise a runtime error from the duplicate definition attempt. If test_class isn't + // available it *also* throws a runtime error (with "test_class not enabled" as value). + m.def("register_local_external", [m]() { + auto main = py::module::import("pybind11_tests"); + if (py::hasattr(main, "class_")) { + bind_local(m, "LocalExternal", py::module_local()); + } + else throw std::runtime_error("test_class not enabled"); + }); + + // test_stl_bind_local + // stl_bind.h binders defaults to py::module_local if the types are local or converting: + py::bind_vector(m, "LocalVec"); + py::bind_map(m, "LocalMap"); + // and global if the type (or one of the types, for the map) is global: + py::bind_vector(m, "NonLocalVec"); + py::bind_map(m, "NonLocalMap"); + + // test_stl_bind_global + // They can, however, be overridden to global using `py::module_local(false)`: + bind_local(m, "NonLocal2"); + py::bind_vector(m, "LocalVec2", py::module_local()); + py::bind_map(m, "NonLocalMap2", py::module_local(false)); + + // test_mixed_local_global + // We try this both with the global type registered first and vice versa (the order shouldn't + // matter). + m.def("register_mixed_global", [m]() { + bind_local(m, "MixedGlobalLocal", py::module_local(false)); + }); + m.def("register_mixed_local", [m]() { + bind_local(m, "MixedLocalGlobal", py::module_local()); + }); + m.def("get_mixed_gl", [](int i) { return MixedGlobalLocal(i); }); + m.def("get_mixed_lg", [](int i) { return MixedLocalGlobal(i); }); + + // test_internal_locals_differ + m.def("local_cpp_types_addr", []() { return (uintptr_t) &py::detail::registered_local_types_cpp(); }); + + // test_stl_caster_vs_stl_bind + m.def("load_vector_via_caster", [](std::vector v) { + return std::accumulate(v.begin(), v.end(), 0); + }); + + // test_cross_module_calls + m.def("return_self", [](LocalVec *v) { return v; }); + m.def("return_copy", [](const LocalVec &v) { return LocalVec(v); }); + + class Cat : public pets::Pet { public: Cat(std::string name) : Pet(name) {}; }; + py::class_(m, "Pet", py::module_local()) + .def("get_name", &pets::Pet::name); + // Binding for local extending class: + py::class_(m, "Cat") + .def(py::init()); + m.def("pet_name", [](pets::Pet &p) { return p.name(); }); + + py::class_(m, "MixGL").def(py::init()); + m.def("get_gl_value", [](MixGL &o) { return o.i + 10; }); + + py::class_(m, "MixGL2").def(py::init()); +} diff --git a/wrap/python/pybind11/tests/test_local_bindings.py b/wrap/python/pybind11/tests/test_local_bindings.py new file mode 100644 index 000000000..b3dc3619c --- /dev/null +++ b/wrap/python/pybind11/tests/test_local_bindings.py @@ -0,0 +1,226 @@ +import pytest + +from pybind11_tests import local_bindings as m + + +def test_load_external(): + """Load a `py::module_local` type that's only registered in an external module""" + import pybind11_cross_module_tests as cm + + assert m.load_external1(cm.ExternalType1(11)) == 11 + assert m.load_external2(cm.ExternalType2(22)) == 22 + + with pytest.raises(TypeError) as excinfo: + assert m.load_external2(cm.ExternalType1(21)) == 21 + assert "incompatible function arguments" in str(excinfo.value) + + with pytest.raises(TypeError) as excinfo: + assert m.load_external1(cm.ExternalType2(12)) == 12 + assert "incompatible function arguments" in str(excinfo.value) + + +def test_local_bindings(): + """Tests that duplicate `py::module_local` class bindings work across modules""" + + # Make sure we can load the second module with the conflicting (but local) definition: + import pybind11_cross_module_tests as cm + + i1 = m.LocalType(5) + assert i1.get() == 4 + assert i1.get3() == 8 + + i2 = cm.LocalType(10) + assert i2.get() == 11 + assert i2.get2() == 12 + + assert not hasattr(i1, 'get2') + assert not hasattr(i2, 'get3') + + # Loading within the local module + assert m.local_value(i1) == 5 + assert cm.local_value(i2) == 10 + + # Cross-module loading works as well (on failure, the type loader looks for + # external module-local converters): + assert m.local_value(i2) == 10 + assert cm.local_value(i1) == 5 + + +def test_nonlocal_failure(): + """Tests that attempting to register a non-local type in multiple modules fails""" + import pybind11_cross_module_tests as cm + + with pytest.raises(RuntimeError) as excinfo: + cm.register_nonlocal() + assert str(excinfo.value) == 'generic_type: type "NonLocalType" is already registered!' + + +def test_duplicate_local(): + """Tests expected failure when registering a class twice with py::local in the same module""" + with pytest.raises(RuntimeError) as excinfo: + m.register_local_external() + import pybind11_tests + assert str(excinfo.value) == ( + 'generic_type: type "LocalExternal" is already registered!' + if hasattr(pybind11_tests, 'class_') else 'test_class not enabled') + + +def test_stl_bind_local(): + import pybind11_cross_module_tests as cm + + v1, v2 = m.LocalVec(), cm.LocalVec() + v1.append(m.LocalType(1)) + v1.append(m.LocalType(2)) + v2.append(cm.LocalType(1)) + v2.append(cm.LocalType(2)) + + # Cross module value loading: + v1.append(cm.LocalType(3)) + v2.append(m.LocalType(3)) + + assert [i.get() for i in v1] == [0, 1, 2] + assert [i.get() for i in v2] == [2, 3, 4] + + v3, v4 = m.NonLocalVec(), cm.NonLocalVec2() + v3.append(m.NonLocalType(1)) + v3.append(m.NonLocalType(2)) + v4.append(m.NonLocal2(3)) + v4.append(m.NonLocal2(4)) + + assert [i.get() for i in v3] == [1, 2] + assert [i.get() for i in v4] == [13, 14] + + d1, d2 = m.LocalMap(), cm.LocalMap() + d1["a"] = v1[0] + d1["b"] = v1[1] + d2["c"] = v2[0] + d2["d"] = v2[1] + assert {i: d1[i].get() for i in d1} == {'a': 0, 'b': 1} + assert {i: d2[i].get() for i in d2} == {'c': 2, 'd': 3} + + +def test_stl_bind_global(): + import pybind11_cross_module_tests as cm + + with pytest.raises(RuntimeError) as excinfo: + cm.register_nonlocal_map() + assert str(excinfo.value) == 'generic_type: type "NonLocalMap" is already registered!' + + with pytest.raises(RuntimeError) as excinfo: + cm.register_nonlocal_vec() + assert str(excinfo.value) == 'generic_type: type "NonLocalVec" is already registered!' + + with pytest.raises(RuntimeError) as excinfo: + cm.register_nonlocal_map2() + assert str(excinfo.value) == 'generic_type: type "NonLocalMap2" is already registered!' + + +def test_mixed_local_global(): + """Local types take precedence over globally registered types: a module with a `module_local` + type can be registered even if the type is already registered globally. With the module, + casting will go to the local type; outside the module casting goes to the global type.""" + import pybind11_cross_module_tests as cm + m.register_mixed_global() + m.register_mixed_local() + + a = [] + a.append(m.MixedGlobalLocal(1)) + a.append(m.MixedLocalGlobal(2)) + a.append(m.get_mixed_gl(3)) + a.append(m.get_mixed_lg(4)) + + assert [x.get() for x in a] == [101, 1002, 103, 1004] + + cm.register_mixed_global_local() + cm.register_mixed_local_global() + a.append(m.MixedGlobalLocal(5)) + a.append(m.MixedLocalGlobal(6)) + a.append(cm.MixedGlobalLocal(7)) + a.append(cm.MixedLocalGlobal(8)) + a.append(m.get_mixed_gl(9)) + a.append(m.get_mixed_lg(10)) + a.append(cm.get_mixed_gl(11)) + a.append(cm.get_mixed_lg(12)) + + assert [x.get() for x in a] == \ + [101, 1002, 103, 1004, 105, 1006, 207, 2008, 109, 1010, 211, 2012] + + +def test_internal_locals_differ(): + """Makes sure the internal local type map differs across the two modules""" + import pybind11_cross_module_tests as cm + assert m.local_cpp_types_addr() != cm.local_cpp_types_addr() + + +def test_stl_caster_vs_stl_bind(msg): + """One module uses a generic vector caster from `` while the other + exports `std::vector` via `py:bind_vector` and `py::module_local`""" + import pybind11_cross_module_tests as cm + + v1 = cm.VectorInt([1, 2, 3]) + assert m.load_vector_via_caster(v1) == 6 + assert cm.load_vector_via_binding(v1) == 6 + + v2 = [1, 2, 3] + assert m.load_vector_via_caster(v2) == 6 + with pytest.raises(TypeError) as excinfo: + cm.load_vector_via_binding(v2) == 6 + assert msg(excinfo.value) == """ + load_vector_via_binding(): incompatible function arguments. The following argument types are supported: + 1. (arg0: pybind11_cross_module_tests.VectorInt) -> int + + Invoked with: [1, 2, 3] + """ # noqa: E501 line too long + + +def test_cross_module_calls(): + import pybind11_cross_module_tests as cm + + v1 = m.LocalVec() + v1.append(m.LocalType(1)) + v2 = cm.LocalVec() + v2.append(cm.LocalType(2)) + + # Returning the self pointer should get picked up as returning an existing + # instance (even when that instance is of a foreign, non-local type). + assert m.return_self(v1) is v1 + assert cm.return_self(v2) is v2 + assert m.return_self(v2) is v2 + assert cm.return_self(v1) is v1 + + assert m.LocalVec is not cm.LocalVec + # Returning a copy, on the other hand, always goes to the local type, + # regardless of where the source type came from. + assert type(m.return_copy(v1)) is m.LocalVec + assert type(m.return_copy(v2)) is m.LocalVec + assert type(cm.return_copy(v1)) is cm.LocalVec + assert type(cm.return_copy(v2)) is cm.LocalVec + + # Test the example given in the documentation (which also tests inheritance casting): + mycat = m.Cat("Fluffy") + mydog = cm.Dog("Rover") + assert mycat.get_name() == "Fluffy" + assert mydog.name() == "Rover" + assert m.Cat.__base__.__name__ == "Pet" + assert cm.Dog.__base__.__name__ == "Pet" + assert m.Cat.__base__ is not cm.Dog.__base__ + assert m.pet_name(mycat) == "Fluffy" + assert m.pet_name(mydog) == "Rover" + assert cm.pet_name(mycat) == "Fluffy" + assert cm.pet_name(mydog) == "Rover" + + assert m.MixGL is not cm.MixGL + a = m.MixGL(1) + b = cm.MixGL(2) + assert m.get_gl_value(a) == 11 + assert m.get_gl_value(b) == 12 + assert cm.get_gl_value(a) == 101 + assert cm.get_gl_value(b) == 102 + + c, d = m.MixGL2(3), cm.MixGL2(4) + with pytest.raises(TypeError) as excinfo: + m.get_gl_value(c) + assert "incompatible function arguments" in str(excinfo) + with pytest.raises(TypeError) as excinfo: + m.get_gl_value(d) + assert "incompatible function arguments" in str(excinfo) diff --git a/wrap/python/pybind11/tests/test_methods_and_attributes.cpp b/wrap/python/pybind11/tests/test_methods_and_attributes.cpp new file mode 100644 index 000000000..fde152b9f --- /dev/null +++ b/wrap/python/pybind11/tests/test_methods_and_attributes.cpp @@ -0,0 +1,454 @@ +/* + tests/test_methods_and_attributes.cpp -- constructors, deconstructors, attribute access, + __str__, argument and return value conventions + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" + +class ExampleMandA { +public: + ExampleMandA() { print_default_created(this); } + ExampleMandA(int value) : value(value) { print_created(this, value); } + ExampleMandA(const ExampleMandA &e) : value(e.value) { print_copy_created(this); } + ExampleMandA(ExampleMandA &&e) : value(e.value) { print_move_created(this); } + ~ExampleMandA() { print_destroyed(this); } + + std::string toString() { + return "ExampleMandA[value=" + std::to_string(value) + "]"; + } + + void operator=(const ExampleMandA &e) { print_copy_assigned(this); value = e.value; } + void operator=(ExampleMandA &&e) { print_move_assigned(this); value = e.value; } + + void add1(ExampleMandA other) { value += other.value; } // passing by value + void add2(ExampleMandA &other) { value += other.value; } // passing by reference + void add3(const ExampleMandA &other) { value += other.value; } // passing by const reference + void add4(ExampleMandA *other) { value += other->value; } // passing by pointer + void add5(const ExampleMandA *other) { value += other->value; } // passing by const pointer + + void add6(int other) { value += other; } // passing by value + void add7(int &other) { value += other; } // passing by reference + void add8(const int &other) { value += other; } // passing by const reference + void add9(int *other) { value += *other; } // passing by pointer + void add10(const int *other) { value += *other; } // passing by const pointer + + ExampleMandA self1() { return *this; } // return by value + ExampleMandA &self2() { return *this; } // return by reference + const ExampleMandA &self3() { return *this; } // return by const reference + ExampleMandA *self4() { return this; } // return by pointer + const ExampleMandA *self5() { return this; } // return by const pointer + + int internal1() { return value; } // return by value + int &internal2() { return value; } // return by reference + const int &internal3() { return value; } // return by const reference + int *internal4() { return &value; } // return by pointer + const int *internal5() { return &value; } // return by const pointer + + py::str overloaded() { return "()"; } + py::str overloaded(int) { return "(int)"; } + py::str overloaded(int, float) { return "(int, float)"; } + py::str overloaded(float, int) { return "(float, int)"; } + py::str overloaded(int, int) { return "(int, int)"; } + py::str overloaded(float, float) { return "(float, float)"; } + py::str overloaded(int) const { return "(int) const"; } + py::str overloaded(int, float) const { return "(int, float) const"; } + py::str overloaded(float, int) const { return "(float, int) const"; } + py::str overloaded(int, int) const { return "(int, int) const"; } + py::str overloaded(float, float) const { return "(float, float) const"; } + + static py::str overloaded(float) { return "static float"; } + + int value = 0; +}; + +struct TestProperties { + int value = 1; + static int static_value; + + int get() const { return value; } + void set(int v) { value = v; } + + static int static_get() { return static_value; } + static void static_set(int v) { static_value = v; } +}; +int TestProperties::static_value = 1; + +struct TestPropertiesOverride : TestProperties { + int value = 99; + static int static_value; +}; +int TestPropertiesOverride::static_value = 99; + +struct TestPropRVP { + UserType v1{1}; + UserType v2{1}; + static UserType sv1; + static UserType sv2; + + const UserType &get1() const { return v1; } + const UserType &get2() const { return v2; } + UserType get_rvalue() const { return v2; } + void set1(int v) { v1.set(v); } + void set2(int v) { v2.set(v); } +}; +UserType TestPropRVP::sv1(1); +UserType TestPropRVP::sv2(1); + +// py::arg/py::arg_v testing: these arguments just record their argument when invoked +class ArgInspector1 { public: std::string arg = "(default arg inspector 1)"; }; +class ArgInspector2 { public: std::string arg = "(default arg inspector 2)"; }; +class ArgAlwaysConverts { }; +namespace pybind11 { namespace detail { +template <> struct type_caster { +public: + PYBIND11_TYPE_CASTER(ArgInspector1, _("ArgInspector1")); + + bool load(handle src, bool convert) { + value.arg = "loading ArgInspector1 argument " + + std::string(convert ? "WITH" : "WITHOUT") + " conversion allowed. " + "Argument value = " + (std::string) str(src); + return true; + } + + static handle cast(const ArgInspector1 &src, return_value_policy, handle) { + return str(src.arg).release(); + } +}; +template <> struct type_caster { +public: + PYBIND11_TYPE_CASTER(ArgInspector2, _("ArgInspector2")); + + bool load(handle src, bool convert) { + value.arg = "loading ArgInspector2 argument " + + std::string(convert ? "WITH" : "WITHOUT") + " conversion allowed. " + "Argument value = " + (std::string) str(src); + return true; + } + + static handle cast(const ArgInspector2 &src, return_value_policy, handle) { + return str(src.arg).release(); + } +}; +template <> struct type_caster { +public: + PYBIND11_TYPE_CASTER(ArgAlwaysConverts, _("ArgAlwaysConverts")); + + bool load(handle, bool convert) { + return convert; + } + + static handle cast(const ArgAlwaysConverts &, return_value_policy, handle) { + return py::none().release(); + } +}; +}} + +// test_custom_caster_destruction +class DestructionTester { +public: + DestructionTester() { print_default_created(this); } + ~DestructionTester() { print_destroyed(this); } + DestructionTester(const DestructionTester &) { print_copy_created(this); } + DestructionTester(DestructionTester &&) { print_move_created(this); } + DestructionTester &operator=(const DestructionTester &) { print_copy_assigned(this); return *this; } + DestructionTester &operator=(DestructionTester &&) { print_move_assigned(this); return *this; } +}; +namespace pybind11 { namespace detail { +template <> struct type_caster { + PYBIND11_TYPE_CASTER(DestructionTester, _("DestructionTester")); + bool load(handle, bool) { return true; } + + static handle cast(const DestructionTester &, return_value_policy, handle) { + return py::bool_(true).release(); + } +}; +}} + +// Test None-allowed py::arg argument policy +class NoneTester { public: int answer = 42; }; +int none1(const NoneTester &obj) { return obj.answer; } +int none2(NoneTester *obj) { return obj ? obj->answer : -1; } +int none3(std::shared_ptr &obj) { return obj ? obj->answer : -1; } +int none4(std::shared_ptr *obj) { return obj && *obj ? (*obj)->answer : -1; } +int none5(std::shared_ptr obj) { return obj ? obj->answer : -1; } + +struct StrIssue { + int val = -1; + + StrIssue() = default; + StrIssue(int i) : val{i} {} +}; + +// Issues #854, #910: incompatible function args when member function/pointer is in unregistered base class +class UnregisteredBase { +public: + void do_nothing() const {} + void increase_value() { rw_value++; ro_value += 0.25; } + void set_int(int v) { rw_value = v; } + int get_int() const { return rw_value; } + double get_double() const { return ro_value; } + int rw_value = 42; + double ro_value = 1.25; +}; +class RegisteredDerived : public UnregisteredBase { +public: + using UnregisteredBase::UnregisteredBase; + double sum() const { return rw_value + ro_value; } +}; + +TEST_SUBMODULE(methods_and_attributes, m) { + // test_methods_and_attributes + py::class_ emna(m, "ExampleMandA"); + emna.def(py::init<>()) + .def(py::init()) + .def(py::init()) + .def("add1", &ExampleMandA::add1) + .def("add2", &ExampleMandA::add2) + .def("add3", &ExampleMandA::add3) + .def("add4", &ExampleMandA::add4) + .def("add5", &ExampleMandA::add5) + .def("add6", &ExampleMandA::add6) + .def("add7", &ExampleMandA::add7) + .def("add8", &ExampleMandA::add8) + .def("add9", &ExampleMandA::add9) + .def("add10", &ExampleMandA::add10) + .def("self1", &ExampleMandA::self1) + .def("self2", &ExampleMandA::self2) + .def("self3", &ExampleMandA::self3) + .def("self4", &ExampleMandA::self4) + .def("self5", &ExampleMandA::self5) + .def("internal1", &ExampleMandA::internal1) + .def("internal2", &ExampleMandA::internal2) + .def("internal3", &ExampleMandA::internal3) + .def("internal4", &ExampleMandA::internal4) + .def("internal5", &ExampleMandA::internal5) +#if defined(PYBIND11_OVERLOAD_CAST) + .def("overloaded", py::overload_cast<>(&ExampleMandA::overloaded)) + .def("overloaded", py::overload_cast(&ExampleMandA::overloaded)) + .def("overloaded", py::overload_cast(&ExampleMandA::overloaded)) + .def("overloaded", py::overload_cast(&ExampleMandA::overloaded)) + .def("overloaded", py::overload_cast(&ExampleMandA::overloaded)) + .def("overloaded", py::overload_cast(&ExampleMandA::overloaded)) + .def("overloaded_float", py::overload_cast(&ExampleMandA::overloaded)) + .def("overloaded_const", py::overload_cast(&ExampleMandA::overloaded, py::const_)) + .def("overloaded_const", py::overload_cast(&ExampleMandA::overloaded, py::const_)) + .def("overloaded_const", py::overload_cast(&ExampleMandA::overloaded, py::const_)) + .def("overloaded_const", py::overload_cast(&ExampleMandA::overloaded, py::const_)) + .def("overloaded_const", py::overload_cast(&ExampleMandA::overloaded, py::const_)) +#else + .def("overloaded", static_cast(&ExampleMandA::overloaded)) + .def("overloaded", static_cast(&ExampleMandA::overloaded)) + .def("overloaded", static_cast(&ExampleMandA::overloaded)) + .def("overloaded", static_cast(&ExampleMandA::overloaded)) + .def("overloaded", static_cast(&ExampleMandA::overloaded)) + .def("overloaded", static_cast(&ExampleMandA::overloaded)) + .def("overloaded_float", static_cast(&ExampleMandA::overloaded)) + .def("overloaded_const", static_cast(&ExampleMandA::overloaded)) + .def("overloaded_const", static_cast(&ExampleMandA::overloaded)) + .def("overloaded_const", static_cast(&ExampleMandA::overloaded)) + .def("overloaded_const", static_cast(&ExampleMandA::overloaded)) + .def("overloaded_const", static_cast(&ExampleMandA::overloaded)) +#endif + // test_no_mixed_overloads + // Raise error if trying to mix static/non-static overloads on the same name: + .def_static("add_mixed_overloads1", []() { + auto emna = py::reinterpret_borrow>(py::module::import("pybind11_tests.methods_and_attributes").attr("ExampleMandA")); + emna.def ("overload_mixed1", static_cast(&ExampleMandA::overloaded)) + .def_static("overload_mixed1", static_cast(&ExampleMandA::overloaded)); + }) + .def_static("add_mixed_overloads2", []() { + auto emna = py::reinterpret_borrow>(py::module::import("pybind11_tests.methods_and_attributes").attr("ExampleMandA")); + emna.def_static("overload_mixed2", static_cast(&ExampleMandA::overloaded)) + .def ("overload_mixed2", static_cast(&ExampleMandA::overloaded)); + }) + .def("__str__", &ExampleMandA::toString) + .def_readwrite("value", &ExampleMandA::value); + + // test_copy_method + // Issue #443: can't call copied methods in Python 3 + emna.attr("add2b") = emna.attr("add2"); + + // test_properties, test_static_properties, test_static_cls + py::class_(m, "TestProperties") + .def(py::init<>()) + .def_readonly("def_readonly", &TestProperties::value) + .def_readwrite("def_readwrite", &TestProperties::value) + .def_property("def_writeonly", nullptr, + [](TestProperties& s,int v) { s.value = v; } ) + .def_property("def_property_writeonly", nullptr, &TestProperties::set) + .def_property_readonly("def_property_readonly", &TestProperties::get) + .def_property("def_property", &TestProperties::get, &TestProperties::set) + .def_property("def_property_impossible", nullptr, nullptr) + .def_readonly_static("def_readonly_static", &TestProperties::static_value) + .def_readwrite_static("def_readwrite_static", &TestProperties::static_value) + .def_property_static("def_writeonly_static", nullptr, + [](py::object, int v) { TestProperties::static_value = v; }) + .def_property_readonly_static("def_property_readonly_static", + [](py::object) { return TestProperties::static_get(); }) + .def_property_static("def_property_writeonly_static", nullptr, + [](py::object, int v) { return TestProperties::static_set(v); }) + .def_property_static("def_property_static", + [](py::object) { return TestProperties::static_get(); }, + [](py::object, int v) { TestProperties::static_set(v); }) + .def_property_static("static_cls", + [](py::object cls) { return cls; }, + [](py::object cls, py::function f) { f(cls); }); + + py::class_(m, "TestPropertiesOverride") + .def(py::init<>()) + .def_readonly("def_readonly", &TestPropertiesOverride::value) + .def_readonly_static("def_readonly_static", &TestPropertiesOverride::static_value); + + auto static_get1 = [](py::object) -> const UserType & { return TestPropRVP::sv1; }; + auto static_get2 = [](py::object) -> const UserType & { return TestPropRVP::sv2; }; + auto static_set1 = [](py::object, int v) { TestPropRVP::sv1.set(v); }; + auto static_set2 = [](py::object, int v) { TestPropRVP::sv2.set(v); }; + auto rvp_copy = py::return_value_policy::copy; + + // test_property_return_value_policies + py::class_(m, "TestPropRVP") + .def(py::init<>()) + .def_property_readonly("ro_ref", &TestPropRVP::get1) + .def_property_readonly("ro_copy", &TestPropRVP::get2, rvp_copy) + .def_property_readonly("ro_func", py::cpp_function(&TestPropRVP::get2, rvp_copy)) + .def_property("rw_ref", &TestPropRVP::get1, &TestPropRVP::set1) + .def_property("rw_copy", &TestPropRVP::get2, &TestPropRVP::set2, rvp_copy) + .def_property("rw_func", py::cpp_function(&TestPropRVP::get2, rvp_copy), &TestPropRVP::set2) + .def_property_readonly_static("static_ro_ref", static_get1) + .def_property_readonly_static("static_ro_copy", static_get2, rvp_copy) + .def_property_readonly_static("static_ro_func", py::cpp_function(static_get2, rvp_copy)) + .def_property_static("static_rw_ref", static_get1, static_set1) + .def_property_static("static_rw_copy", static_get2, static_set2, rvp_copy) + .def_property_static("static_rw_func", py::cpp_function(static_get2, rvp_copy), static_set2) + // test_property_rvalue_policy + .def_property_readonly("rvalue", &TestPropRVP::get_rvalue) + .def_property_readonly_static("static_rvalue", [](py::object) { return UserType(1); }); + + // test_metaclass_override + struct MetaclassOverride { }; + py::class_(m, "MetaclassOverride", py::metaclass((PyObject *) &PyType_Type)) + .def_property_readonly_static("readonly", [](py::object) { return 1; }); + +#if !defined(PYPY_VERSION) + // test_dynamic_attributes + class DynamicClass { + public: + DynamicClass() { print_default_created(this); } + ~DynamicClass() { print_destroyed(this); } + }; + py::class_(m, "DynamicClass", py::dynamic_attr()) + .def(py::init()); + + class CppDerivedDynamicClass : public DynamicClass { }; + py::class_(m, "CppDerivedDynamicClass") + .def(py::init()); +#endif + + // test_noconvert_args + // + // Test converting. The ArgAlwaysConverts is just there to make the first no-conversion pass + // fail so that our call always ends up happening via the second dispatch (the one that allows + // some conversion). + class ArgInspector { + public: + ArgInspector1 f(ArgInspector1 a, ArgAlwaysConverts) { return a; } + std::string g(ArgInspector1 a, const ArgInspector1 &b, int c, ArgInspector2 *d, ArgAlwaysConverts) { + return a.arg + "\n" + b.arg + "\n" + std::to_string(c) + "\n" + d->arg; + } + static ArgInspector2 h(ArgInspector2 a, ArgAlwaysConverts) { return a; } + }; + py::class_(m, "ArgInspector") + .def(py::init<>()) + .def("f", &ArgInspector::f, py::arg(), py::arg() = ArgAlwaysConverts()) + .def("g", &ArgInspector::g, "a"_a.noconvert(), "b"_a, "c"_a.noconvert()=13, "d"_a=ArgInspector2(), py::arg() = ArgAlwaysConverts()) + .def_static("h", &ArgInspector::h, py::arg().noconvert(), py::arg() = ArgAlwaysConverts()) + ; + m.def("arg_inspect_func", [](ArgInspector2 a, ArgInspector1 b, ArgAlwaysConverts) { return a.arg + "\n" + b.arg; }, + py::arg().noconvert(false), py::arg_v(nullptr, ArgInspector1()).noconvert(true), py::arg() = ArgAlwaysConverts()); + + m.def("floats_preferred", [](double f) { return 0.5 * f; }, py::arg("f")); + m.def("floats_only", [](double f) { return 0.5 * f; }, py::arg("f").noconvert()); + m.def("ints_preferred", [](int i) { return i / 2; }, py::arg("i")); + m.def("ints_only", [](int i) { return i / 2; }, py::arg("i").noconvert()); + + // test_bad_arg_default + // Issue/PR #648: bad arg default debugging output +#if !defined(NDEBUG) + m.attr("debug_enabled") = true; +#else + m.attr("debug_enabled") = false; +#endif + m.def("bad_arg_def_named", []{ + auto m = py::module::import("pybind11_tests"); + m.def("should_fail", [](int, UnregisteredType) {}, py::arg(), py::arg("a") = UnregisteredType()); + }); + m.def("bad_arg_def_unnamed", []{ + auto m = py::module::import("pybind11_tests"); + m.def("should_fail", [](int, UnregisteredType) {}, py::arg(), py::arg() = UnregisteredType()); + }); + + // test_accepts_none + py::class_>(m, "NoneTester") + .def(py::init<>()); + m.def("no_none1", &none1, py::arg().none(false)); + m.def("no_none2", &none2, py::arg().none(false)); + m.def("no_none3", &none3, py::arg().none(false)); + m.def("no_none4", &none4, py::arg().none(false)); + m.def("no_none5", &none5, py::arg().none(false)); + m.def("ok_none1", &none1); + m.def("ok_none2", &none2, py::arg().none(true)); + m.def("ok_none3", &none3); + m.def("ok_none4", &none4, py::arg().none(true)); + m.def("ok_none5", &none5); + + // test_str_issue + // Issue #283: __str__ called on uninitialized instance when constructor arguments invalid + py::class_(m, "StrIssue") + .def(py::init()) + .def(py::init<>()) + .def("__str__", [](const StrIssue &si) { + return "StrIssue[" + std::to_string(si.val) + "]"; } + ); + + // test_unregistered_base_implementations + // + // Issues #854/910: incompatible function args when member function/pointer is in unregistered + // base class The methods and member pointers below actually resolve to members/pointers in + // UnregisteredBase; before this test/fix they would be registered via lambda with a first + // argument of an unregistered type, and thus uncallable. + py::class_(m, "RegisteredDerived") + .def(py::init<>()) + .def("do_nothing", &RegisteredDerived::do_nothing) + .def("increase_value", &RegisteredDerived::increase_value) + .def_readwrite("rw_value", &RegisteredDerived::rw_value) + .def_readonly("ro_value", &RegisteredDerived::ro_value) + // These should trigger a static_assert if uncommented + //.def_readwrite("fails", &UserType::value) // should trigger a static_assert if uncommented + //.def_readonly("fails", &UserType::value) // should trigger a static_assert if uncommented + .def_property("rw_value_prop", &RegisteredDerived::get_int, &RegisteredDerived::set_int) + .def_property_readonly("ro_value_prop", &RegisteredDerived::get_double) + // This one is in the registered class: + .def("sum", &RegisteredDerived::sum) + ; + + using Adapted = decltype(py::method_adaptor(&RegisteredDerived::do_nothing)); + static_assert(std::is_same::value, ""); + + // test_custom_caster_destruction + // Test that `take_ownership` works on types with a custom type caster when given a pointer + + // default policy: don't take ownership: + m.def("custom_caster_no_destroy", []() { static auto *dt = new DestructionTester(); return dt; }); + + m.def("custom_caster_destroy", []() { return new DestructionTester(); }, + py::return_value_policy::take_ownership); // Takes ownership: destroy when finished + m.def("custom_caster_destroy_const", []() -> const DestructionTester * { return new DestructionTester(); }, + py::return_value_policy::take_ownership); // Likewise (const doesn't inhibit destruction) + m.def("destruction_tester_cstats", &ConstructorStats::get, py::return_value_policy::reference); +} diff --git a/wrap/python/pybind11/tests/test_methods_and_attributes.py b/wrap/python/pybind11/tests/test_methods_and_attributes.py new file mode 100644 index 000000000..86b2c3b4b --- /dev/null +++ b/wrap/python/pybind11/tests/test_methods_and_attributes.py @@ -0,0 +1,512 @@ +import pytest +from pybind11_tests import methods_and_attributes as m +from pybind11_tests import ConstructorStats + + +def test_methods_and_attributes(): + instance1 = m.ExampleMandA() + instance2 = m.ExampleMandA(32) + + instance1.add1(instance2) + instance1.add2(instance2) + instance1.add3(instance2) + instance1.add4(instance2) + instance1.add5(instance2) + instance1.add6(32) + instance1.add7(32) + instance1.add8(32) + instance1.add9(32) + instance1.add10(32) + + assert str(instance1) == "ExampleMandA[value=320]" + assert str(instance2) == "ExampleMandA[value=32]" + assert str(instance1.self1()) == "ExampleMandA[value=320]" + assert str(instance1.self2()) == "ExampleMandA[value=320]" + assert str(instance1.self3()) == "ExampleMandA[value=320]" + assert str(instance1.self4()) == "ExampleMandA[value=320]" + assert str(instance1.self5()) == "ExampleMandA[value=320]" + + assert instance1.internal1() == 320 + assert instance1.internal2() == 320 + assert instance1.internal3() == 320 + assert instance1.internal4() == 320 + assert instance1.internal5() == 320 + + assert instance1.overloaded() == "()" + assert instance1.overloaded(0) == "(int)" + assert instance1.overloaded(1, 1.0) == "(int, float)" + assert instance1.overloaded(2.0, 2) == "(float, int)" + assert instance1.overloaded(3, 3) == "(int, int)" + assert instance1.overloaded(4., 4.) == "(float, float)" + assert instance1.overloaded_const(-3) == "(int) const" + assert instance1.overloaded_const(5, 5.0) == "(int, float) const" + assert instance1.overloaded_const(6.0, 6) == "(float, int) const" + assert instance1.overloaded_const(7, 7) == "(int, int) const" + assert instance1.overloaded_const(8., 8.) == "(float, float) const" + assert instance1.overloaded_float(1, 1) == "(float, float)" + assert instance1.overloaded_float(1, 1.) == "(float, float)" + assert instance1.overloaded_float(1., 1) == "(float, float)" + assert instance1.overloaded_float(1., 1.) == "(float, float)" + + assert instance1.value == 320 + instance1.value = 100 + assert str(instance1) == "ExampleMandA[value=100]" + + cstats = ConstructorStats.get(m.ExampleMandA) + assert cstats.alive() == 2 + del instance1, instance2 + assert cstats.alive() == 0 + assert cstats.values() == ["32"] + assert cstats.default_constructions == 1 + assert cstats.copy_constructions == 3 + assert cstats.move_constructions >= 1 + assert cstats.copy_assignments == 0 + assert cstats.move_assignments == 0 + + +def test_copy_method(): + """Issue #443: calling copied methods fails in Python 3""" + + m.ExampleMandA.add2c = m.ExampleMandA.add2 + m.ExampleMandA.add2d = m.ExampleMandA.add2b + a = m.ExampleMandA(123) + assert a.value == 123 + a.add2(m.ExampleMandA(-100)) + assert a.value == 23 + a.add2b(m.ExampleMandA(20)) + assert a.value == 43 + a.add2c(m.ExampleMandA(6)) + assert a.value == 49 + a.add2d(m.ExampleMandA(-7)) + assert a.value == 42 + + +def test_properties(): + instance = m.TestProperties() + + assert instance.def_readonly == 1 + with pytest.raises(AttributeError): + instance.def_readonly = 2 + + instance.def_readwrite = 2 + assert instance.def_readwrite == 2 + + assert instance.def_property_readonly == 2 + with pytest.raises(AttributeError): + instance.def_property_readonly = 3 + + instance.def_property = 3 + assert instance.def_property == 3 + + with pytest.raises(AttributeError) as excinfo: + dummy = instance.def_property_writeonly # noqa: F841 unused var + assert "unreadable attribute" in str(excinfo) + + instance.def_property_writeonly = 4 + assert instance.def_property_readonly == 4 + + with pytest.raises(AttributeError) as excinfo: + dummy = instance.def_property_impossible # noqa: F841 unused var + assert "unreadable attribute" in str(excinfo) + + with pytest.raises(AttributeError) as excinfo: + instance.def_property_impossible = 5 + assert "can't set attribute" in str(excinfo) + + +def test_static_properties(): + assert m.TestProperties.def_readonly_static == 1 + with pytest.raises(AttributeError) as excinfo: + m.TestProperties.def_readonly_static = 2 + assert "can't set attribute" in str(excinfo) + + m.TestProperties.def_readwrite_static = 2 + assert m.TestProperties.def_readwrite_static == 2 + + with pytest.raises(AttributeError) as excinfo: + dummy = m.TestProperties.def_writeonly_static # noqa: F841 unused var + assert "unreadable attribute" in str(excinfo) + + m.TestProperties.def_writeonly_static = 3 + assert m.TestProperties.def_readonly_static == 3 + + assert m.TestProperties.def_property_readonly_static == 3 + with pytest.raises(AttributeError) as excinfo: + m.TestProperties.def_property_readonly_static = 99 + assert "can't set attribute" in str(excinfo) + + m.TestProperties.def_property_static = 4 + assert m.TestProperties.def_property_static == 4 + + with pytest.raises(AttributeError) as excinfo: + dummy = m.TestProperties.def_property_writeonly_static + assert "unreadable attribute" in str(excinfo) + + m.TestProperties.def_property_writeonly_static = 5 + assert m.TestProperties.def_property_static == 5 + + # Static property read and write via instance + instance = m.TestProperties() + + m.TestProperties.def_readwrite_static = 0 + assert m.TestProperties.def_readwrite_static == 0 + assert instance.def_readwrite_static == 0 + + instance.def_readwrite_static = 2 + assert m.TestProperties.def_readwrite_static == 2 + assert instance.def_readwrite_static == 2 + + with pytest.raises(AttributeError) as excinfo: + dummy = instance.def_property_writeonly_static # noqa: F841 unused var + assert "unreadable attribute" in str(excinfo) + + instance.def_property_writeonly_static = 4 + assert instance.def_property_static == 4 + + # It should be possible to override properties in derived classes + assert m.TestPropertiesOverride().def_readonly == 99 + assert m.TestPropertiesOverride.def_readonly_static == 99 + + +def test_static_cls(): + """Static property getter and setters expect the type object as the their only argument""" + + instance = m.TestProperties() + assert m.TestProperties.static_cls is m.TestProperties + assert instance.static_cls is m.TestProperties + + def check_self(self): + assert self is m.TestProperties + + m.TestProperties.static_cls = check_self + instance.static_cls = check_self + + +def test_metaclass_override(): + """Overriding pybind11's default metaclass changes the behavior of `static_property`""" + + assert type(m.ExampleMandA).__name__ == "pybind11_type" + assert type(m.MetaclassOverride).__name__ == "type" + + assert m.MetaclassOverride.readonly == 1 + assert type(m.MetaclassOverride.__dict__["readonly"]).__name__ == "pybind11_static_property" + + # Regular `type` replaces the property instead of calling `__set__()` + m.MetaclassOverride.readonly = 2 + assert m.MetaclassOverride.readonly == 2 + assert isinstance(m.MetaclassOverride.__dict__["readonly"], int) + + +def test_no_mixed_overloads(): + from pybind11_tests import debug_enabled + + with pytest.raises(RuntimeError) as excinfo: + m.ExampleMandA.add_mixed_overloads1() + assert (str(excinfo.value) == + "overloading a method with both static and instance methods is not supported; " + + ("compile in debug mode for more details" if not debug_enabled else + "error while attempting to bind static method ExampleMandA.overload_mixed1" + "(arg0: float) -> str") + ) + + with pytest.raises(RuntimeError) as excinfo: + m.ExampleMandA.add_mixed_overloads2() + assert (str(excinfo.value) == + "overloading a method with both static and instance methods is not supported; " + + ("compile in debug mode for more details" if not debug_enabled else + "error while attempting to bind instance method ExampleMandA.overload_mixed2" + "(self: pybind11_tests.methods_and_attributes.ExampleMandA, arg0: int, arg1: int)" + " -> str") + ) + + +@pytest.mark.parametrize("access", ["ro", "rw", "static_ro", "static_rw"]) +def test_property_return_value_policies(access): + if not access.startswith("static"): + obj = m.TestPropRVP() + else: + obj = m.TestPropRVP + + ref = getattr(obj, access + "_ref") + assert ref.value == 1 + ref.value = 2 + assert getattr(obj, access + "_ref").value == 2 + ref.value = 1 # restore original value for static properties + + copy = getattr(obj, access + "_copy") + assert copy.value == 1 + copy.value = 2 + assert getattr(obj, access + "_copy").value == 1 + + copy = getattr(obj, access + "_func") + assert copy.value == 1 + copy.value = 2 + assert getattr(obj, access + "_func").value == 1 + + +def test_property_rvalue_policy(): + """When returning an rvalue, the return value policy is automatically changed from + `reference(_internal)` to `move`. The following would not work otherwise.""" + + instance = m.TestPropRVP() + o = instance.rvalue + assert o.value == 1 + + os = m.TestPropRVP.static_rvalue + assert os.value == 1 + + +# https://bitbucket.org/pypy/pypy/issues/2447 +@pytest.unsupported_on_pypy +def test_dynamic_attributes(): + instance = m.DynamicClass() + assert not hasattr(instance, "foo") + assert "foo" not in dir(instance) + + # Dynamically add attribute + instance.foo = 42 + assert hasattr(instance, "foo") + assert instance.foo == 42 + assert "foo" in dir(instance) + + # __dict__ should be accessible and replaceable + assert "foo" in instance.__dict__ + instance.__dict__ = {"bar": True} + assert not hasattr(instance, "foo") + assert hasattr(instance, "bar") + + with pytest.raises(TypeError) as excinfo: + instance.__dict__ = [] + assert str(excinfo.value) == "__dict__ must be set to a dictionary, not a 'list'" + + cstats = ConstructorStats.get(m.DynamicClass) + assert cstats.alive() == 1 + del instance + assert cstats.alive() == 0 + + # Derived classes should work as well + class PythonDerivedDynamicClass(m.DynamicClass): + pass + + for cls in m.CppDerivedDynamicClass, PythonDerivedDynamicClass: + derived = cls() + derived.foobar = 100 + assert derived.foobar == 100 + + assert cstats.alive() == 1 + del derived + assert cstats.alive() == 0 + + +# https://bitbucket.org/pypy/pypy/issues/2447 +@pytest.unsupported_on_pypy +def test_cyclic_gc(): + # One object references itself + instance = m.DynamicClass() + instance.circular_reference = instance + + cstats = ConstructorStats.get(m.DynamicClass) + assert cstats.alive() == 1 + del instance + assert cstats.alive() == 0 + + # Two object reference each other + i1 = m.DynamicClass() + i2 = m.DynamicClass() + i1.cycle = i2 + i2.cycle = i1 + + assert cstats.alive() == 2 + del i1, i2 + assert cstats.alive() == 0 + + +def test_noconvert_args(msg): + a = m.ArgInspector() + assert msg(a.f("hi")) == """ + loading ArgInspector1 argument WITH conversion allowed. Argument value = hi + """ + assert msg(a.g("this is a", "this is b")) == """ + loading ArgInspector1 argument WITHOUT conversion allowed. Argument value = this is a + loading ArgInspector1 argument WITH conversion allowed. Argument value = this is b + 13 + loading ArgInspector2 argument WITH conversion allowed. Argument value = (default arg inspector 2) + """ # noqa: E501 line too long + assert msg(a.g("this is a", "this is b", 42)) == """ + loading ArgInspector1 argument WITHOUT conversion allowed. Argument value = this is a + loading ArgInspector1 argument WITH conversion allowed. Argument value = this is b + 42 + loading ArgInspector2 argument WITH conversion allowed. Argument value = (default arg inspector 2) + """ # noqa: E501 line too long + assert msg(a.g("this is a", "this is b", 42, "this is d")) == """ + loading ArgInspector1 argument WITHOUT conversion allowed. Argument value = this is a + loading ArgInspector1 argument WITH conversion allowed. Argument value = this is b + 42 + loading ArgInspector2 argument WITH conversion allowed. Argument value = this is d + """ + assert (a.h("arg 1") == + "loading ArgInspector2 argument WITHOUT conversion allowed. Argument value = arg 1") + assert msg(m.arg_inspect_func("A1", "A2")) == """ + loading ArgInspector2 argument WITH conversion allowed. Argument value = A1 + loading ArgInspector1 argument WITHOUT conversion allowed. Argument value = A2 + """ + + assert m.floats_preferred(4) == 2.0 + assert m.floats_only(4.0) == 2.0 + with pytest.raises(TypeError) as excinfo: + m.floats_only(4) + assert msg(excinfo.value) == """ + floats_only(): incompatible function arguments. The following argument types are supported: + 1. (f: float) -> float + + Invoked with: 4 + """ + + assert m.ints_preferred(4) == 2 + assert m.ints_preferred(True) == 0 + with pytest.raises(TypeError) as excinfo: + m.ints_preferred(4.0) + assert msg(excinfo.value) == """ + ints_preferred(): incompatible function arguments. The following argument types are supported: + 1. (i: int) -> int + + Invoked with: 4.0 + """ # noqa: E501 line too long + + assert m.ints_only(4) == 2 + with pytest.raises(TypeError) as excinfo: + m.ints_only(4.0) + assert msg(excinfo.value) == """ + ints_only(): incompatible function arguments. The following argument types are supported: + 1. (i: int) -> int + + Invoked with: 4.0 + """ + + +def test_bad_arg_default(msg): + from pybind11_tests import debug_enabled + + with pytest.raises(RuntimeError) as excinfo: + m.bad_arg_def_named() + assert msg(excinfo.value) == ( + "arg(): could not convert default argument 'a: UnregisteredType' in function " + "'should_fail' into a Python object (type not registered yet?)" + if debug_enabled else + "arg(): could not convert default argument into a Python object (type not registered " + "yet?). Compile in debug mode for more information." + ) + + with pytest.raises(RuntimeError) as excinfo: + m.bad_arg_def_unnamed() + assert msg(excinfo.value) == ( + "arg(): could not convert default argument 'UnregisteredType' in function " + "'should_fail' into a Python object (type not registered yet?)" + if debug_enabled else + "arg(): could not convert default argument into a Python object (type not registered " + "yet?). Compile in debug mode for more information." + ) + + +def test_accepts_none(msg): + a = m.NoneTester() + assert m.no_none1(a) == 42 + assert m.no_none2(a) == 42 + assert m.no_none3(a) == 42 + assert m.no_none4(a) == 42 + assert m.no_none5(a) == 42 + assert m.ok_none1(a) == 42 + assert m.ok_none2(a) == 42 + assert m.ok_none3(a) == 42 + assert m.ok_none4(a) == 42 + assert m.ok_none5(a) == 42 + + with pytest.raises(TypeError) as excinfo: + m.no_none1(None) + assert "incompatible function arguments" in str(excinfo.value) + with pytest.raises(TypeError) as excinfo: + m.no_none2(None) + assert "incompatible function arguments" in str(excinfo.value) + with pytest.raises(TypeError) as excinfo: + m.no_none3(None) + assert "incompatible function arguments" in str(excinfo.value) + with pytest.raises(TypeError) as excinfo: + m.no_none4(None) + assert "incompatible function arguments" in str(excinfo.value) + with pytest.raises(TypeError) as excinfo: + m.no_none5(None) + assert "incompatible function arguments" in str(excinfo.value) + + # The first one still raises because you can't pass None as a lvalue reference arg: + with pytest.raises(TypeError) as excinfo: + assert m.ok_none1(None) == -1 + assert msg(excinfo.value) == """ + ok_none1(): incompatible function arguments. The following argument types are supported: + 1. (arg0: m.methods_and_attributes.NoneTester) -> int + + Invoked with: None + """ + + # The rest take the argument as pointer or holder, and accept None: + assert m.ok_none2(None) == -1 + assert m.ok_none3(None) == -1 + assert m.ok_none4(None) == -1 + assert m.ok_none5(None) == -1 + + +def test_str_issue(msg): + """#283: __str__ called on uninitialized instance when constructor arguments invalid""" + + assert str(m.StrIssue(3)) == "StrIssue[3]" + + with pytest.raises(TypeError) as excinfo: + str(m.StrIssue("no", "such", "constructor")) + assert msg(excinfo.value) == """ + __init__(): incompatible constructor arguments. The following argument types are supported: + 1. m.methods_and_attributes.StrIssue(arg0: int) + 2. m.methods_and_attributes.StrIssue() + + Invoked with: 'no', 'such', 'constructor' + """ + + +def test_unregistered_base_implementations(): + a = m.RegisteredDerived() + a.do_nothing() + assert a.rw_value == 42 + assert a.ro_value == 1.25 + a.rw_value += 5 + assert a.sum() == 48.25 + a.increase_value() + assert a.rw_value == 48 + assert a.ro_value == 1.5 + assert a.sum() == 49.5 + assert a.rw_value_prop == 48 + a.rw_value_prop += 1 + assert a.rw_value_prop == 49 + a.increase_value() + assert a.ro_value_prop == 1.75 + + +def test_custom_caster_destruction(): + """Tests that returning a pointer to a type that gets converted with a custom type caster gets + destroyed when the function has py::return_value_policy::take_ownership policy applied.""" + + cstats = m.destruction_tester_cstats() + # This one *doesn't* have take_ownership: the pointer should be used but not destroyed: + z = m.custom_caster_no_destroy() + assert cstats.alive() == 1 and cstats.default_constructions == 1 + assert z + + # take_ownership applied: this constructs a new object, casts it, then destroys it: + z = m.custom_caster_destroy() + assert z + assert cstats.default_constructions == 2 + + # Same, but with a const pointer return (which should *not* inhibit destruction): + z = m.custom_caster_destroy_const() + assert z + assert cstats.default_constructions == 3 + + # Make sure we still only have the original object (from ..._no_destroy()) alive: + assert cstats.alive() == 1 diff --git a/wrap/python/pybind11/tests/test_modules.cpp b/wrap/python/pybind11/tests/test_modules.cpp new file mode 100644 index 000000000..c1475fa62 --- /dev/null +++ b/wrap/python/pybind11/tests/test_modules.cpp @@ -0,0 +1,98 @@ +/* + tests/test_modules.cpp -- nested modules, importing modules, and + internal references + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" + +TEST_SUBMODULE(modules, m) { + // test_nested_modules + py::module m_sub = m.def_submodule("subsubmodule"); + m_sub.def("submodule_func", []() { return "submodule_func()"; }); + + // test_reference_internal + class A { + public: + A(int v) : v(v) { print_created(this, v); } + ~A() { print_destroyed(this); } + A(const A&) { print_copy_created(this); } + A& operator=(const A ©) { print_copy_assigned(this); v = copy.v; return *this; } + std::string toString() { return "A[" + std::to_string(v) + "]"; } + private: + int v; + }; + py::class_(m_sub, "A") + .def(py::init()) + .def("__repr__", &A::toString); + + class B { + public: + B() { print_default_created(this); } + ~B() { print_destroyed(this); } + B(const B&) { print_copy_created(this); } + B& operator=(const B ©) { print_copy_assigned(this); a1 = copy.a1; a2 = copy.a2; return *this; } + A &get_a1() { return a1; } + A &get_a2() { return a2; } + + A a1{1}; + A a2{2}; + }; + py::class_(m_sub, "B") + .def(py::init<>()) + .def("get_a1", &B::get_a1, "Return the internal A 1", py::return_value_policy::reference_internal) + .def("get_a2", &B::get_a2, "Return the internal A 2", py::return_value_policy::reference_internal) + .def_readwrite("a1", &B::a1) // def_readonly uses an internal reference return policy by default + .def_readwrite("a2", &B::a2); + + m.attr("OD") = py::module::import("collections").attr("OrderedDict"); + + // test_duplicate_registration + // Registering two things with the same name + m.def("duplicate_registration", []() { + class Dupe1 { }; + class Dupe2 { }; + class Dupe3 { }; + class DupeException { }; + + auto dm = py::module("dummy"); + auto failures = py::list(); + + py::class_(dm, "Dupe1"); + py::class_(dm, "Dupe2"); + dm.def("dupe1_factory", []() { return Dupe1(); }); + py::exception(dm, "DupeException"); + + try { + py::class_(dm, "Dupe1"); + failures.append("Dupe1 class"); + } catch (std::runtime_error &) {} + try { + dm.def("Dupe1", []() { return Dupe1(); }); + failures.append("Dupe1 function"); + } catch (std::runtime_error &) {} + try { + py::class_(dm, "dupe1_factory"); + failures.append("dupe1_factory"); + } catch (std::runtime_error &) {} + try { + py::exception(dm, "Dupe2"); + failures.append("Dupe2"); + } catch (std::runtime_error &) {} + try { + dm.def("DupeException", []() { return 30; }); + failures.append("DupeException1"); + } catch (std::runtime_error &) {} + try { + py::class_(dm, "DupeException"); + failures.append("DupeException2"); + } catch (std::runtime_error &) {} + + return failures; + }); +} diff --git a/wrap/python/pybind11/tests/test_modules.py b/wrap/python/pybind11/tests/test_modules.py new file mode 100644 index 000000000..2552838c2 --- /dev/null +++ b/wrap/python/pybind11/tests/test_modules.py @@ -0,0 +1,72 @@ +from pybind11_tests import modules as m +from pybind11_tests.modules import subsubmodule as ms +from pybind11_tests import ConstructorStats + + +def test_nested_modules(): + import pybind11_tests + assert pybind11_tests.__name__ == "pybind11_tests" + assert pybind11_tests.modules.__name__ == "pybind11_tests.modules" + assert pybind11_tests.modules.subsubmodule.__name__ == "pybind11_tests.modules.subsubmodule" + assert m.__name__ == "pybind11_tests.modules" + assert ms.__name__ == "pybind11_tests.modules.subsubmodule" + + assert ms.submodule_func() == "submodule_func()" + + +def test_reference_internal(): + b = ms.B() + assert str(b.get_a1()) == "A[1]" + assert str(b.a1) == "A[1]" + assert str(b.get_a2()) == "A[2]" + assert str(b.a2) == "A[2]" + + b.a1 = ms.A(42) + b.a2 = ms.A(43) + assert str(b.get_a1()) == "A[42]" + assert str(b.a1) == "A[42]" + assert str(b.get_a2()) == "A[43]" + assert str(b.a2) == "A[43]" + + astats, bstats = ConstructorStats.get(ms.A), ConstructorStats.get(ms.B) + assert astats.alive() == 2 + assert bstats.alive() == 1 + del b + assert astats.alive() == 0 + assert bstats.alive() == 0 + assert astats.values() == ['1', '2', '42', '43'] + assert bstats.values() == [] + assert astats.default_constructions == 0 + assert bstats.default_constructions == 1 + assert astats.copy_constructions == 0 + assert bstats.copy_constructions == 0 + # assert astats.move_constructions >= 0 # Don't invoke any + # assert bstats.move_constructions >= 0 # Don't invoke any + assert astats.copy_assignments == 2 + assert bstats.copy_assignments == 0 + assert astats.move_assignments == 0 + assert bstats.move_assignments == 0 + + +def test_importing(): + from pybind11_tests.modules import OD + from collections import OrderedDict + + assert OD is OrderedDict + assert str(OD([(1, 'a'), (2, 'b')])) == "OrderedDict([(1, 'a'), (2, 'b')])" + + +def test_pydoc(): + """Pydoc needs to be able to provide help() for everything inside a pybind11 module""" + import pybind11_tests + import pydoc + + assert pybind11_tests.__name__ == "pybind11_tests" + assert pybind11_tests.__doc__ == "pybind11 test module" + assert pydoc.text.docmodule(pybind11_tests) + + +def test_duplicate_registration(): + """Registering two things with the same name""" + + assert m.duplicate_registration() == [] diff --git a/wrap/python/pybind11/tests/test_multiple_inheritance.cpp b/wrap/python/pybind11/tests/test_multiple_inheritance.cpp new file mode 100644 index 000000000..ba1674fb2 --- /dev/null +++ b/wrap/python/pybind11/tests/test_multiple_inheritance.cpp @@ -0,0 +1,220 @@ +/* + tests/test_multiple_inheritance.cpp -- multiple inheritance, + implicit MI casts + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" + +// Many bases for testing that multiple inheritance from many classes (i.e. requiring extra +// space for holder constructed flags) works. +template struct BaseN { + BaseN(int i) : i(i) { } + int i; +}; + +// test_mi_static_properties +struct Vanilla { + std::string vanilla() { return "Vanilla"; }; +}; +struct WithStatic1 { + static std::string static_func1() { return "WithStatic1"; }; + static int static_value1; +}; +struct WithStatic2 { + static std::string static_func2() { return "WithStatic2"; }; + static int static_value2; +}; +struct VanillaStaticMix1 : Vanilla, WithStatic1, WithStatic2 { + static std::string static_func() { return "VanillaStaticMix1"; } + static int static_value; +}; +struct VanillaStaticMix2 : WithStatic1, Vanilla, WithStatic2 { + static std::string static_func() { return "VanillaStaticMix2"; } + static int static_value; +}; +int WithStatic1::static_value1 = 1; +int WithStatic2::static_value2 = 2; +int VanillaStaticMix1::static_value = 12; +int VanillaStaticMix2::static_value = 12; + +TEST_SUBMODULE(multiple_inheritance, m) { + + // test_multiple_inheritance_mix1 + // test_multiple_inheritance_mix2 + struct Base1 { + Base1(int i) : i(i) { } + int foo() { return i; } + int i; + }; + py::class_ b1(m, "Base1"); + b1.def(py::init()) + .def("foo", &Base1::foo); + + struct Base2 { + Base2(int i) : i(i) { } + int bar() { return i; } + int i; + }; + py::class_ b2(m, "Base2"); + b2.def(py::init()) + .def("bar", &Base2::bar); + + + // test_multiple_inheritance_cpp + struct Base12 : Base1, Base2 { + Base12(int i, int j) : Base1(i), Base2(j) { } + }; + struct MIType : Base12 { + MIType(int i, int j) : Base12(i, j) { } + }; + py::class_(m, "Base12"); + py::class_(m, "MIType") + .def(py::init()); + + + // test_multiple_inheritance_python_many_bases + #define PYBIND11_BASEN(N) py::class_>(m, "BaseN" #N).def(py::init()).def("f" #N, [](BaseN &b) { return b.i + N; }) + PYBIND11_BASEN( 1); PYBIND11_BASEN( 2); PYBIND11_BASEN( 3); PYBIND11_BASEN( 4); + PYBIND11_BASEN( 5); PYBIND11_BASEN( 6); PYBIND11_BASEN( 7); PYBIND11_BASEN( 8); + PYBIND11_BASEN( 9); PYBIND11_BASEN(10); PYBIND11_BASEN(11); PYBIND11_BASEN(12); + PYBIND11_BASEN(13); PYBIND11_BASEN(14); PYBIND11_BASEN(15); PYBIND11_BASEN(16); + PYBIND11_BASEN(17); + + // Uncommenting this should result in a compile time failure (MI can only be specified via + // template parameters because pybind has to know the types involved; see discussion in #742 for + // details). +// struct Base12v2 : Base1, Base2 { +// Base12v2(int i, int j) : Base1(i), Base2(j) { } +// }; +// py::class_(m, "Base12v2", b1, b2) +// .def(py::init()); + + + // test_multiple_inheritance_virtbase + // Test the case where not all base classes are specified, and where pybind11 requires the + // py::multiple_inheritance flag to perform proper casting between types. + struct Base1a { + Base1a(int i) : i(i) { } + int foo() { return i; } + int i; + }; + py::class_>(m, "Base1a") + .def(py::init()) + .def("foo", &Base1a::foo); + + struct Base2a { + Base2a(int i) : i(i) { } + int bar() { return i; } + int i; + }; + py::class_>(m, "Base2a") + .def(py::init()) + .def("bar", &Base2a::bar); + + struct Base12a : Base1a, Base2a { + Base12a(int i, int j) : Base1a(i), Base2a(j) { } + }; + py::class_>(m, "Base12a", py::multiple_inheritance()) + .def(py::init()); + + m.def("bar_base2a", [](Base2a *b) { return b->bar(); }); + m.def("bar_base2a_sharedptr", [](std::shared_ptr b) { return b->bar(); }); + + // test_mi_unaligned_base + // test_mi_base_return + // Issue #801: invalid casting to derived type with MI bases + struct I801B1 { int a = 1; I801B1() = default; I801B1(const I801B1 &) = default; virtual ~I801B1() = default; }; + struct I801B2 { int b = 2; I801B2() = default; I801B2(const I801B2 &) = default; virtual ~I801B2() = default; }; + struct I801C : I801B1, I801B2 {}; + struct I801D : I801C {}; // Indirect MI + // Unregistered classes: + struct I801B3 { int c = 3; virtual ~I801B3() = default; }; + struct I801E : I801B3, I801D {}; + + py::class_>(m, "I801B1").def(py::init<>()).def_readonly("a", &I801B1::a); + py::class_>(m, "I801B2").def(py::init<>()).def_readonly("b", &I801B2::b); + py::class_>(m, "I801C").def(py::init<>()); + py::class_>(m, "I801D").def(py::init<>()); + + // Two separate issues here: first, we want to recognize a pointer to a base type as being a + // known instance even when the pointer value is unequal (i.e. due to a non-first + // multiple-inheritance base class): + m.def("i801b1_c", [](I801C *c) { return static_cast(c); }); + m.def("i801b2_c", [](I801C *c) { return static_cast(c); }); + m.def("i801b1_d", [](I801D *d) { return static_cast(d); }); + m.def("i801b2_d", [](I801D *d) { return static_cast(d); }); + + // Second, when returned a base class pointer to a derived instance, we cannot assume that the + // pointer is `reinterpret_cast`able to the derived pointer because, like above, the base class + // pointer could be offset. + m.def("i801c_b1", []() -> I801B1 * { return new I801C(); }); + m.def("i801c_b2", []() -> I801B2 * { return new I801C(); }); + m.def("i801d_b1", []() -> I801B1 * { return new I801D(); }); + m.def("i801d_b2", []() -> I801B2 * { return new I801D(); }); + + // Return a base class pointer to a pybind-registered type when the actual derived type + // isn't pybind-registered (and uses multiple-inheritance to offset the pybind base) + m.def("i801e_c", []() -> I801C * { return new I801E(); }); + m.def("i801e_b2", []() -> I801B2 * { return new I801E(); }); + + + // test_mi_static_properties + py::class_(m, "Vanilla") + .def(py::init<>()) + .def("vanilla", &Vanilla::vanilla); + + py::class_(m, "WithStatic1") + .def(py::init<>()) + .def_static("static_func1", &WithStatic1::static_func1) + .def_readwrite_static("static_value1", &WithStatic1::static_value1); + + py::class_(m, "WithStatic2") + .def(py::init<>()) + .def_static("static_func2", &WithStatic2::static_func2) + .def_readwrite_static("static_value2", &WithStatic2::static_value2); + + py::class_( + m, "VanillaStaticMix1") + .def(py::init<>()) + .def_static("static_func", &VanillaStaticMix1::static_func) + .def_readwrite_static("static_value", &VanillaStaticMix1::static_value); + + py::class_( + m, "VanillaStaticMix2") + .def(py::init<>()) + .def_static("static_func", &VanillaStaticMix2::static_func) + .def_readwrite_static("static_value", &VanillaStaticMix2::static_value); + + +#if !defined(PYPY_VERSION) + struct WithDict { }; + struct VanillaDictMix1 : Vanilla, WithDict { }; + struct VanillaDictMix2 : WithDict, Vanilla { }; + py::class_(m, "WithDict", py::dynamic_attr()).def(py::init<>()); + py::class_(m, "VanillaDictMix1").def(py::init<>()); + py::class_(m, "VanillaDictMix2").def(py::init<>()); +#endif + + // test_diamond_inheritance + // Issue #959: segfault when constructing diamond inheritance instance + // All of these have int members so that there will be various unequal pointers involved. + struct B { int b; B() = default; B(const B&) = default; virtual ~B() = default; }; + struct C0 : public virtual B { int c0; }; + struct C1 : public virtual B { int c1; }; + struct D : public C0, public C1 { int d; }; + py::class_(m, "B") + .def("b", [](B *self) { return self; }); + py::class_(m, "C0") + .def("c0", [](C0 *self) { return self; }); + py::class_(m, "C1") + .def("c1", [](C1 *self) { return self; }); + py::class_(m, "D") + .def(py::init<>()); +} diff --git a/wrap/python/pybind11/tests/test_multiple_inheritance.py b/wrap/python/pybind11/tests/test_multiple_inheritance.py new file mode 100644 index 000000000..475dd3b3d --- /dev/null +++ b/wrap/python/pybind11/tests/test_multiple_inheritance.py @@ -0,0 +1,349 @@ +import pytest +from pybind11_tests import ConstructorStats +from pybind11_tests import multiple_inheritance as m + + +def test_multiple_inheritance_cpp(): + mt = m.MIType(3, 4) + + assert mt.foo() == 3 + assert mt.bar() == 4 + + +def test_multiple_inheritance_mix1(): + class Base1: + def __init__(self, i): + self.i = i + + def foo(self): + return self.i + + class MITypePy(Base1, m.Base2): + def __init__(self, i, j): + Base1.__init__(self, i) + m.Base2.__init__(self, j) + + mt = MITypePy(3, 4) + + assert mt.foo() == 3 + assert mt.bar() == 4 + + +def test_multiple_inheritance_mix2(): + + class Base2: + def __init__(self, i): + self.i = i + + def bar(self): + return self.i + + class MITypePy(m.Base1, Base2): + def __init__(self, i, j): + m.Base1.__init__(self, i) + Base2.__init__(self, j) + + mt = MITypePy(3, 4) + + assert mt.foo() == 3 + assert mt.bar() == 4 + + +def test_multiple_inheritance_python(): + + class MI1(m.Base1, m.Base2): + def __init__(self, i, j): + m.Base1.__init__(self, i) + m.Base2.__init__(self, j) + + class B1(object): + def v(self): + return 1 + + class MI2(B1, m.Base1, m.Base2): + def __init__(self, i, j): + B1.__init__(self) + m.Base1.__init__(self, i) + m.Base2.__init__(self, j) + + class MI3(MI2): + def __init__(self, i, j): + MI2.__init__(self, i, j) + + class MI4(MI3, m.Base2): + def __init__(self, i, j): + MI3.__init__(self, i, j) + # This should be ignored (Base2 is already initialized via MI2): + m.Base2.__init__(self, i + 100) + + class MI5(m.Base2, B1, m.Base1): + def __init__(self, i, j): + B1.__init__(self) + m.Base1.__init__(self, i) + m.Base2.__init__(self, j) + + class MI6(m.Base2, B1): + def __init__(self, i): + m.Base2.__init__(self, i) + B1.__init__(self) + + class B2(B1): + def v(self): + return 2 + + class B3(object): + def v(self): + return 3 + + class B4(B3, B2): + def v(self): + return 4 + + class MI7(B4, MI6): + def __init__(self, i): + B4.__init__(self) + MI6.__init__(self, i) + + class MI8(MI6, B3): + def __init__(self, i): + MI6.__init__(self, i) + B3.__init__(self) + + class MI8b(B3, MI6): + def __init__(self, i): + B3.__init__(self) + MI6.__init__(self, i) + + mi1 = MI1(1, 2) + assert mi1.foo() == 1 + assert mi1.bar() == 2 + + mi2 = MI2(3, 4) + assert mi2.v() == 1 + assert mi2.foo() == 3 + assert mi2.bar() == 4 + + mi3 = MI3(5, 6) + assert mi3.v() == 1 + assert mi3.foo() == 5 + assert mi3.bar() == 6 + + mi4 = MI4(7, 8) + assert mi4.v() == 1 + assert mi4.foo() == 7 + assert mi4.bar() == 8 + + mi5 = MI5(10, 11) + assert mi5.v() == 1 + assert mi5.foo() == 10 + assert mi5.bar() == 11 + + mi6 = MI6(12) + assert mi6.v() == 1 + assert mi6.bar() == 12 + + mi7 = MI7(13) + assert mi7.v() == 4 + assert mi7.bar() == 13 + + mi8 = MI8(14) + assert mi8.v() == 1 + assert mi8.bar() == 14 + + mi8b = MI8b(15) + assert mi8b.v() == 3 + assert mi8b.bar() == 15 + + +def test_multiple_inheritance_python_many_bases(): + + class MIMany14(m.BaseN1, m.BaseN2, m.BaseN3, m.BaseN4): + def __init__(self): + m.BaseN1.__init__(self, 1) + m.BaseN2.__init__(self, 2) + m.BaseN3.__init__(self, 3) + m.BaseN4.__init__(self, 4) + + class MIMany58(m.BaseN5, m.BaseN6, m.BaseN7, m.BaseN8): + def __init__(self): + m.BaseN5.__init__(self, 5) + m.BaseN6.__init__(self, 6) + m.BaseN7.__init__(self, 7) + m.BaseN8.__init__(self, 8) + + class MIMany916(m.BaseN9, m.BaseN10, m.BaseN11, m.BaseN12, m.BaseN13, m.BaseN14, m.BaseN15, + m.BaseN16): + def __init__(self): + m.BaseN9.__init__(self, 9) + m.BaseN10.__init__(self, 10) + m.BaseN11.__init__(self, 11) + m.BaseN12.__init__(self, 12) + m.BaseN13.__init__(self, 13) + m.BaseN14.__init__(self, 14) + m.BaseN15.__init__(self, 15) + m.BaseN16.__init__(self, 16) + + class MIMany19(MIMany14, MIMany58, m.BaseN9): + def __init__(self): + MIMany14.__init__(self) + MIMany58.__init__(self) + m.BaseN9.__init__(self, 9) + + class MIMany117(MIMany14, MIMany58, MIMany916, m.BaseN17): + def __init__(self): + MIMany14.__init__(self) + MIMany58.__init__(self) + MIMany916.__init__(self) + m.BaseN17.__init__(self, 17) + + # Inherits from 4 registered C++ classes: can fit in one pointer on any modern arch: + a = MIMany14() + for i in range(1, 4): + assert getattr(a, "f" + str(i))() == 2 * i + + # Inherits from 8: requires 1/2 pointers worth of holder flags on 32/64-bit arch: + b = MIMany916() + for i in range(9, 16): + assert getattr(b, "f" + str(i))() == 2 * i + + # Inherits from 9: requires >= 2 pointers worth of holder flags + c = MIMany19() + for i in range(1, 9): + assert getattr(c, "f" + str(i))() == 2 * i + + # Inherits from 17: requires >= 3 pointers worth of holder flags + d = MIMany117() + for i in range(1, 17): + assert getattr(d, "f" + str(i))() == 2 * i + + +def test_multiple_inheritance_virtbase(): + + class MITypePy(m.Base12a): + def __init__(self, i, j): + m.Base12a.__init__(self, i, j) + + mt = MITypePy(3, 4) + assert mt.bar() == 4 + assert m.bar_base2a(mt) == 4 + assert m.bar_base2a_sharedptr(mt) == 4 + + +def test_mi_static_properties(): + """Mixing bases with and without static properties should be possible + and the result should be independent of base definition order""" + + for d in (m.VanillaStaticMix1(), m.VanillaStaticMix2()): + assert d.vanilla() == "Vanilla" + assert d.static_func1() == "WithStatic1" + assert d.static_func2() == "WithStatic2" + assert d.static_func() == d.__class__.__name__ + + m.WithStatic1.static_value1 = 1 + m.WithStatic2.static_value2 = 2 + assert d.static_value1 == 1 + assert d.static_value2 == 2 + assert d.static_value == 12 + + d.static_value1 = 0 + assert d.static_value1 == 0 + d.static_value2 = 0 + assert d.static_value2 == 0 + d.static_value = 0 + assert d.static_value == 0 + + +@pytest.unsupported_on_pypy +def test_mi_dynamic_attributes(): + """Mixing bases with and without dynamic attribute support""" + + for d in (m.VanillaDictMix1(), m.VanillaDictMix2()): + d.dynamic = 1 + assert d.dynamic == 1 + + +def test_mi_unaligned_base(): + """Returning an offset (non-first MI) base class pointer should recognize the instance""" + + n_inst = ConstructorStats.detail_reg_inst() + + c = m.I801C() + d = m.I801D() + # + 4 below because we have the two instances, and each instance has offset base I801B2 + assert ConstructorStats.detail_reg_inst() == n_inst + 4 + b1c = m.i801b1_c(c) + assert b1c is c + b2c = m.i801b2_c(c) + assert b2c is c + b1d = m.i801b1_d(d) + assert b1d is d + b2d = m.i801b2_d(d) + assert b2d is d + + assert ConstructorStats.detail_reg_inst() == n_inst + 4 # no extra instances + del c, b1c, b2c + assert ConstructorStats.detail_reg_inst() == n_inst + 2 + del d, b1d, b2d + assert ConstructorStats.detail_reg_inst() == n_inst + + +def test_mi_base_return(): + """Tests returning an offset (non-first MI) base class pointer to a derived instance""" + + n_inst = ConstructorStats.detail_reg_inst() + + c1 = m.i801c_b1() + assert type(c1) is m.I801C + assert c1.a == 1 + assert c1.b == 2 + + d1 = m.i801d_b1() + assert type(d1) is m.I801D + assert d1.a == 1 + assert d1.b == 2 + + assert ConstructorStats.detail_reg_inst() == n_inst + 4 + + c2 = m.i801c_b2() + assert type(c2) is m.I801C + assert c2.a == 1 + assert c2.b == 2 + + d2 = m.i801d_b2() + assert type(d2) is m.I801D + assert d2.a == 1 + assert d2.b == 2 + + assert ConstructorStats.detail_reg_inst() == n_inst + 8 + + del c2 + assert ConstructorStats.detail_reg_inst() == n_inst + 6 + del c1, d1, d2 + assert ConstructorStats.detail_reg_inst() == n_inst + + # Returning an unregistered derived type with a registered base; we won't + # pick up the derived type, obviously, but should still work (as an object + # of whatever type was returned). + e1 = m.i801e_c() + assert type(e1) is m.I801C + assert e1.a == 1 + assert e1.b == 2 + + e2 = m.i801e_b2() + assert type(e2) is m.I801B2 + assert e2.b == 2 + + +def test_diamond_inheritance(): + """Tests that diamond inheritance works as expected (issue #959)""" + + # Issue #959: this shouldn't segfault: + d = m.D() + + # Make sure all the various distinct pointers are all recognized as registered instances: + assert d is d.c0() + assert d is d.c1() + assert d is d.b() + assert d is d.c0().b() + assert d is d.c1().b() + assert d is d.c0().c1().b().c0().b() diff --git a/wrap/python/pybind11/tests/test_numpy_array.cpp b/wrap/python/pybind11/tests/test_numpy_array.cpp new file mode 100644 index 000000000..cdf0b82df --- /dev/null +++ b/wrap/python/pybind11/tests/test_numpy_array.cpp @@ -0,0 +1,309 @@ +/* + tests/test_numpy_array.cpp -- test core array functionality + + Copyright (c) 2016 Ivan Smirnov + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" + +#include +#include + +#include + +using arr = py::array; +using arr_t = py::array_t; +static_assert(std::is_same::value, ""); + +template arr data(const arr& a, Ix... index) { + return arr(a.nbytes() - a.offset_at(index...), (const uint8_t *) a.data(index...)); +} + +template arr data_t(const arr_t& a, Ix... index) { + return arr(a.size() - a.index_at(index...), a.data(index...)); +} + +template arr& mutate_data(arr& a, Ix... index) { + auto ptr = (uint8_t *) a.mutable_data(index...); + for (ssize_t i = 0; i < a.nbytes() - a.offset_at(index...); i++) + ptr[i] = (uint8_t) (ptr[i] * 2); + return a; +} + +template arr_t& mutate_data_t(arr_t& a, Ix... index) { + auto ptr = a.mutable_data(index...); + for (ssize_t i = 0; i < a.size() - a.index_at(index...); i++) + ptr[i]++; + return a; +} + +template ssize_t index_at(const arr& a, Ix... idx) { return a.index_at(idx...); } +template ssize_t index_at_t(const arr_t& a, Ix... idx) { return a.index_at(idx...); } +template ssize_t offset_at(const arr& a, Ix... idx) { return a.offset_at(idx...); } +template ssize_t offset_at_t(const arr_t& a, Ix... idx) { return a.offset_at(idx...); } +template ssize_t at_t(const arr_t& a, Ix... idx) { return a.at(idx...); } +template arr_t& mutate_at_t(arr_t& a, Ix... idx) { a.mutable_at(idx...)++; return a; } + +#define def_index_fn(name, type) \ + sm.def(#name, [](type a) { return name(a); }); \ + sm.def(#name, [](type a, int i) { return name(a, i); }); \ + sm.def(#name, [](type a, int i, int j) { return name(a, i, j); }); \ + sm.def(#name, [](type a, int i, int j, int k) { return name(a, i, j, k); }); + +template py::handle auxiliaries(T &&r, T2 &&r2) { + if (r.ndim() != 2) throw std::domain_error("error: ndim != 2"); + py::list l; + l.append(*r.data(0, 0)); + l.append(*r2.mutable_data(0, 0)); + l.append(r.data(0, 1) == r2.mutable_data(0, 1)); + l.append(r.ndim()); + l.append(r.itemsize()); + l.append(r.shape(0)); + l.append(r.shape(1)); + l.append(r.size()); + l.append(r.nbytes()); + return l.release(); +} + +// note: declaration at local scope would create a dangling reference! +static int data_i = 42; + +TEST_SUBMODULE(numpy_array, sm) { + try { py::module::import("numpy"); } + catch (...) { return; } + + // test_array_attributes + sm.def("ndim", [](const arr& a) { return a.ndim(); }); + sm.def("shape", [](const arr& a) { return arr(a.ndim(), a.shape()); }); + sm.def("shape", [](const arr& a, ssize_t dim) { return a.shape(dim); }); + sm.def("strides", [](const arr& a) { return arr(a.ndim(), a.strides()); }); + sm.def("strides", [](const arr& a, ssize_t dim) { return a.strides(dim); }); + sm.def("writeable", [](const arr& a) { return a.writeable(); }); + sm.def("size", [](const arr& a) { return a.size(); }); + sm.def("itemsize", [](const arr& a) { return a.itemsize(); }); + sm.def("nbytes", [](const arr& a) { return a.nbytes(); }); + sm.def("owndata", [](const arr& a) { return a.owndata(); }); + + // test_index_offset + def_index_fn(index_at, const arr&); + def_index_fn(index_at_t, const arr_t&); + def_index_fn(offset_at, const arr&); + def_index_fn(offset_at_t, const arr_t&); + // test_data + def_index_fn(data, const arr&); + def_index_fn(data_t, const arr_t&); + // test_mutate_data, test_mutate_readonly + def_index_fn(mutate_data, arr&); + def_index_fn(mutate_data_t, arr_t&); + def_index_fn(at_t, const arr_t&); + def_index_fn(mutate_at_t, arr_t&); + + // test_make_c_f_array + sm.def("make_f_array", [] { return py::array_t({ 2, 2 }, { 4, 8 }); }); + sm.def("make_c_array", [] { return py::array_t({ 2, 2 }, { 8, 4 }); }); + + // test_empty_shaped_array + sm.def("make_empty_shaped_array", [] { return py::array(py::dtype("f"), {}, {}); }); + // test numpy scalars (empty shape, ndim==0) + sm.def("scalar_int", []() { return py::array(py::dtype("i"), {}, {}, &data_i); }); + + // test_wrap + sm.def("wrap", [](py::array a) { + return py::array( + a.dtype(), + {a.shape(), a.shape() + a.ndim()}, + {a.strides(), a.strides() + a.ndim()}, + a.data(), + a + ); + }); + + // test_numpy_view + struct ArrayClass { + int data[2] = { 1, 2 }; + ArrayClass() { py::print("ArrayClass()"); } + ~ArrayClass() { py::print("~ArrayClass()"); } + }; + py::class_(sm, "ArrayClass") + .def(py::init<>()) + .def("numpy_view", [](py::object &obj) { + py::print("ArrayClass::numpy_view()"); + ArrayClass &a = obj.cast(); + return py::array_t({2}, {4}, a.data, obj); + } + ); + + // test_cast_numpy_int64_to_uint64 + sm.def("function_taking_uint64", [](uint64_t) { }); + + // test_isinstance + sm.def("isinstance_untyped", [](py::object yes, py::object no) { + return py::isinstance(yes) && !py::isinstance(no); + }); + sm.def("isinstance_typed", [](py::object o) { + return py::isinstance>(o) && !py::isinstance>(o); + }); + + // test_constructors + sm.def("default_constructors", []() { + return py::dict( + "array"_a=py::array(), + "array_t"_a=py::array_t(), + "array_t"_a=py::array_t() + ); + }); + sm.def("converting_constructors", [](py::object o) { + return py::dict( + "array"_a=py::array(o), + "array_t"_a=py::array_t(o), + "array_t"_a=py::array_t(o) + ); + }); + + // test_overload_resolution + sm.def("overloaded", [](py::array_t) { return "double"; }); + sm.def("overloaded", [](py::array_t) { return "float"; }); + sm.def("overloaded", [](py::array_t) { return "int"; }); + sm.def("overloaded", [](py::array_t) { return "unsigned short"; }); + sm.def("overloaded", [](py::array_t) { return "long long"; }); + sm.def("overloaded", [](py::array_t>) { return "double complex"; }); + sm.def("overloaded", [](py::array_t>) { return "float complex"; }); + + sm.def("overloaded2", [](py::array_t>) { return "double complex"; }); + sm.def("overloaded2", [](py::array_t) { return "double"; }); + sm.def("overloaded2", [](py::array_t>) { return "float complex"; }); + sm.def("overloaded2", [](py::array_t) { return "float"; }); + + // Only accept the exact types: + sm.def("overloaded3", [](py::array_t) { return "int"; }, py::arg().noconvert()); + sm.def("overloaded3", [](py::array_t) { return "double"; }, py::arg().noconvert()); + + // Make sure we don't do unsafe coercion (e.g. float to int) when not using forcecast, but + // rather that float gets converted via the safe (conversion to double) overload: + sm.def("overloaded4", [](py::array_t) { return "long long"; }); + sm.def("overloaded4", [](py::array_t) { return "double"; }); + + // But we do allow conversion to int if forcecast is enabled (but only if no overload matches + // without conversion) + sm.def("overloaded5", [](py::array_t) { return "unsigned int"; }); + sm.def("overloaded5", [](py::array_t) { return "double"; }); + + // test_greedy_string_overload + // Issue 685: ndarray shouldn't go to std::string overload + sm.def("issue685", [](std::string) { return "string"; }); + sm.def("issue685", [](py::array) { return "array"; }); + sm.def("issue685", [](py::object) { return "other"; }); + + // test_array_unchecked_fixed_dims + sm.def("proxy_add2", [](py::array_t a, double v) { + auto r = a.mutable_unchecked<2>(); + for (ssize_t i = 0; i < r.shape(0); i++) + for (ssize_t j = 0; j < r.shape(1); j++) + r(i, j) += v; + }, py::arg().noconvert(), py::arg()); + + sm.def("proxy_init3", [](double start) { + py::array_t a({ 3, 3, 3 }); + auto r = a.mutable_unchecked<3>(); + for (ssize_t i = 0; i < r.shape(0); i++) + for (ssize_t j = 0; j < r.shape(1); j++) + for (ssize_t k = 0; k < r.shape(2); k++) + r(i, j, k) = start++; + return a; + }); + sm.def("proxy_init3F", [](double start) { + py::array_t a({ 3, 3, 3 }); + auto r = a.mutable_unchecked<3>(); + for (ssize_t k = 0; k < r.shape(2); k++) + for (ssize_t j = 0; j < r.shape(1); j++) + for (ssize_t i = 0; i < r.shape(0); i++) + r(i, j, k) = start++; + return a; + }); + sm.def("proxy_squared_L2_norm", [](py::array_t a) { + auto r = a.unchecked<1>(); + double sumsq = 0; + for (ssize_t i = 0; i < r.shape(0); i++) + sumsq += r[i] * r(i); // Either notation works for a 1D array + return sumsq; + }); + + sm.def("proxy_auxiliaries2", [](py::array_t a) { + auto r = a.unchecked<2>(); + auto r2 = a.mutable_unchecked<2>(); + return auxiliaries(r, r2); + }); + + // test_array_unchecked_dyn_dims + // Same as the above, but without a compile-time dimensions specification: + sm.def("proxy_add2_dyn", [](py::array_t a, double v) { + auto r = a.mutable_unchecked(); + if (r.ndim() != 2) throw std::domain_error("error: ndim != 2"); + for (ssize_t i = 0; i < r.shape(0); i++) + for (ssize_t j = 0; j < r.shape(1); j++) + r(i, j) += v; + }, py::arg().noconvert(), py::arg()); + sm.def("proxy_init3_dyn", [](double start) { + py::array_t a({ 3, 3, 3 }); + auto r = a.mutable_unchecked(); + if (r.ndim() != 3) throw std::domain_error("error: ndim != 3"); + for (ssize_t i = 0; i < r.shape(0); i++) + for (ssize_t j = 0; j < r.shape(1); j++) + for (ssize_t k = 0; k < r.shape(2); k++) + r(i, j, k) = start++; + return a; + }); + sm.def("proxy_auxiliaries2_dyn", [](py::array_t a) { + return auxiliaries(a.unchecked(), a.mutable_unchecked()); + }); + + sm.def("array_auxiliaries2", [](py::array_t a) { + return auxiliaries(a, a); + }); + + // test_array_failures + // Issue #785: Uninformative "Unknown internal error" exception when constructing array from empty object: + sm.def("array_fail_test", []() { return py::array(py::object()); }); + sm.def("array_t_fail_test", []() { return py::array_t(py::object()); }); + // Make sure the error from numpy is being passed through: + sm.def("array_fail_test_negative_size", []() { int c = 0; return py::array(-1, &c); }); + + // test_initializer_list + // Issue (unnumbered; reported in #788): regression: initializer lists can be ambiguous + sm.def("array_initializer_list1", []() { return py::array_t(1); }); // { 1 } also works, but clang warns about it + sm.def("array_initializer_list2", []() { return py::array_t({ 1, 2 }); }); + sm.def("array_initializer_list3", []() { return py::array_t({ 1, 2, 3 }); }); + sm.def("array_initializer_list4", []() { return py::array_t({ 1, 2, 3, 4 }); }); + + // test_array_resize + // reshape array to 2D without changing size + sm.def("array_reshape2", [](py::array_t a) { + const ssize_t dim_sz = (ssize_t)std::sqrt(a.size()); + if (dim_sz * dim_sz != a.size()) + throw std::domain_error("array_reshape2: input array total size is not a squared integer"); + a.resize({dim_sz, dim_sz}); + }); + + // resize to 3D array with each dimension = N + sm.def("array_resize3", [](py::array_t a, size_t N, bool refcheck) { + a.resize({N, N, N}, refcheck); + }); + + // test_array_create_and_resize + // return 2D array with Nrows = Ncols = N + sm.def("create_and_resize", [](size_t N) { + py::array_t a; + a.resize({N, N}); + std::fill(a.mutable_data(), a.mutable_data() + a.size(), 42.); + return a; + }); + +#if PY_MAJOR_VERSION >= 3 + sm.def("index_using_ellipsis", [](py::array a) { + return a[py::make_tuple(0, py::ellipsis(), 0)]; + }); +#endif +} diff --git a/wrap/python/pybind11/tests/test_numpy_array.py b/wrap/python/pybind11/tests/test_numpy_array.py new file mode 100644 index 000000000..8bacb7f6d --- /dev/null +++ b/wrap/python/pybind11/tests/test_numpy_array.py @@ -0,0 +1,421 @@ +import pytest +from pybind11_tests import numpy_array as m + +pytestmark = pytest.requires_numpy + +with pytest.suppress(ImportError): + import numpy as np + + +@pytest.fixture(scope='function') +def arr(): + return np.array([[1, 2, 3], [4, 5, 6]], '=u2') + + +def test_array_attributes(): + a = np.array(0, 'f8') + assert m.ndim(a) == 0 + assert all(m.shape(a) == []) + assert all(m.strides(a) == []) + with pytest.raises(IndexError) as excinfo: + m.shape(a, 0) + assert str(excinfo.value) == 'invalid axis: 0 (ndim = 0)' + with pytest.raises(IndexError) as excinfo: + m.strides(a, 0) + assert str(excinfo.value) == 'invalid axis: 0 (ndim = 0)' + assert m.writeable(a) + assert m.size(a) == 1 + assert m.itemsize(a) == 8 + assert m.nbytes(a) == 8 + assert m.owndata(a) + + a = np.array([[1, 2, 3], [4, 5, 6]], 'u2').view() + a.flags.writeable = False + assert m.ndim(a) == 2 + assert all(m.shape(a) == [2, 3]) + assert m.shape(a, 0) == 2 + assert m.shape(a, 1) == 3 + assert all(m.strides(a) == [6, 2]) + assert m.strides(a, 0) == 6 + assert m.strides(a, 1) == 2 + with pytest.raises(IndexError) as excinfo: + m.shape(a, 2) + assert str(excinfo.value) == 'invalid axis: 2 (ndim = 2)' + with pytest.raises(IndexError) as excinfo: + m.strides(a, 2) + assert str(excinfo.value) == 'invalid axis: 2 (ndim = 2)' + assert not m.writeable(a) + assert m.size(a) == 6 + assert m.itemsize(a) == 2 + assert m.nbytes(a) == 12 + assert not m.owndata(a) + + +@pytest.mark.parametrize('args, ret', [([], 0), ([0], 0), ([1], 3), ([0, 1], 1), ([1, 2], 5)]) +def test_index_offset(arr, args, ret): + assert m.index_at(arr, *args) == ret + assert m.index_at_t(arr, *args) == ret + assert m.offset_at(arr, *args) == ret * arr.dtype.itemsize + assert m.offset_at_t(arr, *args) == ret * arr.dtype.itemsize + + +def test_dim_check_fail(arr): + for func in (m.index_at, m.index_at_t, m.offset_at, m.offset_at_t, m.data, m.data_t, + m.mutate_data, m.mutate_data_t): + with pytest.raises(IndexError) as excinfo: + func(arr, 1, 2, 3) + assert str(excinfo.value) == 'too many indices for an array: 3 (ndim = 2)' + + +@pytest.mark.parametrize('args, ret', + [([], [1, 2, 3, 4, 5, 6]), + ([1], [4, 5, 6]), + ([0, 1], [2, 3, 4, 5, 6]), + ([1, 2], [6])]) +def test_data(arr, args, ret): + from sys import byteorder + assert all(m.data_t(arr, *args) == ret) + assert all(m.data(arr, *args)[(0 if byteorder == 'little' else 1)::2] == ret) + assert all(m.data(arr, *args)[(1 if byteorder == 'little' else 0)::2] == 0) + + +@pytest.mark.parametrize('dim', [0, 1, 3]) +def test_at_fail(arr, dim): + for func in m.at_t, m.mutate_at_t: + with pytest.raises(IndexError) as excinfo: + func(arr, *([0] * dim)) + assert str(excinfo.value) == 'index dimension mismatch: {} (ndim = 2)'.format(dim) + + +def test_at(arr): + assert m.at_t(arr, 0, 2) == 3 + assert m.at_t(arr, 1, 0) == 4 + + assert all(m.mutate_at_t(arr, 0, 2).ravel() == [1, 2, 4, 4, 5, 6]) + assert all(m.mutate_at_t(arr, 1, 0).ravel() == [1, 2, 4, 5, 5, 6]) + + +def test_mutate_readonly(arr): + arr.flags.writeable = False + for func, args in (m.mutate_data, ()), (m.mutate_data_t, ()), (m.mutate_at_t, (0, 0)): + with pytest.raises(ValueError) as excinfo: + func(arr, *args) + assert str(excinfo.value) == 'array is not writeable' + + +def test_mutate_data(arr): + assert all(m.mutate_data(arr).ravel() == [2, 4, 6, 8, 10, 12]) + assert all(m.mutate_data(arr).ravel() == [4, 8, 12, 16, 20, 24]) + assert all(m.mutate_data(arr, 1).ravel() == [4, 8, 12, 32, 40, 48]) + assert all(m.mutate_data(arr, 0, 1).ravel() == [4, 16, 24, 64, 80, 96]) + assert all(m.mutate_data(arr, 1, 2).ravel() == [4, 16, 24, 64, 80, 192]) + + assert all(m.mutate_data_t(arr).ravel() == [5, 17, 25, 65, 81, 193]) + assert all(m.mutate_data_t(arr).ravel() == [6, 18, 26, 66, 82, 194]) + assert all(m.mutate_data_t(arr, 1).ravel() == [6, 18, 26, 67, 83, 195]) + assert all(m.mutate_data_t(arr, 0, 1).ravel() == [6, 19, 27, 68, 84, 196]) + assert all(m.mutate_data_t(arr, 1, 2).ravel() == [6, 19, 27, 68, 84, 197]) + + +def test_bounds_check(arr): + for func in (m.index_at, m.index_at_t, m.data, m.data_t, + m.mutate_data, m.mutate_data_t, m.at_t, m.mutate_at_t): + with pytest.raises(IndexError) as excinfo: + func(arr, 2, 0) + assert str(excinfo.value) == 'index 2 is out of bounds for axis 0 with size 2' + with pytest.raises(IndexError) as excinfo: + func(arr, 0, 4) + assert str(excinfo.value) == 'index 4 is out of bounds for axis 1 with size 3' + + +def test_make_c_f_array(): + assert m.make_c_array().flags.c_contiguous + assert not m.make_c_array().flags.f_contiguous + assert m.make_f_array().flags.f_contiguous + assert not m.make_f_array().flags.c_contiguous + + +def test_make_empty_shaped_array(): + m.make_empty_shaped_array() + + # empty shape means numpy scalar, PEP 3118 + assert m.scalar_int().ndim == 0 + assert m.scalar_int().shape == () + assert m.scalar_int() == 42 + + +def test_wrap(): + def assert_references(a, b, base=None): + from distutils.version import LooseVersion + if base is None: + base = a + assert a is not b + assert a.__array_interface__['data'][0] == b.__array_interface__['data'][0] + assert a.shape == b.shape + assert a.strides == b.strides + assert a.flags.c_contiguous == b.flags.c_contiguous + assert a.flags.f_contiguous == b.flags.f_contiguous + assert a.flags.writeable == b.flags.writeable + assert a.flags.aligned == b.flags.aligned + if LooseVersion(np.__version__) >= LooseVersion("1.14.0"): + assert a.flags.writebackifcopy == b.flags.writebackifcopy + else: + assert a.flags.updateifcopy == b.flags.updateifcopy + assert np.all(a == b) + assert not b.flags.owndata + assert b.base is base + if a.flags.writeable and a.ndim == 2: + a[0, 0] = 1234 + assert b[0, 0] == 1234 + + a1 = np.array([1, 2], dtype=np.int16) + assert a1.flags.owndata and a1.base is None + a2 = m.wrap(a1) + assert_references(a1, a2) + + a1 = np.array([[1, 2], [3, 4]], dtype=np.float32, order='F') + assert a1.flags.owndata and a1.base is None + a2 = m.wrap(a1) + assert_references(a1, a2) + + a1 = np.array([[1, 2], [3, 4]], dtype=np.float32, order='C') + a1.flags.writeable = False + a2 = m.wrap(a1) + assert_references(a1, a2) + + a1 = np.random.random((4, 4, 4)) + a2 = m.wrap(a1) + assert_references(a1, a2) + + a1t = a1.transpose() + a2 = m.wrap(a1t) + assert_references(a1t, a2, a1) + + a1d = a1.diagonal() + a2 = m.wrap(a1d) + assert_references(a1d, a2, a1) + + a1m = a1[::-1, ::-1, ::-1] + a2 = m.wrap(a1m) + assert_references(a1m, a2, a1) + + +def test_numpy_view(capture): + with capture: + ac = m.ArrayClass() + ac_view_1 = ac.numpy_view() + ac_view_2 = ac.numpy_view() + assert np.all(ac_view_1 == np.array([1, 2], dtype=np.int32)) + del ac + pytest.gc_collect() + assert capture == """ + ArrayClass() + ArrayClass::numpy_view() + ArrayClass::numpy_view() + """ + ac_view_1[0] = 4 + ac_view_1[1] = 3 + assert ac_view_2[0] == 4 + assert ac_view_2[1] == 3 + with capture: + del ac_view_1 + del ac_view_2 + pytest.gc_collect() + pytest.gc_collect() + assert capture == """ + ~ArrayClass() + """ + + +@pytest.unsupported_on_pypy +def test_cast_numpy_int64_to_uint64(): + m.function_taking_uint64(123) + m.function_taking_uint64(np.uint64(123)) + + +def test_isinstance(): + assert m.isinstance_untyped(np.array([1, 2, 3]), "not an array") + assert m.isinstance_typed(np.array([1.0, 2.0, 3.0])) + + +def test_constructors(): + defaults = m.default_constructors() + for a in defaults.values(): + assert a.size == 0 + assert defaults["array"].dtype == np.array([]).dtype + assert defaults["array_t"].dtype == np.int32 + assert defaults["array_t"].dtype == np.float64 + + results = m.converting_constructors([1, 2, 3]) + for a in results.values(): + np.testing.assert_array_equal(a, [1, 2, 3]) + assert results["array"].dtype == np.int_ + assert results["array_t"].dtype == np.int32 + assert results["array_t"].dtype == np.float64 + + +def test_overload_resolution(msg): + # Exact overload matches: + assert m.overloaded(np.array([1], dtype='float64')) == 'double' + assert m.overloaded(np.array([1], dtype='float32')) == 'float' + assert m.overloaded(np.array([1], dtype='ushort')) == 'unsigned short' + assert m.overloaded(np.array([1], dtype='intc')) == 'int' + assert m.overloaded(np.array([1], dtype='longlong')) == 'long long' + assert m.overloaded(np.array([1], dtype='complex')) == 'double complex' + assert m.overloaded(np.array([1], dtype='csingle')) == 'float complex' + + # No exact match, should call first convertible version: + assert m.overloaded(np.array([1], dtype='uint8')) == 'double' + + with pytest.raises(TypeError) as excinfo: + m.overloaded("not an array") + assert msg(excinfo.value) == """ + overloaded(): incompatible function arguments. The following argument types are supported: + 1. (arg0: numpy.ndarray[float64]) -> str + 2. (arg0: numpy.ndarray[float32]) -> str + 3. (arg0: numpy.ndarray[int32]) -> str + 4. (arg0: numpy.ndarray[uint16]) -> str + 5. (arg0: numpy.ndarray[int64]) -> str + 6. (arg0: numpy.ndarray[complex128]) -> str + 7. (arg0: numpy.ndarray[complex64]) -> str + + Invoked with: 'not an array' + """ + + assert m.overloaded2(np.array([1], dtype='float64')) == 'double' + assert m.overloaded2(np.array([1], dtype='float32')) == 'float' + assert m.overloaded2(np.array([1], dtype='complex64')) == 'float complex' + assert m.overloaded2(np.array([1], dtype='complex128')) == 'double complex' + assert m.overloaded2(np.array([1], dtype='float32')) == 'float' + + assert m.overloaded3(np.array([1], dtype='float64')) == 'double' + assert m.overloaded3(np.array([1], dtype='intc')) == 'int' + expected_exc = """ + overloaded3(): incompatible function arguments. The following argument types are supported: + 1. (arg0: numpy.ndarray[int32]) -> str + 2. (arg0: numpy.ndarray[float64]) -> str + + Invoked with: """ + + with pytest.raises(TypeError) as excinfo: + m.overloaded3(np.array([1], dtype='uintc')) + assert msg(excinfo.value) == expected_exc + repr(np.array([1], dtype='uint32')) + with pytest.raises(TypeError) as excinfo: + m.overloaded3(np.array([1], dtype='float32')) + assert msg(excinfo.value) == expected_exc + repr(np.array([1.], dtype='float32')) + with pytest.raises(TypeError) as excinfo: + m.overloaded3(np.array([1], dtype='complex')) + assert msg(excinfo.value) == expected_exc + repr(np.array([1. + 0.j])) + + # Exact matches: + assert m.overloaded4(np.array([1], dtype='double')) == 'double' + assert m.overloaded4(np.array([1], dtype='longlong')) == 'long long' + # Non-exact matches requiring conversion. Since float to integer isn't a + # save conversion, it should go to the double overload, but short can go to + # either (and so should end up on the first-registered, the long long). + assert m.overloaded4(np.array([1], dtype='float32')) == 'double' + assert m.overloaded4(np.array([1], dtype='short')) == 'long long' + + assert m.overloaded5(np.array([1], dtype='double')) == 'double' + assert m.overloaded5(np.array([1], dtype='uintc')) == 'unsigned int' + assert m.overloaded5(np.array([1], dtype='float32')) == 'unsigned int' + + +def test_greedy_string_overload(): + """Tests fix for #685 - ndarray shouldn't go to std::string overload""" + + assert m.issue685("abc") == "string" + assert m.issue685(np.array([97, 98, 99], dtype='b')) == "array" + assert m.issue685(123) == "other" + + +def test_array_unchecked_fixed_dims(msg): + z1 = np.array([[1, 2], [3, 4]], dtype='float64') + m.proxy_add2(z1, 10) + assert np.all(z1 == [[11, 12], [13, 14]]) + + with pytest.raises(ValueError) as excinfo: + m.proxy_add2(np.array([1., 2, 3]), 5.0) + assert msg(excinfo.value) == "array has incorrect number of dimensions: 1; expected 2" + + expect_c = np.ndarray(shape=(3, 3, 3), buffer=np.array(range(3, 30)), dtype='int') + assert np.all(m.proxy_init3(3.0) == expect_c) + expect_f = np.transpose(expect_c) + assert np.all(m.proxy_init3F(3.0) == expect_f) + + assert m.proxy_squared_L2_norm(np.array(range(6))) == 55 + assert m.proxy_squared_L2_norm(np.array(range(6), dtype="float64")) == 55 + + assert m.proxy_auxiliaries2(z1) == [11, 11, True, 2, 8, 2, 2, 4, 32] + assert m.proxy_auxiliaries2(z1) == m.array_auxiliaries2(z1) + + +def test_array_unchecked_dyn_dims(msg): + z1 = np.array([[1, 2], [3, 4]], dtype='float64') + m.proxy_add2_dyn(z1, 10) + assert np.all(z1 == [[11, 12], [13, 14]]) + + expect_c = np.ndarray(shape=(3, 3, 3), buffer=np.array(range(3, 30)), dtype='int') + assert np.all(m.proxy_init3_dyn(3.0) == expect_c) + + assert m.proxy_auxiliaries2_dyn(z1) == [11, 11, True, 2, 8, 2, 2, 4, 32] + assert m.proxy_auxiliaries2_dyn(z1) == m.array_auxiliaries2(z1) + + +def test_array_failure(): + with pytest.raises(ValueError) as excinfo: + m.array_fail_test() + assert str(excinfo.value) == 'cannot create a pybind11::array from a nullptr' + + with pytest.raises(ValueError) as excinfo: + m.array_t_fail_test() + assert str(excinfo.value) == 'cannot create a pybind11::array_t from a nullptr' + + with pytest.raises(ValueError) as excinfo: + m.array_fail_test_negative_size() + assert str(excinfo.value) == 'negative dimensions are not allowed' + + +def test_initializer_list(): + assert m.array_initializer_list1().shape == (1,) + assert m.array_initializer_list2().shape == (1, 2) + assert m.array_initializer_list3().shape == (1, 2, 3) + assert m.array_initializer_list4().shape == (1, 2, 3, 4) + + +def test_array_resize(msg): + a = np.array([1, 2, 3, 4, 5, 6, 7, 8, 9], dtype='float64') + m.array_reshape2(a) + assert(a.size == 9) + assert(np.all(a == [[1, 2, 3], [4, 5, 6], [7, 8, 9]])) + + # total size change should succced with refcheck off + m.array_resize3(a, 4, False) + assert(a.size == 64) + # ... and fail with refcheck on + try: + m.array_resize3(a, 3, True) + except ValueError as e: + assert(str(e).startswith("cannot resize an array")) + # transposed array doesn't own data + b = a.transpose() + try: + m.array_resize3(b, 3, False) + except ValueError as e: + assert(str(e).startswith("cannot resize this array: it does not own its data")) + # ... but reshape should be fine + m.array_reshape2(b) + assert(b.shape == (8, 8)) + + +@pytest.unsupported_on_pypy +def test_array_create_and_resize(msg): + a = m.create_and_resize(2) + assert(a.size == 4) + assert(np.all(a == 42.)) + + +@pytest.unsupported_on_py2 +def test_index_using_ellipsis(): + a = m.index_using_ellipsis(np.zeros((5, 6, 7))) + assert a.shape == (6,) diff --git a/wrap/python/pybind11/tests/test_numpy_dtypes.cpp b/wrap/python/pybind11/tests/test_numpy_dtypes.cpp new file mode 100644 index 000000000..6e3dc6ba2 --- /dev/null +++ b/wrap/python/pybind11/tests/test_numpy_dtypes.cpp @@ -0,0 +1,466 @@ +/* + tests/test_numpy_dtypes.cpp -- Structured and compound NumPy dtypes + + Copyright (c) 2016 Ivan Smirnov + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include + +#ifdef __GNUC__ +#define PYBIND11_PACKED(cls) cls __attribute__((__packed__)) +#else +#define PYBIND11_PACKED(cls) __pragma(pack(push, 1)) cls __pragma(pack(pop)) +#endif + +namespace py = pybind11; + +struct SimpleStruct { + bool bool_; + uint32_t uint_; + float float_; + long double ldbl_; +}; + +std::ostream& operator<<(std::ostream& os, const SimpleStruct& v) { + return os << "s:" << v.bool_ << "," << v.uint_ << "," << v.float_ << "," << v.ldbl_; +} + +PYBIND11_PACKED(struct PackedStruct { + bool bool_; + uint32_t uint_; + float float_; + long double ldbl_; +}); + +std::ostream& operator<<(std::ostream& os, const PackedStruct& v) { + return os << "p:" << v.bool_ << "," << v.uint_ << "," << v.float_ << "," << v.ldbl_; +} + +PYBIND11_PACKED(struct NestedStruct { + SimpleStruct a; + PackedStruct b; +}); + +std::ostream& operator<<(std::ostream& os, const NestedStruct& v) { + return os << "n:a=" << v.a << ";b=" << v.b; +} + +struct PartialStruct { + bool bool_; + uint32_t uint_; + float float_; + uint64_t dummy2; + long double ldbl_; +}; + +struct PartialNestedStruct { + uint64_t dummy1; + PartialStruct a; + uint64_t dummy2; +}; + +struct UnboundStruct { }; + +struct StringStruct { + char a[3]; + std::array b; +}; + +struct ComplexStruct { + std::complex cflt; + std::complex cdbl; +}; + +std::ostream& operator<<(std::ostream& os, const ComplexStruct& v) { + return os << "c:" << v.cflt << "," << v.cdbl; +} + +struct ArrayStruct { + char a[3][4]; + int32_t b[2]; + std::array c; + std::array d[4]; +}; + +PYBIND11_PACKED(struct StructWithUglyNames { + int8_t __x__; + uint64_t __y__; +}); + +enum class E1 : int64_t { A = -1, B = 1 }; +enum E2 : uint8_t { X = 1, Y = 2 }; + +PYBIND11_PACKED(struct EnumStruct { + E1 e1; + E2 e2; +}); + +std::ostream& operator<<(std::ostream& os, const StringStruct& v) { + os << "a='"; + for (size_t i = 0; i < 3 && v.a[i]; i++) os << v.a[i]; + os << "',b='"; + for (size_t i = 0; i < 3 && v.b[i]; i++) os << v.b[i]; + return os << "'"; +} + +std::ostream& operator<<(std::ostream& os, const ArrayStruct& v) { + os << "a={"; + for (int i = 0; i < 3; i++) { + if (i > 0) + os << ','; + os << '{'; + for (int j = 0; j < 3; j++) + os << v.a[i][j] << ','; + os << v.a[i][3] << '}'; + } + os << "},b={" << v.b[0] << ',' << v.b[1]; + os << "},c={" << int(v.c[0]) << ',' << int(v.c[1]) << ',' << int(v.c[2]); + os << "},d={"; + for (int i = 0; i < 4; i++) { + if (i > 0) + os << ','; + os << '{' << v.d[i][0] << ',' << v.d[i][1] << '}'; + } + return os << '}'; +} + +std::ostream& operator<<(std::ostream& os, const EnumStruct& v) { + return os << "e1=" << (v.e1 == E1::A ? "A" : "B") << ",e2=" << (v.e2 == E2::X ? "X" : "Y"); +} + +template +py::array mkarray_via_buffer(size_t n) { + return py::array(py::buffer_info(nullptr, sizeof(T), + py::format_descriptor::format(), + 1, { n }, { sizeof(T) })); +} + +#define SET_TEST_VALS(s, i) do { \ + s.bool_ = (i) % 2 != 0; \ + s.uint_ = (uint32_t) (i); \ + s.float_ = (float) (i) * 1.5f; \ + s.ldbl_ = (long double) (i) * -2.5L; } while (0) + +template +py::array_t create_recarray(size_t n) { + auto arr = mkarray_via_buffer(n); + auto req = arr.request(); + auto ptr = static_cast(req.ptr); + for (size_t i = 0; i < n; i++) { + SET_TEST_VALS(ptr[i], i); + } + return arr; +} + +template +py::list print_recarray(py::array_t arr) { + const auto req = arr.request(); + const auto ptr = static_cast(req.ptr); + auto l = py::list(); + for (ssize_t i = 0; i < req.size; i++) { + std::stringstream ss; + ss << ptr[i]; + l.append(py::str(ss.str())); + } + return l; +} + +py::array_t test_array_ctors(int i) { + using arr_t = py::array_t; + + std::vector data { 1, 2, 3, 4, 5, 6 }; + std::vector shape { 3, 2 }; + std::vector strides { 8, 4 }; + + auto ptr = data.data(); + auto vptr = (void *) ptr; + auto dtype = py::dtype("int32"); + + py::buffer_info buf_ndim1(vptr, 4, "i", 6); + py::buffer_info buf_ndim1_null(nullptr, 4, "i", 6); + py::buffer_info buf_ndim2(vptr, 4, "i", 2, shape, strides); + py::buffer_info buf_ndim2_null(nullptr, 4, "i", 2, shape, strides); + + auto fill = [](py::array arr) { + auto req = arr.request(); + for (int i = 0; i < 6; i++) ((int32_t *) req.ptr)[i] = i + 1; + return arr; + }; + + switch (i) { + // shape: (3, 2) + case 10: return arr_t(shape, strides, ptr); + case 11: return py::array(shape, strides, ptr); + case 12: return py::array(dtype, shape, strides, vptr); + case 13: return arr_t(shape, ptr); + case 14: return py::array(shape, ptr); + case 15: return py::array(dtype, shape, vptr); + case 16: return arr_t(buf_ndim2); + case 17: return py::array(buf_ndim2); + // shape: (3, 2) - post-fill + case 20: return fill(arr_t(shape, strides)); + case 21: return py::array(shape, strides, ptr); // can't have nullptr due to templated ctor + case 22: return fill(py::array(dtype, shape, strides)); + case 23: return fill(arr_t(shape)); + case 24: return py::array(shape, ptr); // can't have nullptr due to templated ctor + case 25: return fill(py::array(dtype, shape)); + case 26: return fill(arr_t(buf_ndim2_null)); + case 27: return fill(py::array(buf_ndim2_null)); + // shape: (6, ) + case 30: return arr_t(6, ptr); + case 31: return py::array(6, ptr); + case 32: return py::array(dtype, 6, vptr); + case 33: return arr_t(buf_ndim1); + case 34: return py::array(buf_ndim1); + // shape: (6, ) + case 40: return fill(arr_t(6)); + case 41: return py::array(6, ptr); // can't have nullptr due to templated ctor + case 42: return fill(py::array(dtype, 6)); + case 43: return fill(arr_t(buf_ndim1_null)); + case 44: return fill(py::array(buf_ndim1_null)); + } + return arr_t(); +} + +py::list test_dtype_ctors() { + py::list list; + list.append(py::dtype("int32")); + list.append(py::dtype(std::string("float64"))); + list.append(py::dtype::from_args(py::str("bool"))); + py::list names, offsets, formats; + py::dict dict; + names.append(py::str("a")); names.append(py::str("b")); dict["names"] = names; + offsets.append(py::int_(1)); offsets.append(py::int_(10)); dict["offsets"] = offsets; + formats.append(py::dtype("int32")); formats.append(py::dtype("float64")); dict["formats"] = formats; + dict["itemsize"] = py::int_(20); + list.append(py::dtype::from_args(dict)); + list.append(py::dtype(names, formats, offsets, 20)); + list.append(py::dtype(py::buffer_info((void *) 0, sizeof(unsigned int), "I", 1))); + list.append(py::dtype(py::buffer_info((void *) 0, 0, "T{i:a:f:b:}", 1))); + return list; +} + +struct A {}; +struct B {}; + +TEST_SUBMODULE(numpy_dtypes, m) { + try { py::module::import("numpy"); } + catch (...) { return; } + + // typeinfo may be registered before the dtype descriptor for scalar casts to work... + py::class_(m, "SimpleStruct"); + + PYBIND11_NUMPY_DTYPE(SimpleStruct, bool_, uint_, float_, ldbl_); + PYBIND11_NUMPY_DTYPE(PackedStruct, bool_, uint_, float_, ldbl_); + PYBIND11_NUMPY_DTYPE(NestedStruct, a, b); + PYBIND11_NUMPY_DTYPE(PartialStruct, bool_, uint_, float_, ldbl_); + PYBIND11_NUMPY_DTYPE(PartialNestedStruct, a); + PYBIND11_NUMPY_DTYPE(StringStruct, a, b); + PYBIND11_NUMPY_DTYPE(ArrayStruct, a, b, c, d); + PYBIND11_NUMPY_DTYPE(EnumStruct, e1, e2); + PYBIND11_NUMPY_DTYPE(ComplexStruct, cflt, cdbl); + + // ... or after + py::class_(m, "PackedStruct"); + + PYBIND11_NUMPY_DTYPE_EX(StructWithUglyNames, __x__, "x", __y__, "y"); + + // If uncommented, this should produce a static_assert failure telling the user that the struct + // is not a POD type +// struct NotPOD { std::string v; NotPOD() : v("hi") {}; }; +// PYBIND11_NUMPY_DTYPE(NotPOD, v); + + // Check that dtypes can be registered programmatically, both from + // initializer lists of field descriptors and from other containers. + py::detail::npy_format_descriptor::register_dtype( + {} + ); + py::detail::npy_format_descriptor::register_dtype( + std::vector{} + ); + + // test_recarray, test_scalar_conversion + m.def("create_rec_simple", &create_recarray); + m.def("create_rec_packed", &create_recarray); + m.def("create_rec_nested", [](size_t n) { // test_signature + py::array_t arr = mkarray_via_buffer(n); + auto req = arr.request(); + auto ptr = static_cast(req.ptr); + for (size_t i = 0; i < n; i++) { + SET_TEST_VALS(ptr[i].a, i); + SET_TEST_VALS(ptr[i].b, i + 1); + } + return arr; + }); + m.def("create_rec_partial", &create_recarray); + m.def("create_rec_partial_nested", [](size_t n) { + py::array_t arr = mkarray_via_buffer(n); + auto req = arr.request(); + auto ptr = static_cast(req.ptr); + for (size_t i = 0; i < n; i++) { + SET_TEST_VALS(ptr[i].a, i); + } + return arr; + }); + m.def("print_rec_simple", &print_recarray); + m.def("print_rec_packed", &print_recarray); + m.def("print_rec_nested", &print_recarray); + + // test_format_descriptors + m.def("get_format_unbound", []() { return py::format_descriptor::format(); }); + m.def("print_format_descriptors", []() { + py::list l; + for (const auto &fmt : { + py::format_descriptor::format(), + py::format_descriptor::format(), + py::format_descriptor::format(), + py::format_descriptor::format(), + py::format_descriptor::format(), + py::format_descriptor::format(), + py::format_descriptor::format(), + py::format_descriptor::format(), + py::format_descriptor::format() + }) { + l.append(py::cast(fmt)); + } + return l; + }); + + // test_dtype + m.def("print_dtypes", []() { + py::list l; + for (const py::handle &d : { + py::dtype::of(), + py::dtype::of(), + py::dtype::of(), + py::dtype::of(), + py::dtype::of(), + py::dtype::of(), + py::dtype::of(), + py::dtype::of(), + py::dtype::of(), + py::dtype::of() + }) + l.append(py::str(d)); + return l; + }); + m.def("test_dtype_ctors", &test_dtype_ctors); + m.def("test_dtype_methods", []() { + py::list list; + auto dt1 = py::dtype::of(); + auto dt2 = py::dtype::of(); + list.append(dt1); list.append(dt2); + list.append(py::bool_(dt1.has_fields())); list.append(py::bool_(dt2.has_fields())); + list.append(py::int_(dt1.itemsize())); list.append(py::int_(dt2.itemsize())); + return list; + }); + struct TrailingPaddingStruct { + int32_t a; + char b; + }; + PYBIND11_NUMPY_DTYPE(TrailingPaddingStruct, a, b); + m.def("trailing_padding_dtype", []() { return py::dtype::of(); }); + + // test_string_array + m.def("create_string_array", [](bool non_empty) { + py::array_t arr = mkarray_via_buffer(non_empty ? 4 : 0); + if (non_empty) { + auto req = arr.request(); + auto ptr = static_cast(req.ptr); + for (ssize_t i = 0; i < req.size * req.itemsize; i++) + static_cast(req.ptr)[i] = 0; + ptr[1].a[0] = 'a'; ptr[1].b[0] = 'a'; + ptr[2].a[0] = 'a'; ptr[2].b[0] = 'a'; + ptr[3].a[0] = 'a'; ptr[3].b[0] = 'a'; + + ptr[2].a[1] = 'b'; ptr[2].b[1] = 'b'; + ptr[3].a[1] = 'b'; ptr[3].b[1] = 'b'; + + ptr[3].a[2] = 'c'; ptr[3].b[2] = 'c'; + } + return arr; + }); + m.def("print_string_array", &print_recarray); + + // test_array_array + m.def("create_array_array", [](size_t n) { + py::array_t arr = mkarray_via_buffer(n); + auto ptr = (ArrayStruct *) arr.mutable_data(); + for (size_t i = 0; i < n; i++) { + for (size_t j = 0; j < 3; j++) + for (size_t k = 0; k < 4; k++) + ptr[i].a[j][k] = char('A' + (i * 100 + j * 10 + k) % 26); + for (size_t j = 0; j < 2; j++) + ptr[i].b[j] = int32_t(i * 1000 + j); + for (size_t j = 0; j < 3; j++) + ptr[i].c[j] = uint8_t(i * 10 + j); + for (size_t j = 0; j < 4; j++) + for (size_t k = 0; k < 2; k++) + ptr[i].d[j][k] = float(i) * 100.0f + float(j) * 10.0f + float(k); + } + return arr; + }); + m.def("print_array_array", &print_recarray); + + // test_enum_array + m.def("create_enum_array", [](size_t n) { + py::array_t arr = mkarray_via_buffer(n); + auto ptr = (EnumStruct *) arr.mutable_data(); + for (size_t i = 0; i < n; i++) { + ptr[i].e1 = static_cast(-1 + ((int) i % 2) * 2); + ptr[i].e2 = static_cast(1 + (i % 2)); + } + return arr; + }); + m.def("print_enum_array", &print_recarray); + + // test_complex_array + m.def("create_complex_array", [](size_t n) { + py::array_t arr = mkarray_via_buffer(n); + auto ptr = (ComplexStruct *) arr.mutable_data(); + for (size_t i = 0; i < n; i++) { + ptr[i].cflt.real(float(i)); + ptr[i].cflt.imag(float(i) + 0.25f); + ptr[i].cdbl.real(double(i) + 0.5); + ptr[i].cdbl.imag(double(i) + 0.75); + } + return arr; + }); + m.def("print_complex_array", &print_recarray); + + // test_array_constructors + m.def("test_array_ctors", &test_array_ctors); + + // test_compare_buffer_info + struct CompareStruct { + bool x; + uint32_t y; + float z; + }; + PYBIND11_NUMPY_DTYPE(CompareStruct, x, y, z); + m.def("compare_buffer_info", []() { + py::list list; + list.append(py::bool_(py::detail::compare_buffer_info::compare(py::buffer_info(nullptr, sizeof(float), "f", 1)))); + list.append(py::bool_(py::detail::compare_buffer_info::compare(py::buffer_info(nullptr, sizeof(int), "I", 1)))); + list.append(py::bool_(py::detail::compare_buffer_info::compare(py::buffer_info(nullptr, sizeof(long), "l", 1)))); + list.append(py::bool_(py::detail::compare_buffer_info::compare(py::buffer_info(nullptr, sizeof(long), sizeof(long) == sizeof(int) ? "i" : "q", 1)))); + list.append(py::bool_(py::detail::compare_buffer_info::compare(py::buffer_info(nullptr, sizeof(CompareStruct), "T{?:x:3xI:y:f:z:}", 1)))); + return list; + }); + m.def("buffer_to_dtype", [](py::buffer& buf) { return py::dtype(buf.request()); }); + + // test_scalar_conversion + m.def("f_simple", [](SimpleStruct s) { return s.uint_ * 10; }); + m.def("f_packed", [](PackedStruct s) { return s.uint_ * 10; }); + m.def("f_nested", [](NestedStruct s) { return s.a.uint_ * 10; }); + + // test_register_dtype + m.def("register_dtype", []() { PYBIND11_NUMPY_DTYPE(SimpleStruct, bool_, uint_, float_, ldbl_); }); + + // test_str_leak + m.def("dtype_wrapper", [](py::object d) { return py::dtype::from_args(std::move(d)); }); +} diff --git a/wrap/python/pybind11/tests/test_numpy_dtypes.py b/wrap/python/pybind11/tests/test_numpy_dtypes.py new file mode 100644 index 000000000..2e6388517 --- /dev/null +++ b/wrap/python/pybind11/tests/test_numpy_dtypes.py @@ -0,0 +1,310 @@ +import re +import pytest +from pybind11_tests import numpy_dtypes as m + +pytestmark = pytest.requires_numpy + +with pytest.suppress(ImportError): + import numpy as np + + +@pytest.fixture(scope='module') +def simple_dtype(): + ld = np.dtype('longdouble') + return np.dtype({'names': ['bool_', 'uint_', 'float_', 'ldbl_'], + 'formats': ['?', 'u4', 'f4', 'f{}'.format(ld.itemsize)], + 'offsets': [0, 4, 8, (16 if ld.alignment > 4 else 12)]}) + + +@pytest.fixture(scope='module') +def packed_dtype(): + return np.dtype([('bool_', '?'), ('uint_', 'u4'), ('float_', 'f4'), ('ldbl_', 'g')]) + + +def dt_fmt(): + from sys import byteorder + e = '<' if byteorder == 'little' else '>' + return ("{{'names':['bool_','uint_','float_','ldbl_']," + " 'formats':['?','" + e + "u4','" + e + "f4','" + e + "f{}']," + " 'offsets':[0,4,8,{}], 'itemsize':{}}}") + + +def simple_dtype_fmt(): + ld = np.dtype('longdouble') + simple_ld_off = 12 + 4 * (ld.alignment > 4) + return dt_fmt().format(ld.itemsize, simple_ld_off, simple_ld_off + ld.itemsize) + + +def packed_dtype_fmt(): + from sys import byteorder + return "[('bool_', '?'), ('uint_', '{e}u4'), ('float_', '{e}f4'), ('ldbl_', '{e}f{}')]".format( + np.dtype('longdouble').itemsize, e='<' if byteorder == 'little' else '>') + + +def partial_ld_offset(): + return 12 + 4 * (np.dtype('uint64').alignment > 4) + 8 + 8 * ( + np.dtype('longdouble').alignment > 8) + + +def partial_dtype_fmt(): + ld = np.dtype('longdouble') + partial_ld_off = partial_ld_offset() + return dt_fmt().format(ld.itemsize, partial_ld_off, partial_ld_off + ld.itemsize) + + +def partial_nested_fmt(): + ld = np.dtype('longdouble') + partial_nested_off = 8 + 8 * (ld.alignment > 8) + partial_ld_off = partial_ld_offset() + partial_nested_size = partial_nested_off * 2 + partial_ld_off + ld.itemsize + return "{{'names':['a'], 'formats':[{}], 'offsets':[{}], 'itemsize':{}}}".format( + partial_dtype_fmt(), partial_nested_off, partial_nested_size) + + +def assert_equal(actual, expected_data, expected_dtype): + np.testing.assert_equal(actual, np.array(expected_data, dtype=expected_dtype)) + + +def test_format_descriptors(): + with pytest.raises(RuntimeError) as excinfo: + m.get_format_unbound() + assert re.match('^NumPy type info missing for .*UnboundStruct.*$', str(excinfo.value)) + + ld = np.dtype('longdouble') + ldbl_fmt = ('4x' if ld.alignment > 4 else '') + ld.char + ss_fmt = "^T{?:bool_:3xI:uint_:f:float_:" + ldbl_fmt + ":ldbl_:}" + dbl = np.dtype('double') + partial_fmt = ("^T{?:bool_:3xI:uint_:f:float_:" + + str(4 * (dbl.alignment > 4) + dbl.itemsize + 8 * (ld.alignment > 8)) + + "xg:ldbl_:}") + nested_extra = str(max(8, ld.alignment)) + assert m.print_format_descriptors() == [ + ss_fmt, + "^T{?:bool_:I:uint_:f:float_:g:ldbl_:}", + "^T{" + ss_fmt + ":a:^T{?:bool_:I:uint_:f:float_:g:ldbl_:}:b:}", + partial_fmt, + "^T{" + nested_extra + "x" + partial_fmt + ":a:" + nested_extra + "x}", + "^T{3s:a:3s:b:}", + "^T{(3)4s:a:(2)i:b:(3)B:c:1x(4, 2)f:d:}", + '^T{q:e1:B:e2:}', + '^T{Zf:cflt:Zd:cdbl:}' + ] + + +def test_dtype(simple_dtype): + from sys import byteorder + e = '<' if byteorder == 'little' else '>' + + assert m.print_dtypes() == [ + simple_dtype_fmt(), + packed_dtype_fmt(), + "[('a', {}), ('b', {})]".format(simple_dtype_fmt(), packed_dtype_fmt()), + partial_dtype_fmt(), + partial_nested_fmt(), + "[('a', 'S3'), ('b', 'S3')]", + ("{{'names':['a','b','c','d'], " + + "'formats':[('S4', (3,)),('" + e + "i4', (2,)),('u1', (3,)),('" + e + "f4', (4, 2))], " + + "'offsets':[0,12,20,24], 'itemsize':56}}").format(e=e), + "[('e1', '" + e + "i8'), ('e2', 'u1')]", + "[('x', 'i1'), ('y', '" + e + "u8')]", + "[('cflt', '" + e + "c8'), ('cdbl', '" + e + "c16')]" + ] + + d1 = np.dtype({'names': ['a', 'b'], 'formats': ['int32', 'float64'], + 'offsets': [1, 10], 'itemsize': 20}) + d2 = np.dtype([('a', 'i4'), ('b', 'f4')]) + assert m.test_dtype_ctors() == [np.dtype('int32'), np.dtype('float64'), + np.dtype('bool'), d1, d1, np.dtype('uint32'), d2] + + assert m.test_dtype_methods() == [np.dtype('int32'), simple_dtype, False, True, + np.dtype('int32').itemsize, simple_dtype.itemsize] + + assert m.trailing_padding_dtype() == m.buffer_to_dtype(np.zeros(1, m.trailing_padding_dtype())) + + +def test_recarray(simple_dtype, packed_dtype): + elements = [(False, 0, 0.0, -0.0), (True, 1, 1.5, -2.5), (False, 2, 3.0, -5.0)] + + for func, dtype in [(m.create_rec_simple, simple_dtype), (m.create_rec_packed, packed_dtype)]: + arr = func(0) + assert arr.dtype == dtype + assert_equal(arr, [], simple_dtype) + assert_equal(arr, [], packed_dtype) + + arr = func(3) + assert arr.dtype == dtype + assert_equal(arr, elements, simple_dtype) + assert_equal(arr, elements, packed_dtype) + + if dtype == simple_dtype: + assert m.print_rec_simple(arr) == [ + "s:0,0,0,-0", + "s:1,1,1.5,-2.5", + "s:0,2,3,-5" + ] + else: + assert m.print_rec_packed(arr) == [ + "p:0,0,0,-0", + "p:1,1,1.5,-2.5", + "p:0,2,3,-5" + ] + + nested_dtype = np.dtype([('a', simple_dtype), ('b', packed_dtype)]) + + arr = m.create_rec_nested(0) + assert arr.dtype == nested_dtype + assert_equal(arr, [], nested_dtype) + + arr = m.create_rec_nested(3) + assert arr.dtype == nested_dtype + assert_equal(arr, [((False, 0, 0.0, -0.0), (True, 1, 1.5, -2.5)), + ((True, 1, 1.5, -2.5), (False, 2, 3.0, -5.0)), + ((False, 2, 3.0, -5.0), (True, 3, 4.5, -7.5))], nested_dtype) + assert m.print_rec_nested(arr) == [ + "n:a=s:0,0,0,-0;b=p:1,1,1.5,-2.5", + "n:a=s:1,1,1.5,-2.5;b=p:0,2,3,-5", + "n:a=s:0,2,3,-5;b=p:1,3,4.5,-7.5" + ] + + arr = m.create_rec_partial(3) + assert str(arr.dtype) == partial_dtype_fmt() + partial_dtype = arr.dtype + assert '' not in arr.dtype.fields + assert partial_dtype.itemsize > simple_dtype.itemsize + assert_equal(arr, elements, simple_dtype) + assert_equal(arr, elements, packed_dtype) + + arr = m.create_rec_partial_nested(3) + assert str(arr.dtype) == partial_nested_fmt() + assert '' not in arr.dtype.fields + assert '' not in arr.dtype.fields['a'][0].fields + assert arr.dtype.itemsize > partial_dtype.itemsize + np.testing.assert_equal(arr['a'], m.create_rec_partial(3)) + + +def test_array_constructors(): + data = np.arange(1, 7, dtype='int32') + for i in range(8): + np.testing.assert_array_equal(m.test_array_ctors(10 + i), data.reshape((3, 2))) + np.testing.assert_array_equal(m.test_array_ctors(20 + i), data.reshape((3, 2))) + for i in range(5): + np.testing.assert_array_equal(m.test_array_ctors(30 + i), data) + np.testing.assert_array_equal(m.test_array_ctors(40 + i), data) + + +def test_string_array(): + arr = m.create_string_array(True) + assert str(arr.dtype) == "[('a', 'S3'), ('b', 'S3')]" + assert m.print_string_array(arr) == [ + "a='',b=''", + "a='a',b='a'", + "a='ab',b='ab'", + "a='abc',b='abc'" + ] + dtype = arr.dtype + assert arr['a'].tolist() == [b'', b'a', b'ab', b'abc'] + assert arr['b'].tolist() == [b'', b'a', b'ab', b'abc'] + arr = m.create_string_array(False) + assert dtype == arr.dtype + + +def test_array_array(): + from sys import byteorder + e = '<' if byteorder == 'little' else '>' + + arr = m.create_array_array(3) + assert str(arr.dtype) == ( + "{{'names':['a','b','c','d'], " + + "'formats':[('S4', (3,)),('" + e + "i4', (2,)),('u1', (3,)),('{e}f4', (4, 2))], " + + "'offsets':[0,12,20,24], 'itemsize':56}}").format(e=e) + assert m.print_array_array(arr) == [ + "a={{A,B,C,D},{K,L,M,N},{U,V,W,X}},b={0,1}," + + "c={0,1,2},d={{0,1},{10,11},{20,21},{30,31}}", + "a={{W,X,Y,Z},{G,H,I,J},{Q,R,S,T}},b={1000,1001}," + + "c={10,11,12},d={{100,101},{110,111},{120,121},{130,131}}", + "a={{S,T,U,V},{C,D,E,F},{M,N,O,P}},b={2000,2001}," + + "c={20,21,22},d={{200,201},{210,211},{220,221},{230,231}}", + ] + assert arr['a'].tolist() == [[b'ABCD', b'KLMN', b'UVWX'], + [b'WXYZ', b'GHIJ', b'QRST'], + [b'STUV', b'CDEF', b'MNOP']] + assert arr['b'].tolist() == [[0, 1], [1000, 1001], [2000, 2001]] + assert m.create_array_array(0).dtype == arr.dtype + + +def test_enum_array(): + from sys import byteorder + e = '<' if byteorder == 'little' else '>' + + arr = m.create_enum_array(3) + dtype = arr.dtype + assert dtype == np.dtype([('e1', e + 'i8'), ('e2', 'u1')]) + assert m.print_enum_array(arr) == [ + "e1=A,e2=X", + "e1=B,e2=Y", + "e1=A,e2=X" + ] + assert arr['e1'].tolist() == [-1, 1, -1] + assert arr['e2'].tolist() == [1, 2, 1] + assert m.create_enum_array(0).dtype == dtype + + +def test_complex_array(): + from sys import byteorder + e = '<' if byteorder == 'little' else '>' + + arr = m.create_complex_array(3) + dtype = arr.dtype + assert dtype == np.dtype([('cflt', e + 'c8'), ('cdbl', e + 'c16')]) + assert m.print_complex_array(arr) == [ + "c:(0,0.25),(0.5,0.75)", + "c:(1,1.25),(1.5,1.75)", + "c:(2,2.25),(2.5,2.75)" + ] + assert arr['cflt'].tolist() == [0.0 + 0.25j, 1.0 + 1.25j, 2.0 + 2.25j] + assert arr['cdbl'].tolist() == [0.5 + 0.75j, 1.5 + 1.75j, 2.5 + 2.75j] + assert m.create_complex_array(0).dtype == dtype + + +def test_signature(doc): + assert doc(m.create_rec_nested) == \ + "create_rec_nested(arg0: int) -> numpy.ndarray[NestedStruct]" + + +def test_scalar_conversion(): + n = 3 + arrays = [m.create_rec_simple(n), m.create_rec_packed(n), + m.create_rec_nested(n), m.create_enum_array(n)] + funcs = [m.f_simple, m.f_packed, m.f_nested] + + for i, func in enumerate(funcs): + for j, arr in enumerate(arrays): + if i == j and i < 2: + assert [func(arr[k]) for k in range(n)] == [k * 10 for k in range(n)] + else: + with pytest.raises(TypeError) as excinfo: + func(arr[0]) + assert 'incompatible function arguments' in str(excinfo.value) + + +def test_register_dtype(): + with pytest.raises(RuntimeError) as excinfo: + m.register_dtype() + assert 'dtype is already registered' in str(excinfo.value) + + +@pytest.unsupported_on_pypy +def test_str_leak(): + from sys import getrefcount + fmt = "f4" + pytest.gc_collect() + start = getrefcount(fmt) + d = m.dtype_wrapper(fmt) + assert d is np.dtype("f4") + del d + pytest.gc_collect() + assert getrefcount(fmt) == start + + +def test_compare_buffer_info(): + assert all(m.compare_buffer_info()) diff --git a/wrap/python/pybind11/tests/test_numpy_vectorize.cpp b/wrap/python/pybind11/tests/test_numpy_vectorize.cpp new file mode 100644 index 000000000..a875a74b9 --- /dev/null +++ b/wrap/python/pybind11/tests/test_numpy_vectorize.cpp @@ -0,0 +1,89 @@ +/* + tests/test_numpy_vectorize.cpp -- auto-vectorize functions over NumPy array + arguments + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include + +double my_func(int x, float y, double z) { + py::print("my_func(x:int={}, y:float={:.0f}, z:float={:.0f})"_s.format(x, y, z)); + return (float) x*y*z; +} + +TEST_SUBMODULE(numpy_vectorize, m) { + try { py::module::import("numpy"); } + catch (...) { return; } + + // test_vectorize, test_docs, test_array_collapse + // Vectorize all arguments of a function (though non-vector arguments are also allowed) + m.def("vectorized_func", py::vectorize(my_func)); + + // Vectorize a lambda function with a capture object (e.g. to exclude some arguments from the vectorization) + m.def("vectorized_func2", + [](py::array_t x, py::array_t y, float z) { + return py::vectorize([z](int x, float y) { return my_func(x, y, z); })(x, y); + } + ); + + // Vectorize a complex-valued function + m.def("vectorized_func3", py::vectorize( + [](std::complex c) { return c * std::complex(2.f); } + )); + + // test_type_selection + // Numpy function which only accepts specific data types + m.def("selective_func", [](py::array_t) { return "Int branch taken."; }); + m.def("selective_func", [](py::array_t) { return "Float branch taken."; }); + m.def("selective_func", [](py::array_t, py::array::c_style>) { return "Complex float branch taken."; }); + + + // test_passthrough_arguments + // Passthrough test: references and non-pod types should be automatically passed through (in the + // function definition below, only `b`, `d`, and `g` are vectorized): + struct NonPODClass { + NonPODClass(int v) : value{v} {} + int value; + }; + py::class_(m, "NonPODClass").def(py::init()); + m.def("vec_passthrough", py::vectorize( + [](double *a, double b, py::array_t c, const int &d, int &e, NonPODClass f, const double g) { + return *a + b + c.at(0) + d + e + f.value + g; + } + )); + + // test_method_vectorization + struct VectorizeTestClass { + VectorizeTestClass(int v) : value{v} {}; + float method(int x, float y) { return y + (float) (x + value); } + int value = 0; + }; + py::class_ vtc(m, "VectorizeTestClass"); + vtc .def(py::init()) + .def_readwrite("value", &VectorizeTestClass::value); + + // Automatic vectorizing of methods + vtc.def("method", py::vectorize(&VectorizeTestClass::method)); + + // test_trivial_broadcasting + // Internal optimization test for whether the input is trivially broadcastable: + py::enum_(m, "trivial") + .value("f_trivial", py::detail::broadcast_trivial::f_trivial) + .value("c_trivial", py::detail::broadcast_trivial::c_trivial) + .value("non_trivial", py::detail::broadcast_trivial::non_trivial); + m.def("vectorized_is_trivial", []( + py::array_t arg1, + py::array_t arg2, + py::array_t arg3 + ) { + ssize_t ndim; + std::vector shape; + std::array buffers {{ arg1.request(), arg2.request(), arg3.request() }}; + return py::detail::broadcast(buffers, ndim, shape); + }); +} diff --git a/wrap/python/pybind11/tests/test_numpy_vectorize.py b/wrap/python/pybind11/tests/test_numpy_vectorize.py new file mode 100644 index 000000000..0e9c88397 --- /dev/null +++ b/wrap/python/pybind11/tests/test_numpy_vectorize.py @@ -0,0 +1,196 @@ +import pytest +from pybind11_tests import numpy_vectorize as m + +pytestmark = pytest.requires_numpy + +with pytest.suppress(ImportError): + import numpy as np + + +def test_vectorize(capture): + assert np.isclose(m.vectorized_func3(np.array(3 + 7j)), [6 + 14j]) + + for f in [m.vectorized_func, m.vectorized_func2]: + with capture: + assert np.isclose(f(1, 2, 3), 6) + assert capture == "my_func(x:int=1, y:float=2, z:float=3)" + with capture: + assert np.isclose(f(np.array(1), np.array(2), 3), 6) + assert capture == "my_func(x:int=1, y:float=2, z:float=3)" + with capture: + assert np.allclose(f(np.array([1, 3]), np.array([2, 4]), 3), [6, 36]) + assert capture == """ + my_func(x:int=1, y:float=2, z:float=3) + my_func(x:int=3, y:float=4, z:float=3) + """ + with capture: + a = np.array([[1, 2], [3, 4]], order='F') + b = np.array([[10, 20], [30, 40]], order='F') + c = 3 + result = f(a, b, c) + assert np.allclose(result, a * b * c) + assert result.flags.f_contiguous + # All inputs are F order and full or singletons, so we the result is in col-major order: + assert capture == """ + my_func(x:int=1, y:float=10, z:float=3) + my_func(x:int=3, y:float=30, z:float=3) + my_func(x:int=2, y:float=20, z:float=3) + my_func(x:int=4, y:float=40, z:float=3) + """ + with capture: + a, b, c = np.array([[1, 3, 5], [7, 9, 11]]), np.array([[2, 4, 6], [8, 10, 12]]), 3 + assert np.allclose(f(a, b, c), a * b * c) + assert capture == """ + my_func(x:int=1, y:float=2, z:float=3) + my_func(x:int=3, y:float=4, z:float=3) + my_func(x:int=5, y:float=6, z:float=3) + my_func(x:int=7, y:float=8, z:float=3) + my_func(x:int=9, y:float=10, z:float=3) + my_func(x:int=11, y:float=12, z:float=3) + """ + with capture: + a, b, c = np.array([[1, 2, 3], [4, 5, 6]]), np.array([2, 3, 4]), 2 + assert np.allclose(f(a, b, c), a * b * c) + assert capture == """ + my_func(x:int=1, y:float=2, z:float=2) + my_func(x:int=2, y:float=3, z:float=2) + my_func(x:int=3, y:float=4, z:float=2) + my_func(x:int=4, y:float=2, z:float=2) + my_func(x:int=5, y:float=3, z:float=2) + my_func(x:int=6, y:float=4, z:float=2) + """ + with capture: + a, b, c = np.array([[1, 2, 3], [4, 5, 6]]), np.array([[2], [3]]), 2 + assert np.allclose(f(a, b, c), a * b * c) + assert capture == """ + my_func(x:int=1, y:float=2, z:float=2) + my_func(x:int=2, y:float=2, z:float=2) + my_func(x:int=3, y:float=2, z:float=2) + my_func(x:int=4, y:float=3, z:float=2) + my_func(x:int=5, y:float=3, z:float=2) + my_func(x:int=6, y:float=3, z:float=2) + """ + with capture: + a, b, c = np.array([[1, 2, 3], [4, 5, 6]], order='F'), np.array([[2], [3]]), 2 + assert np.allclose(f(a, b, c), a * b * c) + assert capture == """ + my_func(x:int=1, y:float=2, z:float=2) + my_func(x:int=2, y:float=2, z:float=2) + my_func(x:int=3, y:float=2, z:float=2) + my_func(x:int=4, y:float=3, z:float=2) + my_func(x:int=5, y:float=3, z:float=2) + my_func(x:int=6, y:float=3, z:float=2) + """ + with capture: + a, b, c = np.array([[1, 2, 3], [4, 5, 6]])[::, ::2], np.array([[2], [3]]), 2 + assert np.allclose(f(a, b, c), a * b * c) + assert capture == """ + my_func(x:int=1, y:float=2, z:float=2) + my_func(x:int=3, y:float=2, z:float=2) + my_func(x:int=4, y:float=3, z:float=2) + my_func(x:int=6, y:float=3, z:float=2) + """ + with capture: + a, b, c = np.array([[1, 2, 3], [4, 5, 6]], order='F')[::, ::2], np.array([[2], [3]]), 2 + assert np.allclose(f(a, b, c), a * b * c) + assert capture == """ + my_func(x:int=1, y:float=2, z:float=2) + my_func(x:int=3, y:float=2, z:float=2) + my_func(x:int=4, y:float=3, z:float=2) + my_func(x:int=6, y:float=3, z:float=2) + """ + + +def test_type_selection(): + assert m.selective_func(np.array([1], dtype=np.int32)) == "Int branch taken." + assert m.selective_func(np.array([1.0], dtype=np.float32)) == "Float branch taken." + assert m.selective_func(np.array([1.0j], dtype=np.complex64)) == "Complex float branch taken." + + +def test_docs(doc): + assert doc(m.vectorized_func) == """ + vectorized_func(arg0: numpy.ndarray[int32], arg1: numpy.ndarray[float32], arg2: numpy.ndarray[float64]) -> object + """ # noqa: E501 line too long + + +def test_trivial_broadcasting(): + trivial, vectorized_is_trivial = m.trivial, m.vectorized_is_trivial + + assert vectorized_is_trivial(1, 2, 3) == trivial.c_trivial + assert vectorized_is_trivial(np.array(1), np.array(2), 3) == trivial.c_trivial + assert vectorized_is_trivial(np.array([1, 3]), np.array([2, 4]), 3) == trivial.c_trivial + assert trivial.c_trivial == vectorized_is_trivial( + np.array([[1, 3, 5], [7, 9, 11]]), np.array([[2, 4, 6], [8, 10, 12]]), 3) + assert vectorized_is_trivial( + np.array([[1, 2, 3], [4, 5, 6]]), np.array([2, 3, 4]), 2) == trivial.non_trivial + assert vectorized_is_trivial( + np.array([[1, 2, 3], [4, 5, 6]]), np.array([[2], [3]]), 2) == trivial.non_trivial + z1 = np.array([[1, 2, 3, 4], [5, 6, 7, 8]], dtype='int32') + z2 = np.array(z1, dtype='float32') + z3 = np.array(z1, dtype='float64') + assert vectorized_is_trivial(z1, z2, z3) == trivial.c_trivial + assert vectorized_is_trivial(1, z2, z3) == trivial.c_trivial + assert vectorized_is_trivial(z1, 1, z3) == trivial.c_trivial + assert vectorized_is_trivial(z1, z2, 1) == trivial.c_trivial + assert vectorized_is_trivial(z1[::2, ::2], 1, 1) == trivial.non_trivial + assert vectorized_is_trivial(1, 1, z1[::2, ::2]) == trivial.c_trivial + assert vectorized_is_trivial(1, 1, z3[::2, ::2]) == trivial.non_trivial + assert vectorized_is_trivial(z1, 1, z3[1::4, 1::4]) == trivial.c_trivial + + y1 = np.array(z1, order='F') + y2 = np.array(y1) + y3 = np.array(y1) + assert vectorized_is_trivial(y1, y2, y3) == trivial.f_trivial + assert vectorized_is_trivial(y1, 1, 1) == trivial.f_trivial + assert vectorized_is_trivial(1, y2, 1) == trivial.f_trivial + assert vectorized_is_trivial(1, 1, y3) == trivial.f_trivial + assert vectorized_is_trivial(y1, z2, 1) == trivial.non_trivial + assert vectorized_is_trivial(z1[1::4, 1::4], y2, 1) == trivial.f_trivial + assert vectorized_is_trivial(y1[1::4, 1::4], z2, 1) == trivial.c_trivial + + assert m.vectorized_func(z1, z2, z3).flags.c_contiguous + assert m.vectorized_func(y1, y2, y3).flags.f_contiguous + assert m.vectorized_func(z1, 1, 1).flags.c_contiguous + assert m.vectorized_func(1, y2, 1).flags.f_contiguous + assert m.vectorized_func(z1[1::4, 1::4], y2, 1).flags.f_contiguous + assert m.vectorized_func(y1[1::4, 1::4], z2, 1).flags.c_contiguous + + +def test_passthrough_arguments(doc): + assert doc(m.vec_passthrough) == ( + "vec_passthrough(" + ", ".join([ + "arg0: float", + "arg1: numpy.ndarray[float64]", + "arg2: numpy.ndarray[float64]", + "arg3: numpy.ndarray[int32]", + "arg4: int", + "arg5: m.numpy_vectorize.NonPODClass", + "arg6: numpy.ndarray[float64]"]) + ") -> object") + + b = np.array([[10, 20, 30]], dtype='float64') + c = np.array([100, 200]) # NOT a vectorized argument + d = np.array([[1000], [2000], [3000]], dtype='int') + g = np.array([[1000000, 2000000, 3000000]], dtype='int') # requires casting + assert np.all( + m.vec_passthrough(1, b, c, d, 10000, m.NonPODClass(100000), g) == + np.array([[1111111, 2111121, 3111131], + [1112111, 2112121, 3112131], + [1113111, 2113121, 3113131]])) + + +def test_method_vectorization(): + o = m.VectorizeTestClass(3) + x = np.array([1, 2], dtype='int') + y = np.array([[10], [20]], dtype='float32') + assert np.all(o.method(x, y) == [[14, 15], [24, 25]]) + + +def test_array_collapse(): + assert not isinstance(m.vectorized_func(1, 2, 3), np.ndarray) + assert not isinstance(m.vectorized_func(np.array(1), 2, 3), np.ndarray) + z = m.vectorized_func([1], 2, 3) + assert isinstance(z, np.ndarray) + assert z.shape == (1, ) + z = m.vectorized_func(1, [[[2]]], 3) + assert isinstance(z, np.ndarray) + assert z.shape == (1, 1, 1) diff --git a/wrap/python/pybind11/tests/test_opaque_types.cpp b/wrap/python/pybind11/tests/test_opaque_types.cpp new file mode 100644 index 000000000..0d20d9a01 --- /dev/null +++ b/wrap/python/pybind11/tests/test_opaque_types.cpp @@ -0,0 +1,67 @@ +/* + tests/test_opaque_types.cpp -- opaque types, passing void pointers + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include +#include + +// IMPORTANT: Disable internal pybind11 translation mechanisms for STL data structures +// +// This also deliberately doesn't use the below StringList type alias to test +// that MAKE_OPAQUE can handle a type containing a `,`. (The `std::allocator` +// bit is just the default `std::vector` allocator). +PYBIND11_MAKE_OPAQUE(std::vector>); + +using StringList = std::vector>; + +TEST_SUBMODULE(opaque_types, m) { + // test_string_list + py::class_(m, "StringList") + .def(py::init<>()) + .def("pop_back", &StringList::pop_back) + /* There are multiple versions of push_back(), etc. Select the right ones. */ + .def("push_back", (void (StringList::*)(const std::string &)) &StringList::push_back) + .def("back", (std::string &(StringList::*)()) &StringList::back) + .def("__len__", [](const StringList &v) { return v.size(); }) + .def("__iter__", [](StringList &v) { + return py::make_iterator(v.begin(), v.end()); + }, py::keep_alive<0, 1>()); + + class ClassWithSTLVecProperty { + public: + StringList stringList; + }; + py::class_(m, "ClassWithSTLVecProperty") + .def(py::init<>()) + .def_readwrite("stringList", &ClassWithSTLVecProperty::stringList); + + m.def("print_opaque_list", [](const StringList &l) { + std::string ret = "Opaque list: ["; + bool first = true; + for (auto entry : l) { + if (!first) + ret += ", "; + ret += entry; + first = false; + } + return ret + "]"; + }); + + // test_pointers + m.def("return_void_ptr", []() { return (void *) 0x1234; }); + m.def("get_void_ptr_value", [](void *ptr) { return reinterpret_cast(ptr); }); + m.def("return_null_str", []() { return (char *) nullptr; }); + m.def("get_null_str_value", [](char *ptr) { return reinterpret_cast(ptr); }); + + m.def("return_unique_ptr", []() -> std::unique_ptr { + StringList *result = new StringList(); + result->push_back("some value"); + return std::unique_ptr(result); + }); +} diff --git a/wrap/python/pybind11/tests/test_opaque_types.py b/wrap/python/pybind11/tests/test_opaque_types.py new file mode 100644 index 000000000..6b3802fdb --- /dev/null +++ b/wrap/python/pybind11/tests/test_opaque_types.py @@ -0,0 +1,46 @@ +import pytest +from pybind11_tests import opaque_types as m +from pybind11_tests import ConstructorStats, UserType + + +def test_string_list(): + lst = m.StringList() + lst.push_back("Element 1") + lst.push_back("Element 2") + assert m.print_opaque_list(lst) == "Opaque list: [Element 1, Element 2]" + assert lst.back() == "Element 2" + + for i, k in enumerate(lst, start=1): + assert k == "Element {}".format(i) + lst.pop_back() + assert m.print_opaque_list(lst) == "Opaque list: [Element 1]" + + cvp = m.ClassWithSTLVecProperty() + assert m.print_opaque_list(cvp.stringList) == "Opaque list: []" + + cvp.stringList = lst + cvp.stringList.push_back("Element 3") + assert m.print_opaque_list(cvp.stringList) == "Opaque list: [Element 1, Element 3]" + + +def test_pointers(msg): + living_before = ConstructorStats.get(UserType).alive() + assert m.get_void_ptr_value(m.return_void_ptr()) == 0x1234 + assert m.get_void_ptr_value(UserType()) # Should also work for other C++ types + assert ConstructorStats.get(UserType).alive() == living_before + + with pytest.raises(TypeError) as excinfo: + m.get_void_ptr_value([1, 2, 3]) # This should not work + assert msg(excinfo.value) == """ + get_void_ptr_value(): incompatible function arguments. The following argument types are supported: + 1. (arg0: capsule) -> int + + Invoked with: [1, 2, 3] + """ # noqa: E501 line too long + + assert m.return_null_str() is None + assert m.get_null_str_value(m.return_null_str()) is not None + + ptr = m.return_unique_ptr() + assert "StringList" in repr(ptr) + assert m.print_opaque_list(ptr) == "Opaque list: [some value]" diff --git a/wrap/python/pybind11/tests/test_operator_overloading.cpp b/wrap/python/pybind11/tests/test_operator_overloading.cpp new file mode 100644 index 000000000..8ca7d8bcf --- /dev/null +++ b/wrap/python/pybind11/tests/test_operator_overloading.cpp @@ -0,0 +1,169 @@ +/* + tests/test_operator_overloading.cpp -- operator overloading + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" +#include +#include + +class Vector2 { +public: + Vector2(float x, float y) : x(x), y(y) { print_created(this, toString()); } + Vector2(const Vector2 &v) : x(v.x), y(v.y) { print_copy_created(this); } + Vector2(Vector2 &&v) : x(v.x), y(v.y) { print_move_created(this); v.x = v.y = 0; } + Vector2 &operator=(const Vector2 &v) { x = v.x; y = v.y; print_copy_assigned(this); return *this; } + Vector2 &operator=(Vector2 &&v) { x = v.x; y = v.y; v.x = v.y = 0; print_move_assigned(this); return *this; } + ~Vector2() { print_destroyed(this); } + + std::string toString() const { return "[" + std::to_string(x) + ", " + std::to_string(y) + "]"; } + + Vector2 operator+(const Vector2 &v) const { return Vector2(x + v.x, y + v.y); } + Vector2 operator-(const Vector2 &v) const { return Vector2(x - v.x, y - v.y); } + Vector2 operator-(float value) const { return Vector2(x - value, y - value); } + Vector2 operator+(float value) const { return Vector2(x + value, y + value); } + Vector2 operator*(float value) const { return Vector2(x * value, y * value); } + Vector2 operator/(float value) const { return Vector2(x / value, y / value); } + Vector2 operator*(const Vector2 &v) const { return Vector2(x * v.x, y * v.y); } + Vector2 operator/(const Vector2 &v) const { return Vector2(x / v.x, y / v.y); } + Vector2& operator+=(const Vector2 &v) { x += v.x; y += v.y; return *this; } + Vector2& operator-=(const Vector2 &v) { x -= v.x; y -= v.y; return *this; } + Vector2& operator*=(float v) { x *= v; y *= v; return *this; } + Vector2& operator/=(float v) { x /= v; y /= v; return *this; } + Vector2& operator*=(const Vector2 &v) { x *= v.x; y *= v.y; return *this; } + Vector2& operator/=(const Vector2 &v) { x /= v.x; y /= v.y; return *this; } + + friend Vector2 operator+(float f, const Vector2 &v) { return Vector2(f + v.x, f + v.y); } + friend Vector2 operator-(float f, const Vector2 &v) { return Vector2(f - v.x, f - v.y); } + friend Vector2 operator*(float f, const Vector2 &v) { return Vector2(f * v.x, f * v.y); } + friend Vector2 operator/(float f, const Vector2 &v) { return Vector2(f / v.x, f / v.y); } +private: + float x, y; +}; + +class C1 { }; +class C2 { }; + +int operator+(const C1 &, const C1 &) { return 11; } +int operator+(const C2 &, const C2 &) { return 22; } +int operator+(const C2 &, const C1 &) { return 21; } +int operator+(const C1 &, const C2 &) { return 12; } + +namespace std { + template<> + struct hash { + // Not a good hash function, but easy to test + size_t operator()(const Vector2 &) { return 4; } + }; +} + +// MSVC warns about unknown pragmas, and warnings are errors. +#ifndef _MSC_VER + #pragma GCC diagnostic push + // clang 7.0.0 and Apple LLVM 10.0.1 introduce `-Wself-assign-overloaded` to + // `-Wall`, which is used here for overloading (e.g. `py::self += py::self `). + // Here, we suppress the warning using `#pragma diagnostic`. + // Taken from: https://github.com/RobotLocomotion/drake/commit/aaf84b46 + // TODO(eric): This could be resolved using a function / functor (e.g. `py::self()`). + #if (__APPLE__) && (__clang__) + #if (__clang_major__ >= 10) && (__clang_minor__ >= 0) && (__clang_patchlevel__ >= 1) + #pragma GCC diagnostic ignored "-Wself-assign-overloaded" + #endif + #elif (__clang__) + #if (__clang_major__ >= 7) + #pragma GCC diagnostic ignored "-Wself-assign-overloaded" + #endif + #endif +#endif + +TEST_SUBMODULE(operators, m) { + + // test_operator_overloading + py::class_(m, "Vector2") + .def(py::init()) + .def(py::self + py::self) + .def(py::self + float()) + .def(py::self - py::self) + .def(py::self - float()) + .def(py::self * float()) + .def(py::self / float()) + .def(py::self * py::self) + .def(py::self / py::self) + .def(py::self += py::self) + .def(py::self -= py::self) + .def(py::self *= float()) + .def(py::self /= float()) + .def(py::self *= py::self) + .def(py::self /= py::self) + .def(float() + py::self) + .def(float() - py::self) + .def(float() * py::self) + .def(float() / py::self) + .def("__str__", &Vector2::toString) + .def(hash(py::self)) + ; + + m.attr("Vector") = m.attr("Vector2"); + + // test_operators_notimplemented + // #393: need to return NotSupported to ensure correct arithmetic operator behavior + py::class_(m, "C1") + .def(py::init<>()) + .def(py::self + py::self); + + py::class_(m, "C2") + .def(py::init<>()) + .def(py::self + py::self) + .def("__add__", [](const C2& c2, const C1& c1) { return c2 + c1; }) + .def("__radd__", [](const C2& c2, const C1& c1) { return c1 + c2; }); + + // test_nested + // #328: first member in a class can't be used in operators + struct NestABase { int value = -2; }; + py::class_(m, "NestABase") + .def(py::init<>()) + .def_readwrite("value", &NestABase::value); + + struct NestA : NestABase { + int value = 3; + NestA& operator+=(int i) { value += i; return *this; } + }; + py::class_(m, "NestA") + .def(py::init<>()) + .def(py::self += int()) + .def("as_base", [](NestA &a) -> NestABase& { + return (NestABase&) a; + }, py::return_value_policy::reference_internal); + m.def("get_NestA", [](const NestA &a) { return a.value; }); + + struct NestB { + NestA a; + int value = 4; + NestB& operator-=(int i) { value -= i; return *this; } + }; + py::class_(m, "NestB") + .def(py::init<>()) + .def(py::self -= int()) + .def_readwrite("a", &NestB::a); + m.def("get_NestB", [](const NestB &b) { return b.value; }); + + struct NestC { + NestB b; + int value = 5; + NestC& operator*=(int i) { value *= i; return *this; } + }; + py::class_(m, "NestC") + .def(py::init<>()) + .def(py::self *= int()) + .def_readwrite("b", &NestC::b); + m.def("get_NestC", [](const NestC &c) { return c.value; }); +} + +#ifndef _MSC_VER + #pragma GCC diagnostic pop +#endif diff --git a/wrap/python/pybind11/tests/test_operator_overloading.py b/wrap/python/pybind11/tests/test_operator_overloading.py new file mode 100644 index 000000000..86827d2ba --- /dev/null +++ b/wrap/python/pybind11/tests/test_operator_overloading.py @@ -0,0 +1,106 @@ +import pytest +from pybind11_tests import operators as m +from pybind11_tests import ConstructorStats + + +def test_operator_overloading(): + v1 = m.Vector2(1, 2) + v2 = m.Vector(3, -1) + assert str(v1) == "[1.000000, 2.000000]" + assert str(v2) == "[3.000000, -1.000000]" + + assert str(v1 + v2) == "[4.000000, 1.000000]" + assert str(v1 - v2) == "[-2.000000, 3.000000]" + assert str(v1 - 8) == "[-7.000000, -6.000000]" + assert str(v1 + 8) == "[9.000000, 10.000000]" + assert str(v1 * 8) == "[8.000000, 16.000000]" + assert str(v1 / 8) == "[0.125000, 0.250000]" + assert str(8 - v1) == "[7.000000, 6.000000]" + assert str(8 + v1) == "[9.000000, 10.000000]" + assert str(8 * v1) == "[8.000000, 16.000000]" + assert str(8 / v1) == "[8.000000, 4.000000]" + assert str(v1 * v2) == "[3.000000, -2.000000]" + assert str(v2 / v1) == "[3.000000, -0.500000]" + + v1 += 2 * v2 + assert str(v1) == "[7.000000, 0.000000]" + v1 -= v2 + assert str(v1) == "[4.000000, 1.000000]" + v1 *= 2 + assert str(v1) == "[8.000000, 2.000000]" + v1 /= 16 + assert str(v1) == "[0.500000, 0.125000]" + v1 *= v2 + assert str(v1) == "[1.500000, -0.125000]" + v2 /= v1 + assert str(v2) == "[2.000000, 8.000000]" + + assert hash(v1) == 4 + + cstats = ConstructorStats.get(m.Vector2) + assert cstats.alive() == 2 + del v1 + assert cstats.alive() == 1 + del v2 + assert cstats.alive() == 0 + assert cstats.values() == ['[1.000000, 2.000000]', '[3.000000, -1.000000]', + '[4.000000, 1.000000]', '[-2.000000, 3.000000]', + '[-7.000000, -6.000000]', '[9.000000, 10.000000]', + '[8.000000, 16.000000]', '[0.125000, 0.250000]', + '[7.000000, 6.000000]', '[9.000000, 10.000000]', + '[8.000000, 16.000000]', '[8.000000, 4.000000]', + '[3.000000, -2.000000]', '[3.000000, -0.500000]', + '[6.000000, -2.000000]'] + assert cstats.default_constructions == 0 + assert cstats.copy_constructions == 0 + assert cstats.move_constructions >= 10 + assert cstats.copy_assignments == 0 + assert cstats.move_assignments == 0 + + +def test_operators_notimplemented(): + """#393: need to return NotSupported to ensure correct arithmetic operator behavior""" + + c1, c2 = m.C1(), m.C2() + assert c1 + c1 == 11 + assert c2 + c2 == 22 + assert c2 + c1 == 21 + assert c1 + c2 == 12 + + +def test_nested(): + """#328: first member in a class can't be used in operators""" + + a = m.NestA() + b = m.NestB() + c = m.NestC() + + a += 10 + assert m.get_NestA(a) == 13 + b.a += 100 + assert m.get_NestA(b.a) == 103 + c.b.a += 1000 + assert m.get_NestA(c.b.a) == 1003 + b -= 1 + assert m.get_NestB(b) == 3 + c.b -= 3 + assert m.get_NestB(c.b) == 1 + c *= 7 + assert m.get_NestC(c) == 35 + + abase = a.as_base() + assert abase.value == -2 + a.as_base().value += 44 + assert abase.value == 42 + assert c.b.a.as_base().value == -2 + c.b.a.as_base().value += 44 + assert c.b.a.as_base().value == 42 + + del c + pytest.gc_collect() + del a # Shouldn't delete while abase is still alive + pytest.gc_collect() + + assert abase.value == 42 + del abase, b + pytest.gc_collect() diff --git a/wrap/python/pybind11/tests/test_pickling.cpp b/wrap/python/pybind11/tests/test_pickling.cpp new file mode 100644 index 000000000..9dc63bda3 --- /dev/null +++ b/wrap/python/pybind11/tests/test_pickling.cpp @@ -0,0 +1,130 @@ +/* + tests/test_pickling.cpp -- pickle support + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" + +TEST_SUBMODULE(pickling, m) { + // test_roundtrip + class Pickleable { + public: + Pickleable(const std::string &value) : m_value(value) { } + const std::string &value() const { return m_value; } + + void setExtra1(int extra1) { m_extra1 = extra1; } + void setExtra2(int extra2) { m_extra2 = extra2; } + int extra1() const { return m_extra1; } + int extra2() const { return m_extra2; } + private: + std::string m_value; + int m_extra1 = 0; + int m_extra2 = 0; + }; + + class PickleableNew : public Pickleable { + public: + using Pickleable::Pickleable; + }; + + py::class_(m, "Pickleable") + .def(py::init()) + .def("value", &Pickleable::value) + .def("extra1", &Pickleable::extra1) + .def("extra2", &Pickleable::extra2) + .def("setExtra1", &Pickleable::setExtra1) + .def("setExtra2", &Pickleable::setExtra2) + // For details on the methods below, refer to + // http://docs.python.org/3/library/pickle.html#pickling-class-instances + .def("__getstate__", [](const Pickleable &p) { + /* Return a tuple that fully encodes the state of the object */ + return py::make_tuple(p.value(), p.extra1(), p.extra2()); + }) + .def("__setstate__", [](Pickleable &p, py::tuple t) { + if (t.size() != 3) + throw std::runtime_error("Invalid state!"); + /* Invoke the constructor (need to use in-place version) */ + new (&p) Pickleable(t[0].cast()); + + /* Assign any additional state */ + p.setExtra1(t[1].cast()); + p.setExtra2(t[2].cast()); + }); + + py::class_(m, "PickleableNew") + .def(py::init()) + .def(py::pickle( + [](const PickleableNew &p) { + return py::make_tuple(p.value(), p.extra1(), p.extra2()); + }, + [](py::tuple t) { + if (t.size() != 3) + throw std::runtime_error("Invalid state!"); + auto p = PickleableNew(t[0].cast()); + + p.setExtra1(t[1].cast()); + p.setExtra2(t[2].cast()); + return p; + } + )); + +#if !defined(PYPY_VERSION) + // test_roundtrip_with_dict + class PickleableWithDict { + public: + PickleableWithDict(const std::string &value) : value(value) { } + + std::string value; + int extra; + }; + + class PickleableWithDictNew : public PickleableWithDict { + public: + using PickleableWithDict::PickleableWithDict; + }; + + py::class_(m, "PickleableWithDict", py::dynamic_attr()) + .def(py::init()) + .def_readwrite("value", &PickleableWithDict::value) + .def_readwrite("extra", &PickleableWithDict::extra) + .def("__getstate__", [](py::object self) { + /* Also include __dict__ in state */ + return py::make_tuple(self.attr("value"), self.attr("extra"), self.attr("__dict__")); + }) + .def("__setstate__", [](py::object self, py::tuple t) { + if (t.size() != 3) + throw std::runtime_error("Invalid state!"); + /* Cast and construct */ + auto& p = self.cast(); + new (&p) PickleableWithDict(t[0].cast()); + + /* Assign C++ state */ + p.extra = t[1].cast(); + + /* Assign Python state */ + self.attr("__dict__") = t[2]; + }); + + py::class_(m, "PickleableWithDictNew") + .def(py::init()) + .def(py::pickle( + [](py::object self) { + return py::make_tuple(self.attr("value"), self.attr("extra"), self.attr("__dict__")); + }, + [](const py::tuple &t) { + if (t.size() != 3) + throw std::runtime_error("Invalid state!"); + + auto cpp_state = PickleableWithDictNew(t[0].cast()); + cpp_state.extra = t[1].cast(); + + auto py_state = t[2].cast(); + return std::make_pair(cpp_state, py_state); + } + )); +#endif +} diff --git a/wrap/python/pybind11/tests/test_pickling.py b/wrap/python/pybind11/tests/test_pickling.py new file mode 100644 index 000000000..5ae05aaa0 --- /dev/null +++ b/wrap/python/pybind11/tests/test_pickling.py @@ -0,0 +1,42 @@ +import pytest +from pybind11_tests import pickling as m + +try: + import cPickle as pickle # Use cPickle on Python 2.7 +except ImportError: + import pickle + + +@pytest.mark.parametrize("cls_name", ["Pickleable", "PickleableNew"]) +def test_roundtrip(cls_name): + cls = getattr(m, cls_name) + p = cls("test_value") + p.setExtra1(15) + p.setExtra2(48) + + data = pickle.dumps(p, 2) # Must use pickle protocol >= 2 + p2 = pickle.loads(data) + assert p2.value() == p.value() + assert p2.extra1() == p.extra1() + assert p2.extra2() == p.extra2() + + +@pytest.unsupported_on_pypy +@pytest.mark.parametrize("cls_name", ["PickleableWithDict", "PickleableWithDictNew"]) +def test_roundtrip_with_dict(cls_name): + cls = getattr(m, cls_name) + p = cls("test_value") + p.extra = 15 + p.dynamic = "Attribute" + + data = pickle.dumps(p, pickle.HIGHEST_PROTOCOL) + p2 = pickle.loads(data) + assert p2.value == p.value + assert p2.extra == p.extra + assert p2.dynamic == p.dynamic + + +def test_enum_pickle(): + from pybind11_tests import enums as e + data = pickle.dumps(e.EOne, 2) + assert e.EOne == pickle.loads(data) diff --git a/wrap/python/pybind11/tests/test_pytypes.cpp b/wrap/python/pybind11/tests/test_pytypes.cpp new file mode 100644 index 000000000..e6c955ff9 --- /dev/null +++ b/wrap/python/pybind11/tests/test_pytypes.cpp @@ -0,0 +1,296 @@ +/* + tests/test_pytypes.cpp -- Python type casters + + Copyright (c) 2017 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" + + +TEST_SUBMODULE(pytypes, m) { + // test_list + m.def("get_list", []() { + py::list list; + list.append("value"); + py::print("Entry at position 0:", list[0]); + list[0] = py::str("overwritten"); + return list; + }); + m.def("print_list", [](py::list list) { + int index = 0; + for (auto item : list) + py::print("list item {}: {}"_s.format(index++, item)); + }); + + // test_set + m.def("get_set", []() { + py::set set; + set.add(py::str("key1")); + set.add("key2"); + set.add(std::string("key3")); + return set; + }); + m.def("print_set", [](py::set set) { + for (auto item : set) + py::print("key:", item); + }); + + // test_dict + m.def("get_dict", []() { return py::dict("key"_a="value"); }); + m.def("print_dict", [](py::dict dict) { + for (auto item : dict) + py::print("key: {}, value={}"_s.format(item.first, item.second)); + }); + m.def("dict_keyword_constructor", []() { + auto d1 = py::dict("x"_a=1, "y"_a=2); + auto d2 = py::dict("z"_a=3, **d1); + return d2; + }); + + // test_str + m.def("str_from_string", []() { return py::str(std::string("baz")); }); + m.def("str_from_bytes", []() { return py::str(py::bytes("boo", 3)); }); + m.def("str_from_object", [](const py::object& obj) { return py::str(obj); }); + m.def("repr_from_object", [](const py::object& obj) { return py::repr(obj); }); + + m.def("str_format", []() { + auto s1 = "{} + {} = {}"_s.format(1, 2, 3); + auto s2 = "{a} + {b} = {c}"_s.format("a"_a=1, "b"_a=2, "c"_a=3); + return py::make_tuple(s1, s2); + }); + + // test_bytes + m.def("bytes_from_string", []() { return py::bytes(std::string("foo")); }); + m.def("bytes_from_str", []() { return py::bytes(py::str("bar", 3)); }); + + // test_capsule + m.def("return_capsule_with_destructor", []() { + py::print("creating capsule"); + return py::capsule([]() { + py::print("destructing capsule"); + }); + }); + + m.def("return_capsule_with_destructor_2", []() { + py::print("creating capsule"); + return py::capsule((void *) 1234, [](void *ptr) { + py::print("destructing capsule: {}"_s.format((size_t) ptr)); + }); + }); + + m.def("return_capsule_with_name_and_destructor", []() { + auto capsule = py::capsule((void *) 1234, "pointer type description", [](PyObject *ptr) { + if (ptr) { + auto name = PyCapsule_GetName(ptr); + py::print("destructing capsule ({}, '{}')"_s.format( + (size_t) PyCapsule_GetPointer(ptr, name), name + )); + } + }); + void *contents = capsule; + py::print("created capsule ({}, '{}')"_s.format((size_t) contents, capsule.name())); + return capsule; + }); + + // test_accessors + m.def("accessor_api", [](py::object o) { + auto d = py::dict(); + + d["basic_attr"] = o.attr("basic_attr"); + + auto l = py::list(); + for (const auto &item : o.attr("begin_end")) { + l.append(item); + } + d["begin_end"] = l; + + d["operator[object]"] = o.attr("d")["operator[object]"_s]; + d["operator[char *]"] = o.attr("d")["operator[char *]"]; + + d["attr(object)"] = o.attr("sub").attr("attr_obj"); + d["attr(char *)"] = o.attr("sub").attr("attr_char"); + try { + o.attr("sub").attr("missing").ptr(); + } catch (const py::error_already_set &) { + d["missing_attr_ptr"] = "raised"_s; + } + try { + o.attr("missing").attr("doesn't matter"); + } catch (const py::error_already_set &) { + d["missing_attr_chain"] = "raised"_s; + } + + d["is_none"] = o.attr("basic_attr").is_none(); + + d["operator()"] = o.attr("func")(1); + d["operator*"] = o.attr("func")(*o.attr("begin_end")); + + // Test implicit conversion + py::list implicit_list = o.attr("begin_end"); + d["implicit_list"] = implicit_list; + py::dict implicit_dict = o.attr("__dict__"); + d["implicit_dict"] = implicit_dict; + + return d; + }); + + m.def("tuple_accessor", [](py::tuple existing_t) { + try { + existing_t[0] = 1; + } catch (const py::error_already_set &) { + // --> Python system error + // Only new tuples (refcount == 1) are mutable + auto new_t = py::tuple(3); + for (size_t i = 0; i < new_t.size(); ++i) { + new_t[i] = i; + } + return new_t; + } + return py::tuple(); + }); + + m.def("accessor_assignment", []() { + auto l = py::list(1); + l[0] = 0; + + auto d = py::dict(); + d["get"] = l[0]; + auto var = l[0]; + d["deferred_get"] = var; + l[0] = 1; + d["set"] = l[0]; + var = 99; // this assignment should not overwrite l[0] + d["deferred_set"] = l[0]; + d["var"] = var; + + return d; + }); + + // test_constructors + m.def("default_constructors", []() { + return py::dict( + "str"_a=py::str(), + "bool"_a=py::bool_(), + "int"_a=py::int_(), + "float"_a=py::float_(), + "tuple"_a=py::tuple(), + "list"_a=py::list(), + "dict"_a=py::dict(), + "set"_a=py::set() + ); + }); + + m.def("converting_constructors", [](py::dict d) { + return py::dict( + "str"_a=py::str(d["str"]), + "bool"_a=py::bool_(d["bool"]), + "int"_a=py::int_(d["int"]), + "float"_a=py::float_(d["float"]), + "tuple"_a=py::tuple(d["tuple"]), + "list"_a=py::list(d["list"]), + "dict"_a=py::dict(d["dict"]), + "set"_a=py::set(d["set"]), + "memoryview"_a=py::memoryview(d["memoryview"]) + ); + }); + + m.def("cast_functions", [](py::dict d) { + // When converting between Python types, obj.cast() should be the same as T(obj) + return py::dict( + "str"_a=d["str"].cast(), + "bool"_a=d["bool"].cast(), + "int"_a=d["int"].cast(), + "float"_a=d["float"].cast(), + "tuple"_a=d["tuple"].cast(), + "list"_a=d["list"].cast(), + "dict"_a=d["dict"].cast(), + "set"_a=d["set"].cast(), + "memoryview"_a=d["memoryview"].cast() + ); + }); + + m.def("get_implicit_casting", []() { + py::dict d; + d["char*_i1"] = "abc"; + const char *c2 = "abc"; + d["char*_i2"] = c2; + d["char*_e"] = py::cast(c2); + d["char*_p"] = py::str(c2); + + d["int_i1"] = 42; + int i = 42; + d["int_i2"] = i; + i++; + d["int_e"] = py::cast(i); + i++; + d["int_p"] = py::int_(i); + + d["str_i1"] = std::string("str"); + std::string s2("str1"); + d["str_i2"] = s2; + s2[3] = '2'; + d["str_e"] = py::cast(s2); + s2[3] = '3'; + d["str_p"] = py::str(s2); + + py::list l(2); + l[0] = 3; + l[1] = py::cast(6); + l.append(9); + l.append(py::cast(12)); + l.append(py::int_(15)); + + return py::dict( + "d"_a=d, + "l"_a=l + ); + }); + + // test_print + m.def("print_function", []() { + py::print("Hello, World!"); + py::print(1, 2.0, "three", true, std::string("-- multiple args")); + auto args = py::make_tuple("and", "a", "custom", "separator"); + py::print("*args", *args, "sep"_a="-"); + py::print("no new line here", "end"_a=" -- "); + py::print("next print"); + + auto py_stderr = py::module::import("sys").attr("stderr"); + py::print("this goes to stderr", "file"_a=py_stderr); + + py::print("flush", "flush"_a=true); + + py::print("{a} + {b} = {c}"_s.format("a"_a="py::print", "b"_a="str.format", "c"_a="this")); + }); + + m.def("print_failure", []() { py::print(42, UnregisteredType()); }); + + m.def("hash_function", [](py::object obj) { return py::hash(obj); }); + + m.def("test_number_protocol", [](py::object a, py::object b) { + py::list l; + l.append(a.equal(b)); + l.append(a.not_equal(b)); + l.append(a < b); + l.append(a <= b); + l.append(a > b); + l.append(a >= b); + l.append(a + b); + l.append(a - b); + l.append(a * b); + l.append(a / b); + l.append(a | b); + l.append(a & b); + l.append(a ^ b); + l.append(a >> b); + l.append(a << b); + return l; + }); + + m.def("test_list_slicing", [](py::list a) { + return a[py::slice(0, -1, 2)]; + }); +} diff --git a/wrap/python/pybind11/tests/test_pytypes.py b/wrap/python/pybind11/tests/test_pytypes.py new file mode 100644 index 000000000..0116d4ef2 --- /dev/null +++ b/wrap/python/pybind11/tests/test_pytypes.py @@ -0,0 +1,253 @@ +from __future__ import division +import pytest +import sys + +from pybind11_tests import pytypes as m +from pybind11_tests import debug_enabled + + +def test_list(capture, doc): + with capture: + lst = m.get_list() + assert lst == ["overwritten"] + + lst.append("value2") + m.print_list(lst) + assert capture.unordered == """ + Entry at position 0: value + list item 0: overwritten + list item 1: value2 + """ + + assert doc(m.get_list) == "get_list() -> list" + assert doc(m.print_list) == "print_list(arg0: list) -> None" + + +def test_set(capture, doc): + s = m.get_set() + assert s == {"key1", "key2", "key3"} + + with capture: + s.add("key4") + m.print_set(s) + assert capture.unordered == """ + key: key1 + key: key2 + key: key3 + key: key4 + """ + + assert doc(m.get_list) == "get_list() -> list" + assert doc(m.print_list) == "print_list(arg0: list) -> None" + + +def test_dict(capture, doc): + d = m.get_dict() + assert d == {"key": "value"} + + with capture: + d["key2"] = "value2" + m.print_dict(d) + assert capture.unordered == """ + key: key, value=value + key: key2, value=value2 + """ + + assert doc(m.get_dict) == "get_dict() -> dict" + assert doc(m.print_dict) == "print_dict(arg0: dict) -> None" + + assert m.dict_keyword_constructor() == {"x": 1, "y": 2, "z": 3} + + +def test_str(doc): + assert m.str_from_string().encode().decode() == "baz" + assert m.str_from_bytes().encode().decode() == "boo" + + assert doc(m.str_from_bytes) == "str_from_bytes() -> str" + + class A(object): + def __str__(self): + return "this is a str" + + def __repr__(self): + return "this is a repr" + + assert m.str_from_object(A()) == "this is a str" + assert m.repr_from_object(A()) == "this is a repr" + + s1, s2 = m.str_format() + assert s1 == "1 + 2 = 3" + assert s1 == s2 + + +def test_bytes(doc): + assert m.bytes_from_string().decode() == "foo" + assert m.bytes_from_str().decode() == "bar" + + assert doc(m.bytes_from_str) == "bytes_from_str() -> {}".format( + "bytes" if sys.version_info[0] == 3 else "str" + ) + + +def test_capsule(capture): + pytest.gc_collect() + with capture: + a = m.return_capsule_with_destructor() + del a + pytest.gc_collect() + assert capture.unordered == """ + creating capsule + destructing capsule + """ + + with capture: + a = m.return_capsule_with_destructor_2() + del a + pytest.gc_collect() + assert capture.unordered == """ + creating capsule + destructing capsule: 1234 + """ + + with capture: + a = m.return_capsule_with_name_and_destructor() + del a + pytest.gc_collect() + assert capture.unordered == """ + created capsule (1234, 'pointer type description') + destructing capsule (1234, 'pointer type description') + """ + + +def test_accessors(): + class SubTestObject: + attr_obj = 1 + attr_char = 2 + + class TestObject: + basic_attr = 1 + begin_end = [1, 2, 3] + d = {"operator[object]": 1, "operator[char *]": 2} + sub = SubTestObject() + + def func(self, x, *args): + return self.basic_attr + x + sum(args) + + d = m.accessor_api(TestObject()) + assert d["basic_attr"] == 1 + assert d["begin_end"] == [1, 2, 3] + assert d["operator[object]"] == 1 + assert d["operator[char *]"] == 2 + assert d["attr(object)"] == 1 + assert d["attr(char *)"] == 2 + assert d["missing_attr_ptr"] == "raised" + assert d["missing_attr_chain"] == "raised" + assert d["is_none"] is False + assert d["operator()"] == 2 + assert d["operator*"] == 7 + assert d["implicit_list"] == [1, 2, 3] + assert all(x in TestObject.__dict__ for x in d["implicit_dict"]) + + assert m.tuple_accessor(tuple()) == (0, 1, 2) + + d = m.accessor_assignment() + assert d["get"] == 0 + assert d["deferred_get"] == 0 + assert d["set"] == 1 + assert d["deferred_set"] == 1 + assert d["var"] == 99 + + +def test_constructors(): + """C++ default and converting constructors are equivalent to type calls in Python""" + types = [str, bool, int, float, tuple, list, dict, set] + expected = {t.__name__: t() for t in types} + assert m.default_constructors() == expected + + data = { + str: 42, + bool: "Not empty", + int: "42", + float: "+1e3", + tuple: range(3), + list: range(3), + dict: [("two", 2), ("one", 1), ("three", 3)], + set: [4, 4, 5, 6, 6, 6], + memoryview: b'abc' + } + inputs = {k.__name__: v for k, v in data.items()} + expected = {k.__name__: k(v) for k, v in data.items()} + + assert m.converting_constructors(inputs) == expected + assert m.cast_functions(inputs) == expected + + # Converting constructors and cast functions should just reference rather + # than copy when no conversion is needed: + noconv1 = m.converting_constructors(expected) + for k in noconv1: + assert noconv1[k] is expected[k] + + noconv2 = m.cast_functions(expected) + for k in noconv2: + assert noconv2[k] is expected[k] + + +def test_implicit_casting(): + """Tests implicit casting when assigning or appending to dicts and lists.""" + z = m.get_implicit_casting() + assert z['d'] == { + 'char*_i1': 'abc', 'char*_i2': 'abc', 'char*_e': 'abc', 'char*_p': 'abc', + 'str_i1': 'str', 'str_i2': 'str1', 'str_e': 'str2', 'str_p': 'str3', + 'int_i1': 42, 'int_i2': 42, 'int_e': 43, 'int_p': 44 + } + assert z['l'] == [3, 6, 9, 12, 15] + + +def test_print(capture): + with capture: + m.print_function() + assert capture == """ + Hello, World! + 1 2.0 three True -- multiple args + *args-and-a-custom-separator + no new line here -- next print + flush + py::print + str.format = this + """ + assert capture.stderr == "this goes to stderr" + + with pytest.raises(RuntimeError) as excinfo: + m.print_failure() + assert str(excinfo.value) == "make_tuple(): unable to convert " + ( + "argument of type 'UnregisteredType' to Python object" + if debug_enabled else + "arguments to Python object (compile in debug mode for details)" + ) + + +def test_hash(): + class Hashable(object): + def __init__(self, value): + self.value = value + + def __hash__(self): + return self.value + + class Unhashable(object): + __hash__ = None + + assert m.hash_function(Hashable(42)) == 42 + with pytest.raises(TypeError): + m.hash_function(Unhashable()) + + +def test_number_protocol(): + for a, b in [(1, 1), (3, 5)]: + li = [a == b, a != b, a < b, a <= b, a > b, a >= b, a + b, + a - b, a * b, a / b, a | b, a & b, a ^ b, a >> b, a << b] + assert m.test_number_protocol(a, b) == li + + +def test_list_slicing(): + li = list(range(100)) + assert li[::2] == m.test_list_slicing(li) diff --git a/wrap/python/pybind11/tests/test_sequences_and_iterators.cpp b/wrap/python/pybind11/tests/test_sequences_and_iterators.cpp new file mode 100644 index 000000000..87ccf99d6 --- /dev/null +++ b/wrap/python/pybind11/tests/test_sequences_and_iterators.cpp @@ -0,0 +1,353 @@ +/* + tests/test_sequences_and_iterators.cpp -- supporting Pythons' sequence protocol, iterators, + etc. + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" +#include +#include + +template +class NonZeroIterator { + const T* ptr_; +public: + NonZeroIterator(const T* ptr) : ptr_(ptr) {} + const T& operator*() const { return *ptr_; } + NonZeroIterator& operator++() { ++ptr_; return *this; } +}; + +class NonZeroSentinel {}; + +template +bool operator==(const NonZeroIterator>& it, const NonZeroSentinel&) { + return !(*it).first || !(*it).second; +} + +template +py::list test_random_access_iterator(PythonType x) { + if (x.size() < 5) + throw py::value_error("Please provide at least 5 elements for testing."); + + auto checks = py::list(); + auto assert_equal = [&checks](py::handle a, py::handle b) { + auto result = PyObject_RichCompareBool(a.ptr(), b.ptr(), Py_EQ); + if (result == -1) { throw py::error_already_set(); } + checks.append(result != 0); + }; + + auto it = x.begin(); + assert_equal(x[0], *it); + assert_equal(x[0], it[0]); + assert_equal(x[1], it[1]); + + assert_equal(x[1], *(++it)); + assert_equal(x[1], *(it++)); + assert_equal(x[2], *it); + assert_equal(x[3], *(it += 1)); + assert_equal(x[2], *(--it)); + assert_equal(x[2], *(it--)); + assert_equal(x[1], *it); + assert_equal(x[0], *(it -= 1)); + + assert_equal(it->attr("real"), x[0].attr("real")); + assert_equal((it + 1)->attr("real"), x[1].attr("real")); + + assert_equal(x[1], *(it + 1)); + assert_equal(x[1], *(1 + it)); + it += 3; + assert_equal(x[1], *(it - 2)); + + checks.append(static_cast(x.end() - x.begin()) == x.size()); + checks.append((x.begin() + static_cast(x.size())) == x.end()); + checks.append(x.begin() < x.end()); + + return checks; +} + +TEST_SUBMODULE(sequences_and_iterators, m) { + // test_sliceable + class Sliceable{ + public: + Sliceable(int n): size(n) {} + int start,stop,step; + int size; + }; + py::class_(m,"Sliceable") + .def(py::init()) + .def("__getitem__",[](const Sliceable &s, py::slice slice) { + ssize_t start, stop, step, slicelength; + if (!slice.compute(s.size, &start, &stop, &step, &slicelength)) + throw py::error_already_set(); + int istart = static_cast(start); + int istop = static_cast(stop); + int istep = static_cast(step); + return std::make_tuple(istart,istop,istep); + }) + ; + + // test_sequence + class Sequence { + public: + Sequence(size_t size) : m_size(size) { + print_created(this, "of size", m_size); + m_data = new float[size]; + memset(m_data, 0, sizeof(float) * size); + } + Sequence(const std::vector &value) : m_size(value.size()) { + print_created(this, "of size", m_size, "from std::vector"); + m_data = new float[m_size]; + memcpy(m_data, &value[0], sizeof(float) * m_size); + } + Sequence(const Sequence &s) : m_size(s.m_size) { + print_copy_created(this); + m_data = new float[m_size]; + memcpy(m_data, s.m_data, sizeof(float)*m_size); + } + Sequence(Sequence &&s) : m_size(s.m_size), m_data(s.m_data) { + print_move_created(this); + s.m_size = 0; + s.m_data = nullptr; + } + + ~Sequence() { print_destroyed(this); delete[] m_data; } + + Sequence &operator=(const Sequence &s) { + if (&s != this) { + delete[] m_data; + m_size = s.m_size; + m_data = new float[m_size]; + memcpy(m_data, s.m_data, sizeof(float)*m_size); + } + print_copy_assigned(this); + return *this; + } + + Sequence &operator=(Sequence &&s) { + if (&s != this) { + delete[] m_data; + m_size = s.m_size; + m_data = s.m_data; + s.m_size = 0; + s.m_data = nullptr; + } + print_move_assigned(this); + return *this; + } + + bool operator==(const Sequence &s) const { + if (m_size != s.size()) return false; + for (size_t i = 0; i < m_size; ++i) + if (m_data[i] != s[i]) + return false; + return true; + } + bool operator!=(const Sequence &s) const { return !operator==(s); } + + float operator[](size_t index) const { return m_data[index]; } + float &operator[](size_t index) { return m_data[index]; } + + bool contains(float v) const { + for (size_t i = 0; i < m_size; ++i) + if (v == m_data[i]) + return true; + return false; + } + + Sequence reversed() const { + Sequence result(m_size); + for (size_t i = 0; i < m_size; ++i) + result[m_size - i - 1] = m_data[i]; + return result; + } + + size_t size() const { return m_size; } + + const float *begin() const { return m_data; } + const float *end() const { return m_data+m_size; } + + private: + size_t m_size; + float *m_data; + }; + py::class_(m, "Sequence") + .def(py::init()) + .def(py::init&>()) + /// Bare bones interface + .def("__getitem__", [](const Sequence &s, size_t i) { + if (i >= s.size()) throw py::index_error(); + return s[i]; + }) + .def("__setitem__", [](Sequence &s, size_t i, float v) { + if (i >= s.size()) throw py::index_error(); + s[i] = v; + }) + .def("__len__", &Sequence::size) + /// Optional sequence protocol operations + .def("__iter__", [](const Sequence &s) { return py::make_iterator(s.begin(), s.end()); }, + py::keep_alive<0, 1>() /* Essential: keep object alive while iterator exists */) + .def("__contains__", [](const Sequence &s, float v) { return s.contains(v); }) + .def("__reversed__", [](const Sequence &s) -> Sequence { return s.reversed(); }) + /// Slicing protocol (optional) + .def("__getitem__", [](const Sequence &s, py::slice slice) -> Sequence* { + size_t start, stop, step, slicelength; + if (!slice.compute(s.size(), &start, &stop, &step, &slicelength)) + throw py::error_already_set(); + Sequence *seq = new Sequence(slicelength); + for (size_t i = 0; i < slicelength; ++i) { + (*seq)[i] = s[start]; start += step; + } + return seq; + }) + .def("__setitem__", [](Sequence &s, py::slice slice, const Sequence &value) { + size_t start, stop, step, slicelength; + if (!slice.compute(s.size(), &start, &stop, &step, &slicelength)) + throw py::error_already_set(); + if (slicelength != value.size()) + throw std::runtime_error("Left and right hand size of slice assignment have different sizes!"); + for (size_t i = 0; i < slicelength; ++i) { + s[start] = value[i]; start += step; + } + }) + /// Comparisons + .def(py::self == py::self) + .def(py::self != py::self) + // Could also define py::self + py::self for concatenation, etc. + ; + + // test_map_iterator + // Interface of a map-like object that isn't (directly) an unordered_map, but provides some basic + // map-like functionality. + class StringMap { + public: + StringMap() = default; + StringMap(std::unordered_map init) + : map(std::move(init)) {} + + void set(std::string key, std::string val) { map[key] = val; } + std::string get(std::string key) const { return map.at(key); } + size_t size() const { return map.size(); } + private: + std::unordered_map map; + public: + decltype(map.cbegin()) begin() const { return map.cbegin(); } + decltype(map.cend()) end() const { return map.cend(); } + }; + py::class_(m, "StringMap") + .def(py::init<>()) + .def(py::init>()) + .def("__getitem__", [](const StringMap &map, std::string key) { + try { return map.get(key); } + catch (const std::out_of_range&) { + throw py::key_error("key '" + key + "' does not exist"); + } + }) + .def("__setitem__", &StringMap::set) + .def("__len__", &StringMap::size) + .def("__iter__", [](const StringMap &map) { return py::make_key_iterator(map.begin(), map.end()); }, + py::keep_alive<0, 1>()) + .def("items", [](const StringMap &map) { return py::make_iterator(map.begin(), map.end()); }, + py::keep_alive<0, 1>()) + ; + + // test_generalized_iterators + class IntPairs { + public: + IntPairs(std::vector> data) : data_(std::move(data)) {} + const std::pair* begin() const { return data_.data(); } + private: + std::vector> data_; + }; + py::class_(m, "IntPairs") + .def(py::init>>()) + .def("nonzero", [](const IntPairs& s) { + return py::make_iterator(NonZeroIterator>(s.begin()), NonZeroSentinel()); + }, py::keep_alive<0, 1>()) + .def("nonzero_keys", [](const IntPairs& s) { + return py::make_key_iterator(NonZeroIterator>(s.begin()), NonZeroSentinel()); + }, py::keep_alive<0, 1>()) + ; + + +#if 0 + // Obsolete: special data structure for exposing custom iterator types to python + // kept here for illustrative purposes because there might be some use cases which + // are not covered by the much simpler py::make_iterator + + struct PySequenceIterator { + PySequenceIterator(const Sequence &seq, py::object ref) : seq(seq), ref(ref) { } + + float next() { + if (index == seq.size()) + throw py::stop_iteration(); + return seq[index++]; + } + + const Sequence &seq; + py::object ref; // keep a reference + size_t index = 0; + }; + + py::class_(seq, "Iterator") + .def("__iter__", [](PySequenceIterator &it) -> PySequenceIterator& { return it; }) + .def("__next__", &PySequenceIterator::next); + + On the actual Sequence object, the iterator would be constructed as follows: + .def("__iter__", [](py::object s) { return PySequenceIterator(s.cast(), s); }) +#endif + + // test_python_iterator_in_cpp + m.def("object_to_list", [](py::object o) { + auto l = py::list(); + for (auto item : o) { + l.append(item); + } + return l; + }); + + m.def("iterator_to_list", [](py::iterator it) { + auto l = py::list(); + while (it != py::iterator::sentinel()) { + l.append(*it); + ++it; + } + return l; + }); + + // Make sure that py::iterator works with std algorithms + m.def("count_none", [](py::object o) { + return std::count_if(o.begin(), o.end(), [](py::handle h) { return h.is_none(); }); + }); + + m.def("find_none", [](py::object o) { + auto it = std::find_if(o.begin(), o.end(), [](py::handle h) { return h.is_none(); }); + return it->is_none(); + }); + + m.def("count_nonzeros", [](py::dict d) { + return std::count_if(d.begin(), d.end(), [](std::pair p) { + return p.second.cast() != 0; + }); + }); + + m.def("tuple_iterator", &test_random_access_iterator); + m.def("list_iterator", &test_random_access_iterator); + m.def("sequence_iterator", &test_random_access_iterator); + + // test_iterator_passthrough + // #181: iterator passthrough did not compile + m.def("iterator_passthrough", [](py::iterator s) -> py::iterator { + return py::make_iterator(std::begin(s), std::end(s)); + }); + + // test_iterator_rvp + // #388: Can't make iterators via make_iterator() with different r/v policies + static std::vector list = { 1, 2, 3 }; + m.def("make_iterator_1", []() { return py::make_iterator(list); }); + m.def("make_iterator_2", []() { return py::make_iterator(list); }); +} diff --git a/wrap/python/pybind11/tests/test_sequences_and_iterators.py b/wrap/python/pybind11/tests/test_sequences_and_iterators.py new file mode 100644 index 000000000..6bd160640 --- /dev/null +++ b/wrap/python/pybind11/tests/test_sequences_and_iterators.py @@ -0,0 +1,171 @@ +import pytest +from pybind11_tests import sequences_and_iterators as m +from pybind11_tests import ConstructorStats + + +def isclose(a, b, rel_tol=1e-05, abs_tol=0.0): + """Like math.isclose() from Python 3.5""" + return abs(a - b) <= max(rel_tol * max(abs(a), abs(b)), abs_tol) + + +def allclose(a_list, b_list, rel_tol=1e-05, abs_tol=0.0): + return all(isclose(a, b, rel_tol=rel_tol, abs_tol=abs_tol) for a, b in zip(a_list, b_list)) + + +def test_generalized_iterators(): + assert list(m.IntPairs([(1, 2), (3, 4), (0, 5)]).nonzero()) == [(1, 2), (3, 4)] + assert list(m.IntPairs([(1, 2), (2, 0), (0, 3), (4, 5)]).nonzero()) == [(1, 2)] + assert list(m.IntPairs([(0, 3), (1, 2), (3, 4)]).nonzero()) == [] + + assert list(m.IntPairs([(1, 2), (3, 4), (0, 5)]).nonzero_keys()) == [1, 3] + assert list(m.IntPairs([(1, 2), (2, 0), (0, 3), (4, 5)]).nonzero_keys()) == [1] + assert list(m.IntPairs([(0, 3), (1, 2), (3, 4)]).nonzero_keys()) == [] + + # __next__ must continue to raise StopIteration + it = m.IntPairs([(0, 0)]).nonzero() + for _ in range(3): + with pytest.raises(StopIteration): + next(it) + + it = m.IntPairs([(0, 0)]).nonzero_keys() + for _ in range(3): + with pytest.raises(StopIteration): + next(it) + + +def test_sliceable(): + sliceable = m.Sliceable(100) + assert sliceable[::] == (0, 100, 1) + assert sliceable[10::] == (10, 100, 1) + assert sliceable[:10:] == (0, 10, 1) + assert sliceable[::10] == (0, 100, 10) + assert sliceable[-10::] == (90, 100, 1) + assert sliceable[:-10:] == (0, 90, 1) + assert sliceable[::-10] == (99, -1, -10) + assert sliceable[50:60:1] == (50, 60, 1) + assert sliceable[50:60:-1] == (50, 60, -1) + + +def test_sequence(): + cstats = ConstructorStats.get(m.Sequence) + + s = m.Sequence(5) + assert cstats.values() == ['of size', '5'] + + assert "Sequence" in repr(s) + assert len(s) == 5 + assert s[0] == 0 and s[3] == 0 + assert 12.34 not in s + s[0], s[3] = 12.34, 56.78 + assert 12.34 in s + assert isclose(s[0], 12.34) and isclose(s[3], 56.78) + + rev = reversed(s) + assert cstats.values() == ['of size', '5'] + + rev2 = s[::-1] + assert cstats.values() == ['of size', '5'] + + it = iter(m.Sequence(0)) + for _ in range(3): # __next__ must continue to raise StopIteration + with pytest.raises(StopIteration): + next(it) + assert cstats.values() == ['of size', '0'] + + expected = [0, 56.78, 0, 0, 12.34] + assert allclose(rev, expected) + assert allclose(rev2, expected) + assert rev == rev2 + + rev[0::2] = m.Sequence([2.0, 2.0, 2.0]) + assert cstats.values() == ['of size', '3', 'from std::vector'] + + assert allclose(rev, [2, 56.78, 2, 0, 2]) + + assert cstats.alive() == 4 + del it + assert cstats.alive() == 3 + del s + assert cstats.alive() == 2 + del rev + assert cstats.alive() == 1 + del rev2 + assert cstats.alive() == 0 + + assert cstats.values() == [] + assert cstats.default_constructions == 0 + assert cstats.copy_constructions == 0 + assert cstats.move_constructions >= 1 + assert cstats.copy_assignments == 0 + assert cstats.move_assignments == 0 + + +def test_map_iterator(): + sm = m.StringMap({'hi': 'bye', 'black': 'white'}) + assert sm['hi'] == 'bye' + assert len(sm) == 2 + assert sm['black'] == 'white' + + with pytest.raises(KeyError): + assert sm['orange'] + sm['orange'] = 'banana' + assert sm['orange'] == 'banana' + + expected = {'hi': 'bye', 'black': 'white', 'orange': 'banana'} + for k in sm: + assert sm[k] == expected[k] + for k, v in sm.items(): + assert v == expected[k] + + it = iter(m.StringMap({})) + for _ in range(3): # __next__ must continue to raise StopIteration + with pytest.raises(StopIteration): + next(it) + + +def test_python_iterator_in_cpp(): + t = (1, 2, 3) + assert m.object_to_list(t) == [1, 2, 3] + assert m.object_to_list(iter(t)) == [1, 2, 3] + assert m.iterator_to_list(iter(t)) == [1, 2, 3] + + with pytest.raises(TypeError) as excinfo: + m.object_to_list(1) + assert "object is not iterable" in str(excinfo.value) + + with pytest.raises(TypeError) as excinfo: + m.iterator_to_list(1) + assert "incompatible function arguments" in str(excinfo.value) + + def bad_next_call(): + raise RuntimeError("py::iterator::advance() should propagate errors") + + with pytest.raises(RuntimeError) as excinfo: + m.iterator_to_list(iter(bad_next_call, None)) + assert str(excinfo.value) == "py::iterator::advance() should propagate errors" + + lst = [1, None, 0, None] + assert m.count_none(lst) == 2 + assert m.find_none(lst) is True + assert m.count_nonzeros({"a": 0, "b": 1, "c": 2}) == 2 + + r = range(5) + assert all(m.tuple_iterator(tuple(r))) + assert all(m.list_iterator(list(r))) + assert all(m.sequence_iterator(r)) + + +def test_iterator_passthrough(): + """#181: iterator passthrough did not compile""" + from pybind11_tests.sequences_and_iterators import iterator_passthrough + + assert list(iterator_passthrough(iter([3, 5, 7, 9, 11, 13, 15]))) == [3, 5, 7, 9, 11, 13, 15] + + +def test_iterator_rvp(): + """#388: Can't make iterators via make_iterator() with different r/v policies """ + import pybind11_tests.sequences_and_iterators as m + + assert list(m.make_iterator_1()) == [1, 2, 3] + assert list(m.make_iterator_2()) == [1, 2, 3] + assert not isinstance(m.make_iterator_1(), type(m.make_iterator_2())) diff --git a/wrap/python/pybind11/tests/test_smart_ptr.cpp b/wrap/python/pybind11/tests/test_smart_ptr.cpp new file mode 100644 index 000000000..87c9be8c2 --- /dev/null +++ b/wrap/python/pybind11/tests/test_smart_ptr.cpp @@ -0,0 +1,366 @@ +/* + tests/test_smart_ptr.cpp -- binding classes with custom reference counting, + implicit conversions between types + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#if defined(_MSC_VER) && _MSC_VER < 1910 +# pragma warning(disable: 4702) // unreachable code in system header +#endif + +#include "pybind11_tests.h" +#include "object.h" + +// Make pybind aware of the ref-counted wrapper type (s): + +// ref is a wrapper for 'Object' which uses intrusive reference counting +// It is always possible to construct a ref from an Object* pointer without +// possible inconsistencies, hence the 'true' argument at the end. +PYBIND11_DECLARE_HOLDER_TYPE(T, ref, true); +// Make pybind11 aware of the non-standard getter member function +namespace pybind11 { namespace detail { + template + struct holder_helper> { + static const T *get(const ref &p) { return p.get_ptr(); } + }; +}} + +// The following is not required anymore for std::shared_ptr, but it should compile without error: +PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr); + +// This is just a wrapper around unique_ptr, but with extra fields to deliberately bloat up the +// holder size to trigger the non-simple-layout internal instance layout for single inheritance with +// large holder type: +template class huge_unique_ptr { + std::unique_ptr ptr; + uint64_t padding[10]; +public: + huge_unique_ptr(T *p) : ptr(p) {}; + T *get() { return ptr.get(); } +}; +PYBIND11_DECLARE_HOLDER_TYPE(T, huge_unique_ptr); + +// Simple custom holder that works like unique_ptr +template +class custom_unique_ptr { + std::unique_ptr impl; +public: + custom_unique_ptr(T* p) : impl(p) { } + T* get() const { return impl.get(); } + T* release_ptr() { return impl.release(); } +}; +PYBIND11_DECLARE_HOLDER_TYPE(T, custom_unique_ptr); + +// Simple custom holder that works like shared_ptr and has operator& overload +// To obtain address of an instance of this holder pybind should use std::addressof +// Attempt to get address via operator& may leads to segmentation fault +template +class shared_ptr_with_addressof_operator { + std::shared_ptr impl; +public: + shared_ptr_with_addressof_operator( ) = default; + shared_ptr_with_addressof_operator(T* p) : impl(p) { } + T* get() const { return impl.get(); } + T** operator&() { throw std::logic_error("Call of overloaded operator& is not expected"); } +}; +PYBIND11_DECLARE_HOLDER_TYPE(T, shared_ptr_with_addressof_operator); + +// Simple custom holder that works like unique_ptr and has operator& overload +// To obtain address of an instance of this holder pybind should use std::addressof +// Attempt to get address via operator& may leads to segmentation fault +template +class unique_ptr_with_addressof_operator { + std::unique_ptr impl; +public: + unique_ptr_with_addressof_operator() = default; + unique_ptr_with_addressof_operator(T* p) : impl(p) { } + T* get() const { return impl.get(); } + T* release_ptr() { return impl.release(); } + T** operator&() { throw std::logic_error("Call of overloaded operator& is not expected"); } +}; +PYBIND11_DECLARE_HOLDER_TYPE(T, unique_ptr_with_addressof_operator); + + +TEST_SUBMODULE(smart_ptr, m) { + + // test_smart_ptr + + // Object implementation in `object.h` + py::class_> obj(m, "Object"); + obj.def("getRefCount", &Object::getRefCount); + + // Custom object with builtin reference counting (see 'object.h' for the implementation) + class MyObject1 : public Object { + public: + MyObject1(int value) : value(value) { print_created(this, toString()); } + std::string toString() const { return "MyObject1[" + std::to_string(value) + "]"; } + protected: + virtual ~MyObject1() { print_destroyed(this); } + private: + int value; + }; + py::class_>(m, "MyObject1", obj) + .def(py::init()); + py::implicitly_convertible(); + + m.def("make_object_1", []() -> Object * { return new MyObject1(1); }); + m.def("make_object_2", []() -> ref { return new MyObject1(2); }); + m.def("make_myobject1_1", []() -> MyObject1 * { return new MyObject1(4); }); + m.def("make_myobject1_2", []() -> ref { return new MyObject1(5); }); + m.def("print_object_1", [](const Object *obj) { py::print(obj->toString()); }); + m.def("print_object_2", [](ref obj) { py::print(obj->toString()); }); + m.def("print_object_3", [](const ref &obj) { py::print(obj->toString()); }); + m.def("print_object_4", [](const ref *obj) { py::print((*obj)->toString()); }); + m.def("print_myobject1_1", [](const MyObject1 *obj) { py::print(obj->toString()); }); + m.def("print_myobject1_2", [](ref obj) { py::print(obj->toString()); }); + m.def("print_myobject1_3", [](const ref &obj) { py::print(obj->toString()); }); + m.def("print_myobject1_4", [](const ref *obj) { py::print((*obj)->toString()); }); + + // Expose constructor stats for the ref type + m.def("cstats_ref", &ConstructorStats::get); + + + // Object managed by a std::shared_ptr<> + class MyObject2 { + public: + MyObject2(const MyObject2 &) = default; + MyObject2(int value) : value(value) { print_created(this, toString()); } + std::string toString() const { return "MyObject2[" + std::to_string(value) + "]"; } + virtual ~MyObject2() { print_destroyed(this); } + private: + int value; + }; + py::class_>(m, "MyObject2") + .def(py::init()); + m.def("make_myobject2_1", []() { return new MyObject2(6); }); + m.def("make_myobject2_2", []() { return std::make_shared(7); }); + m.def("print_myobject2_1", [](const MyObject2 *obj) { py::print(obj->toString()); }); + m.def("print_myobject2_2", [](std::shared_ptr obj) { py::print(obj->toString()); }); + m.def("print_myobject2_3", [](const std::shared_ptr &obj) { py::print(obj->toString()); }); + m.def("print_myobject2_4", [](const std::shared_ptr *obj) { py::print((*obj)->toString()); }); + + // Object managed by a std::shared_ptr<>, additionally derives from std::enable_shared_from_this<> + class MyObject3 : public std::enable_shared_from_this { + public: + MyObject3(const MyObject3 &) = default; + MyObject3(int value) : value(value) { print_created(this, toString()); } + std::string toString() const { return "MyObject3[" + std::to_string(value) + "]"; } + virtual ~MyObject3() { print_destroyed(this); } + private: + int value; + }; + py::class_>(m, "MyObject3") + .def(py::init()); + m.def("make_myobject3_1", []() { return new MyObject3(8); }); + m.def("make_myobject3_2", []() { return std::make_shared(9); }); + m.def("print_myobject3_1", [](const MyObject3 *obj) { py::print(obj->toString()); }); + m.def("print_myobject3_2", [](std::shared_ptr obj) { py::print(obj->toString()); }); + m.def("print_myobject3_3", [](const std::shared_ptr &obj) { py::print(obj->toString()); }); + m.def("print_myobject3_4", [](const std::shared_ptr *obj) { py::print((*obj)->toString()); }); + + // test_smart_ptr_refcounting + m.def("test_object1_refcounting", []() { + ref o = new MyObject1(0); + bool good = o->getRefCount() == 1; + py::object o2 = py::cast(o, py::return_value_policy::reference); + // always request (partial) ownership for objects with intrusive + // reference counting even when using the 'reference' RVP + good &= o->getRefCount() == 2; + return good; + }); + + // test_unique_nodelete + // Object with a private destructor + class MyObject4 { + public: + MyObject4(int value) : value{value} { print_created(this); } + int value; + private: + ~MyObject4() { print_destroyed(this); } + }; + py::class_>(m, "MyObject4") + .def(py::init()) + .def_readwrite("value", &MyObject4::value); + + // test_unique_deleter + // Object with std::unique_ptr where D is not matching the base class + // Object with a protected destructor + class MyObject4a { + public: + MyObject4a(int i) { + value = i; + print_created(this); + }; + int value; + protected: + virtual ~MyObject4a() { print_destroyed(this); } + }; + py::class_>(m, "MyObject4a") + .def(py::init()) + .def_readwrite("value", &MyObject4a::value); + + // Object derived but with public destructor and no Deleter in default holder + class MyObject4b : public MyObject4a { + public: + MyObject4b(int i) : MyObject4a(i) { print_created(this); } + ~MyObject4b() { print_destroyed(this); } + }; + py::class_(m, "MyObject4b") + .def(py::init()); + + // test_large_holder + class MyObject5 { // managed by huge_unique_ptr + public: + MyObject5(int value) : value{value} { print_created(this); } + ~MyObject5() { print_destroyed(this); } + int value; + }; + py::class_>(m, "MyObject5") + .def(py::init()) + .def_readwrite("value", &MyObject5::value); + + // test_shared_ptr_and_references + struct SharedPtrRef { + struct A { + A() { print_created(this); } + A(const A &) { print_copy_created(this); } + A(A &&) { print_move_created(this); } + ~A() { print_destroyed(this); } + }; + + A value = {}; + std::shared_ptr shared = std::make_shared(); + }; + using A = SharedPtrRef::A; + py::class_>(m, "A"); + py::class_(m, "SharedPtrRef") + .def(py::init<>()) + .def_readonly("ref", &SharedPtrRef::value) + .def_property_readonly("copy", [](const SharedPtrRef &s) { return s.value; }, + py::return_value_policy::copy) + .def_readonly("holder_ref", &SharedPtrRef::shared) + .def_property_readonly("holder_copy", [](const SharedPtrRef &s) { return s.shared; }, + py::return_value_policy::copy) + .def("set_ref", [](SharedPtrRef &, const A &) { return true; }) + .def("set_holder", [](SharedPtrRef &, std::shared_ptr) { return true; }); + + // test_shared_ptr_from_this_and_references + struct SharedFromThisRef { + struct B : std::enable_shared_from_this { + B() { print_created(this); } + B(const B &) : std::enable_shared_from_this() { print_copy_created(this); } + B(B &&) : std::enable_shared_from_this() { print_move_created(this); } + ~B() { print_destroyed(this); } + }; + + B value = {}; + std::shared_ptr shared = std::make_shared(); + }; + using B = SharedFromThisRef::B; + py::class_>(m, "B"); + py::class_(m, "SharedFromThisRef") + .def(py::init<>()) + .def_readonly("bad_wp", &SharedFromThisRef::value) + .def_property_readonly("ref", [](const SharedFromThisRef &s) -> const B & { return *s.shared; }) + .def_property_readonly("copy", [](const SharedFromThisRef &s) { return s.value; }, + py::return_value_policy::copy) + .def_readonly("holder_ref", &SharedFromThisRef::shared) + .def_property_readonly("holder_copy", [](const SharedFromThisRef &s) { return s.shared; }, + py::return_value_policy::copy) + .def("set_ref", [](SharedFromThisRef &, const B &) { return true; }) + .def("set_holder", [](SharedFromThisRef &, std::shared_ptr) { return true; }); + + // Issue #865: shared_from_this doesn't work with virtual inheritance + struct SharedFromThisVBase : std::enable_shared_from_this { + SharedFromThisVBase() = default; + SharedFromThisVBase(const SharedFromThisVBase &) = default; + virtual ~SharedFromThisVBase() = default; + }; + struct SharedFromThisVirt : virtual SharedFromThisVBase {}; + static std::shared_ptr sft(new SharedFromThisVirt()); + py::class_>(m, "SharedFromThisVirt") + .def_static("get", []() { return sft.get(); }); + + // test_move_only_holder + struct C { + C() { print_created(this); } + ~C() { print_destroyed(this); } + }; + py::class_>(m, "TypeWithMoveOnlyHolder") + .def_static("make", []() { return custom_unique_ptr(new C); }); + + // test_holder_with_addressof_operator + struct TypeForHolderWithAddressOf { + TypeForHolderWithAddressOf() { print_created(this); } + TypeForHolderWithAddressOf(const TypeForHolderWithAddressOf &) { print_copy_created(this); } + TypeForHolderWithAddressOf(TypeForHolderWithAddressOf &&) { print_move_created(this); } + ~TypeForHolderWithAddressOf() { print_destroyed(this); } + std::string toString() const { + return "TypeForHolderWithAddressOf[" + std::to_string(value) + "]"; + } + int value = 42; + }; + using HolderWithAddressOf = shared_ptr_with_addressof_operator; + py::class_(m, "TypeForHolderWithAddressOf") + .def_static("make", []() { return HolderWithAddressOf(new TypeForHolderWithAddressOf); }) + .def("get", [](const HolderWithAddressOf &self) { return self.get(); }) + .def("print_object_1", [](const TypeForHolderWithAddressOf *obj) { py::print(obj->toString()); }) + .def("print_object_2", [](HolderWithAddressOf obj) { py::print(obj.get()->toString()); }) + .def("print_object_3", [](const HolderWithAddressOf &obj) { py::print(obj.get()->toString()); }) + .def("print_object_4", [](const HolderWithAddressOf *obj) { py::print((*obj).get()->toString()); }); + + // test_move_only_holder_with_addressof_operator + struct TypeForMoveOnlyHolderWithAddressOf { + TypeForMoveOnlyHolderWithAddressOf(int value) : value{value} { print_created(this); } + ~TypeForMoveOnlyHolderWithAddressOf() { print_destroyed(this); } + std::string toString() const { + return "MoveOnlyHolderWithAddressOf[" + std::to_string(value) + "]"; + } + int value; + }; + using MoveOnlyHolderWithAddressOf = unique_ptr_with_addressof_operator; + py::class_(m, "TypeForMoveOnlyHolderWithAddressOf") + .def_static("make", []() { return MoveOnlyHolderWithAddressOf(new TypeForMoveOnlyHolderWithAddressOf(0)); }) + .def_readwrite("value", &TypeForMoveOnlyHolderWithAddressOf::value) + .def("print_object", [](const TypeForMoveOnlyHolderWithAddressOf *obj) { py::print(obj->toString()); }); + + // test_smart_ptr_from_default + struct HeldByDefaultHolder { }; + py::class_(m, "HeldByDefaultHolder") + .def(py::init<>()) + .def_static("load_shared_ptr", [](std::shared_ptr) {}); + + // test_shared_ptr_gc + // #187: issue involving std::shared_ptr<> return value policy & garbage collection + struct ElementBase { + virtual ~ElementBase() { } /* Force creation of virtual table */ + }; + py::class_>(m, "ElementBase"); + + struct ElementA : ElementBase { + ElementA(int v) : v(v) { } + int value() { return v; } + int v; + }; + py::class_>(m, "ElementA") + .def(py::init()) + .def("value", &ElementA::value); + + struct ElementList { + void add(std::shared_ptr e) { l.push_back(e); } + std::vector> l; + }; + py::class_>(m, "ElementList") + .def(py::init<>()) + .def("add", &ElementList::add) + .def("get", [](ElementList &el) { + py::list list; + for (auto &e : el.l) + list.append(py::cast(e)); + return list; + }); +} diff --git a/wrap/python/pybind11/tests/test_smart_ptr.py b/wrap/python/pybind11/tests/test_smart_ptr.py new file mode 100644 index 000000000..0a3bb58ee --- /dev/null +++ b/wrap/python/pybind11/tests/test_smart_ptr.py @@ -0,0 +1,285 @@ +import pytest +from pybind11_tests import smart_ptr as m +from pybind11_tests import ConstructorStats + + +def test_smart_ptr(capture): + # Object1 + for i, o in enumerate([m.make_object_1(), m.make_object_2(), m.MyObject1(3)], start=1): + assert o.getRefCount() == 1 + with capture: + m.print_object_1(o) + m.print_object_2(o) + m.print_object_3(o) + m.print_object_4(o) + assert capture == "MyObject1[{i}]\n".format(i=i) * 4 + + for i, o in enumerate([m.make_myobject1_1(), m.make_myobject1_2(), m.MyObject1(6), 7], + start=4): + print(o) + with capture: + if not isinstance(o, int): + m.print_object_1(o) + m.print_object_2(o) + m.print_object_3(o) + m.print_object_4(o) + m.print_myobject1_1(o) + m.print_myobject1_2(o) + m.print_myobject1_3(o) + m.print_myobject1_4(o) + assert capture == "MyObject1[{i}]\n".format(i=i) * (4 if isinstance(o, int) else 8) + + cstats = ConstructorStats.get(m.MyObject1) + assert cstats.alive() == 0 + expected_values = ['MyObject1[{}]'.format(i) for i in range(1, 7)] + ['MyObject1[7]'] * 4 + assert cstats.values() == expected_values + assert cstats.default_constructions == 0 + assert cstats.copy_constructions == 0 + # assert cstats.move_constructions >= 0 # Doesn't invoke any + assert cstats.copy_assignments == 0 + assert cstats.move_assignments == 0 + + # Object2 + for i, o in zip([8, 6, 7], [m.MyObject2(8), m.make_myobject2_1(), m.make_myobject2_2()]): + print(o) + with capture: + m.print_myobject2_1(o) + m.print_myobject2_2(o) + m.print_myobject2_3(o) + m.print_myobject2_4(o) + assert capture == "MyObject2[{i}]\n".format(i=i) * 4 + + cstats = ConstructorStats.get(m.MyObject2) + assert cstats.alive() == 1 + o = None + assert cstats.alive() == 0 + assert cstats.values() == ['MyObject2[8]', 'MyObject2[6]', 'MyObject2[7]'] + assert cstats.default_constructions == 0 + assert cstats.copy_constructions == 0 + # assert cstats.move_constructions >= 0 # Doesn't invoke any + assert cstats.copy_assignments == 0 + assert cstats.move_assignments == 0 + + # Object3 + for i, o in zip([9, 8, 9], [m.MyObject3(9), m.make_myobject3_1(), m.make_myobject3_2()]): + print(o) + with capture: + m.print_myobject3_1(o) + m.print_myobject3_2(o) + m.print_myobject3_3(o) + m.print_myobject3_4(o) + assert capture == "MyObject3[{i}]\n".format(i=i) * 4 + + cstats = ConstructorStats.get(m.MyObject3) + assert cstats.alive() == 1 + o = None + assert cstats.alive() == 0 + assert cstats.values() == ['MyObject3[9]', 'MyObject3[8]', 'MyObject3[9]'] + assert cstats.default_constructions == 0 + assert cstats.copy_constructions == 0 + # assert cstats.move_constructions >= 0 # Doesn't invoke any + assert cstats.copy_assignments == 0 + assert cstats.move_assignments == 0 + + # Object + cstats = ConstructorStats.get(m.Object) + assert cstats.alive() == 0 + assert cstats.values() == [] + assert cstats.default_constructions == 10 + assert cstats.copy_constructions == 0 + # assert cstats.move_constructions >= 0 # Doesn't invoke any + assert cstats.copy_assignments == 0 + assert cstats.move_assignments == 0 + + # ref<> + cstats = m.cstats_ref() + assert cstats.alive() == 0 + assert cstats.values() == ['from pointer'] * 10 + assert cstats.default_constructions == 30 + assert cstats.copy_constructions == 12 + # assert cstats.move_constructions >= 0 # Doesn't invoke any + assert cstats.copy_assignments == 30 + assert cstats.move_assignments == 0 + + +def test_smart_ptr_refcounting(): + assert m.test_object1_refcounting() + + +def test_unique_nodelete(): + o = m.MyObject4(23) + assert o.value == 23 + cstats = ConstructorStats.get(m.MyObject4) + assert cstats.alive() == 1 + del o + assert cstats.alive() == 1 # Leak, but that's intentional + + +def test_unique_nodelete4a(): + o = m.MyObject4a(23) + assert o.value == 23 + cstats = ConstructorStats.get(m.MyObject4a) + assert cstats.alive() == 1 + del o + assert cstats.alive() == 1 # Leak, but that's intentional + + +def test_unique_deleter(): + o = m.MyObject4b(23) + assert o.value == 23 + cstats4a = ConstructorStats.get(m.MyObject4a) + assert cstats4a.alive() == 2 # Two because of previous test + cstats4b = ConstructorStats.get(m.MyObject4b) + assert cstats4b.alive() == 1 + del o + assert cstats4a.alive() == 1 # Should now only be one leftover from previous test + assert cstats4b.alive() == 0 # Should be deleted + + +def test_large_holder(): + o = m.MyObject5(5) + assert o.value == 5 + cstats = ConstructorStats.get(m.MyObject5) + assert cstats.alive() == 1 + del o + assert cstats.alive() == 0 + + +def test_shared_ptr_and_references(): + s = m.SharedPtrRef() + stats = ConstructorStats.get(m.A) + assert stats.alive() == 2 + + ref = s.ref # init_holder_helper(holder_ptr=false, owned=false) + assert stats.alive() == 2 + assert s.set_ref(ref) + with pytest.raises(RuntimeError) as excinfo: + assert s.set_holder(ref) + assert "Unable to cast from non-held to held instance" in str(excinfo.value) + + copy = s.copy # init_holder_helper(holder_ptr=false, owned=true) + assert stats.alive() == 3 + assert s.set_ref(copy) + assert s.set_holder(copy) + + holder_ref = s.holder_ref # init_holder_helper(holder_ptr=true, owned=false) + assert stats.alive() == 3 + assert s.set_ref(holder_ref) + assert s.set_holder(holder_ref) + + holder_copy = s.holder_copy # init_holder_helper(holder_ptr=true, owned=true) + assert stats.alive() == 3 + assert s.set_ref(holder_copy) + assert s.set_holder(holder_copy) + + del ref, copy, holder_ref, holder_copy, s + assert stats.alive() == 0 + + +def test_shared_ptr_from_this_and_references(): + s = m.SharedFromThisRef() + stats = ConstructorStats.get(m.B) + assert stats.alive() == 2 + + ref = s.ref # init_holder_helper(holder_ptr=false, owned=false, bad_wp=false) + assert stats.alive() == 2 + assert s.set_ref(ref) + assert s.set_holder(ref) # std::enable_shared_from_this can create a holder from a reference + + bad_wp = s.bad_wp # init_holder_helper(holder_ptr=false, owned=false, bad_wp=true) + assert stats.alive() == 2 + assert s.set_ref(bad_wp) + with pytest.raises(RuntimeError) as excinfo: + assert s.set_holder(bad_wp) + assert "Unable to cast from non-held to held instance" in str(excinfo.value) + + copy = s.copy # init_holder_helper(holder_ptr=false, owned=true, bad_wp=false) + assert stats.alive() == 3 + assert s.set_ref(copy) + assert s.set_holder(copy) + + holder_ref = s.holder_ref # init_holder_helper(holder_ptr=true, owned=false, bad_wp=false) + assert stats.alive() == 3 + assert s.set_ref(holder_ref) + assert s.set_holder(holder_ref) + + holder_copy = s.holder_copy # init_holder_helper(holder_ptr=true, owned=true, bad_wp=false) + assert stats.alive() == 3 + assert s.set_ref(holder_copy) + assert s.set_holder(holder_copy) + + del ref, bad_wp, copy, holder_ref, holder_copy, s + assert stats.alive() == 0 + + z = m.SharedFromThisVirt.get() + y = m.SharedFromThisVirt.get() + assert y is z + + +def test_move_only_holder(): + a = m.TypeWithMoveOnlyHolder.make() + stats = ConstructorStats.get(m.TypeWithMoveOnlyHolder) + assert stats.alive() == 1 + del a + assert stats.alive() == 0 + + +def test_holder_with_addressof_operator(): + # this test must not throw exception from c++ + a = m.TypeForHolderWithAddressOf.make() + a.print_object_1() + a.print_object_2() + a.print_object_3() + a.print_object_4() + + stats = ConstructorStats.get(m.TypeForHolderWithAddressOf) + assert stats.alive() == 1 + + np = m.TypeForHolderWithAddressOf.make() + assert stats.alive() == 2 + del a + assert stats.alive() == 1 + del np + assert stats.alive() == 0 + + b = m.TypeForHolderWithAddressOf.make() + c = b + assert b.get() is c.get() + assert stats.alive() == 1 + + del b + assert stats.alive() == 1 + + del c + assert stats.alive() == 0 + + +def test_move_only_holder_with_addressof_operator(): + a = m.TypeForMoveOnlyHolderWithAddressOf.make() + a.print_object() + + stats = ConstructorStats.get(m.TypeForMoveOnlyHolderWithAddressOf) + assert stats.alive() == 1 + + a.value = 42 + assert a.value == 42 + + del a + assert stats.alive() == 0 + + +def test_smart_ptr_from_default(): + instance = m.HeldByDefaultHolder() + with pytest.raises(RuntimeError) as excinfo: + m.HeldByDefaultHolder.load_shared_ptr(instance) + assert "Unable to load a custom holder type from a default-holder instance" in str(excinfo) + + +def test_shared_ptr_gc(): + """#187: issue involving std::shared_ptr<> return value policy & garbage collection""" + el = m.ElementList() + for i in range(10): + el.add(m.ElementA(i)) + pytest.gc_collect() + for i, v in enumerate(el.get()): + assert i == v.value() diff --git a/wrap/python/pybind11/tests/test_stl.cpp b/wrap/python/pybind11/tests/test_stl.cpp new file mode 100644 index 000000000..207c9fb2b --- /dev/null +++ b/wrap/python/pybind11/tests/test_stl.cpp @@ -0,0 +1,284 @@ +/* + tests/test_stl.cpp -- STL type casters + + Copyright (c) 2017 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" +#include + +#include +#include + +// Test with `std::variant` in C++17 mode, or with `boost::variant` in C++11/14 +#if PYBIND11_HAS_VARIANT +using std::variant; +#elif defined(PYBIND11_TEST_BOOST) && (!defined(_MSC_VER) || _MSC_VER >= 1910) +# include +# define PYBIND11_HAS_VARIANT 1 +using boost::variant; + +namespace pybind11 { namespace detail { +template +struct type_caster> : variant_caster> {}; + +template <> +struct visit_helper { + template + static auto call(Args &&...args) -> decltype(boost::apply_visitor(args...)) { + return boost::apply_visitor(args...); + } +}; +}} // namespace pybind11::detail +#endif + +PYBIND11_MAKE_OPAQUE(std::vector>); + +/// Issue #528: templated constructor +struct TplCtorClass { + template TplCtorClass(const T &) { } + bool operator==(const TplCtorClass &) const { return true; } +}; + +namespace std { + template <> + struct hash { size_t operator()(const TplCtorClass &) const { return 0; } }; +} + + +TEST_SUBMODULE(stl, m) { + // test_vector + m.def("cast_vector", []() { return std::vector{1}; }); + m.def("load_vector", [](const std::vector &v) { return v.at(0) == 1 && v.at(1) == 2; }); + // `std::vector` is special because it returns proxy objects instead of references + m.def("cast_bool_vector", []() { return std::vector{true, false}; }); + m.def("load_bool_vector", [](const std::vector &v) { + return v.at(0) == true && v.at(1) == false; + }); + // Unnumbered regression (caused by #936): pointers to stl containers aren't castable + static std::vector lvv{2}; + m.def("cast_ptr_vector", []() { return &lvv; }); + + // test_deque + m.def("cast_deque", []() { return std::deque{1}; }); + m.def("load_deque", [](const std::deque &v) { return v.at(0) == 1 && v.at(1) == 2; }); + + // test_array + m.def("cast_array", []() { return std::array {{1 , 2}}; }); + m.def("load_array", [](const std::array &a) { return a[0] == 1 && a[1] == 2; }); + + // test_valarray + m.def("cast_valarray", []() { return std::valarray{1, 4, 9}; }); + m.def("load_valarray", [](const std::valarray& v) { + return v.size() == 3 && v[0] == 1 && v[1] == 4 && v[2] == 9; + }); + + // test_map + m.def("cast_map", []() { return std::map{{"key", "value"}}; }); + m.def("load_map", [](const std::map &map) { + return map.at("key") == "value" && map.at("key2") == "value2"; + }); + + // test_set + m.def("cast_set", []() { return std::set{"key1", "key2"}; }); + m.def("load_set", [](const std::set &set) { + return set.count("key1") && set.count("key2") && set.count("key3"); + }); + + // test_recursive_casting + m.def("cast_rv_vector", []() { return std::vector{2}; }); + m.def("cast_rv_array", []() { return std::array(); }); + // NB: map and set keys are `const`, so while we technically do move them (as `const Type &&`), + // casters don't typically do anything with that, which means they fall to the `const Type &` + // caster. + m.def("cast_rv_map", []() { return std::unordered_map{{"a", RValueCaster{}}}; }); + m.def("cast_rv_nested", []() { + std::vector>, 2>> v; + v.emplace_back(); // add an array + v.back()[0].emplace_back(); // add a map to the array + v.back()[0].back().emplace("b", RValueCaster{}); + v.back()[0].back().emplace("c", RValueCaster{}); + v.back()[1].emplace_back(); // add a map to the array + v.back()[1].back().emplace("a", RValueCaster{}); + return v; + }); + static std::array lva; + static std::unordered_map lvm{{"a", RValueCaster{}}, {"b", RValueCaster{}}}; + static std::unordered_map>>> lvn; + lvn["a"].emplace_back(); // add a list + lvn["a"].back().emplace_back(); // add an array + lvn["a"].emplace_back(); // another list + lvn["a"].back().emplace_back(); // add an array + lvn["b"].emplace_back(); // add a list + lvn["b"].back().emplace_back(); // add an array + lvn["b"].back().emplace_back(); // add another array + m.def("cast_lv_vector", []() -> const decltype(lvv) & { return lvv; }); + m.def("cast_lv_array", []() -> const decltype(lva) & { return lva; }); + m.def("cast_lv_map", []() -> const decltype(lvm) & { return lvm; }); + m.def("cast_lv_nested", []() -> const decltype(lvn) & { return lvn; }); + // #853: + m.def("cast_unique_ptr_vector", []() { + std::vector> v; + v.emplace_back(new UserType{7}); + v.emplace_back(new UserType{42}); + return v; + }); + + // test_move_out_container + struct MoveOutContainer { + struct Value { int value; }; + std::list move_list() const { return {{0}, {1}, {2}}; } + }; + py::class_(m, "MoveOutContainerValue") + .def_readonly("value", &MoveOutContainer::Value::value); + py::class_(m, "MoveOutContainer") + .def(py::init<>()) + .def_property_readonly("move_list", &MoveOutContainer::move_list); + + // Class that can be move- and copy-constructed, but not assigned + struct NoAssign { + int value; + + explicit NoAssign(int value = 0) : value(value) { } + NoAssign(const NoAssign &) = default; + NoAssign(NoAssign &&) = default; + + NoAssign &operator=(const NoAssign &) = delete; + NoAssign &operator=(NoAssign &&) = delete; + }; + py::class_(m, "NoAssign", "Class with no C++ assignment operators") + .def(py::init<>()) + .def(py::init()); + +#ifdef PYBIND11_HAS_OPTIONAL + // test_optional + m.attr("has_optional") = true; + + using opt_int = std::optional; + using opt_no_assign = std::optional; + m.def("double_or_zero", [](const opt_int& x) -> int { + return x.value_or(0) * 2; + }); + m.def("half_or_none", [](int x) -> opt_int { + return x ? opt_int(x / 2) : opt_int(); + }); + m.def("test_nullopt", [](opt_int x) { + return x.value_or(42); + }, py::arg_v("x", std::nullopt, "None")); + m.def("test_no_assign", [](const opt_no_assign &x) { + return x ? x->value : 42; + }, py::arg_v("x", std::nullopt, "None")); + + m.def("nodefer_none_optional", [](std::optional) { return true; }); + m.def("nodefer_none_optional", [](py::none) { return false; }); +#endif + +#ifdef PYBIND11_HAS_EXP_OPTIONAL + // test_exp_optional + m.attr("has_exp_optional") = true; + + using exp_opt_int = std::experimental::optional; + using exp_opt_no_assign = std::experimental::optional; + m.def("double_or_zero_exp", [](const exp_opt_int& x) -> int { + return x.value_or(0) * 2; + }); + m.def("half_or_none_exp", [](int x) -> exp_opt_int { + return x ? exp_opt_int(x / 2) : exp_opt_int(); + }); + m.def("test_nullopt_exp", [](exp_opt_int x) { + return x.value_or(42); + }, py::arg_v("x", std::experimental::nullopt, "None")); + m.def("test_no_assign_exp", [](const exp_opt_no_assign &x) { + return x ? x->value : 42; + }, py::arg_v("x", std::experimental::nullopt, "None")); +#endif + +#ifdef PYBIND11_HAS_VARIANT + static_assert(std::is_same::value, + "visitor::result_type is required by boost::variant in C++11 mode"); + + struct visitor { + using result_type = const char *; + + result_type operator()(int) { return "int"; } + result_type operator()(std::string) { return "std::string"; } + result_type operator()(double) { return "double"; } + result_type operator()(std::nullptr_t) { return "std::nullptr_t"; } + }; + + // test_variant + m.def("load_variant", [](variant v) { + return py::detail::visit_helper::call(visitor(), v); + }); + m.def("load_variant_2pass", [](variant v) { + return py::detail::visit_helper::call(visitor(), v); + }); + m.def("cast_variant", []() { + using V = variant; + return py::make_tuple(V(5), V("Hello")); + }); +#endif + + // #528: templated constructor + // (no python tests: the test here is that this compiles) + m.def("tpl_ctor_vector", [](std::vector &) {}); + m.def("tpl_ctor_map", [](std::unordered_map &) {}); + m.def("tpl_ctor_set", [](std::unordered_set &) {}); +#if defined(PYBIND11_HAS_OPTIONAL) + m.def("tpl_constr_optional", [](std::optional &) {}); +#elif defined(PYBIND11_HAS_EXP_OPTIONAL) + m.def("tpl_constr_optional", [](std::experimental::optional &) {}); +#endif + + // test_vec_of_reference_wrapper + // #171: Can't return STL structures containing reference wrapper + m.def("return_vec_of_reference_wrapper", [](std::reference_wrapper p4) { + static UserType p1{1}, p2{2}, p3{3}; + return std::vector> { + std::ref(p1), std::ref(p2), std::ref(p3), p4 + }; + }); + + // test_stl_pass_by_pointer + m.def("stl_pass_by_pointer", [](std::vector* v) { return *v; }, "v"_a=nullptr); + + // #1258: pybind11/stl.h converts string to vector + m.def("func_with_string_or_vector_string_arg_overload", [](std::vector) { return 1; }); + m.def("func_with_string_or_vector_string_arg_overload", [](std::list) { return 2; }); + m.def("func_with_string_or_vector_string_arg_overload", [](std::string) { return 3; }); + + class Placeholder { + public: + Placeholder() { print_created(this); } + Placeholder(const Placeholder &) = delete; + ~Placeholder() { print_destroyed(this); } + }; + py::class_(m, "Placeholder"); + + /// test_stl_vector_ownership + m.def("test_stl_ownership", + []() { + std::vector result; + result.push_back(new Placeholder()); + return result; + }, + py::return_value_policy::take_ownership); + + m.def("array_cast_sequence", [](std::array x) { return x; }); + + /// test_issue_1561 + struct Issue1561Inner { std::string data; }; + struct Issue1561Outer { std::vector list; }; + + py::class_(m, "Issue1561Inner") + .def(py::init()) + .def_readwrite("data", &Issue1561Inner::data); + + py::class_(m, "Issue1561Outer") + .def(py::init<>()) + .def_readwrite("list", &Issue1561Outer::list); +} diff --git a/wrap/python/pybind11/tests/test_stl.py b/wrap/python/pybind11/tests/test_stl.py new file mode 100644 index 000000000..2335cb9fd --- /dev/null +++ b/wrap/python/pybind11/tests/test_stl.py @@ -0,0 +1,241 @@ +import pytest + +from pybind11_tests import stl as m +from pybind11_tests import UserType +from pybind11_tests import ConstructorStats + + +def test_vector(doc): + """std::vector <-> list""" + lst = m.cast_vector() + assert lst == [1] + lst.append(2) + assert m.load_vector(lst) + assert m.load_vector(tuple(lst)) + + assert m.cast_bool_vector() == [True, False] + assert m.load_bool_vector([True, False]) + + assert doc(m.cast_vector) == "cast_vector() -> List[int]" + assert doc(m.load_vector) == "load_vector(arg0: List[int]) -> bool" + + # Test regression caused by 936: pointers to stl containers weren't castable + assert m.cast_ptr_vector() == ["lvalue", "lvalue"] + + +def test_deque(doc): + """std::deque <-> list""" + lst = m.cast_deque() + assert lst == [1] + lst.append(2) + assert m.load_deque(lst) + assert m.load_deque(tuple(lst)) + + +def test_array(doc): + """std::array <-> list""" + lst = m.cast_array() + assert lst == [1, 2] + assert m.load_array(lst) + + assert doc(m.cast_array) == "cast_array() -> List[int[2]]" + assert doc(m.load_array) == "load_array(arg0: List[int[2]]) -> bool" + + +def test_valarray(doc): + """std::valarray <-> list""" + lst = m.cast_valarray() + assert lst == [1, 4, 9] + assert m.load_valarray(lst) + + assert doc(m.cast_valarray) == "cast_valarray() -> List[int]" + assert doc(m.load_valarray) == "load_valarray(arg0: List[int]) -> bool" + + +def test_map(doc): + """std::map <-> dict""" + d = m.cast_map() + assert d == {"key": "value"} + assert "key" in d + d["key2"] = "value2" + assert "key2" in d + assert m.load_map(d) + + assert doc(m.cast_map) == "cast_map() -> Dict[str, str]" + assert doc(m.load_map) == "load_map(arg0: Dict[str, str]) -> bool" + + +def test_set(doc): + """std::set <-> set""" + s = m.cast_set() + assert s == {"key1", "key2"} + s.add("key3") + assert m.load_set(s) + + assert doc(m.cast_set) == "cast_set() -> Set[str]" + assert doc(m.load_set) == "load_set(arg0: Set[str]) -> bool" + + +def test_recursive_casting(): + """Tests that stl casters preserve lvalue/rvalue context for container values""" + assert m.cast_rv_vector() == ["rvalue", "rvalue"] + assert m.cast_lv_vector() == ["lvalue", "lvalue"] + assert m.cast_rv_array() == ["rvalue", "rvalue", "rvalue"] + assert m.cast_lv_array() == ["lvalue", "lvalue"] + assert m.cast_rv_map() == {"a": "rvalue"} + assert m.cast_lv_map() == {"a": "lvalue", "b": "lvalue"} + assert m.cast_rv_nested() == [[[{"b": "rvalue", "c": "rvalue"}], [{"a": "rvalue"}]]] + assert m.cast_lv_nested() == { + "a": [[["lvalue", "lvalue"]], [["lvalue", "lvalue"]]], + "b": [[["lvalue", "lvalue"], ["lvalue", "lvalue"]]] + } + + # Issue #853 test case: + z = m.cast_unique_ptr_vector() + assert z[0].value == 7 and z[1].value == 42 + + +def test_move_out_container(): + """Properties use the `reference_internal` policy by default. If the underlying function + returns an rvalue, the policy is automatically changed to `move` to avoid referencing + a temporary. In case the return value is a container of user-defined types, the policy + also needs to be applied to the elements, not just the container.""" + c = m.MoveOutContainer() + moved_out_list = c.move_list + assert [x.value for x in moved_out_list] == [0, 1, 2] + + +@pytest.mark.skipif(not hasattr(m, "has_optional"), reason='no ') +def test_optional(): + assert m.double_or_zero(None) == 0 + assert m.double_or_zero(42) == 84 + pytest.raises(TypeError, m.double_or_zero, 'foo') + + assert m.half_or_none(0) is None + assert m.half_or_none(42) == 21 + pytest.raises(TypeError, m.half_or_none, 'foo') + + assert m.test_nullopt() == 42 + assert m.test_nullopt(None) == 42 + assert m.test_nullopt(42) == 42 + assert m.test_nullopt(43) == 43 + + assert m.test_no_assign() == 42 + assert m.test_no_assign(None) == 42 + assert m.test_no_assign(m.NoAssign(43)) == 43 + pytest.raises(TypeError, m.test_no_assign, 43) + + assert m.nodefer_none_optional(None) + + +@pytest.mark.skipif(not hasattr(m, "has_exp_optional"), reason='no ') +def test_exp_optional(): + assert m.double_or_zero_exp(None) == 0 + assert m.double_or_zero_exp(42) == 84 + pytest.raises(TypeError, m.double_or_zero_exp, 'foo') + + assert m.half_or_none_exp(0) is None + assert m.half_or_none_exp(42) == 21 + pytest.raises(TypeError, m.half_or_none_exp, 'foo') + + assert m.test_nullopt_exp() == 42 + assert m.test_nullopt_exp(None) == 42 + assert m.test_nullopt_exp(42) == 42 + assert m.test_nullopt_exp(43) == 43 + + assert m.test_no_assign_exp() == 42 + assert m.test_no_assign_exp(None) == 42 + assert m.test_no_assign_exp(m.NoAssign(43)) == 43 + pytest.raises(TypeError, m.test_no_assign_exp, 43) + + +@pytest.mark.skipif(not hasattr(m, "load_variant"), reason='no ') +def test_variant(doc): + assert m.load_variant(1) == "int" + assert m.load_variant("1") == "std::string" + assert m.load_variant(1.0) == "double" + assert m.load_variant(None) == "std::nullptr_t" + + assert m.load_variant_2pass(1) == "int" + assert m.load_variant_2pass(1.0) == "double" + + assert m.cast_variant() == (5, "Hello") + + assert doc(m.load_variant) == "load_variant(arg0: Union[int, str, float, None]) -> str" + + +def test_vec_of_reference_wrapper(): + """#171: Can't return reference wrappers (or STL structures containing them)""" + assert str(m.return_vec_of_reference_wrapper(UserType(4))) == \ + "[UserType(1), UserType(2), UserType(3), UserType(4)]" + + +def test_stl_pass_by_pointer(msg): + """Passing nullptr or None to an STL container pointer is not expected to work""" + with pytest.raises(TypeError) as excinfo: + m.stl_pass_by_pointer() # default value is `nullptr` + assert msg(excinfo.value) == """ + stl_pass_by_pointer(): incompatible function arguments. The following argument types are supported: + 1. (v: List[int] = None) -> List[int] + + Invoked with: + """ # noqa: E501 line too long + + with pytest.raises(TypeError) as excinfo: + m.stl_pass_by_pointer(None) + assert msg(excinfo.value) == """ + stl_pass_by_pointer(): incompatible function arguments. The following argument types are supported: + 1. (v: List[int] = None) -> List[int] + + Invoked with: None + """ # noqa: E501 line too long + + assert m.stl_pass_by_pointer([1, 2, 3]) == [1, 2, 3] + + +def test_missing_header_message(): + """Trying convert `list` to a `std::vector`, or vice versa, without including + should result in a helpful suggestion in the error message""" + import pybind11_cross_module_tests as cm + + expected_message = ("Did you forget to `#include `? Or ,\n" + ", , etc. Some automatic\n" + "conversions are optional and require extra headers to be included\n" + "when compiling your pybind11 module.") + + with pytest.raises(TypeError) as excinfo: + cm.missing_header_arg([1.0, 2.0, 3.0]) + assert expected_message in str(excinfo.value) + + with pytest.raises(TypeError) as excinfo: + cm.missing_header_return() + assert expected_message in str(excinfo.value) + + +def test_function_with_string_and_vector_string_arg(): + """Check if a string is NOT implicitly converted to a list, which was the + behavior before fix of issue #1258""" + assert m.func_with_string_or_vector_string_arg_overload(('A', 'B', )) == 2 + assert m.func_with_string_or_vector_string_arg_overload(['A', 'B']) == 2 + assert m.func_with_string_or_vector_string_arg_overload('A') == 3 + + +def test_stl_ownership(): + cstats = ConstructorStats.get(m.Placeholder) + assert cstats.alive() == 0 + r = m.test_stl_ownership() + assert len(r) == 1 + del r + assert cstats.alive() == 0 + + +def test_array_cast_sequence(): + assert m.array_cast_sequence((1, 2, 3)) == [1, 2, 3] + + +def test_issue_1561(): + """ check fix for issue #1561 """ + bar = m.Issue1561Outer() + bar.list = [m.Issue1561Inner('bar')] + bar.list + assert bar.list[0].data == 'bar' diff --git a/wrap/python/pybind11/tests/test_stl_binders.cpp b/wrap/python/pybind11/tests/test_stl_binders.cpp new file mode 100644 index 000000000..a88b589e1 --- /dev/null +++ b/wrap/python/pybind11/tests/test_stl_binders.cpp @@ -0,0 +1,107 @@ +/* + tests/test_stl_binders.cpp -- Usage of stl_binders functions + + Copyright (c) 2016 Sergey Lyskov + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" + +#include +#include +#include +#include +#include + +class El { +public: + El() = delete; + El(int v) : a(v) { } + + int a; +}; + +std::ostream & operator<<(std::ostream &s, El const&v) { + s << "El{" << v.a << '}'; + return s; +} + +/// Issue #487: binding std::vector with E non-copyable +class E_nc { +public: + explicit E_nc(int i) : value{i} {} + E_nc(const E_nc &) = delete; + E_nc &operator=(const E_nc &) = delete; + E_nc(E_nc &&) = default; + E_nc &operator=(E_nc &&) = default; + + int value; +}; + +template Container *one_to_n(int n) { + auto v = new Container(); + for (int i = 1; i <= n; i++) + v->emplace_back(i); + return v; +} + +template Map *times_ten(int n) { + auto m = new Map(); + for (int i = 1; i <= n; i++) + m->emplace(int(i), E_nc(10*i)); + return m; +} + +TEST_SUBMODULE(stl_binders, m) { + // test_vector_int + py::bind_vector>(m, "VectorInt", py::buffer_protocol()); + + // test_vector_custom + py::class_(m, "El") + .def(py::init()); + py::bind_vector>(m, "VectorEl"); + py::bind_vector>>(m, "VectorVectorEl"); + + // test_map_string_double + py::bind_map>(m, "MapStringDouble"); + py::bind_map>(m, "UnorderedMapStringDouble"); + + // test_map_string_double_const + py::bind_map>(m, "MapStringDoubleConst"); + py::bind_map>(m, "UnorderedMapStringDoubleConst"); + + py::class_(m, "ENC") + .def(py::init()) + .def_readwrite("value", &E_nc::value); + + // test_noncopyable_containers + py::bind_vector>(m, "VectorENC"); + m.def("get_vnc", &one_to_n>, py::return_value_policy::reference); + py::bind_vector>(m, "DequeENC"); + m.def("get_dnc", &one_to_n>, py::return_value_policy::reference); + py::bind_map>(m, "MapENC"); + m.def("get_mnc", ×_ten>, py::return_value_policy::reference); + py::bind_map>(m, "UmapENC"); + m.def("get_umnc", ×_ten>, py::return_value_policy::reference); + + // test_vector_buffer + py::bind_vector>(m, "VectorUChar", py::buffer_protocol()); + // no dtype declared for this version: + struct VUndeclStruct { bool w; uint32_t x; double y; bool z; }; + m.def("create_undeclstruct", [m] () mutable { + py::bind_vector>(m, "VectorUndeclStruct", py::buffer_protocol()); + }); + + // The rest depends on numpy: + try { py::module::import("numpy"); } + catch (...) { return; } + + // test_vector_buffer_numpy + struct VStruct { bool w; uint32_t x; double y; bool z; }; + PYBIND11_NUMPY_DTYPE(VStruct, w, x, y, z); + py::class_(m, "VStruct").def_readwrite("x", &VStruct::x); + py::bind_vector>(m, "VectorStruct", py::buffer_protocol()); + m.def("get_vectorstruct", [] {return std::vector {{0, 5, 3.0, 1}, {1, 30, -1e4, 0}};}); +} diff --git a/wrap/python/pybind11/tests/test_stl_binders.py b/wrap/python/pybind11/tests/test_stl_binders.py new file mode 100644 index 000000000..52c8ac0c4 --- /dev/null +++ b/wrap/python/pybind11/tests/test_stl_binders.py @@ -0,0 +1,225 @@ +import pytest +import sys +from pybind11_tests import stl_binders as m + +with pytest.suppress(ImportError): + import numpy as np + + +def test_vector_int(): + v_int = m.VectorInt([0, 0]) + assert len(v_int) == 2 + assert bool(v_int) is True + + # test construction from a generator + v_int1 = m.VectorInt(x for x in range(5)) + assert v_int1 == m.VectorInt([0, 1, 2, 3, 4]) + + v_int2 = m.VectorInt([0, 0]) + assert v_int == v_int2 + v_int2[1] = 1 + assert v_int != v_int2 + + v_int2.append(2) + v_int2.insert(0, 1) + v_int2.insert(0, 2) + v_int2.insert(0, 3) + v_int2.insert(6, 3) + assert str(v_int2) == "VectorInt[3, 2, 1, 0, 1, 2, 3]" + with pytest.raises(IndexError): + v_int2.insert(8, 4) + + v_int.append(99) + v_int2[2:-2] = v_int + assert v_int2 == m.VectorInt([3, 2, 0, 0, 99, 2, 3]) + del v_int2[1:3] + assert v_int2 == m.VectorInt([3, 0, 99, 2, 3]) + del v_int2[0] + assert v_int2 == m.VectorInt([0, 99, 2, 3]) + + v_int2.extend(m.VectorInt([4, 5])) + assert v_int2 == m.VectorInt([0, 99, 2, 3, 4, 5]) + + v_int2.extend([6, 7]) + assert v_int2 == m.VectorInt([0, 99, 2, 3, 4, 5, 6, 7]) + + # test error handling, and that the vector is unchanged + with pytest.raises(RuntimeError): + v_int2.extend([8, 'a']) + + assert v_int2 == m.VectorInt([0, 99, 2, 3, 4, 5, 6, 7]) + + # test extending from a generator + v_int2.extend(x for x in range(5)) + assert v_int2 == m.VectorInt([0, 99, 2, 3, 4, 5, 6, 7, 0, 1, 2, 3, 4]) + + +# related to the PyPy's buffer protocol. +@pytest.unsupported_on_pypy +def test_vector_buffer(): + b = bytearray([1, 2, 3, 4]) + v = m.VectorUChar(b) + assert v[1] == 2 + v[2] = 5 + mv = memoryview(v) # We expose the buffer interface + if sys.version_info.major > 2: + assert mv[2] == 5 + mv[2] = 6 + else: + assert mv[2] == '\x05' + mv[2] = '\x06' + assert v[2] == 6 + + with pytest.raises(RuntimeError) as excinfo: + m.create_undeclstruct() # Undeclared struct contents, no buffer interface + assert "NumPy type info missing for " in str(excinfo.value) + + +@pytest.unsupported_on_pypy +@pytest.requires_numpy +def test_vector_buffer_numpy(): + a = np.array([1, 2, 3, 4], dtype=np.int32) + with pytest.raises(TypeError): + m.VectorInt(a) + + a = np.array([[1, 2, 3, 4], [5, 6, 7, 8], [9, 10, 11, 12]], dtype=np.uintc) + v = m.VectorInt(a[0, :]) + assert len(v) == 4 + assert v[2] == 3 + ma = np.asarray(v) + ma[2] = 5 + assert v[2] == 5 + + v = m.VectorInt(a[:, 1]) + assert len(v) == 3 + assert v[2] == 10 + + v = m.get_vectorstruct() + assert v[0].x == 5 + ma = np.asarray(v) + ma[1]['x'] = 99 + assert v[1].x == 99 + + v = m.VectorStruct(np.zeros(3, dtype=np.dtype([('w', 'bool'), ('x', 'I'), + ('y', 'float64'), ('z', 'bool')], align=True))) + assert len(v) == 3 + + +def test_vector_bool(): + import pybind11_cross_module_tests as cm + + vv_c = cm.VectorBool() + for i in range(10): + vv_c.append(i % 2 == 0) + for i in range(10): + assert vv_c[i] == (i % 2 == 0) + assert str(vv_c) == "VectorBool[1, 0, 1, 0, 1, 0, 1, 0, 1, 0]" + + +def test_vector_custom(): + v_a = m.VectorEl() + v_a.append(m.El(1)) + v_a.append(m.El(2)) + assert str(v_a) == "VectorEl[El{1}, El{2}]" + + vv_a = m.VectorVectorEl() + vv_a.append(v_a) + vv_b = vv_a[0] + assert str(vv_b) == "VectorEl[El{1}, El{2}]" + + +def test_map_string_double(): + mm = m.MapStringDouble() + mm['a'] = 1 + mm['b'] = 2.5 + + assert list(mm) == ['a', 'b'] + assert list(mm.items()) == [('a', 1), ('b', 2.5)] + assert str(mm) == "MapStringDouble{a: 1, b: 2.5}" + + um = m.UnorderedMapStringDouble() + um['ua'] = 1.1 + um['ub'] = 2.6 + + assert sorted(list(um)) == ['ua', 'ub'] + assert sorted(list(um.items())) == [('ua', 1.1), ('ub', 2.6)] + assert "UnorderedMapStringDouble" in str(um) + + +def test_map_string_double_const(): + mc = m.MapStringDoubleConst() + mc['a'] = 10 + mc['b'] = 20.5 + assert str(mc) == "MapStringDoubleConst{a: 10, b: 20.5}" + + umc = m.UnorderedMapStringDoubleConst() + umc['a'] = 11 + umc['b'] = 21.5 + + str(umc) + + +def test_noncopyable_containers(): + # std::vector + vnc = m.get_vnc(5) + for i in range(0, 5): + assert vnc[i].value == i + 1 + + for i, j in enumerate(vnc, start=1): + assert j.value == i + + # std::deque + dnc = m.get_dnc(5) + for i in range(0, 5): + assert dnc[i].value == i + 1 + + i = 1 + for j in dnc: + assert(j.value == i) + i += 1 + + # std::map + mnc = m.get_mnc(5) + for i in range(1, 6): + assert mnc[i].value == 10 * i + + vsum = 0 + for k, v in mnc.items(): + assert v.value == 10 * k + vsum += v.value + + assert vsum == 150 + + # std::unordered_map + mnc = m.get_umnc(5) + for i in range(1, 6): + assert mnc[i].value == 10 * i + + vsum = 0 + for k, v in mnc.items(): + assert v.value == 10 * k + vsum += v.value + + assert vsum == 150 + + +def test_map_delitem(): + mm = m.MapStringDouble() + mm['a'] = 1 + mm['b'] = 2.5 + + assert list(mm) == ['a', 'b'] + assert list(mm.items()) == [('a', 1), ('b', 2.5)] + del mm['a'] + assert list(mm) == ['b'] + assert list(mm.items()) == [('b', 2.5)] + + um = m.UnorderedMapStringDouble() + um['ua'] = 1.1 + um['ub'] = 2.6 + + assert sorted(list(um)) == ['ua', 'ub'] + assert sorted(list(um.items())) == [('ua', 1.1), ('ub', 2.6)] + del um['ua'] + assert sorted(list(um)) == ['ub'] + assert sorted(list(um.items())) == [('ub', 2.6)] diff --git a/wrap/python/pybind11/tests/test_tagbased_polymorphic.cpp b/wrap/python/pybind11/tests/test_tagbased_polymorphic.cpp new file mode 100644 index 000000000..272e460c9 --- /dev/null +++ b/wrap/python/pybind11/tests/test_tagbased_polymorphic.cpp @@ -0,0 +1,136 @@ +/* + tests/test_tagbased_polymorphic.cpp -- test of polymorphic_type_hook + + Copyright (c) 2018 Hudson River Trading LLC + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include + +struct Animal +{ + enum class Kind { + Unknown = 0, + Dog = 100, Labrador, Chihuahua, LastDog = 199, + Cat = 200, Panther, LastCat = 299 + }; + static const std::type_info* type_of_kind(Kind kind); + static std::string name_of_kind(Kind kind); + + const Kind kind; + const std::string name; + + protected: + Animal(const std::string& _name, Kind _kind) + : kind(_kind), name(_name) + {} +}; + +struct Dog : Animal +{ + Dog(const std::string& _name, Kind _kind = Kind::Dog) : Animal(_name, _kind) {} + std::string bark() const { return name_of_kind(kind) + " " + name + " goes " + sound; } + std::string sound = "WOOF!"; +}; + +struct Labrador : Dog +{ + Labrador(const std::string& _name, int _excitement = 9001) + : Dog(_name, Kind::Labrador), excitement(_excitement) {} + int excitement; +}; + +struct Chihuahua : Dog +{ + Chihuahua(const std::string& _name) : Dog(_name, Kind::Chihuahua) { sound = "iyiyiyiyiyi"; } + std::string bark() const { return Dog::bark() + " and runs in circles"; } +}; + +struct Cat : Animal +{ + Cat(const std::string& _name, Kind _kind = Kind::Cat) : Animal(_name, _kind) {} + std::string purr() const { return "mrowr"; } +}; + +struct Panther : Cat +{ + Panther(const std::string& _name) : Cat(_name, Kind::Panther) {} + std::string purr() const { return "mrrrRRRRRR"; } +}; + +std::vector> create_zoo() +{ + std::vector> ret; + ret.emplace_back(new Labrador("Fido", 15000)); + + // simulate some new type of Dog that the Python bindings + // haven't been updated for; it should still be considered + // a Dog, not just an Animal. + ret.emplace_back(new Dog("Ginger", Dog::Kind(150))); + + ret.emplace_back(new Chihuahua("Hertzl")); + ret.emplace_back(new Cat("Tiger", Cat::Kind::Cat)); + ret.emplace_back(new Panther("Leo")); + return ret; +} + +const std::type_info* Animal::type_of_kind(Kind kind) +{ + switch (kind) { + case Kind::Unknown: break; + + case Kind::Dog: break; + case Kind::Labrador: return &typeid(Labrador); + case Kind::Chihuahua: return &typeid(Chihuahua); + case Kind::LastDog: break; + + case Kind::Cat: break; + case Kind::Panther: return &typeid(Panther); + case Kind::LastCat: break; + } + + if (kind >= Kind::Dog && kind <= Kind::LastDog) return &typeid(Dog); + if (kind >= Kind::Cat && kind <= Kind::LastCat) return &typeid(Cat); + return nullptr; +} + +std::string Animal::name_of_kind(Kind kind) +{ + std::string raw_name = type_of_kind(kind)->name(); + py::detail::clean_type_id(raw_name); + return raw_name; +} + +namespace pybind11 { + template + struct polymorphic_type_hook::value>> + { + static const void *get(const itype *src, const std::type_info*& type) + { type = src ? Animal::type_of_kind(src->kind) : nullptr; return src; } + }; +} + +TEST_SUBMODULE(tagbased_polymorphic, m) { + py::class_(m, "Animal") + .def_readonly("name", &Animal::name); + py::class_(m, "Dog") + .def(py::init()) + .def_readwrite("sound", &Dog::sound) + .def("bark", &Dog::bark); + py::class_(m, "Labrador") + .def(py::init(), "name"_a, "excitement"_a = 9001) + .def_readwrite("excitement", &Labrador::excitement); + py::class_(m, "Chihuahua") + .def(py::init()) + .def("bark", &Chihuahua::bark); + py::class_(m, "Cat") + .def(py::init()) + .def("purr", &Cat::purr); + py::class_(m, "Panther") + .def(py::init()) + .def("purr", &Panther::purr); + m.def("create_zoo", &create_zoo); +}; diff --git a/wrap/python/pybind11/tests/test_tagbased_polymorphic.py b/wrap/python/pybind11/tests/test_tagbased_polymorphic.py new file mode 100644 index 000000000..2574d7de7 --- /dev/null +++ b/wrap/python/pybind11/tests/test_tagbased_polymorphic.py @@ -0,0 +1,20 @@ +from pybind11_tests import tagbased_polymorphic as m + + +def test_downcast(): + zoo = m.create_zoo() + assert [type(animal) for animal in zoo] == [ + m.Labrador, m.Dog, m.Chihuahua, m.Cat, m.Panther + ] + assert [animal.name for animal in zoo] == [ + "Fido", "Ginger", "Hertzl", "Tiger", "Leo" + ] + zoo[1].sound = "woooooo" + assert [dog.bark() for dog in zoo[:3]] == [ + "Labrador Fido goes WOOF!", + "Dog Ginger goes woooooo", + "Chihuahua Hertzl goes iyiyiyiyiyi and runs in circles" + ] + assert [cat.purr() for cat in zoo[3:]] == ["mrowr", "mrrrRRRRRR"] + zoo[0].excitement -= 1000 + assert zoo[0].excitement == 14000 diff --git a/wrap/python/pybind11/tests/test_union.cpp b/wrap/python/pybind11/tests/test_union.cpp new file mode 100644 index 000000000..7b98ea216 --- /dev/null +++ b/wrap/python/pybind11/tests/test_union.cpp @@ -0,0 +1,22 @@ +/* + tests/test_class.cpp -- test py::class_ definitions and basic functionality + + Copyright (c) 2019 Roland Dreier + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" + +TEST_SUBMODULE(union_, m) { + union TestUnion { + int value_int; + unsigned value_uint; + }; + + py::class_(m, "TestUnion") + .def(py::init<>()) + .def_readonly("as_int", &TestUnion::value_int) + .def_readwrite("as_uint", &TestUnion::value_uint); +} diff --git a/wrap/python/pybind11/tests/test_union.py b/wrap/python/pybind11/tests/test_union.py new file mode 100644 index 000000000..e1866e701 --- /dev/null +++ b/wrap/python/pybind11/tests/test_union.py @@ -0,0 +1,8 @@ +from pybind11_tests import union_ as m + + +def test_union(): + instance = m.TestUnion() + + instance.as_uint = 10 + assert instance.as_int == 10 diff --git a/wrap/python/pybind11/tests/test_virtual_functions.cpp b/wrap/python/pybind11/tests/test_virtual_functions.cpp new file mode 100644 index 000000000..ccf018d99 --- /dev/null +++ b/wrap/python/pybind11/tests/test_virtual_functions.cpp @@ -0,0 +1,479 @@ +/* + tests/test_virtual_functions.cpp -- overriding virtual functions from Python + + Copyright (c) 2016 Wenzel Jakob + + All rights reserved. Use of this source code is governed by a + BSD-style license that can be found in the LICENSE file. +*/ + +#include "pybind11_tests.h" +#include "constructor_stats.h" +#include +#include + +/* This is an example class that we'll want to be able to extend from Python */ +class ExampleVirt { +public: + ExampleVirt(int state) : state(state) { print_created(this, state); } + ExampleVirt(const ExampleVirt &e) : state(e.state) { print_copy_created(this); } + ExampleVirt(ExampleVirt &&e) : state(e.state) { print_move_created(this); e.state = 0; } + virtual ~ExampleVirt() { print_destroyed(this); } + + virtual int run(int value) { + py::print("Original implementation of " + "ExampleVirt::run(state={}, value={}, str1={}, str2={})"_s.format(state, value, get_string1(), *get_string2())); + return state + value; + } + + virtual bool run_bool() = 0; + virtual void pure_virtual() = 0; + + // Returning a reference/pointer to a type converted from python (numbers, strings, etc.) is a + // bit trickier, because the actual int& or std::string& or whatever only exists temporarily, so + // we have to handle it specially in the trampoline class (see below). + virtual const std::string &get_string1() { return str1; } + virtual const std::string *get_string2() { return &str2; } + +private: + int state; + const std::string str1{"default1"}, str2{"default2"}; +}; + +/* This is a wrapper class that must be generated */ +class PyExampleVirt : public ExampleVirt { +public: + using ExampleVirt::ExampleVirt; /* Inherit constructors */ + + int run(int value) override { + /* Generate wrapping code that enables native function overloading */ + PYBIND11_OVERLOAD( + int, /* Return type */ + ExampleVirt, /* Parent class */ + run, /* Name of function */ + value /* Argument(s) */ + ); + } + + bool run_bool() override { + PYBIND11_OVERLOAD_PURE( + bool, /* Return type */ + ExampleVirt, /* Parent class */ + run_bool, /* Name of function */ + /* This function has no arguments. The trailing comma + in the previous line is needed for some compilers */ + ); + } + + void pure_virtual() override { + PYBIND11_OVERLOAD_PURE( + void, /* Return type */ + ExampleVirt, /* Parent class */ + pure_virtual, /* Name of function */ + /* This function has no arguments. The trailing comma + in the previous line is needed for some compilers */ + ); + } + + // We can return reference types for compatibility with C++ virtual interfaces that do so, but + // note they have some significant limitations (see the documentation). + const std::string &get_string1() override { + PYBIND11_OVERLOAD( + const std::string &, /* Return type */ + ExampleVirt, /* Parent class */ + get_string1, /* Name of function */ + /* (no arguments) */ + ); + } + + const std::string *get_string2() override { + PYBIND11_OVERLOAD( + const std::string *, /* Return type */ + ExampleVirt, /* Parent class */ + get_string2, /* Name of function */ + /* (no arguments) */ + ); + } + +}; + +class NonCopyable { +public: + NonCopyable(int a, int b) : value{new int(a*b)} { print_created(this, a, b); } + NonCopyable(NonCopyable &&o) { value = std::move(o.value); print_move_created(this); } + NonCopyable(const NonCopyable &) = delete; + NonCopyable() = delete; + void operator=(const NonCopyable &) = delete; + void operator=(NonCopyable &&) = delete; + std::string get_value() const { + if (value) return std::to_string(*value); else return "(null)"; + } + ~NonCopyable() { print_destroyed(this); } + +private: + std::unique_ptr value; +}; + +// This is like the above, but is both copy and movable. In effect this means it should get moved +// when it is not referenced elsewhere, but copied if it is still referenced. +class Movable { +public: + Movable(int a, int b) : value{a+b} { print_created(this, a, b); } + Movable(const Movable &m) { value = m.value; print_copy_created(this); } + Movable(Movable &&m) { value = std::move(m.value); print_move_created(this); } + std::string get_value() const { return std::to_string(value); } + ~Movable() { print_destroyed(this); } +private: + int value; +}; + +class NCVirt { +public: + virtual ~NCVirt() { } + virtual NonCopyable get_noncopyable(int a, int b) { return NonCopyable(a, b); } + virtual Movable get_movable(int a, int b) = 0; + + std::string print_nc(int a, int b) { return get_noncopyable(a, b).get_value(); } + std::string print_movable(int a, int b) { return get_movable(a, b).get_value(); } +}; +class NCVirtTrampoline : public NCVirt { +#if !defined(__INTEL_COMPILER) + NonCopyable get_noncopyable(int a, int b) override { + PYBIND11_OVERLOAD(NonCopyable, NCVirt, get_noncopyable, a, b); + } +#endif + Movable get_movable(int a, int b) override { + PYBIND11_OVERLOAD_PURE(Movable, NCVirt, get_movable, a, b); + } +}; + +struct Base { + /* for some reason MSVC2015 can't compile this if the function is pure virtual */ + virtual std::string dispatch() const { return {}; }; + virtual ~Base() = default; +}; + +struct DispatchIssue : Base { + virtual std::string dispatch() const { + PYBIND11_OVERLOAD_PURE(std::string, Base, dispatch, /* no arguments */); + } +}; + +static void test_gil() { + { + py::gil_scoped_acquire lock; + py::print("1st lock acquired"); + + } + + { + py::gil_scoped_acquire lock; + py::print("2nd lock acquired"); + } + +} + +static void test_gil_from_thread() { + py::gil_scoped_release release; + + std::thread t(test_gil); + t.join(); +} + + +// Forward declaration (so that we can put the main tests here; the inherited virtual approaches are +// rather long). +void initialize_inherited_virtuals(py::module &m); + +TEST_SUBMODULE(virtual_functions, m) { + // test_override + py::class_(m, "ExampleVirt") + .def(py::init()) + /* Reference original class in function definitions */ + .def("run", &ExampleVirt::run) + .def("run_bool", &ExampleVirt::run_bool) + .def("pure_virtual", &ExampleVirt::pure_virtual); + + py::class_(m, "NonCopyable") + .def(py::init()); + + py::class_(m, "Movable") + .def(py::init()); + + // test_move_support +#if !defined(__INTEL_COMPILER) + py::class_(m, "NCVirt") + .def(py::init<>()) + .def("get_noncopyable", &NCVirt::get_noncopyable) + .def("get_movable", &NCVirt::get_movable) + .def("print_nc", &NCVirt::print_nc) + .def("print_movable", &NCVirt::print_movable); +#endif + + m.def("runExampleVirt", [](ExampleVirt *ex, int value) { return ex->run(value); }); + m.def("runExampleVirtBool", [](ExampleVirt* ex) { return ex->run_bool(); }); + m.def("runExampleVirtVirtual", [](ExampleVirt *ex) { ex->pure_virtual(); }); + + m.def("cstats_debug", &ConstructorStats::get); + initialize_inherited_virtuals(m); + + // test_alias_delay_initialization1 + // don't invoke Python dispatch classes by default when instantiating C++ classes + // that were not extended on the Python side + struct A { + virtual ~A() {} + virtual void f() { py::print("A.f()"); } + }; + + struct PyA : A { + PyA() { py::print("PyA.PyA()"); } + ~PyA() { py::print("PyA.~PyA()"); } + + void f() override { + py::print("PyA.f()"); + // This convolution just gives a `void`, but tests that PYBIND11_TYPE() works to protect + // a type containing a , + PYBIND11_OVERLOAD(PYBIND11_TYPE(typename std::enable_if::type), A, f); + } + }; + + py::class_(m, "A") + .def(py::init<>()) + .def("f", &A::f); + + m.def("call_f", [](A *a) { a->f(); }); + + // test_alias_delay_initialization2 + // ... unless we explicitly request it, as in this example: + struct A2 { + virtual ~A2() {} + virtual void f() { py::print("A2.f()"); } + }; + + struct PyA2 : A2 { + PyA2() { py::print("PyA2.PyA2()"); } + ~PyA2() { py::print("PyA2.~PyA2()"); } + void f() override { + py::print("PyA2.f()"); + PYBIND11_OVERLOAD(void, A2, f); + } + }; + + py::class_(m, "A2") + .def(py::init_alias<>()) + .def(py::init([](int) { return new PyA2(); })) + .def("f", &A2::f); + + m.def("call_f", [](A2 *a2) { a2->f(); }); + + // test_dispatch_issue + // #159: virtual function dispatch has problems with similar-named functions + py::class_(m, "DispatchIssue") + .def(py::init<>()) + .def("dispatch", &Base::dispatch); + + m.def("dispatch_issue_go", [](const Base * b) { return b->dispatch(); }); + + // test_override_ref + // #392/397: overriding reference-returning functions + class OverrideTest { + public: + struct A { std::string value = "hi"; }; + std::string v; + A a; + explicit OverrideTest(const std::string &v) : v{v} {} + virtual std::string str_value() { return v; } + virtual std::string &str_ref() { return v; } + virtual A A_value() { return a; } + virtual A &A_ref() { return a; } + virtual ~OverrideTest() = default; + }; + + class PyOverrideTest : public OverrideTest { + public: + using OverrideTest::OverrideTest; + std::string str_value() override { PYBIND11_OVERLOAD(std::string, OverrideTest, str_value); } + // Not allowed (uncommenting should hit a static_assert failure): we can't get a reference + // to a python numeric value, since we only copy values in the numeric type caster: +// std::string &str_ref() override { PYBIND11_OVERLOAD(std::string &, OverrideTest, str_ref); } + // But we can work around it like this: + private: + std::string _tmp; + std::string str_ref_helper() { PYBIND11_OVERLOAD(std::string, OverrideTest, str_ref); } + public: + std::string &str_ref() override { return _tmp = str_ref_helper(); } + + A A_value() override { PYBIND11_OVERLOAD(A, OverrideTest, A_value); } + A &A_ref() override { PYBIND11_OVERLOAD(A &, OverrideTest, A_ref); } + }; + + py::class_(m, "OverrideTest_A") + .def_readwrite("value", &OverrideTest::A::value); + py::class_(m, "OverrideTest") + .def(py::init()) + .def("str_value", &OverrideTest::str_value) +// .def("str_ref", &OverrideTest::str_ref) + .def("A_value", &OverrideTest::A_value) + .def("A_ref", &OverrideTest::A_ref); +} + + +// Inheriting virtual methods. We do two versions here: the repeat-everything version and the +// templated trampoline versions mentioned in docs/advanced.rst. +// +// These base classes are exactly the same, but we technically need distinct +// classes for this example code because we need to be able to bind them +// properly (pybind11, sensibly, doesn't allow us to bind the same C++ class to +// multiple python classes). +class A_Repeat { +#define A_METHODS \ +public: \ + virtual int unlucky_number() = 0; \ + virtual std::string say_something(unsigned times) { \ + std::string s = ""; \ + for (unsigned i = 0; i < times; ++i) \ + s += "hi"; \ + return s; \ + } \ + std::string say_everything() { \ + return say_something(1) + " " + std::to_string(unlucky_number()); \ + } +A_METHODS + virtual ~A_Repeat() = default; +}; +class B_Repeat : public A_Repeat { +#define B_METHODS \ +public: \ + int unlucky_number() override { return 13; } \ + std::string say_something(unsigned times) override { \ + return "B says hi " + std::to_string(times) + " times"; \ + } \ + virtual double lucky_number() { return 7.0; } +B_METHODS +}; +class C_Repeat : public B_Repeat { +#define C_METHODS \ +public: \ + int unlucky_number() override { return 4444; } \ + double lucky_number() override { return 888; } +C_METHODS +}; +class D_Repeat : public C_Repeat { +#define D_METHODS // Nothing overridden. +D_METHODS +}; + +// Base classes for templated inheritance trampolines. Identical to the repeat-everything version: +class A_Tpl { A_METHODS; virtual ~A_Tpl() = default; }; +class B_Tpl : public A_Tpl { B_METHODS }; +class C_Tpl : public B_Tpl { C_METHODS }; +class D_Tpl : public C_Tpl { D_METHODS }; + + +// Inheritance approach 1: each trampoline gets every virtual method (11 in total) +class PyA_Repeat : public A_Repeat { +public: + using A_Repeat::A_Repeat; + int unlucky_number() override { PYBIND11_OVERLOAD_PURE(int, A_Repeat, unlucky_number, ); } + std::string say_something(unsigned times) override { PYBIND11_OVERLOAD(std::string, A_Repeat, say_something, times); } +}; +class PyB_Repeat : public B_Repeat { +public: + using B_Repeat::B_Repeat; + int unlucky_number() override { PYBIND11_OVERLOAD(int, B_Repeat, unlucky_number, ); } + std::string say_something(unsigned times) override { PYBIND11_OVERLOAD(std::string, B_Repeat, say_something, times); } + double lucky_number() override { PYBIND11_OVERLOAD(double, B_Repeat, lucky_number, ); } +}; +class PyC_Repeat : public C_Repeat { +public: + using C_Repeat::C_Repeat; + int unlucky_number() override { PYBIND11_OVERLOAD(int, C_Repeat, unlucky_number, ); } + std::string say_something(unsigned times) override { PYBIND11_OVERLOAD(std::string, C_Repeat, say_something, times); } + double lucky_number() override { PYBIND11_OVERLOAD(double, C_Repeat, lucky_number, ); } +}; +class PyD_Repeat : public D_Repeat { +public: + using D_Repeat::D_Repeat; + int unlucky_number() override { PYBIND11_OVERLOAD(int, D_Repeat, unlucky_number, ); } + std::string say_something(unsigned times) override { PYBIND11_OVERLOAD(std::string, D_Repeat, say_something, times); } + double lucky_number() override { PYBIND11_OVERLOAD(double, D_Repeat, lucky_number, ); } +}; + +// Inheritance approach 2: templated trampoline classes. +// +// Advantages: +// - we have only 2 (template) class and 4 method declarations (one per virtual method, plus one for +// any override of a pure virtual method), versus 4 classes and 6 methods (MI) or 4 classes and 11 +// methods (repeat). +// - Compared to MI, we also don't have to change the non-trampoline inheritance to virtual, and can +// properly inherit constructors. +// +// Disadvantage: +// - the compiler must still generate and compile 14 different methods (more, even, than the 11 +// required for the repeat approach) instead of the 6 required for MI. (If there was no pure +// method (or no pure method override), the number would drop down to the same 11 as the repeat +// approach). +template +class PyA_Tpl : public Base { +public: + using Base::Base; // Inherit constructors + int unlucky_number() override { PYBIND11_OVERLOAD_PURE(int, Base, unlucky_number, ); } + std::string say_something(unsigned times) override { PYBIND11_OVERLOAD(std::string, Base, say_something, times); } +}; +template +class PyB_Tpl : public PyA_Tpl { +public: + using PyA_Tpl::PyA_Tpl; // Inherit constructors (via PyA_Tpl's inherited constructors) + int unlucky_number() override { PYBIND11_OVERLOAD(int, Base, unlucky_number, ); } + double lucky_number() override { PYBIND11_OVERLOAD(double, Base, lucky_number, ); } +}; +// Since C_Tpl and D_Tpl don't declare any new virtual methods, we don't actually need these (we can +// use PyB_Tpl and PyB_Tpl for the trampoline classes instead): +/* +template class PyC_Tpl : public PyB_Tpl { +public: + using PyB_Tpl::PyB_Tpl; +}; +template class PyD_Tpl : public PyC_Tpl { +public: + using PyC_Tpl::PyC_Tpl; +}; +*/ + +void initialize_inherited_virtuals(py::module &m) { + // test_inherited_virtuals + + // Method 1: repeat + py::class_(m, "A_Repeat") + .def(py::init<>()) + .def("unlucky_number", &A_Repeat::unlucky_number) + .def("say_something", &A_Repeat::say_something) + .def("say_everything", &A_Repeat::say_everything); + py::class_(m, "B_Repeat") + .def(py::init<>()) + .def("lucky_number", &B_Repeat::lucky_number); + py::class_(m, "C_Repeat") + .def(py::init<>()); + py::class_(m, "D_Repeat") + .def(py::init<>()); + + // test_ + // Method 2: Templated trampolines + py::class_>(m, "A_Tpl") + .def(py::init<>()) + .def("unlucky_number", &A_Tpl::unlucky_number) + .def("say_something", &A_Tpl::say_something) + .def("say_everything", &A_Tpl::say_everything); + py::class_>(m, "B_Tpl") + .def(py::init<>()) + .def("lucky_number", &B_Tpl::lucky_number); + py::class_>(m, "C_Tpl") + .def(py::init<>()); + py::class_>(m, "D_Tpl") + .def(py::init<>()); + + + // Fix issue #1454 (crash when acquiring/releasing GIL on another thread in Python 2.7) + m.def("test_gil", &test_gil); + m.def("test_gil_from_thread", &test_gil_from_thread); +}; diff --git a/wrap/python/pybind11/tests/test_virtual_functions.py b/wrap/python/pybind11/tests/test_virtual_functions.py new file mode 100644 index 000000000..5ce9abd35 --- /dev/null +++ b/wrap/python/pybind11/tests/test_virtual_functions.py @@ -0,0 +1,377 @@ +import pytest + +from pybind11_tests import virtual_functions as m +from pybind11_tests import ConstructorStats + + +def test_override(capture, msg): + class ExtendedExampleVirt(m.ExampleVirt): + def __init__(self, state): + super(ExtendedExampleVirt, self).__init__(state + 1) + self.data = "Hello world" + + def run(self, value): + print('ExtendedExampleVirt::run(%i), calling parent..' % value) + return super(ExtendedExampleVirt, self).run(value + 1) + + def run_bool(self): + print('ExtendedExampleVirt::run_bool()') + return False + + def get_string1(self): + return "override1" + + def pure_virtual(self): + print('ExtendedExampleVirt::pure_virtual(): %s' % self.data) + + class ExtendedExampleVirt2(ExtendedExampleVirt): + def __init__(self, state): + super(ExtendedExampleVirt2, self).__init__(state + 1) + + def get_string2(self): + return "override2" + + ex12 = m.ExampleVirt(10) + with capture: + assert m.runExampleVirt(ex12, 20) == 30 + assert capture == """ + Original implementation of ExampleVirt::run(state=10, value=20, str1=default1, str2=default2) + """ # noqa: E501 line too long + + with pytest.raises(RuntimeError) as excinfo: + m.runExampleVirtVirtual(ex12) + assert msg(excinfo.value) == 'Tried to call pure virtual function "ExampleVirt::pure_virtual"' + + ex12p = ExtendedExampleVirt(10) + with capture: + assert m.runExampleVirt(ex12p, 20) == 32 + assert capture == """ + ExtendedExampleVirt::run(20), calling parent.. + Original implementation of ExampleVirt::run(state=11, value=21, str1=override1, str2=default2) + """ # noqa: E501 line too long + with capture: + assert m.runExampleVirtBool(ex12p) is False + assert capture == "ExtendedExampleVirt::run_bool()" + with capture: + m.runExampleVirtVirtual(ex12p) + assert capture == "ExtendedExampleVirt::pure_virtual(): Hello world" + + ex12p2 = ExtendedExampleVirt2(15) + with capture: + assert m.runExampleVirt(ex12p2, 50) == 68 + assert capture == """ + ExtendedExampleVirt::run(50), calling parent.. + Original implementation of ExampleVirt::run(state=17, value=51, str1=override1, str2=override2) + """ # noqa: E501 line too long + + cstats = ConstructorStats.get(m.ExampleVirt) + assert cstats.alive() == 3 + del ex12, ex12p, ex12p2 + assert cstats.alive() == 0 + assert cstats.values() == ['10', '11', '17'] + assert cstats.copy_constructions == 0 + assert cstats.move_constructions >= 0 + + +def test_alias_delay_initialization1(capture): + """`A` only initializes its trampoline class when we inherit from it + + If we just create and use an A instance directly, the trampoline initialization is + bypassed and we only initialize an A() instead (for performance reasons). + """ + class B(m.A): + def __init__(self): + super(B, self).__init__() + + def f(self): + print("In python f()") + + # C++ version + with capture: + a = m.A() + m.call_f(a) + del a + pytest.gc_collect() + assert capture == "A.f()" + + # Python version + with capture: + b = B() + m.call_f(b) + del b + pytest.gc_collect() + assert capture == """ + PyA.PyA() + PyA.f() + In python f() + PyA.~PyA() + """ + + +def test_alias_delay_initialization2(capture): + """`A2`, unlike the above, is configured to always initialize the alias + + While the extra initialization and extra class layer has small virtual dispatch + performance penalty, it also allows us to do more things with the trampoline + class such as defining local variables and performing construction/destruction. + """ + class B2(m.A2): + def __init__(self): + super(B2, self).__init__() + + def f(self): + print("In python B2.f()") + + # No python subclass version + with capture: + a2 = m.A2() + m.call_f(a2) + del a2 + pytest.gc_collect() + a3 = m.A2(1) + m.call_f(a3) + del a3 + pytest.gc_collect() + assert capture == """ + PyA2.PyA2() + PyA2.f() + A2.f() + PyA2.~PyA2() + PyA2.PyA2() + PyA2.f() + A2.f() + PyA2.~PyA2() + """ + + # Python subclass version + with capture: + b2 = B2() + m.call_f(b2) + del b2 + pytest.gc_collect() + assert capture == """ + PyA2.PyA2() + PyA2.f() + In python B2.f() + PyA2.~PyA2() + """ + + +# PyPy: Reference count > 1 causes call with noncopyable instance +# to fail in ncv1.print_nc() +@pytest.unsupported_on_pypy +@pytest.mark.skipif(not hasattr(m, "NCVirt"), reason="NCVirt test broken on ICPC") +def test_move_support(): + class NCVirtExt(m.NCVirt): + def get_noncopyable(self, a, b): + # Constructs and returns a new instance: + nc = m.NonCopyable(a * a, b * b) + return nc + + def get_movable(self, a, b): + # Return a referenced copy + self.movable = m.Movable(a, b) + return self.movable + + class NCVirtExt2(m.NCVirt): + def get_noncopyable(self, a, b): + # Keep a reference: this is going to throw an exception + self.nc = m.NonCopyable(a, b) + return self.nc + + def get_movable(self, a, b): + # Return a new instance without storing it + return m.Movable(a, b) + + ncv1 = NCVirtExt() + assert ncv1.print_nc(2, 3) == "36" + assert ncv1.print_movable(4, 5) == "9" + ncv2 = NCVirtExt2() + assert ncv2.print_movable(7, 7) == "14" + # Don't check the exception message here because it differs under debug/non-debug mode + with pytest.raises(RuntimeError): + ncv2.print_nc(9, 9) + + nc_stats = ConstructorStats.get(m.NonCopyable) + mv_stats = ConstructorStats.get(m.Movable) + assert nc_stats.alive() == 1 + assert mv_stats.alive() == 1 + del ncv1, ncv2 + assert nc_stats.alive() == 0 + assert mv_stats.alive() == 0 + assert nc_stats.values() == ['4', '9', '9', '9'] + assert mv_stats.values() == ['4', '5', '7', '7'] + assert nc_stats.copy_constructions == 0 + assert mv_stats.copy_constructions == 1 + assert nc_stats.move_constructions >= 0 + assert mv_stats.move_constructions >= 0 + + +def test_dispatch_issue(msg): + """#159: virtual function dispatch has problems with similar-named functions""" + class PyClass1(m.DispatchIssue): + def dispatch(self): + return "Yay.." + + class PyClass2(m.DispatchIssue): + def dispatch(self): + with pytest.raises(RuntimeError) as excinfo: + super(PyClass2, self).dispatch() + assert msg(excinfo.value) == 'Tried to call pure virtual function "Base::dispatch"' + + p = PyClass1() + return m.dispatch_issue_go(p) + + b = PyClass2() + assert m.dispatch_issue_go(b) == "Yay.." + + +def test_override_ref(): + """#392/397: overriding reference-returning functions""" + o = m.OverrideTest("asdf") + + # Not allowed (see associated .cpp comment) + # i = o.str_ref() + # assert o.str_ref() == "asdf" + assert o.str_value() == "asdf" + + assert o.A_value().value == "hi" + a = o.A_ref() + assert a.value == "hi" + a.value = "bye" + assert a.value == "bye" + + +def test_inherited_virtuals(): + class AR(m.A_Repeat): + def unlucky_number(self): + return 99 + + class AT(m.A_Tpl): + def unlucky_number(self): + return 999 + + obj = AR() + assert obj.say_something(3) == "hihihi" + assert obj.unlucky_number() == 99 + assert obj.say_everything() == "hi 99" + + obj = AT() + assert obj.say_something(3) == "hihihi" + assert obj.unlucky_number() == 999 + assert obj.say_everything() == "hi 999" + + for obj in [m.B_Repeat(), m.B_Tpl()]: + assert obj.say_something(3) == "B says hi 3 times" + assert obj.unlucky_number() == 13 + assert obj.lucky_number() == 7.0 + assert obj.say_everything() == "B says hi 1 times 13" + + for obj in [m.C_Repeat(), m.C_Tpl()]: + assert obj.say_something(3) == "B says hi 3 times" + assert obj.unlucky_number() == 4444 + assert obj.lucky_number() == 888.0 + assert obj.say_everything() == "B says hi 1 times 4444" + + class CR(m.C_Repeat): + def lucky_number(self): + return m.C_Repeat.lucky_number(self) + 1.25 + + obj = CR() + assert obj.say_something(3) == "B says hi 3 times" + assert obj.unlucky_number() == 4444 + assert obj.lucky_number() == 889.25 + assert obj.say_everything() == "B says hi 1 times 4444" + + class CT(m.C_Tpl): + pass + + obj = CT() + assert obj.say_something(3) == "B says hi 3 times" + assert obj.unlucky_number() == 4444 + assert obj.lucky_number() == 888.0 + assert obj.say_everything() == "B says hi 1 times 4444" + + class CCR(CR): + def lucky_number(self): + return CR.lucky_number(self) * 10 + + obj = CCR() + assert obj.say_something(3) == "B says hi 3 times" + assert obj.unlucky_number() == 4444 + assert obj.lucky_number() == 8892.5 + assert obj.say_everything() == "B says hi 1 times 4444" + + class CCT(CT): + def lucky_number(self): + return CT.lucky_number(self) * 1000 + + obj = CCT() + assert obj.say_something(3) == "B says hi 3 times" + assert obj.unlucky_number() == 4444 + assert obj.lucky_number() == 888000.0 + assert obj.say_everything() == "B says hi 1 times 4444" + + class DR(m.D_Repeat): + def unlucky_number(self): + return 123 + + def lucky_number(self): + return 42.0 + + for obj in [m.D_Repeat(), m.D_Tpl()]: + assert obj.say_something(3) == "B says hi 3 times" + assert obj.unlucky_number() == 4444 + assert obj.lucky_number() == 888.0 + assert obj.say_everything() == "B says hi 1 times 4444" + + obj = DR() + assert obj.say_something(3) == "B says hi 3 times" + assert obj.unlucky_number() == 123 + assert obj.lucky_number() == 42.0 + assert obj.say_everything() == "B says hi 1 times 123" + + class DT(m.D_Tpl): + def say_something(self, times): + return "DT says:" + (' quack' * times) + + def unlucky_number(self): + return 1234 + + def lucky_number(self): + return -4.25 + + obj = DT() + assert obj.say_something(3) == "DT says: quack quack quack" + assert obj.unlucky_number() == 1234 + assert obj.lucky_number() == -4.25 + assert obj.say_everything() == "DT says: quack 1234" + + class DT2(DT): + def say_something(self, times): + return "DT2: " + ('QUACK' * times) + + def unlucky_number(self): + return -3 + + class BT(m.B_Tpl): + def say_something(self, times): + return "BT" * times + + def unlucky_number(self): + return -7 + + def lucky_number(self): + return -1.375 + + obj = BT() + assert obj.say_something(3) == "BTBTBT" + assert obj.unlucky_number() == -7 + assert obj.lucky_number() == -1.375 + assert obj.say_everything() == "BT -7" + + +def test_issue_1454(): + # Fix issue #1454 (crash when acquiring/releasing GIL on another thread in Python 2.7) + m.test_gil() + m.test_gil_from_thread() diff --git a/wrap/python/pybind11/tools/FindCatch.cmake b/wrap/python/pybind11/tools/FindCatch.cmake new file mode 100644 index 000000000..9d490c5aa --- /dev/null +++ b/wrap/python/pybind11/tools/FindCatch.cmake @@ -0,0 +1,57 @@ +# - Find the Catch test framework or download it (single header) +# +# This is a quick module for internal use. It assumes that Catch is +# REQUIRED and that a minimum version is provided (not EXACT). If +# a suitable version isn't found locally, the single header file +# will be downloaded and placed in the build dir: PROJECT_BINARY_DIR. +# +# This code sets the following variables: +# CATCH_INCLUDE_DIR - path to catch.hpp +# CATCH_VERSION - version number + +if(NOT Catch_FIND_VERSION) + message(FATAL_ERROR "A version number must be specified.") +elseif(Catch_FIND_REQUIRED) + message(FATAL_ERROR "This module assumes Catch is not required.") +elseif(Catch_FIND_VERSION_EXACT) + message(FATAL_ERROR "Exact version numbers are not supported, only minimum.") +endif() + +# Extract the version number from catch.hpp +function(_get_catch_version) + file(STRINGS "${CATCH_INCLUDE_DIR}/catch.hpp" version_line REGEX "Catch v.*" LIMIT_COUNT 1) + if(version_line MATCHES "Catch v([0-9]+)\\.([0-9]+)\\.([0-9]+)") + set(CATCH_VERSION "${CMAKE_MATCH_1}.${CMAKE_MATCH_2}.${CMAKE_MATCH_3}" PARENT_SCOPE) + endif() +endfunction() + +# Download the single-header version of Catch +function(_download_catch version destination_dir) + message(STATUS "Downloading catch v${version}...") + set(url https://github.com/philsquared/Catch/releases/download/v${version}/catch.hpp) + file(DOWNLOAD ${url} "${destination_dir}/catch.hpp" STATUS status) + list(GET status 0 error) + if(error) + message(FATAL_ERROR "Could not download ${url}") + endif() + set(CATCH_INCLUDE_DIR "${destination_dir}" CACHE INTERNAL "") +endfunction() + +# Look for catch locally +find_path(CATCH_INCLUDE_DIR NAMES catch.hpp PATH_SUFFIXES catch) +if(CATCH_INCLUDE_DIR) + _get_catch_version() +endif() + +# Download the header if it wasn't found or if it's outdated +if(NOT CATCH_VERSION OR CATCH_VERSION VERSION_LESS ${Catch_FIND_VERSION}) + if(DOWNLOAD_CATCH) + _download_catch(${Catch_FIND_VERSION} "${PROJECT_BINARY_DIR}/catch/") + _get_catch_version() + else() + set(CATCH_FOUND FALSE) + return() + endif() +endif() + +set(CATCH_FOUND TRUE) diff --git a/wrap/python/pybind11/tools/FindEigen3.cmake b/wrap/python/pybind11/tools/FindEigen3.cmake new file mode 100644 index 000000000..9c546a05d --- /dev/null +++ b/wrap/python/pybind11/tools/FindEigen3.cmake @@ -0,0 +1,81 @@ +# - Try to find Eigen3 lib +# +# This module supports requiring a minimum version, e.g. you can do +# find_package(Eigen3 3.1.2) +# to require version 3.1.2 or newer of Eigen3. +# +# Once done this will define +# +# EIGEN3_FOUND - system has eigen lib with correct version +# EIGEN3_INCLUDE_DIR - the eigen include directory +# EIGEN3_VERSION - eigen version + +# Copyright (c) 2006, 2007 Montel Laurent, +# Copyright (c) 2008, 2009 Gael Guennebaud, +# Copyright (c) 2009 Benoit Jacob +# Redistribution and use is allowed according to the terms of the 2-clause BSD license. + +if(NOT Eigen3_FIND_VERSION) + if(NOT Eigen3_FIND_VERSION_MAJOR) + set(Eigen3_FIND_VERSION_MAJOR 2) + endif(NOT Eigen3_FIND_VERSION_MAJOR) + if(NOT Eigen3_FIND_VERSION_MINOR) + set(Eigen3_FIND_VERSION_MINOR 91) + endif(NOT Eigen3_FIND_VERSION_MINOR) + if(NOT Eigen3_FIND_VERSION_PATCH) + set(Eigen3_FIND_VERSION_PATCH 0) + endif(NOT Eigen3_FIND_VERSION_PATCH) + + set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") +endif(NOT Eigen3_FIND_VERSION) + +macro(_eigen3_check_version) + file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) + + string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") + set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") + string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") + set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") + string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") + set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") + + set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) + if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + set(EIGEN3_VERSION_OK FALSE) + else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + set(EIGEN3_VERSION_OK TRUE) + endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + + if(NOT EIGEN3_VERSION_OK) + + message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " + "but at least version ${Eigen3_FIND_VERSION} is required") + endif(NOT EIGEN3_VERSION_OK) +endmacro(_eigen3_check_version) + +if (EIGEN3_INCLUDE_DIR) + + # in cache already + _eigen3_check_version() + set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) + +else (EIGEN3_INCLUDE_DIR) + + find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library + PATHS + ${CMAKE_INSTALL_PREFIX}/include + ${KDE4_INCLUDE_DIR} + PATH_SUFFIXES eigen3 eigen + ) + + if(EIGEN3_INCLUDE_DIR) + _eigen3_check_version() + endif(EIGEN3_INCLUDE_DIR) + + include(FindPackageHandleStandardArgs) + find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) + + mark_as_advanced(EIGEN3_INCLUDE_DIR) + +endif(EIGEN3_INCLUDE_DIR) + diff --git a/wrap/python/pybind11/tools/FindPythonLibsNew.cmake b/wrap/python/pybind11/tools/FindPythonLibsNew.cmake new file mode 100644 index 000000000..7d85af4a5 --- /dev/null +++ b/wrap/python/pybind11/tools/FindPythonLibsNew.cmake @@ -0,0 +1,202 @@ +# - Find python libraries +# This module finds the libraries corresponding to the Python interpreter +# FindPythonInterp provides. +# This code sets the following variables: +# +# PYTHONLIBS_FOUND - have the Python libs been found +# PYTHON_PREFIX - path to the Python installation +# PYTHON_LIBRARIES - path to the python library +# PYTHON_INCLUDE_DIRS - path to where Python.h is found +# PYTHON_MODULE_EXTENSION - lib extension, e.g. '.so' or '.pyd' +# PYTHON_MODULE_PREFIX - lib name prefix: usually an empty string +# PYTHON_SITE_PACKAGES - path to installation site-packages +# PYTHON_IS_DEBUG - whether the Python interpreter is a debug build +# +# Thanks to talljimbo for the patch adding the 'LDVERSION' config +# variable usage. + +#============================================================================= +# Copyright 2001-2009 Kitware, Inc. +# Copyright 2012 Continuum Analytics, Inc. +# +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# +# * Neither the names of Kitware, Inc., the Insight Software Consortium, +# nor the names of their contributors may be used to endorse or promote +# products derived from this software without specific prior written +# permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +# # A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +#============================================================================= + +# Checking for the extension makes sure that `LibsNew` was found and not just `Libs`. +if(PYTHONLIBS_FOUND AND PYTHON_MODULE_EXTENSION) + return() +endif() + +# Use the Python interpreter to find the libs. +if(PythonLibsNew_FIND_REQUIRED) + find_package(PythonInterp ${PythonLibsNew_FIND_VERSION} REQUIRED) +else() + find_package(PythonInterp ${PythonLibsNew_FIND_VERSION}) +endif() + +if(NOT PYTHONINTERP_FOUND) + set(PYTHONLIBS_FOUND FALSE) + set(PythonLibsNew_FOUND FALSE) + return() +endif() + +# According to http://stackoverflow.com/questions/646518/python-how-to-detect-debug-interpreter +# testing whether sys has the gettotalrefcount function is a reliable, cross-platform +# way to detect a CPython debug interpreter. +# +# The library suffix is from the config var LDVERSION sometimes, otherwise +# VERSION. VERSION will typically be like "2.7" on unix, and "27" on windows. +execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" + "from distutils import sysconfig as s;import sys;import struct; +print('.'.join(str(v) for v in sys.version_info)); +print(sys.prefix); +print(s.get_python_inc(plat_specific=True)); +print(s.get_python_lib(plat_specific=True)); +print(s.get_config_var('SO')); +print(hasattr(sys, 'gettotalrefcount')+0); +print(struct.calcsize('@P')); +print(s.get_config_var('LDVERSION') or s.get_config_var('VERSION')); +print(s.get_config_var('LIBDIR') or ''); +print(s.get_config_var('MULTIARCH') or ''); +" + RESULT_VARIABLE _PYTHON_SUCCESS + OUTPUT_VARIABLE _PYTHON_VALUES + ERROR_VARIABLE _PYTHON_ERROR_VALUE) + +if(NOT _PYTHON_SUCCESS MATCHES 0) + if(PythonLibsNew_FIND_REQUIRED) + message(FATAL_ERROR + "Python config failure:\n${_PYTHON_ERROR_VALUE}") + endif() + set(PYTHONLIBS_FOUND FALSE) + set(PythonLibsNew_FOUND FALSE) + return() +endif() + +# Convert the process output into a list +if(WIN32) + string(REGEX REPLACE "\\\\" "/" _PYTHON_VALUES ${_PYTHON_VALUES}) +endif() +string(REGEX REPLACE ";" "\\\\;" _PYTHON_VALUES ${_PYTHON_VALUES}) +string(REGEX REPLACE "\n" ";" _PYTHON_VALUES ${_PYTHON_VALUES}) +list(GET _PYTHON_VALUES 0 _PYTHON_VERSION_LIST) +list(GET _PYTHON_VALUES 1 PYTHON_PREFIX) +list(GET _PYTHON_VALUES 2 PYTHON_INCLUDE_DIR) +list(GET _PYTHON_VALUES 3 PYTHON_SITE_PACKAGES) +list(GET _PYTHON_VALUES 4 PYTHON_MODULE_EXTENSION) +list(GET _PYTHON_VALUES 5 PYTHON_IS_DEBUG) +list(GET _PYTHON_VALUES 6 PYTHON_SIZEOF_VOID_P) +list(GET _PYTHON_VALUES 7 PYTHON_LIBRARY_SUFFIX) +list(GET _PYTHON_VALUES 8 PYTHON_LIBDIR) +list(GET _PYTHON_VALUES 9 PYTHON_MULTIARCH) + +# Make sure the Python has the same pointer-size as the chosen compiler +# Skip if CMAKE_SIZEOF_VOID_P is not defined +if(CMAKE_SIZEOF_VOID_P AND (NOT "${PYTHON_SIZEOF_VOID_P}" STREQUAL "${CMAKE_SIZEOF_VOID_P}")) + if(PythonLibsNew_FIND_REQUIRED) + math(EXPR _PYTHON_BITS "${PYTHON_SIZEOF_VOID_P} * 8") + math(EXPR _CMAKE_BITS "${CMAKE_SIZEOF_VOID_P} * 8") + message(FATAL_ERROR + "Python config failure: Python is ${_PYTHON_BITS}-bit, " + "chosen compiler is ${_CMAKE_BITS}-bit") + endif() + set(PYTHONLIBS_FOUND FALSE) + set(PythonLibsNew_FOUND FALSE) + return() +endif() + +# The built-in FindPython didn't always give the version numbers +string(REGEX REPLACE "\\." ";" _PYTHON_VERSION_LIST ${_PYTHON_VERSION_LIST}) +list(GET _PYTHON_VERSION_LIST 0 PYTHON_VERSION_MAJOR) +list(GET _PYTHON_VERSION_LIST 1 PYTHON_VERSION_MINOR) +list(GET _PYTHON_VERSION_LIST 2 PYTHON_VERSION_PATCH) + +# Make sure all directory separators are '/' +string(REGEX REPLACE "\\\\" "/" PYTHON_PREFIX ${PYTHON_PREFIX}) +string(REGEX REPLACE "\\\\" "/" PYTHON_INCLUDE_DIR ${PYTHON_INCLUDE_DIR}) +string(REGEX REPLACE "\\\\" "/" PYTHON_SITE_PACKAGES ${PYTHON_SITE_PACKAGES}) + +if(CMAKE_HOST_WIN32) + set(PYTHON_LIBRARY + "${PYTHON_PREFIX}/libs/Python${PYTHON_LIBRARY_SUFFIX}.lib") + + # when run in a venv, PYTHON_PREFIX points to it. But the libraries remain in the + # original python installation. They may be found relative to PYTHON_INCLUDE_DIR. + if(NOT EXISTS "${PYTHON_LIBRARY}") + get_filename_component(_PYTHON_ROOT ${PYTHON_INCLUDE_DIR} DIRECTORY) + set(PYTHON_LIBRARY + "${_PYTHON_ROOT}/libs/Python${PYTHON_LIBRARY_SUFFIX}.lib") + endif() + + # raise an error if the python libs are still not found. + if(NOT EXISTS "${PYTHON_LIBRARY}") + message(FATAL_ERROR "Python libraries not found") + endif() + +else() + if(PYTHON_MULTIARCH) + set(_PYTHON_LIBS_SEARCH "${PYTHON_LIBDIR}/${PYTHON_MULTIARCH}" "${PYTHON_LIBDIR}") + else() + set(_PYTHON_LIBS_SEARCH "${PYTHON_LIBDIR}") + endif() + #message(STATUS "Searching for Python libs in ${_PYTHON_LIBS_SEARCH}") + # Probably this needs to be more involved. It would be nice if the config + # information the python interpreter itself gave us were more complete. + find_library(PYTHON_LIBRARY + NAMES "python${PYTHON_LIBRARY_SUFFIX}" + PATHS ${_PYTHON_LIBS_SEARCH} + NO_DEFAULT_PATH) + + # If all else fails, just set the name/version and let the linker figure out the path. + if(NOT PYTHON_LIBRARY) + set(PYTHON_LIBRARY python${PYTHON_LIBRARY_SUFFIX}) + endif() +endif() + +MARK_AS_ADVANCED( + PYTHON_LIBRARY + PYTHON_INCLUDE_DIR +) + +# We use PYTHON_INCLUDE_DIR, PYTHON_LIBRARY and PYTHON_DEBUG_LIBRARY for the +# cache entries because they are meant to specify the location of a single +# library. We now set the variables listed by the documentation for this +# module. +SET(PYTHON_INCLUDE_DIRS "${PYTHON_INCLUDE_DIR}") +SET(PYTHON_LIBRARIES "${PYTHON_LIBRARY}") +SET(PYTHON_DEBUG_LIBRARIES "${PYTHON_DEBUG_LIBRARY}") + +find_package_message(PYTHON + "Found PythonLibs: ${PYTHON_LIBRARY}" + "${PYTHON_EXECUTABLE}${PYTHON_VERSION}") + +set(PYTHONLIBS_FOUND TRUE) +set(PythonLibsNew_FOUND TRUE) diff --git a/wrap/python/pybind11/tools/check-style.sh b/wrap/python/pybind11/tools/check-style.sh new file mode 100755 index 000000000..0a9f7d24f --- /dev/null +++ b/wrap/python/pybind11/tools/check-style.sh @@ -0,0 +1,70 @@ +#!/bin/bash +# +# Script to check include/test code for common pybind11 code style errors. +# +# This script currently checks for +# +# 1. use of tabs instead of spaces +# 2. MSDOS-style CRLF endings +# 3. trailing spaces +# 4. missing space between keyword and parenthesis, e.g.: for(, if(, while( +# 5. Missing space between right parenthesis and brace, e.g. 'for (...){' +# 6. opening brace on its own line. It should always be on the same line as the +# if/while/for/do statement. +# +# Invoke as: tools/check-style.sh +# + +check_style_errors=0 +IFS=$'\n' + +found="$( GREP_COLORS='mt=41' GREP_COLOR='41' grep $'\t' include tests/*.{cpp,py,h} docs/*.rst -rn --color=always )" +if [ -n "$found" ]; then + # The mt=41 sets a red background for matched tabs: + echo -e '\033[31;01mError: found tab characters in the following files:\033[0m' + check_style_errors=1 + echo "$found" | sed -e 's/^/ /' +fi + + +found="$( grep -IUlr $'\r' include tests/*.{cpp,py,h} docs/*.rst --color=always )" +if [ -n "$found" ]; then + echo -e '\033[31;01mError: found CRLF characters in the following files:\033[0m' + check_style_errors=1 + echo "$found" | sed -e 's/^/ /' +fi + +found="$(GREP_COLORS='mt=41' GREP_COLOR='41' grep '[[:blank:]]\+$' include tests/*.{cpp,py,h} docs/*.rst -rn --color=always )" +if [ -n "$found" ]; then + # The mt=41 sets a red background for matched trailing spaces + echo -e '\033[31;01mError: found trailing spaces in the following files:\033[0m' + check_style_errors=1 + echo "$found" | sed -e 's/^/ /' +fi + +found="$(grep '\<\(if\|for\|while\|catch\)(\|){' include tests/*.{cpp,h} -rn --color=always)" +if [ -n "$found" ]; then + echo -e '\033[31;01mError: found the following coding style problems:\033[0m' + check_style_errors=1 + echo "$found" | sed -e 's/^/ /' +fi + +found="$(awk ' +function prefix(filename, lineno) { + return " \033[35m" filename "\033[36m:\033[32m" lineno "\033[36m:\033[0m" +} +function mark(pattern, string) { sub(pattern, "\033[01;31m&\033[0m", string); return string } +last && /^\s*{/ { + print prefix(FILENAME, FNR-1) mark("\\)\\s*$", last) + print prefix(FILENAME, FNR) mark("^\\s*{", $0) + last="" +} +{ last = /(if|for|while|catch|switch)\s*\(.*\)\s*$/ ? $0 : "" } +' $(find include -type f) tests/*.{cpp,h} docs/*.rst)" +if [ -n "$found" ]; then + check_style_errors=1 + echo -e '\033[31;01mError: braces should occur on the same line as the if/while/.. statement. Found issues in the following files:\033[0m' + echo "$found" +fi + +exit $check_style_errors diff --git a/wrap/python/pybind11/tools/libsize.py b/wrap/python/pybind11/tools/libsize.py new file mode 100644 index 000000000..5dcb8b0d0 --- /dev/null +++ b/wrap/python/pybind11/tools/libsize.py @@ -0,0 +1,38 @@ +from __future__ import print_function, division +import os +import sys + +# Internal build script for generating debugging test .so size. +# Usage: +# python libsize.py file.so save.txt -- displays the size of file.so and, if save.txt exists, compares it to the +# size in it, then overwrites save.txt with the new size for future runs. + +if len(sys.argv) != 3: + sys.exit("Invalid arguments: usage: python libsize.py file.so save.txt") + +lib = sys.argv[1] +save = sys.argv[2] + +if not os.path.exists(lib): + sys.exit("Error: requested file ({}) does not exist".format(lib)) + +libsize = os.path.getsize(lib) + +print("------", os.path.basename(lib), "file size:", libsize, end='') + +if os.path.exists(save): + with open(save) as sf: + oldsize = int(sf.readline()) + + if oldsize > 0: + change = libsize - oldsize + if change == 0: + print(" (no change)") + else: + print(" (change of {:+} bytes = {:+.2%})".format(change, change / oldsize)) +else: + print() + +with open(save, 'w') as sf: + sf.write(str(libsize)) + diff --git a/wrap/python/pybind11/tools/mkdoc.py b/wrap/python/pybind11/tools/mkdoc.py new file mode 100755 index 000000000..44164af3d --- /dev/null +++ b/wrap/python/pybind11/tools/mkdoc.py @@ -0,0 +1,379 @@ +#!/usr/bin/env python3 +# +# Syntax: mkdoc.py [-I ..] [.. a list of header files ..] +# +# Extract documentation from C++ header files to use it in Python bindings +# + +import os +import sys +import platform +import re +import textwrap + +from clang import cindex +from clang.cindex import CursorKind +from collections import OrderedDict +from glob import glob +from threading import Thread, Semaphore +from multiprocessing import cpu_count + +RECURSE_LIST = [ + CursorKind.TRANSLATION_UNIT, + CursorKind.NAMESPACE, + CursorKind.CLASS_DECL, + CursorKind.STRUCT_DECL, + CursorKind.ENUM_DECL, + CursorKind.CLASS_TEMPLATE +] + +PRINT_LIST = [ + CursorKind.CLASS_DECL, + CursorKind.STRUCT_DECL, + CursorKind.ENUM_DECL, + CursorKind.ENUM_CONSTANT_DECL, + CursorKind.CLASS_TEMPLATE, + CursorKind.FUNCTION_DECL, + CursorKind.FUNCTION_TEMPLATE, + CursorKind.CONVERSION_FUNCTION, + CursorKind.CXX_METHOD, + CursorKind.CONSTRUCTOR, + CursorKind.FIELD_DECL +] + +PREFIX_BLACKLIST = [ + CursorKind.TRANSLATION_UNIT +] + +CPP_OPERATORS = { + '<=': 'le', '>=': 'ge', '==': 'eq', '!=': 'ne', '[]': 'array', + '+=': 'iadd', '-=': 'isub', '*=': 'imul', '/=': 'idiv', '%=': + 'imod', '&=': 'iand', '|=': 'ior', '^=': 'ixor', '<<=': 'ilshift', + '>>=': 'irshift', '++': 'inc', '--': 'dec', '<<': 'lshift', '>>': + 'rshift', '&&': 'land', '||': 'lor', '!': 'lnot', '~': 'bnot', + '&': 'band', '|': 'bor', '+': 'add', '-': 'sub', '*': 'mul', '/': + 'div', '%': 'mod', '<': 'lt', '>': 'gt', '=': 'assign', '()': 'call' +} + +CPP_OPERATORS = OrderedDict( + sorted(CPP_OPERATORS.items(), key=lambda t: -len(t[0]))) + +job_count = cpu_count() +job_semaphore = Semaphore(job_count) + + +class NoFilenamesError(ValueError): + pass + + +def d(s): + return s if isinstance(s, str) else s.decode('utf8') + + +def sanitize_name(name): + name = re.sub(r'type-parameter-0-([0-9]+)', r'T\1', name) + for k, v in CPP_OPERATORS.items(): + name = name.replace('operator%s' % k, 'operator_%s' % v) + name = re.sub('<.*>', '', name) + name = ''.join([ch if ch.isalnum() else '_' for ch in name]) + name = re.sub('_$', '', re.sub('_+', '_', name)) + return '__doc_' + name + + +def process_comment(comment): + result = '' + + # Remove C++ comment syntax + leading_spaces = float('inf') + for s in comment.expandtabs(tabsize=4).splitlines(): + s = s.strip() + if s.startswith('/*'): + s = s[2:].lstrip('*') + elif s.endswith('*/'): + s = s[:-2].rstrip('*') + elif s.startswith('///'): + s = s[3:] + if s.startswith('*'): + s = s[1:] + if len(s) > 0: + leading_spaces = min(leading_spaces, len(s) - len(s.lstrip())) + result += s + '\n' + + if leading_spaces != float('inf'): + result2 = "" + for s in result.splitlines(): + result2 += s[leading_spaces:] + '\n' + result = result2 + + # Doxygen tags + cpp_group = '([\w:]+)' + param_group = '([\[\w:\]]+)' + + s = result + s = re.sub(r'\\c\s+%s' % cpp_group, r'``\1``', s) + s = re.sub(r'\\a\s+%s' % cpp_group, r'*\1*', s) + s = re.sub(r'\\e\s+%s' % cpp_group, r'*\1*', s) + s = re.sub(r'\\em\s+%s' % cpp_group, r'*\1*', s) + s = re.sub(r'\\b\s+%s' % cpp_group, r'**\1**', s) + s = re.sub(r'\\ingroup\s+%s' % cpp_group, r'', s) + s = re.sub(r'\\param%s?\s+%s' % (param_group, cpp_group), + r'\n\n$Parameter ``\2``:\n\n', s) + s = re.sub(r'\\tparam%s?\s+%s' % (param_group, cpp_group), + r'\n\n$Template parameter ``\2``:\n\n', s) + + for in_, out_ in { + 'return': 'Returns', + 'author': 'Author', + 'authors': 'Authors', + 'copyright': 'Copyright', + 'date': 'Date', + 'remark': 'Remark', + 'sa': 'See also', + 'see': 'See also', + 'extends': 'Extends', + 'throw': 'Throws', + 'throws': 'Throws' + }.items(): + s = re.sub(r'\\%s\s*' % in_, r'\n\n$%s:\n\n' % out_, s) + + s = re.sub(r'\\details\s*', r'\n\n', s) + s = re.sub(r'\\brief\s*', r'', s) + s = re.sub(r'\\short\s*', r'', s) + s = re.sub(r'\\ref\s*', r'', s) + + s = re.sub(r'\\code\s?(.*?)\s?\\endcode', + r"```\n\1\n```\n", s, flags=re.DOTALL) + + # HTML/TeX tags + s = re.sub(r'(.*?)', r'``\1``', s, flags=re.DOTALL) + s = re.sub(r'
(.*?)
', r"```\n\1\n```\n", s, flags=re.DOTALL) + s = re.sub(r'(.*?)', r'*\1*', s, flags=re.DOTALL) + s = re.sub(r'(.*?)', r'**\1**', s, flags=re.DOTALL) + s = re.sub(r'\\f\$(.*?)\\f\$', r'$\1$', s, flags=re.DOTALL) + s = re.sub(r'
  • ', r'\n\n* ', s) + s = re.sub(r'', r'', s) + s = re.sub(r'
    • ', r'\n\n', s) + + s = s.replace('``true``', '``True``') + s = s.replace('``false``', '``False``') + + # Re-flow text + wrapper = textwrap.TextWrapper() + wrapper.expand_tabs = True + wrapper.replace_whitespace = True + wrapper.drop_whitespace = True + wrapper.width = 70 + wrapper.initial_indent = wrapper.subsequent_indent = '' + + result = '' + in_code_segment = False + for x in re.split(r'(```)', s): + if x == '```': + if not in_code_segment: + result += '```\n' + else: + result += '\n```\n\n' + in_code_segment = not in_code_segment + elif in_code_segment: + result += x.strip() + else: + for y in re.split(r'(?: *\n *){2,}', x): + wrapped = wrapper.fill(re.sub(r'\s+', ' ', y).strip()) + if len(wrapped) > 0 and wrapped[0] == '$': + result += wrapped[1:] + '\n' + wrapper.initial_indent = \ + wrapper.subsequent_indent = ' ' * 4 + else: + if len(wrapped) > 0: + result += wrapped + '\n\n' + wrapper.initial_indent = wrapper.subsequent_indent = '' + return result.rstrip().lstrip('\n') + + +def extract(filename, node, prefix, output): + if not (node.location.file is None or + os.path.samefile(d(node.location.file.name), filename)): + return 0 + if node.kind in RECURSE_LIST: + sub_prefix = prefix + if node.kind not in PREFIX_BLACKLIST: + if len(sub_prefix) > 0: + sub_prefix += '_' + sub_prefix += d(node.spelling) + for i in node.get_children(): + extract(filename, i, sub_prefix, output) + if node.kind in PRINT_LIST: + comment = d(node.raw_comment) if node.raw_comment is not None else '' + comment = process_comment(comment) + sub_prefix = prefix + if len(sub_prefix) > 0: + sub_prefix += '_' + if len(node.spelling) > 0: + name = sanitize_name(sub_prefix + d(node.spelling)) + output.append((name, filename, comment)) + + +class ExtractionThread(Thread): + def __init__(self, filename, parameters, output): + Thread.__init__(self) + self.filename = filename + self.parameters = parameters + self.output = output + job_semaphore.acquire() + + def run(self): + print('Processing "%s" ..' % self.filename, file=sys.stderr) + try: + index = cindex.Index( + cindex.conf.lib.clang_createIndex(False, True)) + tu = index.parse(self.filename, self.parameters) + extract(self.filename, tu.cursor, '', self.output) + finally: + job_semaphore.release() + + +def read_args(args): + parameters = [] + filenames = [] + if "-x" not in args: + parameters.extend(['-x', 'c++']) + if not any(it.startswith("-std=") for it in args): + parameters.append('-std=c++11') + + if platform.system() == 'Darwin': + dev_path = '/Applications/Xcode.app/Contents/Developer/' + lib_dir = dev_path + 'Toolchains/XcodeDefault.xctoolchain/usr/lib/' + sdk_dir = dev_path + 'Platforms/MacOSX.platform/Developer/SDKs' + libclang = lib_dir + 'libclang.dylib' + + if os.path.exists(libclang): + cindex.Config.set_library_path(os.path.dirname(libclang)) + + if os.path.exists(sdk_dir): + sysroot_dir = os.path.join(sdk_dir, next(os.walk(sdk_dir))[1][0]) + parameters.append('-isysroot') + parameters.append(sysroot_dir) + elif platform.system() == 'Linux': + # clang doesn't find its own base includes by default on Linux, + # but different distros install them in different paths. + # Try to autodetect, preferring the highest numbered version. + def clang_folder_version(d): + return [int(ver) for ver in re.findall(r'(?:${PYBIND11_CPP_STANDARD}>) + endif() + + get_property(_iid TARGET ${PN}::pybind11 PROPERTY INTERFACE_INCLUDE_DIRECTORIES) + get_property(_ill TARGET ${PN}::module PROPERTY INTERFACE_LINK_LIBRARIES) + set(${PN}_INCLUDE_DIRS ${_iid}) + set(${PN}_LIBRARIES ${_ico} ${_ill}) +endif() +endif() diff --git a/wrap/python/pybind11/tools/pybind11Tools.cmake b/wrap/python/pybind11/tools/pybind11Tools.cmake new file mode 100644 index 000000000..e3ec572b5 --- /dev/null +++ b/wrap/python/pybind11/tools/pybind11Tools.cmake @@ -0,0 +1,227 @@ +# tools/pybind11Tools.cmake -- Build system for the pybind11 modules +# +# Copyright (c) 2015 Wenzel Jakob +# +# All rights reserved. Use of this source code is governed by a +# BSD-style license that can be found in the LICENSE file. + +cmake_minimum_required(VERSION 2.8.12) + +# Add a CMake parameter for choosing a desired Python version +if(NOT PYBIND11_PYTHON_VERSION) + set(PYBIND11_PYTHON_VERSION "" CACHE STRING "Python version to use for compiling modules") +endif() + +set(Python_ADDITIONAL_VERSIONS 3.7 3.6 3.5 3.4) +find_package(PythonLibsNew ${PYBIND11_PYTHON_VERSION} REQUIRED) + +include(CheckCXXCompilerFlag) +include(CMakeParseArguments) + +if(NOT PYBIND11_CPP_STANDARD AND NOT CMAKE_CXX_STANDARD) + if(NOT MSVC) + check_cxx_compiler_flag("-std=c++14" HAS_CPP14_FLAG) + + if (HAS_CPP14_FLAG) + set(PYBIND11_CPP_STANDARD -std=c++14) + else() + check_cxx_compiler_flag("-std=c++11" HAS_CPP11_FLAG) + if (HAS_CPP11_FLAG) + set(PYBIND11_CPP_STANDARD -std=c++11) + else() + message(FATAL_ERROR "Unsupported compiler -- pybind11 requires C++11 support!") + endif() + endif() + elseif(MSVC) + set(PYBIND11_CPP_STANDARD /std:c++14) + endif() + + set(PYBIND11_CPP_STANDARD ${PYBIND11_CPP_STANDARD} CACHE STRING + "C++ standard flag, e.g. -std=c++11, -std=c++14, /std:c++14. Defaults to C++14 mode." FORCE) +endif() + +# Checks whether the given CXX/linker flags can compile and link a cxx file. cxxflags and +# linkerflags are lists of flags to use. The result variable is a unique variable name for each set +# of flags: the compilation result will be cached base on the result variable. If the flags work, +# sets them in cxxflags_out/linkerflags_out internal cache variables (in addition to ${result}). +function(_pybind11_return_if_cxx_and_linker_flags_work result cxxflags linkerflags cxxflags_out linkerflags_out) + set(CMAKE_REQUIRED_LIBRARIES ${linkerflags}) + check_cxx_compiler_flag("${cxxflags}" ${result}) + if (${result}) + set(${cxxflags_out} "${cxxflags}" CACHE INTERNAL "" FORCE) + set(${linkerflags_out} "${linkerflags}" CACHE INTERNAL "" FORCE) + endif() +endfunction() + +# Internal: find the appropriate link time optimization flags for this compiler +function(_pybind11_add_lto_flags target_name prefer_thin_lto) + if (NOT DEFINED PYBIND11_LTO_CXX_FLAGS) + set(PYBIND11_LTO_CXX_FLAGS "" CACHE INTERNAL "") + set(PYBIND11_LTO_LINKER_FLAGS "" CACHE INTERNAL "") + + if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang") + set(cxx_append "") + set(linker_append "") + if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT APPLE) + # Clang Gold plugin does not support -Os; append -O3 to MinSizeRel builds to override it + set(linker_append ";$<$:-O3>") + elseif(CMAKE_CXX_COMPILER_ID MATCHES "GNU") + set(cxx_append ";-fno-fat-lto-objects") + endif() + + if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND prefer_thin_lto) + _pybind11_return_if_cxx_and_linker_flags_work(HAS_FLTO_THIN + "-flto=thin${cxx_append}" "-flto=thin${linker_append}" + PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS) + endif() + + if (NOT HAS_FLTO_THIN) + _pybind11_return_if_cxx_and_linker_flags_work(HAS_FLTO + "-flto${cxx_append}" "-flto${linker_append}" + PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS) + endif() + elseif (CMAKE_CXX_COMPILER_ID MATCHES "Intel") + # Intel equivalent to LTO is called IPO + _pybind11_return_if_cxx_and_linker_flags_work(HAS_INTEL_IPO + "-ipo" "-ipo" PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS) + elseif(MSVC) + # cmake only interprets libraries as linker flags when they start with a - (otherwise it + # converts /LTCG to \LTCG as if it was a Windows path). Luckily MSVC supports passing flags + # with - instead of /, even if it is a bit non-standard: + _pybind11_return_if_cxx_and_linker_flags_work(HAS_MSVC_GL_LTCG + "/GL" "-LTCG" PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS) + endif() + + if (PYBIND11_LTO_CXX_FLAGS) + message(STATUS "LTO enabled") + else() + message(STATUS "LTO disabled (not supported by the compiler and/or linker)") + endif() + endif() + + # Enable LTO flags if found, except for Debug builds + if (PYBIND11_LTO_CXX_FLAGS) + target_compile_options(${target_name} PRIVATE "$<$>:${PYBIND11_LTO_CXX_FLAGS}>") + endif() + if (PYBIND11_LTO_LINKER_FLAGS) + target_link_libraries(${target_name} PRIVATE "$<$>:${PYBIND11_LTO_LINKER_FLAGS}>") + endif() +endfunction() + +# Build a Python extension module: +# pybind11_add_module( [MODULE | SHARED] [EXCLUDE_FROM_ALL] +# [NO_EXTRAS] [SYSTEM] [THIN_LTO] source1 [source2 ...]) +# +function(pybind11_add_module target_name) + set(options MODULE SHARED EXCLUDE_FROM_ALL NO_EXTRAS SYSTEM THIN_LTO) + cmake_parse_arguments(ARG "${options}" "" "" ${ARGN}) + + if(ARG_MODULE AND ARG_SHARED) + message(FATAL_ERROR "Can't be both MODULE and SHARED") + elseif(ARG_SHARED) + set(lib_type SHARED) + else() + set(lib_type MODULE) + endif() + + if(ARG_EXCLUDE_FROM_ALL) + set(exclude_from_all EXCLUDE_FROM_ALL) + endif() + + add_library(${target_name} ${lib_type} ${exclude_from_all} ${ARG_UNPARSED_ARGUMENTS}) + + if(ARG_SYSTEM) + set(inc_isystem SYSTEM) + endif() + + target_include_directories(${target_name} ${inc_isystem} + PRIVATE ${PYBIND11_INCLUDE_DIR} # from project CMakeLists.txt + PRIVATE ${pybind11_INCLUDE_DIR} # from pybind11Config + PRIVATE ${PYTHON_INCLUDE_DIRS}) + + # Python debug libraries expose slightly different objects + # https://docs.python.org/3.6/c-api/intro.html#debugging-builds + # https://stackoverflow.com/questions/39161202/how-to-work-around-missing-pymodule-create2-in-amd64-win-python35-d-lib + if(PYTHON_IS_DEBUG) + target_compile_definitions(${target_name} PRIVATE Py_DEBUG) + endif() + + # The prefix and extension are provided by FindPythonLibsNew.cmake + set_target_properties(${target_name} PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}") + set_target_properties(${target_name} PROPERTIES SUFFIX "${PYTHON_MODULE_EXTENSION}") + + # -fvisibility=hidden is required to allow multiple modules compiled against + # different pybind versions to work properly, and for some features (e.g. + # py::module_local). We force it on everything inside the `pybind11` + # namespace; also turning it on for a pybind module compilation here avoids + # potential warnings or issues from having mixed hidden/non-hidden types. + set_target_properties(${target_name} PROPERTIES CXX_VISIBILITY_PRESET "hidden") + set_target_properties(${target_name} PROPERTIES CUDA_VISIBILITY_PRESET "hidden") + + if(WIN32 OR CYGWIN) + # Link against the Python shared library on Windows + target_link_libraries(${target_name} PRIVATE ${PYTHON_LIBRARIES}) + elseif(APPLE) + # It's quite common to have multiple copies of the same Python version + # installed on one's system. E.g.: one copy from the OS and another copy + # that's statically linked into an application like Blender or Maya. + # If we link our plugin library against the OS Python here and import it + # into Blender or Maya later on, this will cause segfaults when multiple + # conflicting Python instances are active at the same time (even when they + # are of the same version). + + # Windows is not affected by this issue since it handles DLL imports + # differently. The solution for Linux and Mac OS is simple: we just don't + # link against the Python library. The resulting shared library will have + # missing symbols, but that's perfectly fine -- they will be resolved at + # import time. + + target_link_libraries(${target_name} PRIVATE "-undefined dynamic_lookup") + + if(ARG_SHARED) + # Suppress CMake >= 3.0 warning for shared libraries + set_target_properties(${target_name} PROPERTIES MACOSX_RPATH ON) + endif() + endif() + + # Make sure C++11/14 are enabled + if(CMAKE_VERSION VERSION_LESS 3.3) + target_compile_options(${target_name} PUBLIC ${PYBIND11_CPP_STANDARD}) + else() + target_compile_options(${target_name} PUBLIC $<$:${PYBIND11_CPP_STANDARD}>) + endif() + + if(ARG_NO_EXTRAS) + return() + endif() + + _pybind11_add_lto_flags(${target_name} ${ARG_THIN_LTO}) + + if (NOT MSVC AND NOT ${CMAKE_BUILD_TYPE} MATCHES Debug) + # Strip unnecessary sections of the binary on Linux/Mac OS + if(CMAKE_STRIP) + if(APPLE) + add_custom_command(TARGET ${target_name} POST_BUILD + COMMAND ${CMAKE_STRIP} -x $) + else() + add_custom_command(TARGET ${target_name} POST_BUILD + COMMAND ${CMAKE_STRIP} $) + endif() + endif() + endif() + + if(MSVC) + # /MP enables multithreaded builds (relevant when there are many files), /bigobj is + # needed for bigger binding projects due to the limit to 64k addressable sections + target_compile_options(${target_name} PRIVATE /bigobj) + if(CMAKE_VERSION VERSION_LESS 3.11) + target_compile_options(${target_name} PRIVATE $<$>:/MP>) + else() + # Only set these options for C++ files. This is important so that, for + # instance, projects that include other types of source files like CUDA + # .cu files don't get these options propagated to nvcc since that would + # cause the build to fail. + target_compile_options(${target_name} PRIVATE $<$>:$<$:/MP>>) + endif() + endif() +endfunction() From 9f3a7617d53f142ae9057791c3192d2d75e3acf3 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 5 Feb 2020 00:44:50 -0500 Subject: [PATCH 0169/1152] replace Cal3_S2 deprecated matrix() with K(), add Cal3DS2 support to triangulation --- gtsam.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index ae6ed4ac8..60a529541 100644 --- a/gtsam.h +++ b/gtsam.h @@ -874,7 +874,7 @@ class Cal3_S2 { double py() const; gtsam::Point2 principalPoint() const; Vector vector() const; - Matrix matrix() const; + Matrix K() const; Matrix matrix_inverse() const; // enabling serialization functionality @@ -1163,6 +1163,9 @@ class StereoCamera { gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses, gtsam::Cal3_S2* sharedCal, const gtsam::Point2Vector& measurements, double rank_tol, bool optimize); +gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses, + gtsam::Cal3DS2* sharedCal, const gtsam::Point2Vector& measurements, + double rank_tol, bool optimize); gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses, gtsam::Cal3Bundler* sharedCal, const gtsam::Point2Vector& measurements, double rank_tol, bool optimize); From 80ff5334ce52ee194d4c9f93a3bc665d52ac653c Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 5 Feb 2020 11:27:57 -0500 Subject: [PATCH 0170/1152] support K() and matrix() for Cal3_S2 --- gtsam.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam.h b/gtsam.h index 60a529541..5a8fcd509 100644 --- a/gtsam.h +++ b/gtsam.h @@ -875,6 +875,7 @@ class Cal3_S2 { gtsam::Point2 principalPoint() const; Vector vector() const; Matrix K() const; + Matrix matrix() const; Matrix matrix_inverse() const; // enabling serialization functionality From 7c6008ae11f574202460542e7142c9ef4da50054 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 5 Feb 2020 15:23:41 -0500 Subject: [PATCH 0171/1152] better organize build badges, and fix links --- README.md | 23 +++++++++++++---------- 1 file changed, 13 insertions(+), 10 deletions(-) diff --git a/README.md b/README.md index c675bcf8e..2022eb7ed 100644 --- a/README.md +++ b/README.md @@ -1,17 +1,20 @@ -gcc/clang: [![Build Status](https://travis-ci.com/borglab/gtsam.svg?branch=develop)](https://travis-ci.com/borglab/gtsam/) MSVC: [![Build status](https://ci.appveyor.com/api/projects/status/3enllitj52jsxwfg/branch/develop?svg=true)](https://ci.appveyor.com/project/dellaert/gtsam) - -# README - Georgia Tech Smoothing and Mapping library +# README - Georgia Tech Smoothing and Mapping Library ## What is GTSAM? -GTSAM is a library of C++ classes that implement smoothing and -mapping (SAM) in robotics and vision, using factor graphs and Bayes -networks as the underlying computing paradigm rather than sparse +GTSAM is a C++ library that implement smoothing and +mapping (SAM) in robotics and vision, using Factor Graphs and Bayes +Networks as the underlying computing paradigm rather than sparse matrices. -On top of the C++ library, GTSAM includes a MATLAB interface (enable -GTSAM_INSTALL_MATLAB_TOOLBOX in CMake to build it). A Python interface -is under development. +| Platform | Build Status | +|:---------:|:-------------:| +| gcc/clang | [![Build Status](https://travis-ci.com/borglab/gtsam.svg?branch=develop)](https://travis-ci.com/borglab/gtsam/) | +| MSVC | [![Build status](https://ci.appveyor.com/api/projects/status/3enllitj52jsxwfg/branch/develop?svg=true)](https://ci.appveyor.com/project/dellaert/gtsam) | + + +On top of the C++ library, GTSAM includes [wrappers for MATLAB & Python](##Wrappers). + ## Quickstart @@ -79,4 +82,4 @@ GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`L Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM. -GTSAM was developed in the lab of [Frank Dellaert](http://www.cc.gatech.edu/~dellaert) at the [Georgia Institute of Technology](http://www.gatech.edu), with the help of many contributors over the years, see [THANKS](THANKS). +GTSAM was developed in the lab of [Frank Dellaert](http://www.cc.gatech.edu/~dellaert) at the [Georgia Institute of Technology](http://www.gatech.edu), with the help of many contributors over the years, see [THANKS](THANKS.md). From 5d39cf209456a022d6f48423fbae8bf8cf758f91 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 5 Feb 2020 21:29:27 -0500 Subject: [PATCH 0172/1152] grammar fixes --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 2022eb7ed..093e35f0f 100644 --- a/README.md +++ b/README.md @@ -2,7 +2,7 @@ ## What is GTSAM? -GTSAM is a C++ library that implement smoothing and +GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices. @@ -44,9 +44,9 @@ Optional prerequisites - used automatically if findable by CMake: ## GTSAM 4 Compatibility -GTSAM 4 will introduce several new features, most notably Expressions and a python toolbox. We will also deprecate some legacy functionality and wrongly named methods, but by default the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 is enabled, allowing anyone to just pull V4 and compile. To build the python toolbox, however, you will have to explicitly disable that flag. +GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. We also deprecate some legacy functionality and wrongly named methods, but by default the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 is enabled, allowing anyone to just pull V4 and compile. To build the python toolbox, however, you will have to explicitly disable that flag. -Also, GTSAM 4 introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we will also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 will be deprecated, so please be aware that this might render functions using their default constructor incorrect. +Also, GTSAM 4 introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect. ## Wrappers @@ -65,7 +65,7 @@ Our implementation improves on this using integration on the manifold, as detail If you are using the factor in academic work, please cite the publications above. -In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in docs/ImuFactor.pdf, is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF. +In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF. ## Additional Information From 4c6d5600b3c6f13ad63c3bb1d59dcb25179cc607 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 6 Feb 2020 23:56:07 -0500 Subject: [PATCH 0173/1152] Cmake print status of Cheirality Exception flag --- CMakeLists.txt | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index c84835d82..6ac85bff6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -73,7 +73,7 @@ option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency c 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_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON) option(GTSAM_ALLOW_DEPRECATED_SINCE_V4 "Allow use of methods/functions deprecated in GTSAM 4" ON) option(GTSAM_TYPEDEF_POINTS_TO_VECTORS "Typedef Point2 and Point3 to Eigen::Vector equivalents" OFF) option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON) @@ -556,6 +556,12 @@ else() endif() message(STATUS " Default allocator : ${GTSAM_DEFAULT_ALLOCATOR}") +if(GTSAM_THROW_CHEIRALITY_EXCEPTION) + message(STATUS " Cheirality exceptions enabled : YES") +else() + message(STATUS " Cheirality exceptions enabled : NO") +endif() + if(NOT MSVC AND NOT XCODE_VERSION) if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE) message(STATUS " Build with ccache : Yes") From 3eb2a4d1b6b3705238f1dbf327b72f1d6cd501d3 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Tue, 11 Feb 2020 09:44:02 -0500 Subject: [PATCH 0174/1152] Add two required string for version detection --- cython/setup.py.in | 2 ++ 1 file changed, 2 insertions(+) diff --git a/cython/setup.py.in b/cython/setup.py.in index 127eb9c3f..aefa11241 100644 --- a/cython/setup.py.in +++ b/cython/setup.py.in @@ -17,6 +17,8 @@ setup( license='Simplified BSD license', keywords='slam sam robotics localization mapping optimization', long_description='''${README_CONTENTS}''', + long_description_content_type='text/markdown', + python_requires='>=2.7', # https://pypi.org/pypi?%3Aaction=list_classifiers classifiers=[ 'Development Status :: 5 - Production/Stable', From 82f4f11df786b7610212362e158315843ae18d7f Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Tue, 11 Feb 2020 14:43:56 -0500 Subject: [PATCH 0175/1152] Add Cython CI --- .travis.python.sh | 29 +++++++++++++++++++++++++++++ .travis.yml | 8 ++++++++ 2 files changed, 37 insertions(+) create mode 100644 .travis.python.sh diff --git a/.travis.python.sh b/.travis.python.sh new file mode 100644 index 000000000..d4f65fd9b --- /dev/null +++ b/.travis.python.sh @@ -0,0 +1,29 @@ +#!/bin/bash +set -x + +# Install a system package required by our library +sudo apt-get install wget libicu libicu-dev + +CURRDIR=$(pwd) + +mkdir $CURRDIR/build +cd $CURRDIR/build + +cmake $CURRDIR -DCMAKE_BUILD_TYPE=Release \ + -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \ + -DGTSAM_USE_QUATERNIONS=OFF \ + -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ + -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \ + -DGTSAM_PYTHON_VERSION=Default \ + -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF \ + -DCMAKE_INSTALL_PREFIX=$CURRDIR/../gtsam_install + +make -j$(nproc) install + +cd $CURRDIR/../gtsam_install/cython + +sudo python setup.py install + +cd $CURRDIR/cython/gtsam/tests + +python -m unittest discover \ No newline at end of file diff --git a/.travis.yml b/.travis.yml index 14fe66ac1..0afe7a43e 100644 --- a/.travis.yml +++ b/.travis.yml @@ -122,3 +122,11 @@ jobs: compiler: clang env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release GTSAM_BUILD_UNSTABLE=OFF GTSAM_USE_QUATERNIONS=ON script: bash .travis.sh -t + - stage: special + os: linux + compiler: gcc + script: bash .travis.python.sh + - stage: special + os: osx + compiler: clang + script: bash .travis.python.sh From 314d94d620fd7bf6adb960a1544266bf1e257825 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Tue, 11 Feb 2020 17:24:32 -0500 Subject: [PATCH 0176/1152] Fix requirements for building --- .travis.python.sh | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.travis.python.sh b/.travis.python.sh index d4f65fd9b..1151f8434 100644 --- a/.travis.python.sh +++ b/.travis.python.sh @@ -1,11 +1,13 @@ #!/bin/bash -set -x +set -x -e # Install a system package required by our library sudo apt-get install wget libicu libicu-dev CURRDIR=$(pwd) +python -m pip install ./cython/requirements.txt + mkdir $CURRDIR/build cd $CURRDIR/build From ef424bf144a05de3a899dc68ea0a87831e759207 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Wed, 12 Feb 2020 00:18:20 -0500 Subject: [PATCH 0177/1152] Fixing install step --- .travis.python.sh | 2 +- .travis.sh | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/.travis.python.sh b/.travis.python.sh index 1151f8434..f909f5307 100644 --- a/.travis.python.sh +++ b/.travis.python.sh @@ -2,7 +2,7 @@ set -x -e # Install a system package required by our library -sudo apt-get install wget libicu libicu-dev +sudo apt-get install wget libicu-dev CURRDIR=$(pwd) diff --git a/.travis.sh b/.travis.sh index bc9029595..9e1e43ad5 100755 --- a/.travis.sh +++ b/.travis.sh @@ -68,6 +68,8 @@ function test () finish } +exit 0 + # select between build or test case $1 in -b) From f59bee260aa16a15354180d920eba18f131c3b4d Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Wed, 12 Feb 2020 01:08:32 -0500 Subject: [PATCH 0178/1152] Fix typo --- .travis.python.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.python.sh b/.travis.python.sh index f909f5307..8c51199c2 100644 --- a/.travis.python.sh +++ b/.travis.python.sh @@ -6,7 +6,7 @@ sudo apt-get install wget libicu-dev CURRDIR=$(pwd) -python -m pip install ./cython/requirements.txt +python -m pip install -r ./cython/requirements.txt mkdir $CURRDIR/build cd $CURRDIR/build From 7e7d0668979c3fea42cd16d4a7b2c3af509d92ba Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Wed, 12 Feb 2020 10:08:12 -0500 Subject: [PATCH 0179/1152] Add missing sudo --- .travis.python.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.python.sh b/.travis.python.sh index 8c51199c2..701166649 100644 --- a/.travis.python.sh +++ b/.travis.python.sh @@ -6,7 +6,7 @@ sudo apt-get install wget libicu-dev CURRDIR=$(pwd) -python -m pip install -r ./cython/requirements.txt +sudo python -m pip install -r ./cython/requirements.txt mkdir $CURRDIR/build cd $CURRDIR/build From 2a5fe53b2baad0272d6ad384226efe417ebb8a20 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Wed, 12 Feb 2020 10:58:16 -0500 Subject: [PATCH 0180/1152] Disable native flag --- .travis.python.sh | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/.travis.python.sh b/.travis.python.sh index 701166649..9b5c4c664 100644 --- a/.travis.python.sh +++ b/.travis.python.sh @@ -1,8 +1,12 @@ #!/bin/bash set -x -e -# Install a system package required by our library -sudo apt-get install wget libicu-dev +if [[ $(uname) == "Darwin" ]]; then + brew install wget +else + # Install a system package required by our library + sudo apt-get install wget libicu-dev +fi CURRDIR=$(pwd) @@ -15,6 +19,7 @@ cmake $CURRDIR -DCMAKE_BUILD_TYPE=Release \ -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \ -DGTSAM_USE_QUATERNIONS=OFF \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ + -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \ -DGTSAM_PYTHON_VERSION=Default \ -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF \ From 0d28ba2c99886e8dcc73a017975b3aa25627d95d Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Wed, 12 Feb 2020 12:48:15 -0500 Subject: [PATCH 0181/1152] Resume normal CI --- .travis.sh | 2 -- 1 file changed, 2 deletions(-) diff --git a/.travis.sh b/.travis.sh index 9e1e43ad5..bc9029595 100755 --- a/.travis.sh +++ b/.travis.sh @@ -68,8 +68,6 @@ function test () finish } -exit 0 - # select between build or test case $1 in -b) From d64badbd21a7e8f9c9167569429fb8154e9402e0 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Thu, 13 Feb 2020 16:41:59 -0500 Subject: [PATCH 0182/1152] Build against Python 3 --- .travis.python.sh | 15 +++++++++++---- .travis.yml | 2 ++ 2 files changed, 13 insertions(+), 4 deletions(-) diff --git a/.travis.python.sh b/.travis.python.sh index 9b5c4c664..5f551976d 100644 --- a/.travis.python.sh +++ b/.travis.python.sh @@ -1,6 +1,13 @@ #!/bin/bash set -x -e +if [ -z ${PYTHON_VERSION+x} ]; then + echo "Please provide the Python version to build against!" + exit 127 +fi + +PYTHON="python${PYTHON_VERSION}" + if [[ $(uname) == "Darwin" ]]; then brew install wget else @@ -10,7 +17,7 @@ fi CURRDIR=$(pwd) -sudo python -m pip install -r ./cython/requirements.txt +sudo $PYTHON -m pip install -r ./cython/requirements.txt mkdir $CURRDIR/build cd $CURRDIR/build @@ -21,7 +28,7 @@ cmake $CURRDIR -DCMAKE_BUILD_TYPE=Release \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \ - -DGTSAM_PYTHON_VERSION=Default \ + -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \ -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF \ -DCMAKE_INSTALL_PREFIX=$CURRDIR/../gtsam_install @@ -29,8 +36,8 @@ make -j$(nproc) install cd $CURRDIR/../gtsam_install/cython -sudo python setup.py install +sudo $PYTHON setup.py install cd $CURRDIR/cython/gtsam/tests -python -m unittest discover \ No newline at end of file +$PYTHON -m unittest discover \ No newline at end of file diff --git a/.travis.yml b/.travis.yml index 0afe7a43e..fe9667330 100644 --- a/.travis.yml +++ b/.travis.yml @@ -125,8 +125,10 @@ jobs: - stage: special os: linux compiler: gcc + env: PYTHON_VERSION=3 script: bash .travis.python.sh - stage: special os: osx compiler: clang + env: PYTHON_VERSION=3 script: bash .travis.python.sh From 2c5153f036816a69266662736a0777c71c159da6 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Fri, 14 Feb 2020 11:31:53 -0500 Subject: [PATCH 0183/1152] Fix Linux build --- .travis.python.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.python.sh b/.travis.python.sh index 5f551976d..d126e26ff 100644 --- a/.travis.python.sh +++ b/.travis.python.sh @@ -12,7 +12,7 @@ if [[ $(uname) == "Darwin" ]]; then brew install wget else # Install a system package required by our library - sudo apt-get install wget libicu-dev + sudo apt-get install wget libicu-dev python3-pip fi CURRDIR=$(pwd) From a7b8bf8e6ffc4c593615b858e6fb05a8b97547fe Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Fri, 14 Feb 2020 13:44:00 -0500 Subject: [PATCH 0184/1152] Include setuptools --- .travis.python.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.python.sh b/.travis.python.sh index d126e26ff..1ef5799aa 100644 --- a/.travis.python.sh +++ b/.travis.python.sh @@ -12,7 +12,7 @@ if [[ $(uname) == "Darwin" ]]; then brew install wget else # Install a system package required by our library - sudo apt-get install wget libicu-dev python3-pip + sudo apt-get install wget libicu-dev python3-pip python3-setuptools fi CURRDIR=$(pwd) From 13f1e6fba7fd182b8d408dd7b0674ceb4cc0b289 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 21 Feb 2020 11:58:17 -0500 Subject: [PATCH 0185/1152] Added override everywhere where it was needed --- gtsam/linear/HessianFactor.h | 45 ++++++++++++++++--------------- gtsam/linear/JacobianFactor.h | 50 +++++++++++++++++++---------------- 2 files changed, 51 insertions(+), 44 deletions(-) diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index f0c79d8fb..d1c362a54 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -186,25 +186,28 @@ namespace gtsam { virtual ~HessianFactor() {} /** Clone this HessianFactor */ - virtual GaussianFactor::shared_ptr clone() const { + GaussianFactor::shared_ptr clone() const override { return boost::make_shared(*this); } /** Print the factor for debugging and testing (implementing Testable) */ - virtual void print(const std::string& s = "", - const KeyFormatter& formatter = DefaultKeyFormatter) const; + void print(const std::string& s = "", + const KeyFormatter& formatter = DefaultKeyFormatter) const override; /** Compare to another factor for testing (implementing Testable) */ - virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const; + bool equals(const GaussianFactor& lf, double tol = 1e-9) const override; - /** Evaluate the factor error f(x), see above. */ - virtual double error(const VectorValues& c) const; /** 0.5*[x -1]'*H*[x -1] (also see constructor documentation) */ + /** + * Evaluate the factor error f(x). + * returns 0.5*[x -1]'*H*[x -1] (also see constructor documentation) + */ + double error(const VectorValues& c) const override; /** Return the dimension of the variable pointed to by the given key iterator * todo: Remove this in favor of keeping track of dimensions with variables? * @param variable An iterator pointing to the slot in this factor. You can * use, for example, begin() + 2 to get the 3rd variable in this factor. */ - virtual DenseIndex getDim(const_iterator variable) const { + DenseIndex getDim(const_iterator variable) const override { return info_.getDim(std::distance(begin(), variable)); } @@ -216,10 +219,10 @@ namespace gtsam { * stored stored in this factor. * @return a HessianFactor with negated Hessian matrices */ - virtual GaussianFactor::shared_ptr negate() const; + GaussianFactor::shared_ptr negate() const override; /** Check if the factor is empty. TODO: How should this be defined? */ - virtual bool empty() const { return size() == 0 /*|| rows() == 0*/; } + bool empty() const override { return size() == 0 /*|| rows() == 0*/; } /** Return the constant term \f$ f \f$ as described above * @return The constant term \f$ f \f$ @@ -280,7 +283,7 @@ namespace gtsam { * representation of the augmented information matrix, which stores only the * upper triangle. */ - virtual Matrix augmentedInformation() const; + Matrix augmentedInformation() const override; /// Return self-adjoint view onto the information matrix (NOT augmented). Eigen::SelfAdjointView informationView() const; @@ -288,33 +291,33 @@ namespace gtsam { /** Return the non-augmented information matrix represented by this * GaussianFactor. */ - virtual Matrix information() const; + Matrix information() const override; /// Return the diagonal of the Hessian for this factor - virtual VectorValues hessianDiagonal() const; + VectorValues hessianDiagonal() const override; /// Raw memory access version of hessianDiagonal - virtual void hessianDiagonal(double* d) const; + void hessianDiagonal(double* d) const override; /// Return the block diagonal of the Hessian for this factor - virtual std::map hessianBlockDiagonal() const; + std::map hessianBlockDiagonal() const override; /// Return (dense) matrix associated with factor - virtual std::pair jacobian() const; + std::pair jacobian() const override; /** * Return (dense) matrix associated with factor * The returned system is an augmented matrix: [A b] * @param set weight to use whitening to bake in weights */ - virtual Matrix augmentedJacobian() const; + Matrix augmentedJacobian() const override; /** Update an information matrix by adding the information corresponding to this factor * (used internally during elimination). * @param keys THe ordered vector of keys for the information matrix to be updated * @param info The information matrix to be updated */ - void updateHessian(const KeyVector& keys, SymmetricBlockMatrix* info) const; + void updateHessian(const KeyVector& keys, SymmetricBlockMatrix* info) const override; /** Update another Hessian factor * @param other the HessianFactor to be updated @@ -325,19 +328,19 @@ namespace gtsam { } /** y += alpha * A'*A*x */ - void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const; + void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const override; /// eta for Hessian - VectorValues gradientAtZero() const; + VectorValues gradientAtZero() const override; /// Raw memory access version of gradientAtZero - virtual void gradientAtZero(double* d) const; + void gradientAtZero(double* d) const override; /** * Compute the gradient at a key: * \grad f(x_i) = \sum_j G_ij*x_j - g_i */ - Vector gradient(Key key, const VectorValues& x) const; + Vector gradient(Key key, const VectorValues& x) const override; /** * In-place elimination that returns a conditional on (ordered) keys specified, and leaves diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 53ce4b9ca..fad05a729 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -186,19 +186,19 @@ namespace gtsam { virtual ~JacobianFactor() {} /** Clone this JacobianFactor */ - virtual GaussianFactor::shared_ptr clone() const { + GaussianFactor::shared_ptr clone() const override { return boost::static_pointer_cast( boost::make_shared(*this)); } // Implementing Testable interface - virtual void print(const std::string& s = "", - const KeyFormatter& formatter = DefaultKeyFormatter) const; - virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const; + void print(const std::string& s = "", + const KeyFormatter& formatter = DefaultKeyFormatter) const override; + bool equals(const GaussianFactor& lf, double tol = 1e-9) const override; Vector unweighted_error(const VectorValues& c) const; /** (A*x-b) */ Vector error_vector(const VectorValues& c) const; /** (A*x-b)/sigma */ - virtual double error(const VectorValues& c) const; /** 0.5*(A*x-b)'*D*(A*x-b) */ + double error(const VectorValues& c) const override; /** 0.5*(A*x-b)'*D*(A*x-b) */ /** Return the augmented information matrix represented by this GaussianFactor. * The augmented information matrix contains the information matrix with an @@ -208,26 +208,26 @@ namespace gtsam { * augmented information matrix is described in more detail in HessianFactor, * which in fact stores an augmented information matrix. */ - virtual Matrix augmentedInformation() const; + Matrix augmentedInformation() const override; /** Return the non-augmented information matrix represented by this * GaussianFactor. */ - virtual Matrix information() const; + Matrix information() const override; /// Return the diagonal of the Hessian for this factor - virtual VectorValues hessianDiagonal() const; + VectorValues hessianDiagonal() const override; /// Raw memory access version of hessianDiagonal - virtual void hessianDiagonal(double* d) const; + void hessianDiagonal(double* d) const override; /// Return the block diagonal of the Hessian for this factor - virtual std::map hessianBlockDiagonal() const; + std::map hessianBlockDiagonal() const override; /** * @brief Returns (dense) A,b pair associated with factor, bakes in the weights */ - virtual std::pair jacobian() const; + std::pair jacobian() const override; /** * @brief Returns (dense) A,b pair associated with factor, does not bake in weights @@ -237,7 +237,7 @@ namespace gtsam { /** Return (dense) matrix associated with factor. The returned system is an augmented matrix: * [A b] * weights are baked in */ - virtual Matrix augmentedJacobian() const; + Matrix augmentedJacobian() const override; /** Return (dense) matrix associated with factor. The returned system is an augmented matrix: * [A b] @@ -255,10 +255,10 @@ namespace gtsam { * stored stored in this factor. * @return a HessianFactor with negated Hessian matrices */ - virtual GaussianFactor::shared_ptr negate() const; + GaussianFactor::shared_ptr negate() const override; /** Check if the factor is empty. TODO: How should this be defined? */ - virtual bool empty() const { return size() == 0 /*|| rows() == 0*/; } + bool empty() const override { return size() == 0 /*|| rows() == 0*/; } /** is noise model constrained ? */ bool isConstrained() const { @@ -268,7 +268,9 @@ namespace gtsam { /** Return the dimension of the variable pointed to by the given key iterator * todo: Remove this in favor of keeping track of dimensions with variables? */ - virtual DenseIndex getDim(const_iterator variable) const { return Ab_(variable - begin()).cols(); } + DenseIndex getDim(const_iterator variable) const override { + return Ab_(variable - begin()).cols(); + } /** * return the number of rows in the corresponding linear system @@ -309,17 +311,19 @@ namespace gtsam { * @param scatter A mapping from variable index to slot index in this HessianFactor * @param info The information matrix to be updated */ - void updateHessian(const KeyVector& keys, SymmetricBlockMatrix* info) const; + void updateHessian(const KeyVector& keys, SymmetricBlockMatrix* info) const override; /** Return A*x */ Vector operator*(const VectorValues& x) const; - /** x += A'*e. If x is initially missing any values, they are created and assumed to start as - * zero vectors. */ - void transposeMultiplyAdd(double alpha, const Vector& e, VectorValues& x) const; + /** x += alpha * A'*e. If x is initially missing any values, they are + * created and assumed to start as zero vectors. */ + void transposeMultiplyAdd(double alpha, const Vector& e, + VectorValues& x) const; /** y += alpha * A'*A*x */ - void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const; + void multiplyHessianAdd(double alpha, const VectorValues& x, + VectorValues& y) const override; /** * Raw memory access version of multiplyHessianAdd y += alpha * A'*A*x @@ -333,13 +337,13 @@ namespace gtsam { const std::vector& accumulatedDims) const; /// A'*b for Jacobian - VectorValues gradientAtZero() const; + VectorValues gradientAtZero() const override; /// A'*b for Jacobian (raw memory version) - virtual void gradientAtZero(double* d) const; + void gradientAtZero(double* d) const override; /// Compute the gradient wrt a key at any values - Vector gradient(Key key, const VectorValues& x) const; + Vector gradient(Key key, const VectorValues& x) const override; /** Return a whitened version of the factor, i.e. with unit diagonal noise model. */ JacobianFactor whiten() const; From 0a9cc8ae62709f91c4b3edac60d1e5d9587fc537 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 21 Feb 2020 13:56:34 -0500 Subject: [PATCH 0186/1152] Separate matrix row values with commas Separating row values with commas is supported by MATLAB so no effect there, but this also helps when printing with Python and C++ since the output can be directly copied without modification. --- gtsam/base/Matrix.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp index 705d84d25..f9a2e83a9 100644 --- a/gtsam/base/Matrix.cpp +++ b/gtsam/base/Matrix.cpp @@ -142,7 +142,7 @@ void print(const Matrix& A, const string &s, ostream& stream) { static const Eigen::IOFormat matlab( Eigen::StreamPrecision, // precision 0, // flags - " ", // coeffSeparator + ", ", // coeffSeparator ";\n", // rowSeparator " \t", // rowPrefix "", // rowSuffix From aa18546d7ca2a3d0cc99087d5b671e448cd0f297 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 21 Feb 2020 13:58:27 -0500 Subject: [PATCH 0187/1152] use in-built stream support for translation vector rather than duplication of code --- gtsam/geometry/Pose3.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index 0acadf5bc..31033a027 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -106,7 +106,7 @@ Vector6 Pose3::adjointTranspose(const Vector6& xi, const Vector6& y, void Pose3::print(const string& s) const { cout << s; R_.print("R:\n"); - cout << '[' << t_.x() << ", " << t_.y() << ", " << t_.z() << "]\';"; + cout << t_ << ";" << endl; } /* ************************************************************************* */ From d9923fc3cc36605ce52ab35a71bb4a69713d045f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 21 Feb 2020 19:42:55 -0500 Subject: [PATCH 0188/1152] replaced/appended all calls to SimpleCamera with PinholeCameraCal3_S2 --- cython/gtsam/examples/ImuFactorExample2.py | 2 +- cython/gtsam/examples/SFMExample.py | 4 +- cython/gtsam/examples/VisualISAMExample.py | 4 +- cython/gtsam/tests/test_SimpleCamera.py | 8 +- cython/gtsam/utils/visual_data_generator.py | 2 +- examples/CameraResectioning.cpp | 4 +- examples/ISAM2Example_SmartFactor.cpp | 2 +- examples/ImuFactorExample2.cpp | 4 +- examples/SFMExample.cpp | 2 +- examples/SFMExampleExpressions.cpp | 4 +- examples/SFMdata.h | 5 +- examples/SelfCalibrationExample.cpp | 2 +- examples/VisualISAM2Example.cpp | 2 +- examples/VisualISAMExample.cpp | 2 +- gtsam.h | 18 ++-- gtsam/geometry/BearingRange.h | 4 +- gtsam/geometry/tests/testTriangulation.cpp | 26 +++--- gtsam/nonlinear/Expression.h | 2 +- gtsam/nonlinear/utilities.h | 4 +- gtsam/sam/tests/testRangeFactor.cpp | 11 +-- gtsam/slam/EssentialMatrixFactor.h | 2 +- gtsam/slam/ProjectionFactor.h | 3 +- .../slam/tests/testEssentialMatrixFactor.cpp | 1 + gtsam/slam/tests/testTriangulationFactor.cpp | 6 +- .../geometry/tests/testInvDepthCamera3.cpp | 5 +- gtsam_unstable/slam/MultiProjectionFactor.h | 2 +- gtsam_unstable/slam/serialization.cpp | 79 +++++++++--------- .../slam/tests/testInvDepthFactor3.cpp | 6 +- .../testSmartStereoProjectionPoseFactor.cpp | 6 +- matlab/+gtsam/Contents.m | 1 + matlab/+gtsam/VisualISAMGenerateData.m | 2 +- matlab/+gtsam/cylinderSampleProjection.m | 2 +- matlab/gtsam_examples/CameraFlyingExample.m | 4 +- matlab/gtsam_examples/SBAExample.m | 4 +- matlab/gtsam_tests/testTriangulation.m | 4 +- .../covarianceAnalysisCreateTrajectory.m | 4 +- .../TransformCalProjectionFactorExampleISAM.m | 2 +- ...ansformCalProjectionFactorIMUExampleISAM.m | 2 +- .../TransformProjectionFactorExample.m | 2 +- .../TransformProjectionFactorExampleISAM.m | 2 +- matlab/unstable_examples/project_landmarks.m | 2 +- tests/testNonlinearEquality.cpp | 6 +- tests/testSerializationSLAM.cpp | 83 ++++++++++--------- tests/testVisualISAM2.cpp | 2 +- 44 files changed, 180 insertions(+), 164 deletions(-) diff --git a/cython/gtsam/examples/ImuFactorExample2.py b/cython/gtsam/examples/ImuFactorExample2.py index 1f6732f49..4b86d4837 100644 --- a/cython/gtsam/examples/ImuFactorExample2.py +++ b/cython/gtsam/examples/ImuFactorExample2.py @@ -81,7 +81,7 @@ def IMU_example(): up = gtsam.Point3(0, 0, 1) target = gtsam.Point3(0, 0, 0) position = gtsam.Point3(radius, 0, 0) - camera = gtsam.SimpleCamera.Lookat(position, target, up, gtsam.Cal3_S2()) + camera = gtsam.PinholeCameraCal3_S2.Lookat(position, target, up, gtsam.Cal3_S2()) pose_0 = camera.pose() # Create the set of ground-truth landmarks and poses diff --git a/cython/gtsam/examples/SFMExample.py b/cython/gtsam/examples/SFMExample.py index bf46f09d5..21b90a60f 100644 --- a/cython/gtsam/examples/SFMExample.py +++ b/cython/gtsam/examples/SFMExample.py @@ -16,7 +16,7 @@ from gtsam.examples import SFMdata from gtsam.gtsam import (Cal3_S2, DoglegOptimizer, GenericProjectionFactorCal3_S2, NonlinearFactorGraph, Point3, Pose3, PriorFactorPoint3, PriorFactorPose3, - Rot3, SimpleCamera, Values) + Rot3, PinholeCameraCal3_S2, Values) def symbol(name: str, index: int) -> int: @@ -75,7 +75,7 @@ def main(): # Simulated measurements from each camera pose, adding them to the factor graph for i, pose in enumerate(poses): - camera = SimpleCamera(pose, K) + camera = PinholeCameraCal3_S2(pose, K) for j, point in enumerate(points): measurement = camera.project(point) factor = GenericProjectionFactorCal3_S2( diff --git a/cython/gtsam/examples/VisualISAMExample.py b/cython/gtsam/examples/VisualISAMExample.py index f4d81eaf7..b7b83e2a1 100644 --- a/cython/gtsam/examples/VisualISAMExample.py +++ b/cython/gtsam/examples/VisualISAMExample.py @@ -18,7 +18,7 @@ from gtsam.examples import SFMdata from gtsam.gtsam import (Cal3_S2, GenericProjectionFactorCal3_S2, NonlinearFactorGraph, NonlinearISAM, Point3, Pose3, PriorFactorPoint3, PriorFactorPose3, Rot3, - SimpleCamera, Values) + PinholeCameraCal3_S2, Values) def symbol(name: str, index: int) -> int: @@ -54,7 +54,7 @@ def main(): # Loop over the different poses, adding the observations to iSAM incrementally for i, pose in enumerate(poses): - camera = SimpleCamera(pose, K) + camera = PinholeCameraCal3_S2(pose, K) # Add factors for each landmark observation for j, point in enumerate(points): measurement = camera.project(point) diff --git a/cython/gtsam/tests/test_SimpleCamera.py b/cython/gtsam/tests/test_SimpleCamera.py index efdfec561..a3654a5f1 100644 --- a/cython/gtsam/tests/test_SimpleCamera.py +++ b/cython/gtsam/tests/test_SimpleCamera.py @@ -5,7 +5,7 @@ All Rights Reserved See LICENSE for the license information -SimpleCamera unit tests. +PinholeCameraCal3_S2 unit tests. Author: Frank Dellaert & Duy Nguyen Ta (Python) """ import math @@ -14,7 +14,7 @@ import unittest import numpy as np import gtsam -from gtsam import Cal3_S2, Point3, Pose2, Pose3, Rot3, SimpleCamera +from gtsam import Cal3_S2, Point3, Pose2, Pose3, Rot3, PinholeCameraCal3_S2 from gtsam.utils.test_case import GtsamTestCase K = Cal3_S2(625, 625, 0, 0, 0) @@ -23,14 +23,14 @@ class TestSimpleCamera(GtsamTestCase): def test_constructor(self): pose1 = Pose3(Rot3(np.diag([1, -1, -1])), Point3(0, 0, 0.5)) - camera = SimpleCamera(pose1, K) + camera = PinholeCameraCal3_S2(pose1, K) self.gtsamAssertEquals(camera.calibration(), K, 1e-9) self.gtsamAssertEquals(camera.pose(), pose1, 1e-9) def test_level2(self): # Create a level camera, looking in Y-direction pose2 = Pose2(0.4,0.3,math.pi/2.0) - camera = SimpleCamera.Level(K, pose2, 0.1) + camera = PinholeCameraCal3_S2.Level(K, pose2, 0.1) # expected x = Point3(1,0,0) diff --git a/cython/gtsam/utils/visual_data_generator.py b/cython/gtsam/utils/visual_data_generator.py index 91194c565..7cd885d49 100644 --- a/cython/gtsam/utils/visual_data_generator.py +++ b/cython/gtsam/utils/visual_data_generator.py @@ -99,7 +99,7 @@ def generate_data(options): for i in range(options.nrCameras): theta = i * 2 * pi / options.nrCameras t = gtsam.Point3(r * cos(theta), r * sin(theta), height) - truth.cameras[i] = gtsam.SimpleCamera.Lookat(t, + truth.cameras[i] = gtsam.PinholeCameraCal3_S2.Lookat(t, gtsam.Point3(), gtsam.Point3(0, 0, 1), truth.K) diff --git a/examples/CameraResectioning.cpp b/examples/CameraResectioning.cpp index e3408b67b..e93e6ffca 100644 --- a/examples/CameraResectioning.cpp +++ b/examples/CameraResectioning.cpp @@ -18,7 +18,7 @@ #include #include -#include +#include #include using namespace gtsam; @@ -47,7 +47,7 @@ public: /// evaluate the error virtual Vector evaluateError(const Pose3& pose, boost::optional H = boost::none) const { - SimpleCamera camera(pose, *K_); + PinholeCamera camera(pose, *K_); return camera.project(P_, H, boost::none, boost::none) - p_; } }; diff --git a/examples/ISAM2Example_SmartFactor.cpp b/examples/ISAM2Example_SmartFactor.cpp index d8fee1516..46b9fcd47 100644 --- a/examples/ISAM2Example_SmartFactor.cpp +++ b/examples/ISAM2Example_SmartFactor.cpp @@ -4,7 +4,7 @@ * @author Alexander (pumaking on BitBucket) */ -#include +#include #include #include #include diff --git a/examples/ImuFactorExample2.cpp b/examples/ImuFactorExample2.cpp index 25a6adf51..4ebc342eb 100644 --- a/examples/ImuFactorExample2.cpp +++ b/examples/ImuFactorExample2.cpp @@ -1,5 +1,5 @@ -#include +#include #include #include #include @@ -34,7 +34,7 @@ int main(int argc, char* argv[]) { double radius = 30; const Point3 up(0, 0, 1), target(0, 0, 0); const Point3 position(radius, 0, 0); - const SimpleCamera camera = SimpleCamera::Lookat(position, target, up); + const PinholeCamera camera = PinholeCamera::Lookat(position, target, up); const auto pose_0 = camera.pose(); // Now, create a constant-twist scenario that makes the camera orbit the diff --git a/examples/SFMExample.cpp b/examples/SFMExample.cpp index 8c87fa315..16cd25dba 100644 --- a/examples/SFMExample.cpp +++ b/examples/SFMExample.cpp @@ -79,7 +79,7 @@ int main(int argc, char* argv[]) { // Simulated measurements from each camera pose, adding them to the factor graph for (size_t i = 0; i < poses.size(); ++i) { - SimpleCamera camera(poses[i], *K); + PinholeCamera camera(poses[i], *K); for (size_t j = 0; j < points.size(); ++j) { Point2 measurement = camera.project(points[j]); graph.emplace_shared >(measurement, measurementNoise, Symbol('x', i), Symbol('l', j), K); diff --git a/examples/SFMExampleExpressions.cpp b/examples/SFMExampleExpressions.cpp index 191664ef6..73b6f27f7 100644 --- a/examples/SFMExampleExpressions.cpp +++ b/examples/SFMExampleExpressions.cpp @@ -27,7 +27,7 @@ #include // Header order is close to far -#include +#include "SFMdata.h" #include #include #include @@ -67,7 +67,7 @@ int main(int argc, char* argv[]) { // Simulated measurements from each camera pose, adding them to the factor graph for (size_t i = 0; i < poses.size(); ++i) { Pose3_ x('x', i); - SimpleCamera camera(poses[i], K); + PinholeCamera camera(poses[i], K); for (size_t j = 0; j < points.size(); ++j) { Point2 measurement = camera.project(points[j]); // Below an expression for the prediction of the measurement: diff --git a/examples/SFMdata.h b/examples/SFMdata.h index 5462868c9..04d3c9e47 100644 --- a/examples/SFMdata.h +++ b/examples/SFMdata.h @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file SFMMdata.h + * @file SFMdata.h * @brief Simple example for the structure-from-motion problems * @author Duy-Nguyen Ta */ @@ -30,7 +30,8 @@ #include // We will also need a camera object to hold calibration information and perform projections. -#include +#include +#include /* ************************************************************************* */ std::vector createPoints() { diff --git a/examples/SelfCalibrationExample.cpp b/examples/SelfCalibrationExample.cpp index ba097c074..1d26ea0aa 100644 --- a/examples/SelfCalibrationExample.cpp +++ b/examples/SelfCalibrationExample.cpp @@ -61,7 +61,7 @@ int main(int argc, char* argv[]) { noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); for (size_t i = 0; i < poses.size(); ++i) { for (size_t j = 0; j < points.size(); ++j) { - SimpleCamera camera(poses[i], K); + PinholeCamera camera(poses[i], K); Point2 measurement = camera.project(points[j]); // The only real difference with the Visual SLAM example is that here we use a // different factor type, that also calculates the Jacobian with respect to calibration diff --git a/examples/VisualISAM2Example.cpp b/examples/VisualISAM2Example.cpp index 35bc9bcf6..db9090de6 100644 --- a/examples/VisualISAM2Example.cpp +++ b/examples/VisualISAM2Example.cpp @@ -89,7 +89,7 @@ int main(int argc, char* argv[]) { for (size_t i = 0; i < poses.size(); ++i) { // Add factors for each landmark observation for (size_t j = 0; j < points.size(); ++j) { - SimpleCamera camera(poses[i], *K); + PinholeCamera camera(poses[i], *K); Point2 measurement = camera.project(points[j]); graph.emplace_shared >( measurement, measurementNoise, Symbol('x', i), Symbol('l', j), K); diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp index 7a58deeb7..b4086910b 100644 --- a/examples/VisualISAMExample.cpp +++ b/examples/VisualISAMExample.cpp @@ -86,7 +86,7 @@ int main(int argc, char* argv[]) { // Add factors for each landmark observation for (size_t j = 0; j < points.size(); ++j) { // Create ground truth measurement - SimpleCamera camera(poses[i], *K); + PinholeCamera camera(poses[i], *K); Point2 measurement = camera.project(points[j]); // Add measurement graph.emplace_shared >(measurement, noise, diff --git a/gtsam.h b/gtsam.h index c0ed4d20f..caf377863 100644 --- a/gtsam.h +++ b/gtsam.h @@ -281,7 +281,7 @@ virtual class Value { }; #include -template +template virtual class GenericValue : gtsam::Value { void serializable() const; }; @@ -2133,7 +2133,7 @@ class Values { 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::SimpleCamera& simpel_camera); + void insert(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera); void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); void insert(size_t j, Vector vector); void insert(size_t j, Matrix matrix); @@ -2454,7 +2454,7 @@ class ISAM2 { template + gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, Vector, Matrix}> VALUE calculateEstimate(size_t key) const; gtsam::Values calculateBestEstimate() const; Matrix marginalCovariance(size_t key) const; @@ -2492,7 +2492,7 @@ 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; @@ -2515,7 +2515,7 @@ virtual class BetweenFactor : gtsam::NoiseModelFactor { #include -template +template virtual class NonlinearEquality : gtsam::NoiseModelFactor { // Constructor - forces exact evaluation NonlinearEquality(size_t j, const T& feasible); @@ -2541,9 +2541,9 @@ typedef gtsam::RangeFactor RangeFactor3D; typedef gtsam::RangeFactor RangeFactorPose2; typedef gtsam::RangeFactor RangeFactorPose3; typedef gtsam::RangeFactor RangeFactorCalibratedCameraPoint; -typedef gtsam::RangeFactor RangeFactorSimpleCameraPoint; +typedef gtsam::RangeFactor RangeFactorSimpleCameraPoint; typedef gtsam::RangeFactor RangeFactorCalibratedCamera; -typedef gtsam::RangeFactor RangeFactorSimpleCamera; +typedef gtsam::RangeFactor RangeFactorSimpleCamera; #include @@ -2634,7 +2634,7 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor { GeneralSFMFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t cameraKey, size_t landmarkKey); gtsam::Point2 measured() const; }; -typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3_S2; +typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3_S2; // due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2 //typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; @@ -3134,7 +3134,7 @@ namespace utilities { void perturbPoint2(gtsam::Values& values, double sigma, int seed); void perturbPose2 (gtsam::Values& values, double sigmaT, double sigmaR, int seed); void perturbPoint3(gtsam::Values& values, double sigma, int seed); - void insertBackprojections(gtsam::Values& values, const gtsam::SimpleCamera& c, Vector J, Matrix Z, double depth); + void insertBackprojections(gtsam::Values& values, const gtsam::PinholeCameraCal3_S2& c, Vector J, Matrix Z, double depth); void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K); void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K, const gtsam::Pose3& body_P_sensor); Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values); diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h index 8214b0727..7c73f3cbd 100644 --- a/gtsam/geometry/BearingRange.h +++ b/gtsam/geometry/BearingRange.h @@ -187,8 +187,8 @@ struct HasBearing { }; // Similar helper class for to implement Range traits for classes with a range method -// For classes with overloaded range methods, such as SimpleCamera, this can even be templated: -// template struct Range : HasRange {}; +// For classes with overloaded range methods, such as PinholeCamera, this can even be templated: +// template struct Range : HasRange {}; template struct HasRange { typedef RT result_type; diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp index 97412f94d..d2f0c91df 100644 --- a/gtsam/geometry/tests/testTriangulation.cpp +++ b/gtsam/geometry/tests/testTriangulation.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include @@ -151,7 +151,7 @@ TEST( triangulation, fourPoses) { // 3. Add a slightly rotated third camera above, again with measurement noise Pose3 pose3 = pose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1)); - SimpleCamera camera3(pose3, *sharedCal); + PinholeCamera camera3(pose3, *sharedCal); Point2 z3 = camera3.project(landmark); poses += pose3; @@ -168,7 +168,7 @@ TEST( triangulation, fourPoses) { // 4. Test failure: Add a 4th camera facing the wrong way Pose3 pose4 = Pose3(Rot3::Ypr(M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera camera4(pose4, *sharedCal); + PinholeCamera camera4(pose4, *sharedCal); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION CHECK_EXCEPTION(camera4.project(landmark), CheiralityException); @@ -185,17 +185,17 @@ TEST( triangulation, fourPoses) { TEST( triangulation, fourPoses_distinct_Ks) { Cal3_S2 K1(1500, 1200, 0, 640, 480); // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - SimpleCamera camera1(pose1, K1); + PinholeCamera camera1(pose1, K1); // create second camera 1 meter to the right of first camera Cal3_S2 K2(1600, 1300, 0, 650, 440); - SimpleCamera camera2(pose2, K2); + PinholeCamera camera2(pose2, K2); // 1. Project two landmarks into two cameras and triangulate Point2 z1 = camera1.project(landmark); Point2 z2 = camera2.project(landmark); - CameraSet cameras; + CameraSet > cameras; Point2Vector measurements; cameras += camera1, camera2; @@ -216,7 +216,7 @@ TEST( triangulation, fourPoses_distinct_Ks) { // 3. Add a slightly rotated third camera above, again with measurement noise Pose3 pose3 = pose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1)); Cal3_S2 K3(700, 500, 0, 640, 480); - SimpleCamera camera3(pose3, K3); + PinholeCamera camera3(pose3, K3); Point2 z3 = camera3.project(landmark); cameras += camera3; @@ -234,7 +234,7 @@ TEST( triangulation, fourPoses_distinct_Ks) { // 4. Test failure: Add a 4th camera facing the wrong way Pose3 pose4 = Pose3(Rot3::Ypr(M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); Cal3_S2 K4(700, 500, 0, 640, 480); - SimpleCamera camera4(pose4, K4); + PinholeCamera camera4(pose4, K4); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION CHECK_EXCEPTION(camera4.project(landmark), CheiralityException); @@ -250,17 +250,17 @@ TEST( triangulation, fourPoses_distinct_Ks) { TEST( triangulation, outliersAndFarLandmarks) { Cal3_S2 K1(1500, 1200, 0, 640, 480); // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - SimpleCamera camera1(pose1, K1); + PinholeCamera camera1(pose1, K1); // create second camera 1 meter to the right of first camera Cal3_S2 K2(1600, 1300, 0, 650, 440); - SimpleCamera camera2(pose2, K2); + PinholeCamera camera2(pose2, K2); // 1. Project two landmarks into two cameras and triangulate Point2 z1 = camera1.project(landmark); Point2 z2 = camera2.project(landmark); - CameraSet cameras; + CameraSet > cameras; Point2Vector measurements; cameras += camera1, camera2; @@ -280,7 +280,7 @@ TEST( triangulation, outliersAndFarLandmarks) { // 3. Add a slightly rotated third camera above with a wrong measurement (OUTLIER) Pose3 pose3 = pose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1)); Cal3_S2 K3(700, 500, 0, 640, 480); - SimpleCamera camera3(pose3, K3); + PinholeCamera camera3(pose3, K3); Point2 z3 = camera3.project(landmark); cameras += camera3; @@ -302,7 +302,7 @@ TEST( triangulation, outliersAndFarLandmarks) { //****************************************************************************** TEST( triangulation, twoIdenticalPoses) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - SimpleCamera camera1(pose1, *sharedCal); + PinholeCamera camera1(pose1, *sharedCal); // 1. Project two landmarks into two cameras and triangulate Point2 z1 = camera1.project(landmark); diff --git a/gtsam/nonlinear/Expression.h b/gtsam/nonlinear/Expression.h index 7d02d479c..9e8aa3f29 100644 --- a/gtsam/nonlinear/Expression.h +++ b/gtsam/nonlinear/Expression.h @@ -66,7 +66,7 @@ public: // Expressions wrap trees of functions that can evaluate their own derivatives. // The meta-functions below are useful to specify the type of those functions. // Example, a function taking a camera and a 3D point and yielding a 2D point: - // Expression::BinaryFunction::type + // Expression::BinaryFunction,Point3>::type template struct UnaryFunction { typedef boost::function< diff --git a/gtsam/nonlinear/utilities.h b/gtsam/nonlinear/utilities.h index 867db70e0..cf9fb9482 100644 --- a/gtsam/nonlinear/utilities.h +++ b/gtsam/nonlinear/utilities.h @@ -28,7 +28,7 @@ #include #include #include -#include +#include #include @@ -169,7 +169,7 @@ void perturbPoint3(Values& values, double sigma, int32_t seed = 42u) { } /// Insert a number of initial point values by backprojecting -void insertBackprojections(Values& values, const SimpleCamera& camera, +void insertBackprojections(Values& values, const PinholeCamera& camera, const Vector& J, const Matrix& Z, double depth) { if (Z.rows() != 2) throw std::invalid_argument("insertBackProjections: Z must be 2*K"); diff --git a/gtsam/sam/tests/testRangeFactor.cpp b/gtsam/sam/tests/testRangeFactor.cpp index 5d57886f5..0d19918f6 100644 --- a/gtsam/sam/tests/testRangeFactor.cpp +++ b/gtsam/sam/tests/testRangeFactor.cpp @@ -19,7 +19,8 @@ #include #include #include -#include +#include +#include #include #include #include @@ -353,11 +354,11 @@ TEST(RangeFactor, Point3) { } /* ************************************************************************* */ -// Do tests with SimpleCamera +// Do tests with PinholeCamera TEST( RangeFactor, Camera) { - RangeFactor factor1(poseKey, pointKey, measurement, model); - RangeFactor factor2(poseKey, pointKey, measurement, model); - RangeFactor factor3(poseKey, pointKey, measurement, model); + RangeFactor,Point3> factor1(poseKey, pointKey, measurement, model); + RangeFactor,Pose3> factor2(poseKey, pointKey, measurement, model); + RangeFactor,PinholeCamera> factor3(poseKey, pointKey, measurement, model); } /* ************************************************************************* */ diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h index 2e921bfef..8bd155a14 100644 --- a/gtsam/slam/EssentialMatrixFactor.h +++ b/gtsam/slam/EssentialMatrixFactor.h @@ -9,7 +9,7 @@ #include #include -#include +#include #include namespace gtsam { diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index 4a8a6b138..856913aae 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -21,7 +21,8 @@ #pragma once #include -#include +#include +#include #include namespace gtsam { diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp index b2d368b67..05a94dab9 100644 --- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp +++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp @@ -13,6 +13,7 @@ #include #include #include +#include #include #include diff --git a/gtsam/slam/tests/testTriangulationFactor.cpp b/gtsam/slam/tests/testTriangulationFactor.cpp index 1d2baefee..4bbef6530 100644 --- a/gtsam/slam/tests/testTriangulationFactor.cpp +++ b/gtsam/slam/tests/testTriangulationFactor.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include @@ -39,7 +39,7 @@ static const boost::shared_ptr sharedCal = // // Looking along X-axis, 1 meter above ground plane (x-y) static const Rot3 upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2); static const Pose3 pose1 = Pose3(upright, gtsam::Point3(0, 0, 1)); -SimpleCamera camera1(pose1, *sharedCal); +PinholeCamera camera1(pose1, *sharedCal); // landmark ~5 meters infront of camera static const Point3 landmark(5, 0.5, 1.2); @@ -52,7 +52,7 @@ TEST( triangulation, TriangulationFactor ) { Key pointKey(1); SharedNoiseModel model; - typedef TriangulationFactor Factor; + typedef TriangulationFactor > Factor; Factor factor(camera1, z1, model, pointKey); // Use the factor to calculate the Jacobians diff --git a/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp b/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp index 6ac3389ed..4c6251831 100644 --- a/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp +++ b/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp @@ -9,7 +9,8 @@ #include #include -#include +#include +#include #include @@ -18,7 +19,7 @@ using namespace gtsam; static Cal3_S2::shared_ptr K(new Cal3_S2(1500, 1200, 0, 640, 480)); Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); -SimpleCamera level_camera(level_pose, *K); +PinholeCamera level_camera(level_pose, *K); /* ************************************************************************* */ TEST( InvDepthFactor, Project1) { diff --git a/gtsam_unstable/slam/MultiProjectionFactor.h b/gtsam_unstable/slam/MultiProjectionFactor.h index 3e1263bb9..5bef97bcf 100644 --- a/gtsam_unstable/slam/MultiProjectionFactor.h +++ b/gtsam_unstable/slam/MultiProjectionFactor.h @@ -21,7 +21,7 @@ #pragma once #include -#include +#include #include namespace gtsam { diff --git a/gtsam_unstable/slam/serialization.cpp b/gtsam_unstable/slam/serialization.cpp index 17c95e614..5b4bd8929 100644 --- a/gtsam_unstable/slam/serialization.cpp +++ b/gtsam_unstable/slam/serialization.cpp @@ -31,20 +31,21 @@ using namespace gtsam; // Creating as many permutations of factors as possible -typedef PriorFactor PriorFactorLieVector; -typedef PriorFactor PriorFactorLieMatrix; -typedef PriorFactor PriorFactorPoint2; -typedef PriorFactor PriorFactorStereoPoint2; -typedef PriorFactor PriorFactorPoint3; -typedef PriorFactor PriorFactorRot2; -typedef PriorFactor PriorFactorRot3; -typedef PriorFactor PriorFactorPose2; -typedef PriorFactor PriorFactorPose3; -typedef PriorFactor PriorFactorCal3_S2; -typedef PriorFactor PriorFactorCal3DS2; -typedef PriorFactor PriorFactorCalibratedCamera; -typedef PriorFactor PriorFactorSimpleCamera; -typedef PriorFactor PriorFactorStereoCamera; +typedef PriorFactor PriorFactorLieVector; +typedef PriorFactor PriorFactorLieMatrix; +typedef PriorFactor PriorFactorPoint2; +typedef PriorFactor PriorFactorStereoPoint2; +typedef PriorFactor PriorFactorPoint3; +typedef PriorFactor PriorFactorRot2; +typedef PriorFactor PriorFactorRot3; +typedef PriorFactor PriorFactorPose2; +typedef PriorFactor PriorFactorPose3; +typedef PriorFactor PriorFactorCal3_S2; +typedef PriorFactor PriorFactorCal3DS2; +typedef PriorFactor PriorFactorCalibratedCamera; +typedef PriorFactor PriorFactorSimpleCamera; +typedef PriorFactor PriorFactorPinholeCameraCal3_S2; +typedef PriorFactor PriorFactorStereoCamera; typedef BetweenFactor BetweenFactorLieVector; typedef BetweenFactor BetweenFactorLieMatrix; @@ -55,29 +56,32 @@ typedef BetweenFactor BetweenFactorRot3; typedef BetweenFactor BetweenFactorPose2; typedef BetweenFactor BetweenFactorPose3; -typedef NonlinearEquality NonlinearEqualityLieVector; -typedef NonlinearEquality NonlinearEqualityLieMatrix; -typedef NonlinearEquality NonlinearEqualityPoint2; -typedef NonlinearEquality NonlinearEqualityStereoPoint2; -typedef NonlinearEquality NonlinearEqualityPoint3; -typedef NonlinearEquality NonlinearEqualityRot2; -typedef NonlinearEquality NonlinearEqualityRot3; -typedef NonlinearEquality NonlinearEqualityPose2; -typedef NonlinearEquality NonlinearEqualityPose3; -typedef NonlinearEquality NonlinearEqualityCal3_S2; -typedef NonlinearEquality NonlinearEqualityCal3DS2; -typedef NonlinearEquality NonlinearEqualityCalibratedCamera; -typedef NonlinearEquality NonlinearEqualitySimpleCamera; -typedef NonlinearEquality NonlinearEqualityStereoCamera; +typedef NonlinearEquality NonlinearEqualityLieVector; +typedef NonlinearEquality NonlinearEqualityLieMatrix; +typedef NonlinearEquality NonlinearEqualityPoint2; +typedef NonlinearEquality NonlinearEqualityStereoPoint2; +typedef NonlinearEquality NonlinearEqualityPoint3; +typedef NonlinearEquality NonlinearEqualityRot2; +typedef NonlinearEquality NonlinearEqualityRot3; +typedef NonlinearEquality NonlinearEqualityPose2; +typedef NonlinearEquality NonlinearEqualityPose3; +typedef NonlinearEquality NonlinearEqualityCal3_S2; +typedef NonlinearEquality NonlinearEqualityCal3DS2; +typedef NonlinearEquality NonlinearEqualityCalibratedCamera; +typedef NonlinearEquality NonlinearEqualitySimpleCamera; +typedef NonlinearEquality NonlinearEqualityPinholeCameraCal3_S2; +typedef NonlinearEquality NonlinearEqualityStereoCamera; -typedef RangeFactor RangeFactor2D; -typedef RangeFactor RangeFactor3D; -typedef RangeFactor RangeFactorPose2; -typedef RangeFactor RangeFactorPose3; -typedef RangeFactor RangeFactorCalibratedCameraPoint; -typedef RangeFactor RangeFactorSimpleCameraPoint; -typedef RangeFactor RangeFactorCalibratedCamera; -typedef RangeFactor RangeFactorSimpleCamera; +typedef RangeFactor RangeFactor2D; +typedef RangeFactor RangeFactor3D; +typedef RangeFactor RangeFactorPose2; +typedef RangeFactor RangeFactorPose3; +typedef RangeFactor RangeFactorCalibratedCameraPoint; +typedef RangeFactor RangeFactorSimpleCameraPoint; +typedef RangeFactor RangeFactorPinholeCameraCal3_S2Point; +typedef RangeFactor RangeFactorCalibratedCamera; +typedef RangeFactor RangeFactorSimpleCamera; +typedef RangeFactor RangeFactorPinholeCameraCal3_S2; typedef BearingRangeFactor BearingRangeFactor2D; typedef BearingRangeFactor BearingRangeFactor3D; @@ -85,7 +89,7 @@ typedef BearingRangeFactor BearingRangeFactor3D; typedef GenericProjectionFactor GenericProjectionFactorCal3_S2; typedef GenericProjectionFactor GenericProjectionFactorCal3DS2; -typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3_S2; +typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3_S2; //typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; typedef gtsam::GeneralSFMFactor2 GeneralSFMFactor2Cal3_S2; @@ -126,6 +130,7 @@ GTSAM_VALUE_EXPORT(gtsam::Cal3DS2); GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo); GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera); GTSAM_VALUE_EXPORT(gtsam::SimpleCamera); +GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2); GTSAM_VALUE_EXPORT(gtsam::StereoCamera); /* Create GUIDs for factors */ diff --git a/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp index a74bfc3c6..14ad43ae2 100644 --- a/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp +++ b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp @@ -7,7 +7,7 @@ #include -#include +#include #include #include #include @@ -23,7 +23,7 @@ static SharedNoiseModel sigma(noiseModel::Unit::Create(2)); // camera pose at (0,0,1) looking straight along the x-axis. Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); -SimpleCamera level_camera(level_pose, *K); +PinholeCamera level_camera(level_pose, *K); typedef InvDepthFactor3 InverseDepthFactor; typedef NonlinearEquality PoseConstraint; @@ -64,7 +64,7 @@ TEST( InvDepthFactor, optimize) { // add a camera 2 meters to the right Pose3 right_pose = level_pose * Pose3(Rot3(), Point3(2,0,0)); - SimpleCamera right_camera(right_pose, *K); + PinholeCamera right_camera(right_pose, *K); // projection measurement of landmark into right camera // this measurement disagrees with the depth initialization diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 0ac2c24ee..14ac52c45 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -523,9 +523,9 @@ TEST( SmartStereoProjectionPoseFactor, body_P_sensor_monocular ){ Pose3 cameraPose2 = cameraPose1 * Pose3(Rot3(), Point3(1,0,0)); Pose3 cameraPose3 = cameraPose1 * Pose3(Rot3(), Point3(0,-1,0)); - SimpleCamera cam1(cameraPose1, *K); // with camera poses - SimpleCamera cam2(cameraPose2, *K); - SimpleCamera cam3(cameraPose3, *K); + PinholeCamera cam1(cameraPose1, *K); // with camera poses + PinholeCamera cam2(cameraPose2, *K); + PinholeCamera cam3(cameraPose3, *K); // create arbitrary body_Pose_sensor (transforms from sensor to body) Pose3 sensor_to_body = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(1, 1, 1)); // Pose3(); // diff --git a/matlab/+gtsam/Contents.m b/matlab/+gtsam/Contents.m index 10fd5e142..035e7e509 100644 --- a/matlab/+gtsam/Contents.m +++ b/matlab/+gtsam/Contents.m @@ -94,6 +94,7 @@ % Rot2 - class Rot2, see Doxygen page for details % Rot3 - class Rot3, see Doxygen page for details % SimpleCamera - class SimpleCamera, see Doxygen page for details +% PinholeCameraCal3_S2 - class PinholeCameraCal3_S2, see Doxygen page for details % StereoPoint2 - class StereoPoint2, see Doxygen page for details % %% SLAM and SFM diff --git a/matlab/+gtsam/VisualISAMGenerateData.m b/matlab/+gtsam/VisualISAMGenerateData.m index ab47e92db..57f9439a4 100644 --- a/matlab/+gtsam/VisualISAMGenerateData.m +++ b/matlab/+gtsam/VisualISAMGenerateData.m @@ -31,7 +31,7 @@ data.K = truth.K; for i=1:options.nrCameras theta = (i-1)*2*pi/options.nrCameras; t = Point3([r*cos(theta), r*sin(theta), height]'); - truth.cameras{i} = SimpleCamera.Lookat(t, Point3, Point3([0,0,1]'), truth.K); + truth.cameras{i} = PinholeCameraCal3_S2.Lookat(t, Point3, Point3([0,0,1]'), truth.K); % Create measurements for j=1:nrPoints % All landmarks seen in every frame diff --git a/matlab/+gtsam/cylinderSampleProjection.m b/matlab/+gtsam/cylinderSampleProjection.m index 71f72f6b9..2b913b52d 100644 --- a/matlab/+gtsam/cylinderSampleProjection.m +++ b/matlab/+gtsam/cylinderSampleProjection.m @@ -13,7 +13,7 @@ function [visiblePoints] = cylinderSampleProjection(K, pose, imageSize, cylinder import gtsam.* -camera = SimpleCamera(pose, K); +camera = PinholeCameraCal3_S2(pose, K); %% memory allocation cylinderNum = length(cylinders); diff --git a/matlab/gtsam_examples/CameraFlyingExample.m b/matlab/gtsam_examples/CameraFlyingExample.m index 36b7635e2..add2bc75a 100644 --- a/matlab/gtsam_examples/CameraFlyingExample.m +++ b/matlab/gtsam_examples/CameraFlyingExample.m @@ -92,7 +92,7 @@ if options.enableTests cylinders{i}.Points{2} = cylinders{i}.centroid.compose(Point3(cylinders{i}.radius, 0, 0)); end - camera = SimpleCamera.Lookat(Point3(10, 50, 10), ... + camera = PinholeCameraCal3_S2.Lookat(Point3(10, 50, 10), ... Point3(options.fieldSize.x/2, options.fieldSize.y/2, 0), ... Point3([0,0,1]'), options.monoK); @@ -154,7 +154,7 @@ while 1 %t = Point3([(i-1)*(options.fieldSize.x - 10)/options.poseNum + 10, ... % 15, 10]'); - camera = SimpleCamera.Lookat(t, ... + camera = PinholeCameraCal3_S2.Lookat(t, ... Point3(options.fieldSize.x/2, options.fieldSize.y/2, 0), ... Point3([0,0,1]'), options.camera.monoK); cameraPoses{end+1} = camera.pose; diff --git a/matlab/gtsam_examples/SBAExample.m b/matlab/gtsam_examples/SBAExample.m index 7f50f2db8..584ace09a 100644 --- a/matlab/gtsam_examples/SBAExample.m +++ b/matlab/gtsam_examples/SBAExample.m @@ -46,7 +46,7 @@ end %% Add Gaussian priors for a pose and a landmark to constrain the system cameraPriorNoise = noiseModel.Diagonal.Sigmas(cameraNoiseSigmas); -firstCamera = SimpleCamera(truth.cameras{1}.pose, truth.K); +firstCamera = PinholeCameraCal3_S2(truth.cameras{1}.pose, truth.K); graph.add(PriorFactorSimpleCamera(symbol('c',1), firstCamera, cameraPriorNoise)); pointPriorNoise = noiseModel.Isotropic.Sigma(3,pointNoiseSigma); @@ -60,7 +60,7 @@ graph.print(sprintf('\nFactor graph:\n')); initialEstimate = Values; for i=1:size(truth.cameras,2) pose_i = truth.cameras{i}.pose.retract(0.1*randn(6,1)); - camera_i = SimpleCamera(pose_i, truth.K); + camera_i = PinholeCameraCal3_S2(pose_i, truth.K); initialEstimate.insert(symbol('c',i), camera_i); end for j=1:size(truth.points,2) diff --git a/matlab/gtsam_tests/testTriangulation.m b/matlab/gtsam_tests/testTriangulation.m index d46493328..7116d3838 100644 --- a/matlab/gtsam_tests/testTriangulation.m +++ b/matlab/gtsam_tests/testTriangulation.m @@ -18,11 +18,11 @@ sharedCal = Cal3_S2(1500, 1200, 0, 640, 480); %% Looking along X-axis, 1 meter above ground plane (x-y) upright = Rot3.Ypr(-pi / 2, 0., -pi / 2); pose1 = Pose3(upright, Point3(0, 0, 1)); -camera1 = SimpleCamera(pose1, sharedCal); +camera1 = PinholeCameraCal3_S2(pose1, sharedCal); %% create second camera 1 meter to the right of first camera pose2 = pose1.compose(Pose3(Rot3(), Point3(1, 0, 0))); -camera2 = SimpleCamera(pose2, sharedCal); +camera2 = PinholeCameraCal3_S2(pose2, sharedCal); %% landmark ~5 meters infront of camera landmark =Point3 (5, 0.5, 1.2); diff --git a/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateTrajectory.m b/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateTrajectory.m index 2cceea753..195b7ff69 100644 --- a/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateTrajectory.m +++ b/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateTrajectory.m @@ -97,8 +97,8 @@ if options.useRealData == 1 % Create the camera based on the current pose and the pose of the % camera in the body cameraPose = currentPose.compose(metadata.camera.bodyPoseCamera); - camera = SimpleCamera(cameraPose, metadata.camera.calibration); - %camera = SimpleCamera(currentPose, metadata.camera.calibration); + camera = PinholeCameraCal3_S2(cameraPose, metadata.camera.calibration); + %camera = PinholeCameraCal3_S2(currentPose, metadata.camera.calibration); % Record measurements if the landmark is within visual range for j=1:length(metadata.camera.gtLandmarkPoints) diff --git a/matlab/unstable_examples/TransformCalProjectionFactorExampleISAM.m b/matlab/unstable_examples/TransformCalProjectionFactorExampleISAM.m index c9e912ea4..129b8c176 100644 --- a/matlab/unstable_examples/TransformCalProjectionFactorExampleISAM.m +++ b/matlab/unstable_examples/TransformCalProjectionFactorExampleISAM.m @@ -108,7 +108,7 @@ for i=1:20 % generate some camera measurements cam_pose = initial.atPose3(i).compose(actual_transform); % gtsam.plotPose3(cam_pose); - cam = SimpleCamera(cam_pose,K); + cam = PinholeCameraCal3_S2(cam_pose,K); i % result for j=1:nrPoints diff --git a/matlab/unstable_examples/TransformCalProjectionFactorIMUExampleISAM.m b/matlab/unstable_examples/TransformCalProjectionFactorIMUExampleISAM.m index fd4a17469..4557d711f 100644 --- a/matlab/unstable_examples/TransformCalProjectionFactorIMUExampleISAM.m +++ b/matlab/unstable_examples/TransformCalProjectionFactorIMUExampleISAM.m @@ -182,7 +182,7 @@ for i=1:steps % generate some camera measurements cam_pose = currentIMUPoseGlobal.compose(actual_transform); % gtsam.plotPose3(cam_pose); - cam = SimpleCamera(cam_pose,K); + cam = PinholeCameraCal3_S2(cam_pose,K); i % result for j=1:nrPoints diff --git a/matlab/unstable_examples/TransformProjectionFactorExample.m b/matlab/unstable_examples/TransformProjectionFactorExample.m index 669073e56..79a96209d 100644 --- a/matlab/unstable_examples/TransformProjectionFactorExample.m +++ b/matlab/unstable_examples/TransformProjectionFactorExample.m @@ -73,7 +73,7 @@ for i=1:20 % generate some camera measurements cam_pose = initial.atPose3(i).compose(actual_transform); gtsam.plotPose3(cam_pose); - cam = SimpleCamera(cam_pose,K); + cam = PinholeCameraCal3_S2(cam_pose,K); i for j=1:nrPoints % All landmarks seen in every frame diff --git a/matlab/unstable_examples/TransformProjectionFactorExampleISAM.m b/matlab/unstable_examples/TransformProjectionFactorExampleISAM.m index 8edcfade7..ca5b70c62 100644 --- a/matlab/unstable_examples/TransformProjectionFactorExampleISAM.m +++ b/matlab/unstable_examples/TransformProjectionFactorExampleISAM.m @@ -98,7 +98,7 @@ for i=1:20 % generate some camera measurements cam_pose = initial.atPose3(i).compose(actual_transform); % gtsam.plotPose3(cam_pose); - cam = SimpleCamera(cam_pose,K); + cam = PinholeCameraCal3_S2(cam_pose,K); i % result for j=1:nrPoints diff --git a/matlab/unstable_examples/project_landmarks.m b/matlab/unstable_examples/project_landmarks.m index 629c6d994..aaccc9248 100644 --- a/matlab/unstable_examples/project_landmarks.m +++ b/matlab/unstable_examples/project_landmarks.m @@ -4,7 +4,7 @@ function [ measurements ] = project_landmarks( pose, landmarks, K ) import gtsam.*; - camera = SimpleCamera(pose,K); + camera = PinholeCameraCal3_S2(pose,K); measurements = Values; for i=1:size(landmarks)-1 diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp index 95843e5ab..d59666655 100644 --- a/tests/testNonlinearEquality.cpp +++ b/tests/testNonlinearEquality.cpp @@ -28,7 +28,7 @@ #include #include #include -#include +#include #include @@ -527,10 +527,10 @@ TEST (testNonlinearEqualityConstraint, stereo_constrained ) { Rot3 faceTowardsY(Point3(1, 0, 0), Point3(0, 0, -1), Point3(0, 1, 0)); Pose3 poseLeft(faceTowardsY, Point3(0, 0, 0)); // origin, left camera - SimpleCamera leftCamera(poseLeft, K); + PinholeCamera leftCamera(poseLeft, K); Pose3 poseRight(faceTowardsY, Point3(2, 0, 0)); // 2 units to the right - SimpleCamera rightCamera(poseRight, K); + PinholeCamera rightCamera(poseRight, K); Point3 landmark(1, 5, 0); //centered between the cameras, 5 units away diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp index 64e111e94..9222894a4 100644 --- a/tests/testSerializationSLAM.cpp +++ b/tests/testSerializationSLAM.cpp @@ -47,7 +47,7 @@ #include #include #include -#include +#include #include #include @@ -57,20 +57,21 @@ using namespace gtsam; using namespace gtsam::serializationTestHelpers; // Creating as many permutations of factors as possible -typedef PriorFactor PriorFactorLieVector; -typedef PriorFactor PriorFactorLieMatrix; -typedef PriorFactor PriorFactorPoint2; -typedef PriorFactor PriorFactorStereoPoint2; -typedef PriorFactor PriorFactorPoint3; -typedef PriorFactor PriorFactorRot2; -typedef PriorFactor PriorFactorRot3; -typedef PriorFactor PriorFactorPose2; -typedef PriorFactor PriorFactorPose3; -typedef PriorFactor PriorFactorCal3_S2; -typedef PriorFactor PriorFactorCal3DS2; -typedef PriorFactor PriorFactorCalibratedCamera; -typedef PriorFactor PriorFactorSimpleCamera; -typedef PriorFactor PriorFactorStereoCamera; +typedef PriorFactor PriorFactorLieVector; +typedef PriorFactor PriorFactorLieMatrix; +typedef PriorFactor PriorFactorPoint2; +typedef PriorFactor PriorFactorStereoPoint2; +typedef PriorFactor PriorFactorPoint3; +typedef PriorFactor PriorFactorRot2; +typedef PriorFactor PriorFactorRot3; +typedef PriorFactor PriorFactorPose2; +typedef PriorFactor PriorFactorPose3; +typedef PriorFactor PriorFactorCal3_S2; +typedef PriorFactor PriorFactorCal3DS2; +typedef PriorFactor PriorFactorCalibratedCamera; +typedef PriorFactor PriorFactorSimpleCamera; +typedef PriorFactor PriorFactorPinholeCameraCal3_S2; +typedef PriorFactor PriorFactorStereoCamera; typedef BetweenFactor BetweenFactorLieVector; typedef BetweenFactor BetweenFactorLieMatrix; @@ -81,29 +82,32 @@ typedef BetweenFactor BetweenFactorRot3; typedef BetweenFactor BetweenFactorPose2; typedef BetweenFactor BetweenFactorPose3; -typedef NonlinearEquality NonlinearEqualityLieVector; -typedef NonlinearEquality NonlinearEqualityLieMatrix; -typedef NonlinearEquality NonlinearEqualityPoint2; -typedef NonlinearEquality NonlinearEqualityStereoPoint2; -typedef NonlinearEquality NonlinearEqualityPoint3; -typedef NonlinearEquality NonlinearEqualityRot2; -typedef NonlinearEquality NonlinearEqualityRot3; -typedef NonlinearEquality NonlinearEqualityPose2; -typedef NonlinearEquality NonlinearEqualityPose3; -typedef NonlinearEquality NonlinearEqualityCal3_S2; -typedef NonlinearEquality NonlinearEqualityCal3DS2; -typedef NonlinearEquality NonlinearEqualityCalibratedCamera; -typedef NonlinearEquality NonlinearEqualitySimpleCamera; -typedef NonlinearEquality NonlinearEqualityStereoCamera; +typedef NonlinearEquality NonlinearEqualityLieVector; +typedef NonlinearEquality NonlinearEqualityLieMatrix; +typedef NonlinearEquality NonlinearEqualityPoint2; +typedef NonlinearEquality NonlinearEqualityStereoPoint2; +typedef NonlinearEquality NonlinearEqualityPoint3; +typedef NonlinearEquality NonlinearEqualityRot2; +typedef NonlinearEquality NonlinearEqualityRot3; +typedef NonlinearEquality NonlinearEqualityPose2; +typedef NonlinearEquality NonlinearEqualityPose3; +typedef NonlinearEquality NonlinearEqualityCal3_S2; +typedef NonlinearEquality NonlinearEqualityCal3DS2; +typedef NonlinearEquality NonlinearEqualityCalibratedCamera; +typedef NonlinearEquality NonlinearEqualitySimpleCamera; +typedef NonlinearEquality NonlinearEqualityPinholeCameraCal3_S2; +typedef NonlinearEquality NonlinearEqualityStereoCamera; -typedef RangeFactor RangeFactor2D; -typedef RangeFactor RangeFactor3D; -typedef RangeFactor RangeFactorPose2; -typedef RangeFactor RangeFactorPose3; -typedef RangeFactor RangeFactorCalibratedCameraPoint; -typedef RangeFactor RangeFactorSimpleCameraPoint; -typedef RangeFactor RangeFactorCalibratedCamera; -typedef RangeFactor RangeFactorSimpleCamera; +typedef RangeFactor RangeFactor2D; +typedef RangeFactor RangeFactor3D; +typedef RangeFactor RangeFactorPose2; +typedef RangeFactor RangeFactorPose3; +typedef RangeFactor RangeFactorCalibratedCameraPoint; +typedef RangeFactor RangeFactorSimpleCameraPoint; +typedef RangeFactor RangeFactorPinholeCameraCal3_S2Point; +typedef RangeFactor RangeFactorCalibratedCamera; +typedef RangeFactor RangeFactorSimpleCamera; +typedef RangeFactor RangeFactorPinholeCameraCal3_S2; typedef BearingRangeFactor BearingRangeFactor2D; typedef BearingRangeFactor BearingRangeFactor3D; @@ -111,7 +115,7 @@ typedef BearingRangeFactor BearingRangeFactor3D; typedef GenericProjectionFactor GenericProjectionFactorCal3_S2; typedef GenericProjectionFactor GenericProjectionFactorCal3DS2; -typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3_S2; +typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3_S2; //typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; typedef gtsam::GeneralSFMFactor2 GeneralSFMFactor2Cal3_S2; @@ -158,6 +162,7 @@ GTSAM_VALUE_EXPORT(gtsam::Cal3DS2); GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo); GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera); GTSAM_VALUE_EXPORT(gtsam::SimpleCamera); +GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2); GTSAM_VALUE_EXPORT(gtsam::StereoCamera); /* Create GUIDs for factors */ @@ -294,7 +299,7 @@ TEST (testSerializationSLAM, factors) { Cal3DS2 cal3ds2(1.0, 2.0, 3.0, 4.0, 5.0,6.0, 7.0, 8.0, 9.0); Cal3_S2Stereo cal3_s2stereo(1.0, 2.0, 3.0, 4.0, 5.0, 1.0); CalibratedCamera calibratedCamera(pose3); - SimpleCamera simpleCamera(pose3, cal3_s2); + PinholeCamera simpleCamera(pose3, cal3_s2); StereoCamera stereoCamera(pose3, boost::make_shared(cal3_s2stereo)); diff --git a/tests/testVisualISAM2.cpp b/tests/testVisualISAM2.cpp index 9c63e1aa8..182408004 100644 --- a/tests/testVisualISAM2.cpp +++ b/tests/testVisualISAM2.cpp @@ -59,7 +59,7 @@ TEST(testVisualISAM2, all) // Add factors for each landmark observation for (size_t j = 0; j < points.size(); ++j) { - SimpleCamera camera(poses[i], *K); + PinholeCamera camera(poses[i], *K); Point2 measurement = camera.project(points[j]); graph.emplace_shared>( measurement, measurementNoise, Symbol('x', i), Symbol('l', j), K); From d8866f14974c223edb3caac585bf7055d8ffd9c4 Mon Sep 17 00:00:00 2001 From: Thomas Jespersen Date: Mon, 24 Feb 2020 10:41:04 +0800 Subject: [PATCH 0189/1152] Corrected Bias key index in IMUKittiExampleGPS.m Bias key index in ImuFactor refers to the bias at the previous timestep, `bias_i`, according to https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/ImuFactor.h#L239-L244 and the C++ example https://github.com/borglab/gtsam/blob/develop/examples/ImuFactorsExample.cpp#L228 --- matlab/gtsam_examples/IMUKittiExampleGPS.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/matlab/gtsam_examples/IMUKittiExampleGPS.m b/matlab/gtsam_examples/IMUKittiExampleGPS.m index c80b6ec3e..530c3382c 100755 --- a/matlab/gtsam_examples/IMUKittiExampleGPS.m +++ b/matlab/gtsam_examples/IMUKittiExampleGPS.m @@ -99,7 +99,7 @@ for measurementIndex = firstGPSPose:length(GPS_data) newFactors.add(ImuFactor( ... currentPoseKey-1, currentVelKey-1, ... currentPoseKey, currentVelKey, ... - currentBiasKey, currentSummarizedMeasurement)); + currentBiasKey-1, currentSummarizedMeasurement)); % Bias evolution as given in the IMU metadata newFactors.add(BetweenFactorConstantBias(currentBiasKey-1, currentBiasKey, imuBias.ConstantBias(zeros(3,1), zeros(3,1)), ... From 2959acee7f225ce11e60fe7897f12206b6bcb6a3 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 24 Feb 2020 16:30:21 -0500 Subject: [PATCH 0190/1152] added unit test for overloaded translation printing --- gtsam/geometry/tests/testPose3.cpp | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index fedd47620..8433bbb01 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -993,6 +993,32 @@ TEST(Pose3, Create) { EXPECT(assert_equal(numericalDerivative22(create, R, P2), actualH2, 1e-9)); } +/* ************************************************************************* */ +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); + + 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); + expected << '[' << translation.x() << ", " << translation.y() << ", " << translation.z() << "]\';"; + + // reset cout to the original stream + std::cout.rdbuf(oldbuf); + + // Get substring corresponding to translation part + std::string actual = redirectStream.str().substr(47, 11); + + CHECK_EQUAL(expected.str(), actual); +} + /* ************************************************************************* */ int main() { TestResult tr; From 46ac536bf0e676fa1d239addceb3332515e9e7ae Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 25 Feb 2020 22:10:42 -0500 Subject: [PATCH 0191/1152] wrap Rot3 slerp function to allow for rotation interpolation --- gtsam.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam.h b/gtsam.h index c0ed4d20f..f943c2e9d 100644 --- a/gtsam.h +++ b/gtsam.h @@ -676,6 +676,7 @@ class Rot3 { double yaw() const; // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly Vector quaternion() const; + gtsam::Rot3 slerp(double t, const gtsam::Rot3& other) const; // enabling serialization functionality void serialize() const; From 05840bc7e39e0177c295f69256a44139d9ac81ca Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 16:36:08 -0400 Subject: [PATCH 0192/1152] prototyping weighted sampler --- gtsam/base/tests/testWeightedSampler.cpp | 142 +++++++++++++++++++++++ 1 file changed, 142 insertions(+) create mode 100644 gtsam/base/tests/testWeightedSampler.cpp diff --git a/gtsam/base/tests/testWeightedSampler.cpp b/gtsam/base/tests/testWeightedSampler.cpp new file mode 100644 index 000000000..865c33f9f --- /dev/null +++ b/gtsam/base/tests/testWeightedSampler.cpp @@ -0,0 +1,142 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file testWeightedSampler.cpp + * @brief Unit test for WeightedSampler + * @author Frank Dellaert + * @date MAy 2019 + **/ + +#include + +namespace gtsam { +template +std::vector sampleWithoutReplacement(Engine& rng, size_t s, + std::vector weights); +} + +#include + +#include + +using namespace std; +using namespace gtsam; + +TEST(WeightedSampler, sampleWithoutReplacement) { + vector weights{1, 2, 3, 4, 3, 2, 1}; + boost::mt19937 rng(42); + auto samples = sampleWithoutReplacement(rng, 5, weights); + EXPECT_LONGS_EQUAL(5, samples.size()); +} + +//****************************************************************************** +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} + +#include +#include +#include +#include + +namespace gtsam { +/* ************************************************************************* */ +/* Implementation adapted from paper at + * https://www.ethz.ch/content/dam/ethz/special-interest/baug/ivt/ivt-dam/vpl/reports/1101-1200/ab1141.pdf + */ +template +vector sampleWithoutReplacement(Engine& rng, size_t s, + vector weights) { + const size_t n = weights.size(); + if (n < s) { + throw runtime_error("s must be smaller than weights.size()"); + } + + // Return empty array if s==0 + vector result(s); + if (s == 0) return result; + + // Step 1: The first m items of V are inserted into reservoir + // Step 2: For each item v_i ∈ reservoir: Calculate a key k_i = u_i^(1/w), + // where u_i = random(0, 1) + // (Modification: Calculate and store -log k_i = e_i / w where e_i = exp(1), + // reservoir is a priority queue that pops the *maximum* elements) + priority_queue > reservoir; + + static const double kexp1 = exp(1.0); + for (auto iprob = weights.begin(); iprob != weights.begin() + s; ++iprob) { + double k_i = kexp1 / *iprob; + reservoir.push(make_pair(k_i, iprob - weights.begin() + 1)); + } + + // Step 4: Repeat Steps 5–10 until the population is exhausted + { + // Step 3: The threshold T_w is the minimum key of reservoir + // (Modification: This is now the logarithm) + // Step 10: The new threshold T w is the new minimum key of reservoir + const pair& T_w = reservoir.top(); + + // Incrementing iprob is part of Step 7 + for (auto iprob = weights.begin() + s; iprob != weights.end(); ++iprob) { + // Step 5: Let r = random(0, 1) and X_w = log(r) / log(T_w) + // (Modification: Use e = -exp(1) instead of log(r)) + double X_w = kexp1 / T_w.first; + + // Step 6: From the current item v_c skip items until item v_i, such that: + double w = 0.0; + + // Step 7: w_c + w_{c+1} + ··· + w_{i−1} < X_w <= w_c + w_{c+1} + ··· + + // w_{i−1} + w_i + for (; iprob != weights.end(); ++iprob) { + w += *iprob; + if (X_w <= w) break; + } + + // Step 7: No such item, terminate + if (iprob == weights.end()) break; + + // Step 9: Let t_w = T_w^{w_i}, r_2 = random(t_w, 1) and v_i’s key: k_i = + // (r_2)^{1/w_i} (Mod: Let t_w = log(T_w) * {w_i}, e_2 = + // log(random(e^{t_w}, 1)) and v_i’s key: k_i = -e_2 / w_i) + double t_w = -T_w.first * *iprob; + boost::uniform_real randomAngle(exp(t_w), 1.0); + double e_2 = log(randomAngle(rng)); + double k_i = -e_2 / *iprob; + + // Step 8: The item in reservoir with the minimum key is replaced by item + // v_i + reservoir.pop(); + reservoir.push(make_pair(k_i, iprob - weights.begin() + 1)); + } + } + + for (auto iret = result.end(); iret != result.begin();) { + --iret; + + if (reservoir.empty()) { + throw runtime_error( + "Reservoir empty before all elements have been filled"); + } + + *iret = reservoir.top().second; + reservoir.pop(); + } + + if (!reservoir.empty()) { + throw runtime_error( + "Reservoir not empty after all elements have been filled"); + } + + return result; +} +} // namespace gtsam From 1f598269f5a61e2dd00ffd07748850083a0f08f9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 17:50:17 -0400 Subject: [PATCH 0193/1152] Moved WeightedSampler into its own header --- gtsam/base/WeightedSampler.h | 116 +++++++++++++++++++++++ gtsam/base/tests/testWeightedSampler.cpp | 109 +-------------------- 2 files changed, 119 insertions(+), 106 deletions(-) create mode 100644 gtsam/base/WeightedSampler.h diff --git a/gtsam/base/WeightedSampler.h b/gtsam/base/WeightedSampler.h new file mode 100644 index 000000000..f4495ed68 --- /dev/null +++ b/gtsam/base/WeightedSampler.h @@ -0,0 +1,116 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file WeightedSampler.h + * @brief Fast sampling without replacement. + * @author Frank Dellaert + * @date May 2019 + **/ + +#include +#include +#include +#include +#include + +namespace gtsam { +/* + * Fast sampling without replacement. + */ +template +std::vector sampleWithoutReplacement(Engine& rng, size_t s, + std::vector weights) { + // Implementation adapted from paper at + // https://www.ethz.ch/content/dam/ethz/special-interest/baug/ivt/ivt-dam/vpl/reports/1101-1200/ab1141.pdf + const size_t n = weights.size(); + if (n < s) { + throw std::runtime_error("s must be smaller than weights.size()"); + } + + // Return empty array if s==0 + std::vector result(s); + if (s == 0) return result; + + // Step 1: The first m items of V are inserted into reservoir + // Step 2: For each item v_i ∈ reservoir: Calculate a key k_i = u_i^(1/w), + // where u_i = random(0, 1) + // (Modification: Calculate and store -log k_i = e_i / w where e_i = exp(1), + // reservoir is a priority queue that pops the *maximum* elements) + std::priority_queue > reservoir; + + static const double kexp1 = exp(1.0); + for (auto iprob = weights.begin(); iprob != weights.begin() + s; ++iprob) { + double k_i = kexp1 / *iprob; + reservoir.push(std::make_pair(k_i, iprob - weights.begin() + 1)); + } + + // Step 4: Repeat Steps 5–10 until the population is exhausted + { + // Step 3: The threshold T_w is the minimum key of reservoir + // (Modification: This is now the logarithm) + // Step 10: The new threshold T w is the new minimum key of reservoir + const std::pair& T_w = reservoir.top(); + + // Incrementing iprob is part of Step 7 + for (auto iprob = weights.begin() + s; iprob != weights.end(); ++iprob) { + // Step 5: Let r = random(0, 1) and X_w = log(r) / log(T_w) + // (Modification: Use e = -exp(1) instead of log(r)) + double X_w = kexp1 / T_w.first; + + // Step 6: From the current item v_c skip items until item v_i, such that: + double w = 0.0; + + // Step 7: w_c + w_{c+1} + ··· + w_{i−1} < X_w <= w_c + w_{c+1} + ··· + + // w_{i−1} + w_i + for (; iprob != weights.end(); ++iprob) { + w += *iprob; + if (X_w <= w) break; + } + + // Step 7: No such item, terminate + if (iprob == weights.end()) break; + + // Step 9: Let t_w = T_w^{w_i}, r_2 = random(t_w, 1) and v_i’s key: k_i = + // (r_2)^{1/w_i} (Mod: Let t_w = log(T_w) * {w_i}, e_2 = + // log(random(e^{t_w}, 1)) and v_i’s key: k_i = -e_2 / w_i) + double t_w = -T_w.first * *iprob; + std::uniform_real_distribution randomAngle(exp(t_w), 1.0); + double e_2 = log(randomAngle(rng)); + double k_i = -e_2 / *iprob; + + // Step 8: The item in reservoir with the minimum key is replaced by item + // v_i + reservoir.pop(); + reservoir.push(std::make_pair(k_i, iprob - weights.begin() + 1)); + } + } + + for (auto iret = result.end(); iret != result.begin();) { + --iret; + + if (reservoir.empty()) { + throw std::runtime_error( + "Reservoir empty before all elements have been filled"); + } + + *iret = reservoir.top().second; + reservoir.pop(); + } + + if (!reservoir.empty()) { + throw std::runtime_error( + "Reservoir not empty after all elements have been filled"); + } + + return result; +} +} // namespace gtsam diff --git a/gtsam/base/tests/testWeightedSampler.cpp b/gtsam/base/tests/testWeightedSampler.cpp index 865c33f9f..7eaaea545 100644 --- a/gtsam/base/tests/testWeightedSampler.cpp +++ b/gtsam/base/tests/testWeightedSampler.cpp @@ -16,24 +16,18 @@ * @date MAy 2019 **/ -#include - -namespace gtsam { -template -std::vector sampleWithoutReplacement(Engine& rng, size_t s, - std::vector weights); -} +#include #include -#include +#include using namespace std; using namespace gtsam; TEST(WeightedSampler, sampleWithoutReplacement) { vector weights{1, 2, 3, 4, 3, 2, 1}; - boost::mt19937 rng(42); + mt19937 rng(42); auto samples = sampleWithoutReplacement(rng, 5, weights); EXPECT_LONGS_EQUAL(5, samples.size()); } @@ -43,100 +37,3 @@ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } - -#include -#include -#include -#include - -namespace gtsam { -/* ************************************************************************* */ -/* Implementation adapted from paper at - * https://www.ethz.ch/content/dam/ethz/special-interest/baug/ivt/ivt-dam/vpl/reports/1101-1200/ab1141.pdf - */ -template -vector sampleWithoutReplacement(Engine& rng, size_t s, - vector weights) { - const size_t n = weights.size(); - if (n < s) { - throw runtime_error("s must be smaller than weights.size()"); - } - - // Return empty array if s==0 - vector result(s); - if (s == 0) return result; - - // Step 1: The first m items of V are inserted into reservoir - // Step 2: For each item v_i ∈ reservoir: Calculate a key k_i = u_i^(1/w), - // where u_i = random(0, 1) - // (Modification: Calculate and store -log k_i = e_i / w where e_i = exp(1), - // reservoir is a priority queue that pops the *maximum* elements) - priority_queue > reservoir; - - static const double kexp1 = exp(1.0); - for (auto iprob = weights.begin(); iprob != weights.begin() + s; ++iprob) { - double k_i = kexp1 / *iprob; - reservoir.push(make_pair(k_i, iprob - weights.begin() + 1)); - } - - // Step 4: Repeat Steps 5–10 until the population is exhausted - { - // Step 3: The threshold T_w is the minimum key of reservoir - // (Modification: This is now the logarithm) - // Step 10: The new threshold T w is the new minimum key of reservoir - const pair& T_w = reservoir.top(); - - // Incrementing iprob is part of Step 7 - for (auto iprob = weights.begin() + s; iprob != weights.end(); ++iprob) { - // Step 5: Let r = random(0, 1) and X_w = log(r) / log(T_w) - // (Modification: Use e = -exp(1) instead of log(r)) - double X_w = kexp1 / T_w.first; - - // Step 6: From the current item v_c skip items until item v_i, such that: - double w = 0.0; - - // Step 7: w_c + w_{c+1} + ··· + w_{i−1} < X_w <= w_c + w_{c+1} + ··· + - // w_{i−1} + w_i - for (; iprob != weights.end(); ++iprob) { - w += *iprob; - if (X_w <= w) break; - } - - // Step 7: No such item, terminate - if (iprob == weights.end()) break; - - // Step 9: Let t_w = T_w^{w_i}, r_2 = random(t_w, 1) and v_i’s key: k_i = - // (r_2)^{1/w_i} (Mod: Let t_w = log(T_w) * {w_i}, e_2 = - // log(random(e^{t_w}, 1)) and v_i’s key: k_i = -e_2 / w_i) - double t_w = -T_w.first * *iprob; - boost::uniform_real randomAngle(exp(t_w), 1.0); - double e_2 = log(randomAngle(rng)); - double k_i = -e_2 / *iprob; - - // Step 8: The item in reservoir with the minimum key is replaced by item - // v_i - reservoir.pop(); - reservoir.push(make_pair(k_i, iprob - weights.begin() + 1)); - } - } - - for (auto iret = result.end(); iret != result.begin();) { - --iret; - - if (reservoir.empty()) { - throw runtime_error( - "Reservoir empty before all elements have been filled"); - } - - *iret = reservoir.top().second; - reservoir.pop(); - } - - if (!reservoir.empty()) { - throw runtime_error( - "Reservoir not empty after all elements have been filled"); - } - - return result; -} -} // namespace gtsam From 8b201f07bbc4690997f16629fed71b4aefa1a7fb Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 17:52:33 -0400 Subject: [PATCH 0194/1152] Random now uses std header . --- gtsam/geometry/Rot3.cpp | 7 ++++--- gtsam/geometry/Rot3.h | 11 +++++++++-- gtsam/geometry/SO4.cpp | 2 +- gtsam/geometry/SO4.h | 2 -- gtsam/geometry/SOn.h | 13 +++++++------ gtsam/geometry/Unit3.cpp | 7 ++++--- gtsam/geometry/Unit3.h | 11 ++++++++--- gtsam/geometry/tests/testSO4.cpp | 3 ++- gtsam/geometry/tests/testSOn.cpp | 5 ++--- gtsam/geometry/tests/testUnit3.cpp | 9 +++++---- 10 files changed, 42 insertions(+), 28 deletions(-) diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index c2e711a17..b1e8dd14b 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -21,8 +21,9 @@ #include #include #include -#include + #include +#include using namespace std; @@ -34,10 +35,10 @@ void Rot3::print(const std::string& s) const { } /* ************************************************************************* */ -Rot3 Rot3::Random(boost::mt19937& rng) { +Rot3 Rot3::Random(std::mt19937& rng) { // TODO allow any engine without including all of boost :-( Unit3 axis = Unit3::Random(rng); - boost::uniform_real randomAngle(-M_PI, M_PI); + uniform_real_distribution randomAngle(-M_PI, M_PI); double angle = randomAngle(rng); return AxisAngle(axis, angle); } diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index ab43b2d42..e4408c9f4 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -28,6 +28,8 @@ #include #include // Get GTSAM_USE_QUATERNIONS macro +#include + // You can override the default coordinate mode using this flag #ifndef ROT3_DEFAULT_COORDINATES_MODE #ifdef GTSAM_USE_QUATERNIONS @@ -128,8 +130,13 @@ namespace gtsam { Rot3(const Quaternion& q); Rot3(double w, double x, double y, double z) : Rot3(Quaternion(w, x, y, z)) {} - /// Random, generates a random axis, then random angle \in [-p,pi] - static Rot3 Random(boost::mt19937 & rng); + /** + * Random, generates a random axis, then random angle \in [-p,pi] + * Example: + * std::mt19937 engine(42); + * Unit3 unit = Unit3::Random(engine); + */ + static Rot3 Random(std::mt19937 & rng); /** Virtual destructor */ virtual ~Rot3() {} diff --git a/gtsam/geometry/SO4.cpp b/gtsam/geometry/SO4.cpp index 3e6ae485e..9b6e4217a 100644 --- a/gtsam/geometry/SO4.cpp +++ b/gtsam/geometry/SO4.cpp @@ -22,11 +22,11 @@ #include #include -#include #include #include #include +#include #include using namespace std; diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h index e8e1bc017..5014414c2 100644 --- a/gtsam/geometry/SO4.h +++ b/gtsam/geometry/SO4.h @@ -27,8 +27,6 @@ #include #include -#include - #include namespace gtsam { diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 945d94bdc..8b37f443a 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -23,8 +23,9 @@ #include #include -#include +#include // TODO(frank): how to avoid? +#include #include #include #include @@ -112,12 +113,12 @@ class SO : public LieGroup, internal::DimensionSO(N)> { /// currently only defined for SO3. static SO ChordalMean(const std::vector& rotations); - /// Random SO(n) element (no big claims about uniformity) + /// Random SO(n) element (no big claims about uniformity). SO(3) is specialized in SO3.cpp template > - static SO Random(boost::mt19937& rng, size_t n = 0) { + static SO Random(std::mt19937& rng, size_t n = 0) { if (n == 0) throw std::runtime_error("SO: Dimensionality not known."); - // TODO(frank): This needs to be re-thought! - static boost::uniform_real randomAngle(-M_PI, M_PI); + // TODO(frank): this might need to be re-thought + static std::uniform_real_distribution randomAngle(-M_PI, M_PI); const size_t d = SO::Dimension(n); Vector xi(d); for (size_t j = 0; j < d; j++) { @@ -128,7 +129,7 @@ class SO : public LieGroup, internal::DimensionSO(N)> { /// Random SO(N) element (no big claims about uniformity) template > - static SO Random(boost::mt19937& rng) { + static SO Random(std::mt19937& rng) { // By default, use dynamic implementation above. Specialized for SO(3). return SO(SO::Random(rng, N).matrix()); } diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index 533ee500e..0e1b09958 100755 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -27,12 +27,13 @@ # pragma clang diagnostic push # pragma clang diagnostic ignored "-Wunused-variable" #endif +#define BOOST_ALLOW_DEPRECATED_HEADERS #include +#include #ifdef __clang__ # pragma clang diagnostic pop #endif -#include #include #include #include @@ -54,12 +55,12 @@ Unit3 Unit3::FromPoint3(const Point3& point, OptionalJacobian<2, 3> H) { } /* ************************************************************************* */ -Unit3 Unit3::Random(boost::mt19937 & rng) { +Unit3 Unit3::Random(std::mt19937& rng) { // TODO(dellaert): allow any engine without including all of boost :-( boost::uniform_on_sphere randomDirection(3); // This variate_generator object is required for versions of boost somewhere // around 1.46, instead of drawing directly using boost::uniform_on_sphere(rng). - boost::variate_generator > generator( + boost::variate_generator > generator( rng, randomDirection); const vector d = generator(); return Unit3(d[0], d[1], d[2]); diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h index 211698806..1c6945c4c 100644 --- a/gtsam/geometry/Unit3.h +++ b/gtsam/geometry/Unit3.h @@ -27,9 +27,9 @@ #include #include -#include #include +#include #include #ifdef GTSAM_USE_TBB @@ -97,8 +97,13 @@ public: GTSAM_EXPORT static Unit3 FromPoint3(const Point3& point, // OptionalJacobian<2, 3> H = boost::none); - /// Random direction, using boost::uniform_on_sphere - GTSAM_EXPORT static Unit3 Random(boost::mt19937 & rng); + /** + * Random direction, using boost::uniform_on_sphere + * Example: + * std::mt19937 engine(42); + * Unit3 unit = Unit3::Random(engine); + */ + GTSAM_EXPORT static Unit3 Random(std::mt19937 & rng); /// @} diff --git a/gtsam/geometry/tests/testSO4.cpp b/gtsam/geometry/tests/testSO4.cpp index 594da01f6..f771eea5f 100644 --- a/gtsam/geometry/tests/testSO4.cpp +++ b/gtsam/geometry/tests/testSO4.cpp @@ -25,6 +25,7 @@ #include #include +#include using namespace std; using namespace gtsam; @@ -57,7 +58,7 @@ SO4 Q3 = SO4::Expmap(v3); //****************************************************************************** TEST(SO4, Random) { - boost::mt19937 rng(42); + std::mt19937 rng(42); auto Q = SO4::Random(rng); EXPECT_LONGS_EQUAL(4, Q.matrix().rows()); } diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index 4e5f12c0c..eb84a4d55 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -30,9 +30,8 @@ #include -#include - #include +#include #include #include @@ -88,7 +87,7 @@ TEST(SOn, Values) { //****************************************************************************** TEST(SOn, Random) { - static boost::mt19937 rng(42); + static std::mt19937 rng(42); EXPECT_LONGS_EQUAL(3, SOn::Random(rng, 3).rows()); EXPECT_LONGS_EQUAL(4, SOn::Random(rng, 4).rows()); EXPECT_LONGS_EQUAL(5, SOn::Random(rng, 5).rows()); diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index 9d53a30a6..59b99e525 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -33,9 +33,10 @@ #include #include -#include #include + #include +#include using namespace boost::assign; using namespace gtsam; @@ -339,7 +340,7 @@ TEST(Unit3, basis) { /// Check the basis derivatives of a bunch of random Unit3s. TEST(Unit3, basis_derivatives) { int num_tests = 100; - boost::mt19937 rng(42); + std::mt19937 rng(42); for (int i = 0; i < num_tests; i++) { Unit3 p = Unit3::Random(rng); @@ -403,7 +404,7 @@ TEST(Unit3, retract_expmap) { //******************************************************************************* TEST(Unit3, Random) { - boost::mt19937 rng(42); + std::mt19937 rng(42); // Check that means are all zero at least Point3 expectedMean(0,0,0), actualMean(0,0,0); for (size_t i = 0; i < 100; i++) @@ -415,7 +416,7 @@ TEST(Unit3, Random) { //******************************************************************************* // New test that uses Unit3::Random TEST(Unit3, localCoordinates_retract) { - boost::mt19937 rng(42); + std::mt19937 rng(42); size_t numIterations = 10000; for (size_t i = 0; i < numIterations; i++) { From 7d86b073e6c19c231d7a34bcc07aff4c8fb44295 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 17:52:57 -0400 Subject: [PATCH 0195/1152] Removed boost/random usage from linear and discrete directories --- gtsam/discrete/DiscreteConditional.cpp | 14 +++++--------- gtsam/linear/NoiseModel.cpp | 12 +++++------- gtsam/linear/Sampler.cpp | 5 ++--- gtsam/linear/Sampler.h | 4 ++-- 4 files changed, 14 insertions(+), 21 deletions(-) diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp index cf2997ce0..2ab3054a8 100644 --- a/gtsam/discrete/DiscreteConditional.cpp +++ b/gtsam/discrete/DiscreteConditional.cpp @@ -23,13 +23,11 @@ #include #include -#include -#include -#include -#include #include +#include #include +#include using namespace std; @@ -176,8 +174,7 @@ size_t DiscreteConditional::solve(const Values& parentsValues) const { /* ******************************************************************************** */ size_t DiscreteConditional::sample(const Values& parentsValues) const { - using boost::uniform_real; - static boost::mt19937 gen(2); // random number generator + static mt19937 rng(2); // random number generator bool debug = ISDEBUG("DiscreteConditional::sample"); @@ -209,9 +206,8 @@ size_t DiscreteConditional::sample(const Values& parentsValues) const { } // inspired by http://www.boost.org/doc/libs/1_46_1/doc/html/boost_random/tutorial.html - uniform_real<> dist(0, cdf.back()); - boost::variate_generator > die(gen, dist); - size_t sampled = lower_bound(cdf.begin(), cdf.end(), die()) - cdf.begin(); + uniform_real_distribution dist(0, cdf.back()); + size_t sampled = lower_bound(cdf.begin(), cdf.end(), dist(rng)) - cdf.begin(); if (debug) cout << "-> " << sampled << endl; diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 4e599d45f..a6ebea394 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -21,15 +21,13 @@ #include #include -#include -#include -#include -#include -#include -#include -#include #include +#include +#include +#include +#include +#include using namespace std; diff --git a/gtsam/linear/Sampler.cpp b/gtsam/linear/Sampler.cpp index bfbc222ba..9f1527bf9 100644 --- a/gtsam/linear/Sampler.cpp +++ b/gtsam/linear/Sampler.cpp @@ -46,10 +46,9 @@ Vector Sampler::sampleDiagonal(const Vector& sigmas) { if (sigma == 0.0) { result(i) = 0.0; } else { - typedef boost::normal_distribution Normal; + typedef std::normal_distribution Normal; Normal dist(0.0, sigma); - boost::variate_generator norm(generator_, dist); - result(i) = norm(); + result(i) = dist(generator_); } } return result; diff --git a/gtsam/linear/Sampler.h b/gtsam/linear/Sampler.h index 6c84bfda2..93145c31a 100644 --- a/gtsam/linear/Sampler.h +++ b/gtsam/linear/Sampler.h @@ -20,7 +20,7 @@ #include -#include +#include namespace gtsam { @@ -37,7 +37,7 @@ protected: noiseModel::Diagonal::shared_ptr model_; /** generator */ - boost::mt19937_64 generator_; + std::mt19937_64 generator_; public: typedef boost::shared_ptr shared_ptr; From f8af4a465d58d8a5adce2cca2e4bb399ddd51f1f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 18:42:54 -0400 Subject: [PATCH 0196/1152] Made into class --- gtsam/base/WeightedSampler.h | 163 +++++++++++++---------- gtsam/base/tests/testWeightedSampler.cpp | 5 +- 2 files changed, 95 insertions(+), 73 deletions(-) diff --git a/gtsam/base/WeightedSampler.h b/gtsam/base/WeightedSampler.h index f4495ed68..916f37033 100644 --- a/gtsam/base/WeightedSampler.h +++ b/gtsam/base/WeightedSampler.h @@ -16,6 +16,9 @@ * @date May 2019 **/ +#pragma once + +#include #include #include #include @@ -25,92 +28,110 @@ namespace gtsam { /* * Fast sampling without replacement. + * Example usage: + * std::mt19937 rng(42); + * WeightedSampler sampler(&rng); + * auto samples = sampler.sampleWithoutReplacement(5, weights); */ -template -std::vector sampleWithoutReplacement(Engine& rng, size_t s, - std::vector weights) { - // Implementation adapted from paper at - // https://www.ethz.ch/content/dam/ethz/special-interest/baug/ivt/ivt-dam/vpl/reports/1101-1200/ab1141.pdf - const size_t n = weights.size(); - if (n < s) { - throw std::runtime_error("s must be smaller than weights.size()"); - } +template +class WeightedSampler { + private: + Engine* engine_; // random number generation engine - // Return empty array if s==0 - std::vector result(s); - if (s == 0) return result; + public: + /** + * Construct from random number generation engine + * We only store a pointer to it. + */ + explicit WeightedSampler(Engine* engine) : engine_(engine) {} - // Step 1: The first m items of V are inserted into reservoir - // Step 2: For each item v_i ∈ reservoir: Calculate a key k_i = u_i^(1/w), - // where u_i = random(0, 1) - // (Modification: Calculate and store -log k_i = e_i / w where e_i = exp(1), - // reservoir is a priority queue that pops the *maximum* elements) - std::priority_queue > reservoir; + std::vector sampleWithoutReplacement(size_t numSamples, + std::vector weights) { + // Implementation adapted from code accompanying paper at + // https://www.ethz.ch/content/dam/ethz/special-interest/baug/ivt/ivt-dam/vpl/reports/1101-1200/ab1141.pdf + const size_t n = weights.size(); + if (n < numSamples) { + throw std::runtime_error( + "numSamples must be smaller than weights.size()"); + } - static const double kexp1 = exp(1.0); - for (auto iprob = weights.begin(); iprob != weights.begin() + s; ++iprob) { - double k_i = kexp1 / *iprob; - reservoir.push(std::make_pair(k_i, iprob - weights.begin() + 1)); - } + // Return empty array if numSamples==0 + std::vector result(numSamples); + if (numSamples == 0) return result; - // Step 4: Repeat Steps 5–10 until the population is exhausted - { - // Step 3: The threshold T_w is the minimum key of reservoir - // (Modification: This is now the logarithm) - // Step 10: The new threshold T w is the new minimum key of reservoir - const std::pair& T_w = reservoir.top(); + // Step 1: The first m items of V are inserted into reservoir + // Step 2: For each item v_i ∈ reservoir: Calculate a key k_i = u_i^(1/w), + // where u_i = random(0, 1) + // (Modification: Calculate and store -log k_i = e_i / w where e_i = exp(1), + // reservoir is a priority queue that pops the *maximum* elements) + std::priority_queue > reservoir; - // Incrementing iprob is part of Step 7 - for (auto iprob = weights.begin() + s; iprob != weights.end(); ++iprob) { - // Step 5: Let r = random(0, 1) and X_w = log(r) / log(T_w) - // (Modification: Use e = -exp(1) instead of log(r)) - double X_w = kexp1 / T_w.first; + static const double kexp1 = std::exp(1.0); + for (auto it = weights.begin(); it != weights.begin() + numSamples; ++it) { + const double k_i = kexp1 / *it; + reservoir.push(std::make_pair(k_i, it - weights.begin() + 1)); + } - // Step 6: From the current item v_c skip items until item v_i, such that: - double w = 0.0; + // Step 4: Repeat Steps 5–10 until the population is exhausted + { + // Step 3: The threshold T_w is the minimum key of reservoir + // (Modification: This is now the logarithm) + // Step 10: The new threshold T w is the new minimum key of reservoir + const std::pair& T_w = reservoir.top(); - // Step 7: w_c + w_{c+1} + ··· + w_{i−1} < X_w <= w_c + w_{c+1} + ··· + - // w_{i−1} + w_i - for (; iprob != weights.end(); ++iprob) { - w += *iprob; - if (X_w <= w) break; + // Incrementing it is part of Step 7 + for (auto it = weights.begin() + numSamples; it != weights.end(); ++it) { + // Step 5: Let r = random(0, 1) and X_w = log(r) / log(T_w) + // (Modification: Use e = -exp(1) instead of log(r)) + const double X_w = kexp1 / T_w.first; + + // Step 6: From the current item v_c skip items until item v_i, such + // that: + double w = 0.0; + + // Step 7: w_c + w_{c+1} + ··· + w_{i−1} < X_w <= w_c + w_{c+1} + ··· + + // w_{i−1} + w_i + for (; it != weights.end(); ++it) { + w += *it; + if (X_w <= w) break; + } + + // Step 7: No such item, terminate + if (it == weights.end()) break; + + // Step 9: Let t_w = T_w^{w_i}, r_2 = random(t_w, 1) and v_i’s key: k_i + // = (r_2)^{1/w_i} (Mod: Let t_w = log(T_w) * {w_i}, e_2 = + // log(random(e^{t_w}, 1)) and v_i’s key: k_i = -e_2 / w_i) + const double t_w = -T_w.first * *it; + std::uniform_real_distribution randomAngle(std::exp(t_w), 1.0); + const double e_2 = std::log(randomAngle(*engine_)); + const double k_i = -e_2 / *it; + + // Step 8: The item in reservoir with the minimum key is replaced by + // item v_i + reservoir.pop(); + reservoir.push(std::make_pair(k_i, it - weights.begin() + 1)); + } + } + + for (auto iret = result.end(); iret != result.begin();) { + --iret; + + if (reservoir.empty()) { + throw std::runtime_error( + "Reservoir empty before all elements have been filled"); } - // Step 7: No such item, terminate - if (iprob == weights.end()) break; - - // Step 9: Let t_w = T_w^{w_i}, r_2 = random(t_w, 1) and v_i’s key: k_i = - // (r_2)^{1/w_i} (Mod: Let t_w = log(T_w) * {w_i}, e_2 = - // log(random(e^{t_w}, 1)) and v_i’s key: k_i = -e_2 / w_i) - double t_w = -T_w.first * *iprob; - std::uniform_real_distribution randomAngle(exp(t_w), 1.0); - double e_2 = log(randomAngle(rng)); - double k_i = -e_2 / *iprob; - - // Step 8: The item in reservoir with the minimum key is replaced by item - // v_i + *iret = reservoir.top().second; reservoir.pop(); - reservoir.push(std::make_pair(k_i, iprob - weights.begin() + 1)); } - } - for (auto iret = result.end(); iret != result.begin();) { - --iret; - - if (reservoir.empty()) { + if (!reservoir.empty()) { throw std::runtime_error( - "Reservoir empty before all elements have been filled"); + "Reservoir not empty after all elements have been filled"); } - *iret = reservoir.top().second; - reservoir.pop(); + return result; } - - if (!reservoir.empty()) { - throw std::runtime_error( - "Reservoir not empty after all elements have been filled"); - } - - return result; -} +}; // namespace gtsam } // namespace gtsam diff --git a/gtsam/base/tests/testWeightedSampler.cpp b/gtsam/base/tests/testWeightedSampler.cpp index 7eaaea545..8ebcdfd2e 100644 --- a/gtsam/base/tests/testWeightedSampler.cpp +++ b/gtsam/base/tests/testWeightedSampler.cpp @@ -27,8 +27,9 @@ using namespace gtsam; TEST(WeightedSampler, sampleWithoutReplacement) { vector weights{1, 2, 3, 4, 3, 2, 1}; - mt19937 rng(42); - auto samples = sampleWithoutReplacement(rng, 5, weights); + std::mt19937 rng(42); + WeightedSampler sampler(&rng); + auto samples = sampler.sampleWithoutReplacement(5, weights); EXPECT_LONGS_EQUAL(5, samples.size()); } From 50e484a3c67d4977c2b9afa51fe0643bdc2666c7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 18:43:35 -0400 Subject: [PATCH 0197/1152] Now using new WeightedSampler class --- gtsam/linear/SubgraphBuilder.cpp | 91 +++++--------------------------- 1 file changed, 13 insertions(+), 78 deletions(-) diff --git a/gtsam/linear/SubgraphBuilder.cpp b/gtsam/linear/SubgraphBuilder.cpp index a999b3a71..c6b3ca15f 100644 --- a/gtsam/linear/SubgraphBuilder.cpp +++ b/gtsam/linear/SubgraphBuilder.cpp @@ -17,6 +17,7 @@ #include #include +#include #include #include #include @@ -35,8 +36,11 @@ #include #include // accumulate #include +#include #include #include +#include +#include #include using std::cout; @@ -68,81 +72,11 @@ static vector sort_idx(const Container &src) { return idx; } -/*****************************************************************************/ -static vector iidSampler(const vector &weight, const size_t n) { - /* compute the sum of the weights */ - const double sum = std::accumulate(weight.begin(), weight.end(), 0.0); - if (sum == 0.0) { - throw std::runtime_error("Weight vector has no non-zero weights"); - } - - /* make a normalized and accumulated version of the weight vector */ - const size_t m = weight.size(); - vector cdf; - cdf.reserve(m); - for (size_t i = 0; i < m; ++i) { - cdf.push_back(weight[i] / sum); - } - - vector acc(m); - std::partial_sum(cdf.begin(), cdf.end(), acc.begin()); - - /* iid sample n times */ - vector samples; - samples.reserve(n); - const double denominator = (double)RAND_MAX; - for (size_t i = 0; i < n; ++i) { - const double value = rand() / denominator; - /* binary search the interval containing "value" */ - const auto it = std::lower_bound(acc.begin(), acc.end(), value); - const size_t index = it - acc.begin(); - samples.push_back(index); - } - return samples; -} - -/*****************************************************************************/ -static vector UniqueSampler(const vector &weight, - const size_t n) { - const size_t m = weight.size(); - if (n > m) throw std::invalid_argument("UniqueSampler: invalid input size"); - - vector results; - - size_t count = 0; - vector touched(m, false); - while (count < n) { - vector localIndices; - localIndices.reserve(n - count); - vector localWeights; - localWeights.reserve(n - count); - - /* collect data */ - for (size_t i = 0; i < m; ++i) { - if (!touched[i]) { - localIndices.push_back(i); - localWeights.push_back(weight[i]); - } - } - - /* sampling and cache results */ - vector samples = iidSampler(localWeights, n - count); - for (const size_t &index : samples) { - if (touched[index] == false) { - touched[index] = true; - results.push_back(index); - if (++count >= n) break; - } - } - } - return results; -} - /****************************************************************************/ Subgraph::Subgraph(const vector &indices) { edges_.reserve(indices.size()); for (const size_t &index : indices) { - const Edge e {index,1.0}; + const Edge e{index, 1.0}; edges_.push_back(e); } } @@ -423,12 +357,13 @@ vector SubgraphBuilder::kruskal(const GaussianFactorGraph &gfg, /****************************************************************/ vector SubgraphBuilder::sample(const vector &weights, const size_t t) const { - return UniqueSampler(weights, t); + std::mt19937 rng(42); // TODO(frank): allow us to use a different seed + WeightedSampler sampler(&rng); + return sampler.sampleWithoutReplacement(t, weights); } /****************************************************************/ -Subgraph SubgraphBuilder::operator()( - const GaussianFactorGraph &gfg) const { +Subgraph SubgraphBuilder::operator()(const GaussianFactorGraph &gfg) const { const auto &p = parameters_; const auto inverse_ordering = Ordering::Natural(gfg); const FastMap forward_ordering = inverse_ordering.invert(); @@ -518,15 +453,15 @@ GaussianFactorGraph::shared_ptr buildFactorSubgraph( subgraphFactors->reserve(subgraph.size()); for (const auto &e : subgraph) { const auto factor = gfg[e.index]; - subgraphFactors->push_back(clone ? factor->clone(): factor); + subgraphFactors->push_back(clone ? factor->clone() : factor); } return subgraphFactors; } /**************************************************************************************************/ -std::pair // -splitFactorGraph(const GaussianFactorGraph &factorGraph, const Subgraph &subgraph) { - +std::pair // +splitFactorGraph(const GaussianFactorGraph &factorGraph, + const Subgraph &subgraph) { // Get the subgraph by calling cheaper method auto subgraphFactors = buildFactorSubgraph(factorGraph, subgraph, false); From afddf0084cbf216da2a51448b1d326d184cac588 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 23:33:43 -0400 Subject: [PATCH 0198/1152] Inlined random direction generation --- gtsam/geometry/Unit3.cpp | 31 ++++++++++++------------------- 1 file changed, 12 insertions(+), 19 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index 0e1b09958..3d46b18b8 100755 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -23,17 +23,6 @@ #include #include // for GTSAM_USE_TBB -#ifdef __clang__ -# pragma clang diagnostic push -# pragma clang diagnostic ignored "-Wunused-variable" -#endif -#define BOOST_ALLOW_DEPRECATED_HEADERS -#include -#include -#ifdef __clang__ -# pragma clang diagnostic pop -#endif - #include #include #include @@ -56,14 +45,18 @@ Unit3 Unit3::FromPoint3(const Point3& point, OptionalJacobian<2, 3> H) { /* ************************************************************************* */ Unit3 Unit3::Random(std::mt19937& rng) { - // TODO(dellaert): allow any engine without including all of boost :-( - boost::uniform_on_sphere randomDirection(3); - // This variate_generator object is required for versions of boost somewhere - // around 1.46, instead of drawing directly using boost::uniform_on_sphere(rng). - boost::variate_generator > generator( - rng, randomDirection); - const vector d = generator(); - return Unit3(d[0], d[1], d[2]); + // http://mathworld.wolfram.com/SpherePointPicking.html + // Adapted from implementation in boost, but using std + std::uniform_real_distribution uniform(-1.0, 1.0); + double sqsum; + double x, y; + do { + x = uniform(rng); + y = uniform(rng); + sqsum = x * x + y * y; + } while (sqsum > 1); + const double mult = 2 * sqrt(1 - sqsum); + return Unit3(x * mult, y * mult, 2 * sqsum - 1); } /* ************************************************************************* */ From 8e81890f9b4cad3d89dcda2fec260cbf17605c7f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Jun 2019 23:45:43 -0400 Subject: [PATCH 0199/1152] eradicated last vestiges of boost/random in gtsam_unstable --- gtsam_unstable/geometry/SimPolygon2D.cpp | 23 ++++++++----------- gtsam_unstable/geometry/SimPolygon2D.h | 7 +++--- .../geometry/tests/testSimPolygon2D.cpp | 5 ++-- .../slam/tests/testOccupancyGrid.cpp | 11 ++++----- gtsam_unstable/timing/timeDSFvariants.cpp | 11 +++++---- 5 files changed, 28 insertions(+), 29 deletions(-) diff --git a/gtsam_unstable/geometry/SimPolygon2D.cpp b/gtsam_unstable/geometry/SimPolygon2D.cpp index eb732f2c5..2d4bd7a2d 100644 --- a/gtsam_unstable/geometry/SimPolygon2D.cpp +++ b/gtsam_unstable/geometry/SimPolygon2D.cpp @@ -4,10 +4,7 @@ */ #include -#include -#include -#include -#include +#include #include @@ -16,11 +13,11 @@ namespace gtsam { using namespace std; const size_t max_it = 100000; -boost::minstd_rand SimPolygon2D::rng(42u); +std::minstd_rand SimPolygon2D::rng(42u); /* ************************************************************************* */ void SimPolygon2D::seedGenerator(unsigned long seed) { - rng = boost::minstd_rand(seed); + rng = std::minstd_rand(seed); } /* ************************************************************************* */ @@ -225,23 +222,23 @@ SimPolygon2D SimPolygon2D::randomRectangle( /* ***************************************************************** */ Point2 SimPolygon2D::randomPoint2(double s) { - boost::uniform_real<> gen_t(-s/2.0, s/2.0); + std::uniform_real_distribution<> gen_t(-s/2.0, s/2.0); return Point2(gen_t(rng), gen_t(rng)); } /* ***************************************************************** */ Rot2 SimPolygon2D::randomAngle() { - boost::uniform_real<> gen_r(-M_PI, M_PI); // modified range to avoid degenerate cases in triangles + // modified range to avoid degenerate cases in triangles: + std::uniform_real_distribution<> gen_r(-M_PI, M_PI); return Rot2::fromAngle(gen_r(rng)); } /* ***************************************************************** */ double SimPolygon2D::randomDistance(double mu, double sigma, double min_dist) { - boost::normal_distribution norm_dist(mu, sigma); - boost::variate_generator > gen_d(rng, norm_dist); + std::normal_distribution<> norm_dist(mu, sigma); double d = -10.0; for (size_t i=0; i min_dist) return d; } @@ -294,8 +291,8 @@ Point2 SimPolygon2D::randomBoundedPoint2( const Point2Vector& landmarks, const std::vector& obstacles, double min_landmark_dist) { - boost::uniform_real<> gen_x(0.0, UR_corner.x() - LL_corner.x()); - boost::uniform_real<> gen_y(0.0, UR_corner.y() - LL_corner.y()); + std::uniform_real_distribution<> gen_x(0.0, UR_corner.x() - LL_corner.x()); + std::uniform_real_distribution<> gen_y(0.0, UR_corner.y() - LL_corner.y()); for (size_t i=0; i #include #include -#include + +#include +#include namespace gtsam { @@ -19,7 +20,7 @@ namespace gtsam { class GTSAM_UNSTABLE_EXPORT SimPolygon2D { protected: Point2Vector landmarks_; - static boost::minstd_rand rng; + static std::minstd_rand rng; public: diff --git a/gtsam_unstable/geometry/tests/testSimPolygon2D.cpp b/gtsam_unstable/geometry/tests/testSimPolygon2D.cpp index 6528f3f91..5cdd6c100 100644 --- a/gtsam_unstable/geometry/tests/testSimPolygon2D.cpp +++ b/gtsam_unstable/geometry/tests/testSimPolygon2D.cpp @@ -1,12 +1,13 @@ /** - * @file testSimPolygon + * @file testSimPolygon2D.cpp * @author Alex Cunningham */ -#include #include #include +#include + using namespace std; using namespace gtsam; diff --git a/gtsam_unstable/slam/tests/testOccupancyGrid.cpp b/gtsam_unstable/slam/tests/testOccupancyGrid.cpp index d92e5442e..1d28a7523 100644 --- a/gtsam_unstable/slam/tests/testOccupancyGrid.cpp +++ b/gtsam_unstable/slam/tests/testOccupancyGrid.cpp @@ -11,13 +11,12 @@ #include #include -#include -//#include // FIXME: does not exist in boost 1.46 -#include // Old header - should still exist #include +#include +#include + #include -#include using namespace std; using namespace gtsam; @@ -229,8 +228,8 @@ public: Marginals marginals(size); // NOTE: using older interface for boost.random due to interface changes after boost 1.46 - boost::mt19937 rng; - boost::uniform_int random_cell(0,size-1); + std::mt19937 rng; + std::uniform_int_distribution<> random_cell(0, size - 1); // run Metropolis for the requested number of operations // compute initial probability of occupancy grid, P(x_t) diff --git a/gtsam_unstable/timing/timeDSFvariants.cpp b/gtsam_unstable/timing/timeDSFvariants.cpp index 26ed76d02..d8182ae19 100644 --- a/gtsam_unstable/timing/timeDSFvariants.cpp +++ b/gtsam_unstable/timing/timeDSFvariants.cpp @@ -20,13 +20,13 @@ #include #include -#include #include #include #include -#include #include +#include +#include #include #include @@ -59,13 +59,14 @@ int main(int argc, char* argv[]) { cout << format("\nTesting with %1% images, %2% points, %3% matches\n") % (int)m % (int)N % (int)nm; cout << "Generating " << nm << " matches" << endl; - boost::variate_generator > rn( - boost::mt19937(), boost::uniform_int(0, N - 1)); + std::mt19937 rng; + std::uniform_int_distribution<> rn(0, N - 1); + typedef pair Match; vector matches; matches.reserve(nm); for (size_t k = 0; k < nm; k++) - matches.push_back(Match(rn(), rn())); + matches.push_back(Match(rn(rng), rn(rng))); os << format("%1%,%2%,%3%,") % (int)m % (int)N % (int)nm; From bf153b31ae7a2f0aee3526a1fb7fb2b9e2ba318b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 28 Feb 2020 23:44:53 -0800 Subject: [PATCH 0200/1152] Fix test with new random behavior --- gtsam/discrete/tests/testDiscreteBayesNet.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/discrete/tests/testDiscreteBayesNet.cpp b/gtsam/discrete/tests/testDiscreteBayesNet.cpp index f8a1b6309..5ed662332 100644 --- a/gtsam/discrete/tests/testDiscreteBayesNet.cpp +++ b/gtsam/discrete/tests/testDiscreteBayesNet.cpp @@ -97,8 +97,8 @@ TEST(DiscreteBayesNet, Asia) // now sample from it DiscreteFactor::Values expectedSample; SETDEBUG("DiscreteConditional::sample", false); - insert(expectedSample)(A.first, 1)(D.first, 1)(X.first, 0)(T.first, 0)( - S.first, 1)(E.first, 0)(L.first, 0)(B.first, 1); + insert(expectedSample)(A.first, 1)(D.first, 1)(X.first, 1)(T.first, 0)( + S.first, 1)(E.first, 1)(L.first, 1)(B.first, 0); DiscreteFactor::sharedValues actualSample = chordal2->sample(); EXPECT(assert_equal(expectedSample, *actualSample)); } From d4135829124f96a18a52cc09b865785cf01a639b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 29 Feb 2020 00:16:30 -0800 Subject: [PATCH 0201/1152] Return base 0 indices --- gtsam/base/WeightedSampler.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/base/WeightedSampler.h b/gtsam/base/WeightedSampler.h index 916f37033..7c343b098 100644 --- a/gtsam/base/WeightedSampler.h +++ b/gtsam/base/WeightedSampler.h @@ -45,8 +45,8 @@ class WeightedSampler { */ explicit WeightedSampler(Engine* engine) : engine_(engine) {} - std::vector sampleWithoutReplacement(size_t numSamples, - std::vector weights) { + std::vector sampleWithoutReplacement( + size_t numSamples, const std::vector& weights) { // Implementation adapted from code accompanying paper at // https://www.ethz.ch/content/dam/ethz/special-interest/baug/ivt/ivt-dam/vpl/reports/1101-1200/ab1141.pdf const size_t n = weights.size(); @@ -122,7 +122,7 @@ class WeightedSampler { "Reservoir empty before all elements have been filled"); } - *iret = reservoir.top().second; + *iret = reservoir.top().second - 1; reservoir.pop(); } From cda82ffc45cd042e8901aeee7d7779ac773597cc Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Sat, 29 Feb 2020 16:25:55 -0500 Subject: [PATCH 0202/1152] Fix Parameter passing in Conjugate Gradient --- gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp index 32aead750..54db42b79 100644 --- a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp +++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp @@ -43,7 +43,8 @@ static VectorValues gradientInPlace(const NonlinearFactorGraph &nfg, NonlinearConjugateGradientOptimizer::NonlinearConjugateGradientOptimizer( const NonlinearFactorGraph& graph, const Values& initialValues, const Parameters& params) - : Base(graph, std::unique_ptr(new State(initialValues, graph.error(initialValues)))) {} + : Base(graph, std::unique_ptr(new State(initialValues, graph.error(initialValues)))), + params_(params) {} double NonlinearConjugateGradientOptimizer::System::error(const State& state) const { return graph_.error(state); From e312abdbf0a77dcbba6fd255cd51896531d7401f Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Sun, 1 Mar 2020 15:22:19 -0500 Subject: [PATCH 0203/1152] Add More Unit Tests for Robust Noise Models --- tests/testNonlinearOptimizer.cpp | 191 +++++++++++++++++++++++++++++-- 1 file changed, 180 insertions(+), 11 deletions(-) diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 0e7793552..7cf5e1e2d 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -20,6 +20,7 @@ #include #include #include +#include #include #include #include @@ -339,31 +340,199 @@ TEST_UNSAFE(NonlinearOptimizer, MoreOptimization) { } /* ************************************************************************* */ -TEST(NonlinearOptimizer, MoreOptimizationWithHuber) { +TEST(NonlinearOptimizer, Pose2OptimizationWithHuberNoOutlier) { NonlinearFactorGraph fg; fg += PriorFactor(0, Pose2(0,0,0), noiseModel::Isotropic::Sigma(3,1)); - fg += BetweenFactor(0, 1, Pose2(1,0,M_PI/2), + fg += BetweenFactor(0, 1, Pose2(1,1.1,M_PI/4), noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(2.0), noiseModel::Isotropic::Sigma(3,1))); - fg += BetweenFactor(1, 2, Pose2(1,0,M_PI/2), + fg += BetweenFactor(0, 1, Pose2(1,0.9,M_PI/2), noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(3.0), noiseModel::Isotropic::Sigma(3,1))); Values init; - init.insert(0, Pose2(10,10,0)); - init.insert(1, Pose2(1,0,M_PI)); - init.insert(2, Pose2(1,1,-M_PI)); + init.insert(0, Pose2(0,0,0)); + init.insert(1, Pose2(0.961187, 0.99965, 1.1781)); Values expected; expected.insert(0, Pose2(0,0,0)); - expected.insert(1, Pose2(1,0,M_PI/2)); - expected.insert(2, Pose2(1,1,M_PI)); + expected.insert(1, Pose2(0.961187, 0.99965, 1.1781)); + + LevenbergMarquardtParams lm_params; + lm_params.setRelativeErrorTol(0); + lm_params.setAbsoluteErrorTol(0); + lm_params.setMaxIterations(100); + lm_params.setlambdaUpperBound(1e10); + // lm_params.setVerbosityLM("TRYLAMBDA"); + + gtsam::NonlinearConjugateGradientOptimizer::Parameters cg_params; + cg_params.setErrorTol(0); + cg_params.setMaxIterations(100000); + cg_params.setRelativeErrorTol(0); + cg_params.setAbsoluteErrorTol(0); + + DoglegParams dl_params; + dl_params.setRelativeErrorTol(0); + dl_params.setAbsoluteErrorTol(0); + dl_params.setMaxIterations(100); + + // cg_params.setVerbosity("ERROR"); + + auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize(); + auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); + auto lm_result = LevenbergMarquardtOptimizer(fg, init, lm_params).optimize(); + auto dl_result = DoglegOptimizer(fg, init, dl_params).optimize(); + + EXPECT(assert_equal(expected, cg_result, 3e-2)); + EXPECT(assert_equal(expected, gn_result, 3e-2)); + EXPECT(assert_equal(expected, lm_result, 3e-2)); + EXPECT(assert_equal(expected, dl_result, 3e-2)); +} + +/* ************************************************************************* */ +TEST(NonlinearOptimizer, Point2LinearOptimizationWithHuber) { + + NonlinearFactorGraph fg; + fg += PriorFactor(0, Point2(0,0), noiseModel::Isotropic::Sigma(2,0.01)); + fg += BetweenFactor(0, 1, Point2(1,1.8), + noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(1.0), + noiseModel::Isotropic::Sigma(2,1))); + fg += BetweenFactor(0, 1, Point2(1,0.9), + noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(1.0), + noiseModel::Isotropic::Sigma(2,1))); + fg += BetweenFactor(0, 1, Point2(1,90), + noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(1.0), + noiseModel::Isotropic::Sigma(2,1))); + + Values init; + init.insert(0, Point2(1,1)); + init.insert(1, Point2(1,0)); + + Values expected; + expected.insert(0, Point2(0,0)); + expected.insert(1, Point2(1,1.85)); LevenbergMarquardtParams params; - EXPECT(assert_equal(expected, GaussNewtonOptimizer(fg, init).optimize())); - EXPECT(assert_equal(expected, LevenbergMarquardtOptimizer(fg, init, params).optimize())); - EXPECT(assert_equal(expected, DoglegOptimizer(fg, init).optimize())); + gtsam::NonlinearConjugateGradientOptimizer::Parameters cg_params; + cg_params.setErrorTol(0); + cg_params.setMaxIterations(100000); + cg_params.setRelativeErrorTol(0); + cg_params.setAbsoluteErrorTol(0); + + // cg_params.setVerbosity("ERROR"); + auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize(); + + auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); + + auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize(); + + auto dl_result = DoglegOptimizer(fg, init).optimize(); + + EXPECT(assert_equal(expected, gn_result, 1e-4)); + EXPECT(assert_equal(expected, gn_result, 1e-4)); + EXPECT(assert_equal(expected, lm_result, 1e-4)); + EXPECT(assert_equal(expected, dl_result, 1e-4)); +} + +/* ************************************************************************* */ +TEST(NonlinearOptimizer, Pose2OptimizationWithHuber) { + + NonlinearFactorGraph fg; + fg += PriorFactor(0, Pose2(0,0, 0), noiseModel::Isotropic::Sigma(3,0.1)); + fg += BetweenFactor(0, 1, Pose2(0,9, M_PI/2), + noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(0.2), + noiseModel::Isotropic::Sigma(3,1))); + fg += BetweenFactor(0, 1, Pose2(0, 11, M_PI/2), + noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(0.2), + noiseModel::Isotropic::Sigma(3,1))); + fg += BetweenFactor(0, 1, Pose2(0, 10, M_PI/2), + noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(0.2), + noiseModel::Isotropic::Sigma(3,1))); + fg += BetweenFactor(0, 1, Pose2(0,9, 0), + noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(0.2), + noiseModel::Isotropic::Sigma(3,1))); + + Values init; + init.insert(0, Pose2(0, 0, 0)); + init.insert(1, Pose2(0, 10, M_PI/4)); + + Values expected; + expected.insert(0, Pose2(0, 0, 0)); + expected.insert(1, Pose2(0, 10, 1.45212)); + + LevenbergMarquardtParams params; + gtsam::NonlinearConjugateGradientOptimizer::Parameters cg_params; + cg_params.setErrorTol(0); + cg_params.setMaxIterations(100000); + cg_params.setRelativeErrorTol(0); + cg_params.setAbsoluteErrorTol(0); + + // cg_params.setVerbosity("ERROR"); + auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize(); + fg.printErrors(cg_result); + auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); + + auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize(); + + auto dl_result = DoglegOptimizer(fg, init).optimize(); + + EXPECT(assert_equal(expected, gn_result, 1e-1)); + EXPECT(assert_equal(expected, gn_result, 1e-1)); + EXPECT(assert_equal(expected, lm_result, 1e-1)); + EXPECT(assert_equal(expected, dl_result, 1e-1)); +} + +/* ************************************************************************* */ +TEST(NonlinearOptimizer, RobustMeanCalculation) { + + NonlinearFactorGraph fg; + + Values init; + + Values expected; + + auto huber = noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(20), + noiseModel::Isotropic::Sigma(1, 1)); + + vector pts{-10,-3,-1,1,3,10,1000}; + for(auto pt : pts) { + fg += PriorFactor(0, pt, huber); + } + + init.insert(0, 100.0); + expected.insert(0, 3.33333333); + + LevenbergMarquardtParams params; + // params.setVerbosityLM("TRYLAMBDA"); + params.setAbsoluteErrorTol(1e-20); + params.setRelativeErrorTol(1e-20); + + gtsam::NonlinearConjugateGradientOptimizer::Parameters cg_params; + cg_params.setErrorTol(0); + cg_params.setMaxIterations(10000); + cg_params.setRelativeErrorTol(0); + cg_params.setAbsoluteErrorTol(0); + // cg_params.setVerbosity("ERROR"); + auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize(); +// cg_result.print("CG: "); +// cout << fg.error(cg_result) << endl << endl << endl; + + auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); +// gn_result.print("GN: "); +// cout << fg.error(gn_result) << endl << endl << endl; + + auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize(); +// lm_result.print("LM: "); +// cout << fg.error(lm_result) << endl << endl << endl; + + auto dl_result = DoglegOptimizer(fg, init).optimize(); +// dl_result.print("DL: "); +// cout << fg.error(dl_result) << endl << endl << endl; + EXPECT(assert_equal(expected, gn_result, tol)); + EXPECT(assert_equal(expected, gn_result, tol)); + EXPECT(assert_equal(expected, lm_result, tol)); + EXPECT(assert_equal(expected, dl_result, tol)); } /* ************************************************************************* */ From 3c0671ba8de1a5fa9b115fc8cf6e5ac3b768ce41 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Sun, 1 Mar 2020 19:38:57 -0500 Subject: [PATCH 0204/1152] Removed commentted out and print-s --- tests/testNonlinearOptimizer.cpp | 34 ++++---------------------------- 1 file changed, 4 insertions(+), 30 deletions(-) diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 7cf5e1e2d..4b7ca6a03 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -364,9 +364,8 @@ TEST(NonlinearOptimizer, Pose2OptimizationWithHuberNoOutlier) { lm_params.setAbsoluteErrorTol(0); lm_params.setMaxIterations(100); lm_params.setlambdaUpperBound(1e10); - // lm_params.setVerbosityLM("TRYLAMBDA"); - gtsam::NonlinearConjugateGradientOptimizer::Parameters cg_params; + NonlinearConjugateGradientOptimizer::Parameters cg_params; cg_params.setErrorTol(0); cg_params.setMaxIterations(100000); cg_params.setRelativeErrorTol(0); @@ -377,8 +376,6 @@ TEST(NonlinearOptimizer, Pose2OptimizationWithHuberNoOutlier) { dl_params.setAbsoluteErrorTol(0); dl_params.setMaxIterations(100); - // cg_params.setVerbosity("ERROR"); - auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize(); auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); auto lm_result = LevenbergMarquardtOptimizer(fg, init, lm_params).optimize(); @@ -414,19 +411,11 @@ TEST(NonlinearOptimizer, Point2LinearOptimizationWithHuber) { expected.insert(1, Point2(1,1.85)); LevenbergMarquardtParams params; - gtsam::NonlinearConjugateGradientOptimizer::Parameters cg_params; - cg_params.setErrorTol(0); - cg_params.setMaxIterations(100000); - cg_params.setRelativeErrorTol(0); - cg_params.setAbsoluteErrorTol(0); + NonlinearConjugateGradientOptimizer::Parameters cg_params; - // cg_params.setVerbosity("ERROR"); auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize(); - auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); - auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize(); - auto dl_result = DoglegOptimizer(fg, init).optimize(); EXPECT(assert_equal(expected, gn_result, 1e-4)); @@ -468,13 +457,9 @@ TEST(NonlinearOptimizer, Pose2OptimizationWithHuber) { cg_params.setRelativeErrorTol(0); cg_params.setAbsoluteErrorTol(0); - // cg_params.setVerbosity("ERROR"); auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize(); - fg.printErrors(cg_result); auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); - auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize(); - auto dl_result = DoglegOptimizer(fg, init).optimize(); EXPECT(assert_equal(expected, gn_result, 1e-1)); @@ -504,7 +489,6 @@ TEST(NonlinearOptimizer, RobustMeanCalculation) { expected.insert(0, 3.33333333); LevenbergMarquardtParams params; - // params.setVerbosityLM("TRYLAMBDA"); params.setAbsoluteErrorTol(1e-20); params.setRelativeErrorTol(1e-20); @@ -513,22 +497,12 @@ TEST(NonlinearOptimizer, RobustMeanCalculation) { cg_params.setMaxIterations(10000); cg_params.setRelativeErrorTol(0); cg_params.setAbsoluteErrorTol(0); - // cg_params.setVerbosity("ERROR"); + auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize(); -// cg_result.print("CG: "); -// cout << fg.error(cg_result) << endl << endl << endl; - auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); -// gn_result.print("GN: "); -// cout << fg.error(gn_result) << endl << endl << endl; - auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize(); -// lm_result.print("LM: "); -// cout << fg.error(lm_result) << endl << endl << endl; - auto dl_result = DoglegOptimizer(fg, init).optimize(); -// dl_result.print("DL: "); -// cout << fg.error(dl_result) << endl << endl << endl; + EXPECT(assert_equal(expected, gn_result, tol)); EXPECT(assert_equal(expected, gn_result, tol)); EXPECT(assert_equal(expected, lm_result, tol)); From 4babfe24911eba8348ce5ff857e68637be524862 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Tue, 3 Mar 2020 17:39:28 -0500 Subject: [PATCH 0205/1152] Remove redundant params --- tests/testNonlinearOptimizer.cpp | 39 +------------------------------- 1 file changed, 1 insertion(+), 38 deletions(-) diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 4b7ca6a03..7b5e7a0e0 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -360,28 +360,11 @@ TEST(NonlinearOptimizer, Pose2OptimizationWithHuberNoOutlier) { expected.insert(1, Pose2(0.961187, 0.99965, 1.1781)); LevenbergMarquardtParams lm_params; - lm_params.setRelativeErrorTol(0); - lm_params.setAbsoluteErrorTol(0); - lm_params.setMaxIterations(100); - lm_params.setlambdaUpperBound(1e10); - NonlinearConjugateGradientOptimizer::Parameters cg_params; - cg_params.setErrorTol(0); - cg_params.setMaxIterations(100000); - cg_params.setRelativeErrorTol(0); - cg_params.setAbsoluteErrorTol(0); - - DoglegParams dl_params; - dl_params.setRelativeErrorTol(0); - dl_params.setAbsoluteErrorTol(0); - dl_params.setMaxIterations(100); - - auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize(); auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); auto lm_result = LevenbergMarquardtOptimizer(fg, init, lm_params).optimize(); - auto dl_result = DoglegOptimizer(fg, init, dl_params).optimize(); + auto dl_result = DoglegOptimizer(fg, init).optimize(); - EXPECT(assert_equal(expected, cg_result, 3e-2)); EXPECT(assert_equal(expected, gn_result, 3e-2)); EXPECT(assert_equal(expected, lm_result, 3e-2)); EXPECT(assert_equal(expected, dl_result, 3e-2)); @@ -411,14 +394,11 @@ TEST(NonlinearOptimizer, Point2LinearOptimizationWithHuber) { expected.insert(1, Point2(1,1.85)); LevenbergMarquardtParams params; - NonlinearConjugateGradientOptimizer::Parameters cg_params; - auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize(); auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize(); auto dl_result = DoglegOptimizer(fg, init).optimize(); - EXPECT(assert_equal(expected, gn_result, 1e-4)); EXPECT(assert_equal(expected, gn_result, 1e-4)); EXPECT(assert_equal(expected, lm_result, 1e-4)); EXPECT(assert_equal(expected, dl_result, 1e-4)); @@ -451,18 +431,11 @@ TEST(NonlinearOptimizer, Pose2OptimizationWithHuber) { expected.insert(1, Pose2(0, 10, 1.45212)); LevenbergMarquardtParams params; - gtsam::NonlinearConjugateGradientOptimizer::Parameters cg_params; - cg_params.setErrorTol(0); - cg_params.setMaxIterations(100000); - cg_params.setRelativeErrorTol(0); - cg_params.setAbsoluteErrorTol(0); - auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize(); auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize(); auto dl_result = DoglegOptimizer(fg, init).optimize(); - EXPECT(assert_equal(expected, gn_result, 1e-1)); EXPECT(assert_equal(expected, gn_result, 1e-1)); EXPECT(assert_equal(expected, lm_result, 1e-1)); EXPECT(assert_equal(expected, dl_result, 1e-1)); @@ -489,21 +462,11 @@ TEST(NonlinearOptimizer, RobustMeanCalculation) { expected.insert(0, 3.33333333); LevenbergMarquardtParams params; - params.setAbsoluteErrorTol(1e-20); - params.setRelativeErrorTol(1e-20); - gtsam::NonlinearConjugateGradientOptimizer::Parameters cg_params; - cg_params.setErrorTol(0); - cg_params.setMaxIterations(10000); - cg_params.setRelativeErrorTol(0); - cg_params.setAbsoluteErrorTol(0); - - auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize(); auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize(); auto dl_result = DoglegOptimizer(fg, init).optimize(); - EXPECT(assert_equal(expected, gn_result, tol)); EXPECT(assert_equal(expected, gn_result, tol)); EXPECT(assert_equal(expected, lm_result, tol)); EXPECT(assert_equal(expected, dl_result, tol)); From 381f7bee3081b7191c383ba077301bae69a3ee06 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 21 Feb 2020 18:36:50 -0500 Subject: [PATCH 0206/1152] wrap SfM_data struct --- gtsam.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam.h b/gtsam.h index f943c2e9d..564afcaca 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2724,6 +2724,11 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor { }; #include +class SfM_data { + size_t number_cameras() const; + size_t number_tracks() const; +}; + string findExampleDataFile(string name); pair load2D(string filename, gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart); From a2ef54c60f45242aead921dc34e765ec133526b1 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 3 Mar 2020 21:41:44 -0500 Subject: [PATCH 0207/1152] added more function to retrieve SfM_data and wrapped them --- gtsam.h | 9 +++++++++ gtsam/slam/dataset.h | 14 +++++++++++++- 2 files changed, 22 insertions(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 564afcaca..736fc69db 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2724,9 +2724,18 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor { }; #include +class SfM_Track { + size_t number_measurements() const; + pair measurement(size_t idx) const; + pair SIFT_index(size_t idx) const; +}; + class SfM_data { size_t number_cameras() const; size_t number_tracks() const; + //TODO(Varun) Need to fix issue #237 first before this can work + // gtsam::PinholeCamera camera(size_t idx) const; + gtsam::SfM_Track track(size_t idx) const; }; string findExampleDataFile(string name); diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h index 2106df48d..3f8c6fd65 100644 --- a/gtsam/slam/dataset.h +++ b/gtsam/slam/dataset.h @@ -173,7 +173,7 @@ typedef std::pair SIFT_Index; /// Define the structure for the 3D points struct SfM_Track { - SfM_Track():p(0,0,0) {} + SfM_Track(): p(0,0,0) {} 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)) @@ -181,6 +181,12 @@ struct SfM_Track { size_t number_measurements() const { return measurements.size(); } + SfM_Measurement measurement(size_t idx) const { + return measurements[idx]; + } + SIFT_Index SIFT_index(size_t idx) const { + return siftIndices[idx]; + } }; /// Define the structure for the camera poses @@ -196,6 +202,12 @@ struct SfM_data { size_t number_tracks() const { return tracks.size(); } ///< The number of reconstructed 3D points + SfM_Camera camera(size_t idx) const { + return cameras[idx]; + } + SfM_Track track(size_t idx) const { + return tracks[idx]; + } }; /** From 105c4b809e0e15e57c8dc08b3b6b00e4047f3c3e Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 3 Mar 2020 21:42:13 -0500 Subject: [PATCH 0208/1152] minor typo fixes --- gtsam/geometry/Cal3Bundler.cpp | 2 +- gtsam/geometry/Cal3Bundler.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/Cal3Bundler.cpp b/gtsam/geometry/Cal3Bundler.cpp index 223bcc242..0d64d0184 100644 --- a/gtsam/geometry/Cal3Bundler.cpp +++ b/gtsam/geometry/Cal3Bundler.cpp @@ -116,7 +116,7 @@ Point2 Cal3Bundler::calibrate(const Point2& pi, const double tol) const { if (iteration >= maxIterations) throw std::runtime_error( - "Cal3DS2::calibrate fails to converge. need a better initialization"); + "Cal3Bundler::calibrate fails to converge. need a better initialization"); return pn; } diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h index d95c47f7b..4787f565b 100644 --- a/gtsam/geometry/Cal3Bundler.h +++ b/gtsam/geometry/Cal3Bundler.h @@ -117,7 +117,7 @@ public: Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 3> Dcal = boost::none, OptionalJacobian<2, 2> Dp = boost::none) const; - /// Conver a pixel coordinate to ideal coordinate + /// Convert a pixel coordinate to ideal coordinate Point2 calibrate(const Point2& pi, const double tol = 1e-5) const; /// @deprecated might be removed in next release, use uncalibrate From 33924220a31221f09a1f249e87905034f470c927 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 6 Mar 2020 13:22:29 -0500 Subject: [PATCH 0209/1152] added docstrings for SFM structs --- gtsam/slam/dataset.h | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h index 3f8c6fd65..f3e802baf 100644 --- a/gtsam/slam/dataset.h +++ b/gtsam/slam/dataset.h @@ -173,17 +173,21 @@ typedef std::pair SIFT_Index; /// Define the structure for the 3D points struct SfM_Track { + /// Construct empty track SfM_Track(): p(0,0,0) {} 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(); } + /// Get the measurement (camera index, Point2) at pose index `idx` SfM_Measurement measurement(size_t idx) const { return measurements[idx]; } + /// Get the SIFT feature index corresponding to the measurement at `idx` SIFT_Index SIFT_index(size_t idx) const { return siftIndices[idx]; } @@ -196,15 +200,19 @@ typedef PinholeCamera SfM_Camera; struct SfM_data { std::vector cameras; ///< Set of cameras std::vector tracks; ///< Sparse set of points + /// The number of camera poses size_t number_cameras() const { return cameras.size(); - } ///< The number of camera poses + } + /// The number of reconstructed 3D points size_t number_tracks() const { return tracks.size(); - } ///< The number of reconstructed 3D points + } + /// The camera pose at frame index `idx` SfM_Camera camera(size_t idx) const { return cameras[idx]; } + /// The track formed by series of landmark measurements SfM_Track track(size_t idx) const { return tracks[idx]; } From 0e6efb98d7f3e8b7eb5b38dfc8830d8b19c2f670 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 6 Mar 2020 16:28:31 -0500 Subject: [PATCH 0210/1152] compute angle in degrees between 2 Rot3 matrices --- gtsam.h | 1 + gtsam/geometry/Rot3.cpp | 5 +++++ gtsam/geometry/Rot3.h | 6 ++++++ gtsam/geometry/tests/testRot3.cpp | 15 +++++++++++++++ 4 files changed, 27 insertions(+) diff --git a/gtsam.h b/gtsam.h index f943c2e9d..6e2eea686 100644 --- a/gtsam.h +++ b/gtsam.h @@ -677,6 +677,7 @@ class Rot3 { // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly Vector quaternion() const; gtsam::Rot3 slerp(double t, const gtsam::Rot3& other) const; + double angle(const gtsam::Rot3& other) const; // enabling serialization functionality void serialize() const; diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index b1e8dd14b..4eee045f9 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -228,6 +228,11 @@ Rot3 Rot3::slerp(double t, const Rot3& other) const { return interpolate(*this, other, t); } +/* ************************************************************************* */ +double Rot3::angle(const Rot3& other) const { + return Rot3::Logmap(this->between(other)).norm() * 180.0 / M_PI; +} + /* ************************************************************************* */ } // namespace gtsam diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index e4408c9f4..d810285fb 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -479,6 +479,12 @@ namespace gtsam { */ Rot3 slerp(double t, const Rot3& other) const; + /** + * @brief Compute the angle (in degrees) between *this and other + * @param other Rot3 element + */ + double angle(const Rot3& other) const; + /// Output stream operator GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Rot3& p); diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index c95b85f21..84c5bd094 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -661,6 +661,21 @@ TEST(Rot3, ClosestTo) { EXPECT(assert_equal(expected, actual.matrix(), 1e-6)); } +/* ************************************************************************* */ +TEST(Rot3, angle) { + Rot3 R1(0.996136, -0.0564186, -0.0672982, // + 0.0419472, 0.978941, -0.199787, // + 0.0771527, 0.196192, 0.977525); + + Rot3 R2(0.99755, -0.0377748, -0.0588831, // + 0.0238455, 0.974883, -0.221437, // + 0.0657689, 0.21949, 0.973395); + + double expected = 1.7765686464446904; + + EXPECT(assert_equal(expected, R1.angle(R2), 1e-6)); +} + /* ************************************************************************* */ int main() { TestResult tr; From 087247c6e03bbf2c6032d89c181370cdecf6ab46 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 6 Mar 2020 17:54:25 -0500 Subject: [PATCH 0211/1152] return axis-angle representation instead of just angle, updated test to be much simpler --- gtsam/geometry/Rot3.cpp | 5 +++-- gtsam/geometry/Rot3.h | 4 ++-- gtsam/geometry/tests/testRot3.cpp | 18 +++++++++--------- 3 files changed, 14 insertions(+), 13 deletions(-) diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index 4eee045f9..9b68bb1f1 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -229,8 +229,9 @@ Rot3 Rot3::slerp(double t, const Rot3& other) const { } /* ************************************************************************* */ -double Rot3::angle(const Rot3& other) const { - return Rot3::Logmap(this->between(other)).norm() * 180.0 / M_PI; +pair Rot3::axisAngle(const Rot3& other) const { + Vector3 rot = Rot3::Logmap(this->between(other)); + return pair(Unit3(rot), rot.norm()); } /* ************************************************************************* */ diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index d810285fb..41b5a6ca1 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -480,10 +480,10 @@ namespace gtsam { Rot3 slerp(double t, const Rot3& other) const; /** - * @brief Compute the angle (in degrees) between *this and other + * @brief Compute the Euler axis and angle (in radians) between *this and other * @param other Rot3 element */ - double angle(const Rot3& other) const; + std::pair axisAngle(const Rot3& other) const; /// Output stream operator GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Rot3& p); diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index 84c5bd094..c37dfda35 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -663,17 +663,17 @@ TEST(Rot3, ClosestTo) { /* ************************************************************************* */ TEST(Rot3, angle) { - Rot3 R1(0.996136, -0.0564186, -0.0672982, // - 0.0419472, 0.978941, -0.199787, // - 0.0771527, 0.196192, 0.977525); + Rot3 R1 = Rot3::Ypr(0, 0, 0); - Rot3 R2(0.99755, -0.0377748, -0.0588831, // - 0.0238455, 0.974883, -0.221437, // - 0.0657689, 0.21949, 0.973395); + Rot3 R2 = Rot3::Ypr(M_PI/4, 0, 0); - double expected = 1.7765686464446904; - - EXPECT(assert_equal(expected, R1.angle(R2), 1e-6)); + Unit3 expectedAxis(0, 0, 1); + double expectedAngle = M_PI/4; + + pair actual = R1.axisAngle(R2); + + EXPECT(assert_equal(expectedAxis, actual.first, 1e-6)); + EXPECT(assert_equal(expectedAngle, actual.second, 1e-6)); } /* ************************************************************************* */ From 719975022c22a55a24a52973751fa21035d8db07 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 3 Mar 2020 21:46:39 -0500 Subject: [PATCH 0212/1152] consistent naming scheme for SfM_Data --- examples/CreateSFMExampleData.cpp | 2 +- examples/SFMExampleExpressions_bal.cpp | 2 +- examples/SFMExample_bal.cpp | 2 +- examples/SFMExample_bal_COLAMD_METIS.cpp | 2 +- gtsam.h | 2 +- gtsam/slam/dataset.cpp | 20 ++++++------- gtsam/slam/dataset.h | 29 ++++++++++--------- gtsam/slam/tests/testDataset.cpp | 12 ++++---- .../slam/tests/testEssentialMatrixFactor.cpp | 4 +-- tests/testGeneralSFMFactorB.cpp | 2 +- timing/timeSFMBAL.cpp | 2 +- timing/timeSFMBAL.h | 6 ++-- timing/timeSFMBALautodiff.cpp | 2 +- timing/timeSFMBALcamTnav.cpp | 2 +- timing/timeSFMBALnavTcam.cpp | 2 +- timing/timeSFMBALsmart.cpp | 2 +- 16 files changed, 48 insertions(+), 45 deletions(-) diff --git a/examples/CreateSFMExampleData.cpp b/examples/CreateSFMExampleData.cpp index 082b4c0f9..5a829a886 100644 --- a/examples/CreateSFMExampleData.cpp +++ b/examples/CreateSFMExampleData.cpp @@ -31,7 +31,7 @@ void createExampleBALFile(const string& filename, const vector& P, Cal3Bundler()) { // Class that will gather all data - SfM_data data; + SfM_Data data; // Create two cameras Rot3 aRb = Rot3::Yaw(M_PI_2); diff --git a/examples/SFMExampleExpressions_bal.cpp b/examples/SFMExampleExpressions_bal.cpp index ea50f7163..320ad597d 100644 --- a/examples/SFMExampleExpressions_bal.cpp +++ b/examples/SFMExampleExpressions_bal.cpp @@ -49,7 +49,7 @@ int main(int argc, char* argv[]) { filename = string(argv[1]); // Load the SfM data from file - SfM_data mydata; + SfM_Data mydata; readBAL(filename, mydata); cout << boost::format("read %1% tracks on %2% cameras\n") diff --git a/examples/SFMExample_bal.cpp b/examples/SFMExample_bal.cpp index a3a416eb3..66f135c76 100644 --- a/examples/SFMExample_bal.cpp +++ b/examples/SFMExample_bal.cpp @@ -42,7 +42,7 @@ int main (int argc, char* argv[]) { if (argc>1) filename = string(argv[1]); // Load the SfM data from file - SfM_data mydata; + SfM_Data mydata; readBAL(filename, mydata); cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras(); diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp index 13a07dda5..50f8a5afd 100644 --- a/examples/SFMExample_bal_COLAMD_METIS.cpp +++ b/examples/SFMExample_bal_COLAMD_METIS.cpp @@ -47,7 +47,7 @@ int main (int argc, char* argv[]) { if (argc>1) filename = string(argv[1]); // Load the SfM data from file - SfM_data mydata; + SfM_Data mydata; readBAL(filename, mydata); cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras(); diff --git a/gtsam.h b/gtsam.h index 736fc69db..f6d3e85c1 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2730,7 +2730,7 @@ class SfM_Track { pair SIFT_index(size_t idx) const; }; -class SfM_data { +class SfM_Data { size_t number_cameras() const; size_t number_tracks() const; //TODO(Varun) Need to fix issue #237 first before this can work diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 8a5c87ecf..ff62bace4 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -646,7 +646,7 @@ Pose3 gtsam2openGL(const Pose3& PoseGTSAM) { } /* ************************************************************************* */ -bool readBundler(const string& filename, SfM_data &data) { +bool readBundler(const string& filename, SfM_Data &data) { // Load the data file ifstream is(filename.c_str(), ifstream::in); if (!is) { @@ -733,7 +733,7 @@ bool readBundler(const string& filename, SfM_data &data) { } /* ************************************************************************* */ -bool readBAL(const string& filename, SfM_data &data) { +bool readBAL(const string& filename, SfM_Data &data) { // Load the data file ifstream is(filename.c_str(), ifstream::in); if (!is) { @@ -793,7 +793,7 @@ bool readBAL(const string& filename, SfM_data &data) { } /* ************************************************************************* */ -bool writeBAL(const string& filename, SfM_data &data) { +bool writeBAL(const string& filename, SfM_Data &data) { // Open the output file ofstream os; os.open(filename.c_str()); @@ -866,12 +866,12 @@ bool writeBAL(const string& filename, SfM_data &data) { return true; } -bool writeBALfromValues(const string& filename, const SfM_data &data, +bool writeBALfromValues(const string& filename, const SfM_Data &data, Values& values) { using Camera = PinholeCamera; - SfM_data dataValues = data; + SfM_Data dataValues = data; - // Store poses or cameras in SfM_data + // Store poses or cameras in SfM_Data size_t nrPoses = values.count(); if (nrPoses == dataValues.number_cameras()) { // we only estimated camera poses for (size_t i = 0; i < dataValues.number_cameras(); i++) { // for each camera @@ -899,7 +899,7 @@ bool writeBALfromValues(const string& filename, const SfM_data &data, } } - // Store 3D points in SfM_data + // Store 3D points in SfM_Data size_t nrPoints = values.count(), nrTracks = dataValues.number_tracks(); if (nrPoints != nrTracks) { cout @@ -921,11 +921,11 @@ bool writeBALfromValues(const string& filename, const SfM_data &data, } } - // Write SfM_data to file + // Write SfM_Data to file return writeBAL(filename, dataValues); } -Values initialCamerasEstimate(const SfM_data& db) { +Values initialCamerasEstimate(const SfM_Data& db) { Values initial; size_t i = 0; // NO POINTS: j = 0; for(const SfM_Camera& camera: db.cameras) @@ -933,7 +933,7 @@ Values initialCamerasEstimate(const SfM_data& db) { return initial; } -Values initialCamerasAndPointsEstimate(const SfM_data& db) { +Values initialCamerasAndPointsEstimate(const SfM_Data& db) { Values initial; size_t i = 0, j = 0; for(const SfM_Camera& camera: db.cameras) diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h index f3e802baf..83d857487 100644 --- a/gtsam/slam/dataset.h +++ b/gtsam/slam/dataset.h @@ -197,7 +197,7 @@ struct SfM_Track { typedef PinholeCamera SfM_Camera; /// Define the structure for SfM data -struct SfM_data { +struct SfM_Data { std::vector cameras; ///< Set of cameras std::vector tracks; ///< Sparse set of points /// The number of camera poses @@ -218,36 +218,39 @@ struct SfM_data { } }; +/// Alias for backwards compatibility +typedef SfM_Data SfM_data; + /** * @brief This function parses a bundler output file and stores the data into a - * SfM_data structure + * SfM_Data structure * @param filename The name of the bundler file * @param data SfM structure where the data is stored * @return true if the parsing was successful, false otherwise */ -GTSAM_EXPORT bool readBundler(const std::string& filename, SfM_data &data); +GTSAM_EXPORT bool readBundler(const std::string& filename, SfM_Data &data); /** * @brief This function parses a "Bundle Adjustment in the Large" (BAL) file and stores the data into a - * SfM_data structure + * SfM_Data structure * @param filename The name of the BAL file * @param data SfM structure where the data is stored * @return true if the parsing was successful, false otherwise */ -GTSAM_EXPORT bool readBAL(const std::string& filename, SfM_data &data); +GTSAM_EXPORT bool readBAL(const std::string& filename, SfM_Data &data); /** * @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a - * SfM_data structure + * SfM_Data structure * @param filename The name of the BAL file to write * @param data SfM structure where the data is stored * @return true if the parsing was successful, false otherwise */ -GTSAM_EXPORT bool writeBAL(const std::string& filename, SfM_data &data); +GTSAM_EXPORT bool writeBAL(const std::string& filename, SfM_Data &data); /** * @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a - * SfM_data structure and a value structure (measurements are the same as the SfM input data, + * SfM_Data structure and a value structure (measurements are the same as the SfM input data, * while camera poses and values are read from Values) * @param filename The name of the BAL file to write * @param data SfM structure where the data is stored @@ -257,7 +260,7 @@ GTSAM_EXPORT bool writeBAL(const std::string& filename, SfM_data &data); * @return true if the parsing was successful, false otherwise */ GTSAM_EXPORT bool writeBALfromValues(const std::string& filename, - const SfM_data &data, Values& values); + const SfM_Data &data, Values& values); /** * @brief This function converts an openGL camera pose to an GTSAM camera pose @@ -288,16 +291,16 @@ GTSAM_EXPORT Pose3 gtsam2openGL(const Pose3& PoseGTSAM); /** * @brief This function creates initial values for cameras from db - * @param SfM_data + * @param SfM_Data * @return Values */ -GTSAM_EXPORT Values initialCamerasEstimate(const SfM_data& db); +GTSAM_EXPORT Values initialCamerasEstimate(const SfM_Data& db); /** * @brief This function creates initial values for cameras and points from db - * @param SfM_data + * @param SfM_Data * @return Values */ -GTSAM_EXPORT Values initialCamerasAndPointsEstimate(const SfM_data& db); +GTSAM_EXPORT Values initialCamerasAndPointsEstimate(const SfM_Data& db); } // namespace gtsam diff --git a/gtsam/slam/tests/testDataset.cpp b/gtsam/slam/tests/testDataset.cpp index 08de83eb1..b7143c95e 100644 --- a/gtsam/slam/tests/testDataset.cpp +++ b/gtsam/slam/tests/testDataset.cpp @@ -106,7 +106,7 @@ TEST( dataSet, Balbianello) { ///< The structure where we will save the SfM data const string filename = findExampleDataFile("Balbianello"); - SfM_data mydata; + SfM_Data mydata; CHECK(readBundler(filename, mydata)); // Check number of things @@ -389,7 +389,7 @@ TEST( dataSet, readBAL_Dubrovnik) { ///< The structure where we will save the SfM data const string filename = findExampleDataFile("dubrovnik-3-7-pre"); - SfM_data mydata; + SfM_Data mydata; CHECK(readBAL(filename, mydata)); // Check number of things @@ -444,7 +444,7 @@ TEST( dataSet, writeBAL_Dubrovnik) { ///< Read a file using the unit tested readBAL const string filenameToRead = findExampleDataFile("dubrovnik-3-7-pre"); - SfM_data readData; + SfM_Data readData; readBAL(filenameToRead, readData); // Write readData to file filenameToWrite @@ -452,7 +452,7 @@ TEST( dataSet, writeBAL_Dubrovnik) CHECK(writeBAL(filenameToWrite, readData)); // Read what we wrote - SfM_data writtenData; + SfM_Data writtenData; CHECK(readBAL(filenameToWrite, writtenData)); // Check that what we read is the same as what we wrote @@ -492,7 +492,7 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){ ///< Read a file using the unit tested readBAL const string filenameToRead = findExampleDataFile("dubrovnik-3-7-pre"); - SfM_data readData; + SfM_Data readData; readBAL(filenameToRead, readData); Pose3 poseChange = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.3,0.1,0.3)); @@ -514,7 +514,7 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){ writeBALfromValues(filenameToWrite, readData, value); // Read the file we wrote - SfM_data writtenData; + SfM_Data writtenData; readBAL(filenameToWrite, writtenData); // Check that the reprojection errors are the same and the poses are correct diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp index b2d368b67..fe73ef572 100644 --- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp +++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp @@ -34,7 +34,7 @@ gtsam::Rot3 cRb = gtsam::Rot3(bX, bZ, -bY).inverse(); namespace example1 { const string filename = findExampleDataFile("5pointExample1.txt"); -SfM_data data; +SfM_Data data; bool readOK = readBAL(filename, data); Rot3 c1Rc2 = data.cameras[1].pose().rotation(); Point3 c1Tc2 = data.cameras[1].pose().translation(); @@ -357,7 +357,7 @@ TEST (EssentialMatrixFactor3, minimization) { namespace example2 { const string filename = findExampleDataFile("5pointExample2.txt"); -SfM_data data; +SfM_Data data; bool readOK = readBAL(filename, data); Rot3 aRb = data.cameras[1].pose().rotation(); Point3 aTb = data.cameras[1].pose().translation(); diff --git a/tests/testGeneralSFMFactorB.cpp b/tests/testGeneralSFMFactorB.cpp index 95caaaf9c..10df768b9 100644 --- a/tests/testGeneralSFMFactorB.cpp +++ b/tests/testGeneralSFMFactorB.cpp @@ -42,7 +42,7 @@ using symbol_shorthand::P; /* ************************************************************************* */ TEST(PinholeCamera, BAL) { string filename = findExampleDataFile("dubrovnik-3-7-pre"); - SfM_data db; + SfM_Data db; bool success = readBAL(filename, db); if (!success) throw runtime_error("Could not access file!"); diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index be1104b1a..4dba540fd 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -32,7 +32,7 @@ typedef GeneralSFMFactor SfmFactor; int main(int argc, char* argv[]) { // parse options and read BAL file - SfM_data db = preamble(argc, argv); + SfM_Data db = preamble(argc, argv); // Build graph using conventional GeneralSFMFactor NonlinearFactorGraph graph; diff --git a/timing/timeSFMBAL.h b/timing/timeSFMBAL.h index 1ca9f82d2..448e9f459 100644 --- a/timing/timeSFMBAL.h +++ b/timing/timeSFMBAL.h @@ -38,7 +38,7 @@ static bool gUseSchur = true; static SharedNoiseModel gNoiseModel = noiseModel::Unit::Create(2); // parse options and read BAL file -SfM_data preamble(int argc, char* argv[]) { +SfM_Data preamble(int argc, char* argv[]) { // primitive argument parsing: if (argc > 2) { if (strcmp(argv[1], "--colamd")) @@ -48,7 +48,7 @@ SfM_data preamble(int argc, char* argv[]) { } // Load BAL file - SfM_data db; + SfM_Data db; string filename; if (argc > 1) filename = argv[argc - 1]; @@ -60,7 +60,7 @@ SfM_data preamble(int argc, char* argv[]) { } // Create ordering and optimize -int optimize(const SfM_data& db, const NonlinearFactorGraph& graph, +int optimize(const SfM_Data& db, const NonlinearFactorGraph& graph, const Values& initial, bool separateCalibration = false) { using symbol_shorthand::P; diff --git a/timing/timeSFMBALautodiff.cpp b/timing/timeSFMBALautodiff.cpp index eb1a46606..43e8a8eb1 100644 --- a/timing/timeSFMBALautodiff.cpp +++ b/timing/timeSFMBALautodiff.cpp @@ -38,7 +38,7 @@ typedef PinholeCamera Camera; int main(int argc, char* argv[]) { // parse options and read BAL file - SfM_data db = preamble(argc, argv); + SfM_Data db = preamble(argc, argv); AdaptAutoDiff snavely; diff --git a/timing/timeSFMBALcamTnav.cpp b/timing/timeSFMBALcamTnav.cpp index 0475253ec..474cc3c96 100644 --- a/timing/timeSFMBALcamTnav.cpp +++ b/timing/timeSFMBALcamTnav.cpp @@ -29,7 +29,7 @@ using namespace gtsam; int main(int argc, char* argv[]) { // parse options and read BAL file - SfM_data db = preamble(argc, argv); + SfM_Data db = preamble(argc, argv); // Build graph using conventional GeneralSFMFactor NonlinearFactorGraph graph; diff --git a/timing/timeSFMBALnavTcam.cpp b/timing/timeSFMBALnavTcam.cpp index fc9568626..e553ff0cf 100644 --- a/timing/timeSFMBALnavTcam.cpp +++ b/timing/timeSFMBALnavTcam.cpp @@ -29,7 +29,7 @@ using namespace gtsam; int main(int argc, char* argv[]) { // parse options and read BAL file - SfM_data db = preamble(argc, argv); + SfM_Data db = preamble(argc, argv); // Build graph using conventional GeneralSFMFactor NonlinearFactorGraph graph; diff --git a/timing/timeSFMBALsmart.cpp b/timing/timeSFMBALsmart.cpp index 708c25695..cc250f2e8 100644 --- a/timing/timeSFMBALsmart.cpp +++ b/timing/timeSFMBALsmart.cpp @@ -31,7 +31,7 @@ typedef SmartProjectionFactor SfmFactor; int main(int argc, char* argv[]) { // parse options and read BAL file - SfM_data db = preamble(argc, argv); + SfM_Data db = preamble(argc, argv); // Add smart factors to graph NonlinearFactorGraph graph; From 75d5409d785d57afc0369cbd358c3f897a580145 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 6 Mar 2020 17:59:09 -0500 Subject: [PATCH 0213/1152] follow Google style guide naming convention for Sfm related data structs --- examples/CreateSFMExampleData.cpp | 8 +-- examples/SFMExampleExpressions_bal.cpp | 20 +++--- examples/SFMExample_bal.cpp | 14 ++-- examples/SFMExample_bal_COLAMD_METIS.cpp | 14 ++-- gtsam.h | 8 +-- gtsam/slam/dataset.cpp | 32 ++++----- gtsam/slam/dataset.h | 66 ++++++++++--------- gtsam/slam/tests/testDataset.cpp | 28 ++++---- .../slam/tests/testEssentialMatrixFactor.cpp | 4 +- .../slam/tests/testSmartProjectionFactor.cpp | 4 +- tests/testGeneralSFMFactorB.cpp | 4 +- timing/timeSFMBAL.cpp | 8 +-- timing/timeSFMBAL.h | 6 +- timing/timeSFMBALautodiff.cpp | 8 +-- timing/timeSFMBALcamTnav.cpp | 8 +-- timing/timeSFMBALnavTcam.cpp | 8 +-- timing/timeSFMBALsmart.cpp | 6 +- 17 files changed, 125 insertions(+), 121 deletions(-) diff --git a/examples/CreateSFMExampleData.cpp b/examples/CreateSFMExampleData.cpp index 5a829a886..aa0bde8f6 100644 --- a/examples/CreateSFMExampleData.cpp +++ b/examples/CreateSFMExampleData.cpp @@ -31,19 +31,19 @@ void createExampleBALFile(const string& filename, const vector& P, Cal3Bundler()) { // Class that will gather all data - SfM_Data data; + SfmData data; // Create two cameras Rot3 aRb = Rot3::Yaw(M_PI_2); Point3 aTb(0.1, 0, 0); Pose3 identity, aPb(aRb, aTb); - data.cameras.push_back(SfM_Camera(pose1, K)); - data.cameras.push_back(SfM_Camera(pose2, K)); + data.cameras.push_back(SfmCamera(pose1, K)); + data.cameras.push_back(SfmCamera(pose2, K)); for(const Point3& p: P) { // Create the track - SfM_Track track; + SfmTrack track; track.p = p; track.r = 1; track.g = 1; diff --git a/examples/SFMExampleExpressions_bal.cpp b/examples/SFMExampleExpressions_bal.cpp index 320ad597d..22af9492f 100644 --- a/examples/SFMExampleExpressions_bal.cpp +++ b/examples/SFMExampleExpressions_bal.cpp @@ -37,7 +37,7 @@ using namespace noiseModel; using symbol_shorthand::C; using symbol_shorthand::P; -// An SfM_Camera is defined in datase.h as a camera with unknown Cal3Bundler calibration +// An SfmCamera is defined in datase.h as a camera with unknown Cal3Bundler calibration // and has a total of 9 free parameters /* ************************************************************************* */ @@ -49,7 +49,7 @@ int main(int argc, char* argv[]) { filename = string(argv[1]); // Load the SfM data from file - SfM_Data mydata; + SfmData mydata; readBAL(filename, mydata); cout << boost::format("read %1% tracks on %2% cameras\n") @@ -60,9 +60,9 @@ int main(int argc, char* argv[]) { // Here we don't use a PriorFactor but directly the ExpressionFactor class // First, we create an expression to the pose from the first camera - Expression camera0_(C(0)); + Expression camera0_(C(0)); // Then, to get its pose: - Pose3_ pose0_(&SfM_Camera::getPose, camera0_); + Pose3_ pose0_(&SfmCamera::getPose, camera0_); // Finally, we say it should be equal to first guess graph.addExpressionFactor(pose0_, mydata.cameras[0].pose(), noiseModel::Isotropic::Sigma(6, 0.1)); @@ -78,16 +78,16 @@ int main(int argc, char* argv[]) { // Simulated measurements from each camera pose, adding them to the factor graph size_t j = 0; - for(const SfM_Track& track: mydata.tracks) { + for(const SfmTrack& track: mydata.tracks) { // Leaf expression for j^th point Point3_ point_('p', j); - for(const SfM_Measurement& m: track.measurements) { + for(const SfmMeasurement& m: track.measurements) { size_t i = m.first; Point2 uv = m.second; // Leaf expression for i^th camera - Expression camera_(C(i)); + Expression camera_(C(i)); // Below an expression for the prediction of the measurement: - Point2_ predict_ = project2(camera_, point_); + Point2_ predict_ = project2(camera_, point_); // Again, here we use an ExpressionFactor graph.addExpressionFactor(predict_, uv, noise); } @@ -98,9 +98,9 @@ int main(int argc, char* argv[]) { Values initial; size_t i = 0; j = 0; - for(const SfM_Camera& camera: mydata.cameras) + for(const SfmCamera& camera: mydata.cameras) initial.insert(C(i++), camera); - for(const SfM_Track& track: mydata.tracks) + for(const SfmTrack& track: mydata.tracks) initial.insert(P(j++), track.p); /* Optimize the graph and print results */ diff --git a/examples/SFMExample_bal.cpp b/examples/SFMExample_bal.cpp index 66f135c76..9d5ad0b33 100644 --- a/examples/SFMExample_bal.cpp +++ b/examples/SFMExample_bal.cpp @@ -32,7 +32,7 @@ using symbol_shorthand::P; // We will be using a projection factor that ties a SFM_Camera to a 3D point. // An SFM_Camera is defined in datase.h as a camera with unknown Cal3Bundler calibration // and has a total of 9 free parameters -typedef GeneralSFMFactor MyFactor; +typedef GeneralSFMFactor MyFactor; /* ************************************************************************* */ int main (int argc, char* argv[]) { @@ -42,7 +42,7 @@ int main (int argc, char* argv[]) { if (argc>1) filename = string(argv[1]); // Load the SfM data from file - SfM_Data mydata; + SfmData mydata; readBAL(filename, mydata); cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras(); @@ -55,8 +55,8 @@ int main (int argc, char* argv[]) { // Add measurements to the factor graph size_t j = 0; - for(const SfM_Track& track: mydata.tracks) { - for(const SfM_Measurement& m: track.measurements) { + for(const SfmTrack& track: mydata.tracks) { + for(const SfmMeasurement& m: track.measurements) { size_t i = m.first; Point2 uv = m.second; graph.emplace_shared(uv, noise, C(i), P(j)); // note use of shorthand symbols C and P @@ -66,14 +66,14 @@ int main (int argc, char* argv[]) { // Add a prior on pose x1. This indirectly specifies where the origin is. // and a prior on the position of the first landmark to fix the scale - graph.emplace_shared >(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)); + graph.emplace_shared >(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)); graph.emplace_shared > (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)); // Create initial estimate Values initial; size_t i = 0; j = 0; - for(const SfM_Camera& camera: mydata.cameras) initial.insert(C(i++), camera); - for(const SfM_Track& track: mydata.tracks) initial.insert(P(j++), track.p); + for(const SfmCamera& camera: mydata.cameras) initial.insert(C(i++), camera); + for(const SfmTrack& track: mydata.tracks) initial.insert(P(j++), track.p); /* Optimize the graph and print results */ Values result; diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp index 50f8a5afd..b3dd3d25e 100644 --- a/examples/SFMExample_bal_COLAMD_METIS.cpp +++ b/examples/SFMExample_bal_COLAMD_METIS.cpp @@ -37,7 +37,7 @@ using symbol_shorthand::P; // We will be using a projection factor that ties a SFM_Camera to a 3D point. // An SFM_Camera is defined in datase.h as a camera with unknown Cal3Bundler calibration // and has a total of 9 free parameters -typedef GeneralSFMFactor MyFactor; +typedef GeneralSFMFactor MyFactor; /* ************************************************************************* */ int main (int argc, char* argv[]) { @@ -47,7 +47,7 @@ int main (int argc, char* argv[]) { if (argc>1) filename = string(argv[1]); // Load the SfM data from file - SfM_Data mydata; + SfmData mydata; readBAL(filename, mydata); cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras(); @@ -60,8 +60,8 @@ int main (int argc, char* argv[]) { // Add measurements to the factor graph size_t j = 0; - for(const SfM_Track& track: mydata.tracks) { - for(const SfM_Measurement& m: track.measurements) { + for(const SfmTrack& track: mydata.tracks) { + for(const SfmMeasurement& m: track.measurements) { size_t i = m.first; Point2 uv = m.second; graph.emplace_shared(uv, noise, C(i), P(j)); // note use of shorthand symbols C and P @@ -71,14 +71,14 @@ int main (int argc, char* argv[]) { // Add a prior on pose x1. This indirectly specifies where the origin is. // and a prior on the position of the first landmark to fix the scale - graph.emplace_shared >(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)); + graph.emplace_shared >(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)); graph.emplace_shared >(P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)); // Create initial estimate Values initial; size_t i = 0; j = 0; - for(const SfM_Camera& camera: mydata.cameras) initial.insert(C(i++), camera); - for(const SfM_Track& track: mydata.tracks) initial.insert(P(j++), track.p); + for(const SfmCamera& camera: mydata.cameras) initial.insert(C(i++), camera); + for(const SfmTrack& track: mydata.tracks) initial.insert(P(j++), track.p); /** --------------- COMPARISON -----------------------**/ /** ----------------------------------------------------**/ diff --git a/gtsam.h b/gtsam.h index f6d3e85c1..a2276705e 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2724,18 +2724,18 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor { }; #include -class SfM_Track { +class SfmTrack { size_t number_measurements() const; pair measurement(size_t idx) const; - pair SIFT_index(size_t idx) const; + pair siftIndex(size_t idx) const; }; -class SfM_Data { +class SfmData { size_t number_cameras() const; size_t number_tracks() const; //TODO(Varun) Need to fix issue #237 first before this can work // gtsam::PinholeCamera camera(size_t idx) const; - gtsam::SfM_Track track(size_t idx) const; + gtsam::SfmTrack track(size_t idx) const; }; string findExampleDataFile(string name); diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index ff62bace4..45d009b1c 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -646,7 +646,7 @@ Pose3 gtsam2openGL(const Pose3& PoseGTSAM) { } /* ************************************************************************* */ -bool readBundler(const string& filename, SfM_Data &data) { +bool readBundler(const string& filename, SfmData &data) { // Load the data file ifstream is(filename.c_str(), ifstream::in); if (!is) { @@ -697,7 +697,7 @@ bool readBundler(const string& filename, SfM_Data &data) { // Get the information for the 3D points data.tracks.reserve(nrPoints); for (size_t j = 0; j < nrPoints; j++) { - SfM_Track track; + SfmTrack track; // Get the 3D position float x, y, z; @@ -733,7 +733,7 @@ bool readBundler(const string& filename, SfM_Data &data) { } /* ************************************************************************* */ -bool readBAL(const string& filename, SfM_Data &data) { +bool readBAL(const string& filename, SfmData &data) { // Load the data file ifstream is(filename.c_str(), ifstream::in); if (!is) { @@ -781,7 +781,7 @@ bool readBAL(const string& filename, SfM_Data &data) { // Get the 3D position float x, y, z; is >> x >> y >> z; - SfM_Track& track = data.tracks[j]; + SfmTrack& track = data.tracks[j]; track.p = Point3(x, y, z); track.r = 0.4f; track.g = 0.4f; @@ -793,7 +793,7 @@ bool readBAL(const string& filename, SfM_Data &data) { } /* ************************************************************************* */ -bool writeBAL(const string& filename, SfM_Data &data) { +bool writeBAL(const string& filename, SfmData &data) { // Open the output file ofstream os; os.open(filename.c_str()); @@ -815,7 +815,7 @@ bool writeBAL(const string& filename, SfM_Data &data) { os << endl; for (size_t j = 0; j < data.number_tracks(); j++) { // for each 3D point j - const SfM_Track& track = data.tracks[j]; + const SfmTrack& track = data.tracks[j]; 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 @@ -866,12 +866,12 @@ bool writeBAL(const string& filename, SfM_Data &data) { return true; } -bool writeBALfromValues(const string& filename, const SfM_Data &data, +bool writeBALfromValues(const string& filename, const SfmData &data, Values& values) { using Camera = PinholeCamera; - SfM_Data dataValues = data; + SfmData dataValues = data; - // Store poses or cameras in SfM_Data + // Store poses or cameras in SfmData size_t nrPoses = values.count(); if (nrPoses == dataValues.number_cameras()) { // we only estimated camera poses for (size_t i = 0; i < dataValues.number_cameras(); i++) { // for each camera @@ -899,7 +899,7 @@ bool writeBALfromValues(const string& filename, const SfM_Data &data, } } - // Store 3D points in SfM_Data + // Store 3D points in SfmData size_t nrPoints = values.count(), nrTracks = dataValues.number_tracks(); if (nrPoints != nrTracks) { cout @@ -921,24 +921,24 @@ bool writeBALfromValues(const string& filename, const SfM_Data &data, } } - // Write SfM_Data to file + // Write SfmData to file return writeBAL(filename, dataValues); } -Values initialCamerasEstimate(const SfM_Data& db) { +Values initialCamerasEstimate(const SfmData& db) { Values initial; size_t i = 0; // NO POINTS: j = 0; - for(const SfM_Camera& camera: db.cameras) + for(const SfmCamera& camera: db.cameras) initial.insert(i++, camera); return initial; } -Values initialCamerasAndPointsEstimate(const SfM_Data& db) { +Values initialCamerasAndPointsEstimate(const SfmData& db) { Values initial; size_t i = 0, j = 0; - for(const SfM_Camera& camera: db.cameras) + for(const SfmCamera& camera: db.cameras) initial.insert((i++), camera); - for(const SfM_Track& track: db.tracks) + for(const SfmTrack& track: db.tracks) initial.insert(P(j++), track.p); return initial; } diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h index 83d857487..d6e7967b0 100644 --- a/gtsam/slam/dataset.h +++ b/gtsam/slam/dataset.h @@ -166,41 +166,39 @@ GTSAM_EXPORT std::map parse3DPoses(const std::string& filename); GTSAM_EXPORT GraphAndValues load3D(const std::string& filename); /// A measurement with its camera index -typedef std::pair SfM_Measurement; +typedef std::pair SfmMeasurement; -/// SfM_Track -typedef std::pair SIFT_Index; +/// SfmTrack +typedef std::pair SiftIndex; /// Define the structure for the 3D points -struct SfM_Track { - /// Construct empty track - SfM_Track(): p(0,0,0) {} +struct SfmTrack { + SfmTrack(): p(0,0,0) {} 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; + 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(); } /// Get the measurement (camera index, Point2) at pose index `idx` - SfM_Measurement measurement(size_t idx) const { + SfmMeasurement measurement(size_t idx) const { return measurements[idx]; } /// Get the SIFT feature index corresponding to the measurement at `idx` - SIFT_Index SIFT_index(size_t idx) const { + SiftIndex siftIndex(size_t idx) const { return siftIndices[idx]; } }; /// Define the structure for the camera poses -typedef PinholeCamera SfM_Camera; +typedef PinholeCamera SfmCamera; /// Define the structure for SfM data -struct SfM_Data { - std::vector cameras; ///< Set of cameras - std::vector tracks; ///< Sparse set of points - /// The number of camera poses +struct SfmData { + std::vector cameras; ///< Set of cameras + std::vector tracks; ///< Sparse set of points size_t number_cameras() const { return cameras.size(); } @@ -209,48 +207,54 @@ struct SfM_Data { return tracks.size(); } /// The camera pose at frame index `idx` - SfM_Camera camera(size_t idx) const { + SfmCamera camera(size_t idx) const { return cameras[idx]; } /// The track formed by series of landmark measurements - SfM_Track track(size_t idx) const { + SfmTrack track(size_t idx) const { return tracks[idx]; } }; -/// Alias for backwards compatibility -typedef SfM_Data SfM_data; +/// Aliases for backwards compatibility +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 +typedef SfmMeasurement SfM_Measurement; +typedef SiftIndex SIFT_Index; +typedef SfmTrack SfM_Track; +typedef SfmCamera SfM_Camera; +typedef SfmData SfM_data; +#endif /** * @brief This function parses a bundler output file and stores the data into a - * SfM_Data structure + * SfmData structure * @param filename The name of the bundler file * @param data SfM structure where the data is stored * @return true if the parsing was successful, false otherwise */ -GTSAM_EXPORT bool readBundler(const std::string& filename, SfM_Data &data); +GTSAM_EXPORT bool readBundler(const std::string& filename, SfmData &data); /** * @brief This function parses a "Bundle Adjustment in the Large" (BAL) file and stores the data into a - * SfM_Data structure + * SfmData structure * @param filename The name of the BAL file * @param data SfM structure where the data is stored * @return true if the parsing was successful, false otherwise */ -GTSAM_EXPORT bool readBAL(const std::string& filename, SfM_Data &data); +GTSAM_EXPORT bool readBAL(const std::string& filename, SfmData &data); /** * @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a - * SfM_Data structure + * SfmData structure * @param filename The name of the BAL file to write * @param data SfM structure where the data is stored * @return true if the parsing was successful, false otherwise */ -GTSAM_EXPORT bool writeBAL(const std::string& filename, SfM_Data &data); +GTSAM_EXPORT bool writeBAL(const std::string& filename, SfmData &data); /** * @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a - * SfM_Data structure and a value structure (measurements are the same as the SfM input data, + * SfmData structure and a value structure (measurements are the same as the SfM input data, * while camera poses and values are read from Values) * @param filename The name of the BAL file to write * @param data SfM structure where the data is stored @@ -260,7 +264,7 @@ GTSAM_EXPORT bool writeBAL(const std::string& filename, SfM_Data &data); * @return true if the parsing was successful, false otherwise */ GTSAM_EXPORT bool writeBALfromValues(const std::string& filename, - const SfM_Data &data, Values& values); + const SfmData &data, Values& values); /** * @brief This function converts an openGL camera pose to an GTSAM camera pose @@ -291,16 +295,16 @@ GTSAM_EXPORT Pose3 gtsam2openGL(const Pose3& PoseGTSAM); /** * @brief This function creates initial values for cameras from db - * @param SfM_Data + * @param SfmData * @return Values */ -GTSAM_EXPORT Values initialCamerasEstimate(const SfM_Data& db); +GTSAM_EXPORT Values initialCamerasEstimate(const SfmData& db); /** * @brief This function creates initial values for cameras and points from db - * @param SfM_Data + * @param SfmData * @return Values */ -GTSAM_EXPORT Values initialCamerasAndPointsEstimate(const SfM_Data& db); +GTSAM_EXPORT Values initialCamerasAndPointsEstimate(const SfmData& db); } // namespace gtsam diff --git a/gtsam/slam/tests/testDataset.cpp b/gtsam/slam/tests/testDataset.cpp index b7143c95e..9a3c797b2 100644 --- a/gtsam/slam/tests/testDataset.cpp +++ b/gtsam/slam/tests/testDataset.cpp @@ -106,18 +106,18 @@ TEST( dataSet, Balbianello) { ///< The structure where we will save the SfM data const string filename = findExampleDataFile("Balbianello"); - SfM_Data mydata; + SfmData mydata; CHECK(readBundler(filename, mydata)); // Check number of things EXPECT_LONGS_EQUAL(5,mydata.number_cameras()); EXPECT_LONGS_EQUAL(544,mydata.number_tracks()); - const SfM_Track& track0 = mydata.tracks[0]; + const SfmTrack& track0 = mydata.tracks[0]; EXPECT_LONGS_EQUAL(3,track0.number_measurements()); // Check projection of a given point EXPECT_LONGS_EQUAL(0,track0.measurements[0].first); - const SfM_Camera& camera0 = mydata.cameras[0]; + const SfmCamera& camera0 = mydata.cameras[0]; Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second; EXPECT(assert_equal(expected,actual,1)); } @@ -389,18 +389,18 @@ TEST( dataSet, readBAL_Dubrovnik) { ///< The structure where we will save the SfM data const string filename = findExampleDataFile("dubrovnik-3-7-pre"); - SfM_Data mydata; + SfmData mydata; CHECK(readBAL(filename, mydata)); // Check number of things EXPECT_LONGS_EQUAL(3,mydata.number_cameras()); EXPECT_LONGS_EQUAL(7,mydata.number_tracks()); - const SfM_Track& track0 = mydata.tracks[0]; + const SfmTrack& track0 = mydata.tracks[0]; EXPECT_LONGS_EQUAL(3,track0.number_measurements()); // Check projection of a given point EXPECT_LONGS_EQUAL(0,track0.measurements[0].first); - const SfM_Camera& camera0 = mydata.cameras[0]; + const SfmCamera& camera0 = mydata.cameras[0]; Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second; EXPECT(assert_equal(expected,actual,12)); } @@ -444,7 +444,7 @@ TEST( dataSet, writeBAL_Dubrovnik) { ///< Read a file using the unit tested readBAL const string filenameToRead = findExampleDataFile("dubrovnik-3-7-pre"); - SfM_Data readData; + SfmData readData; readBAL(filenameToRead, readData); // Write readData to file filenameToWrite @@ -452,7 +452,7 @@ TEST( dataSet, writeBAL_Dubrovnik) CHECK(writeBAL(filenameToWrite, readData)); // Read what we wrote - SfM_Data writtenData; + SfmData writtenData; CHECK(readBAL(filenameToWrite, writtenData)); // Check that what we read is the same as what we wrote @@ -467,8 +467,8 @@ TEST( dataSet, writeBAL_Dubrovnik) for (size_t j = 0; j < readData.number_tracks(); j++){ // check point - SfM_Track expectedTrack = writtenData.tracks[j]; - SfM_Track actualTrack = readData.tracks[j]; + SfmTrack expectedTrack = writtenData.tracks[j]; + SfmTrack actualTrack = readData.tracks[j]; Point3 expectedPoint = expectedTrack.p; Point3 actualPoint = actualTrack.p; EXPECT(assert_equal(expectedPoint,actualPoint)); @@ -492,7 +492,7 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){ ///< Read a file using the unit tested readBAL const string filenameToRead = findExampleDataFile("dubrovnik-3-7-pre"); - SfM_Data readData; + SfmData readData; readBAL(filenameToRead, readData); Pose3 poseChange = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.3,0.1,0.3)); @@ -514,19 +514,19 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){ writeBALfromValues(filenameToWrite, readData, value); // Read the file we wrote - SfM_Data writtenData; + SfmData writtenData; readBAL(filenameToWrite, writtenData); // Check that the reprojection errors are the same and the poses are correct // Check number of things EXPECT_LONGS_EQUAL(3,writtenData.number_cameras()); EXPECT_LONGS_EQUAL(7,writtenData.number_tracks()); - const SfM_Track& track0 = writtenData.tracks[0]; + const SfmTrack& track0 = writtenData.tracks[0]; EXPECT_LONGS_EQUAL(3,track0.number_measurements()); // Check projection of a given point EXPECT_LONGS_EQUAL(0,track0.measurements[0].first); - const SfM_Camera& camera0 = writtenData.cameras[0]; + const SfmCamera& camera0 = writtenData.cameras[0]; Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second; EXPECT(assert_equal(expected,actual,12)); diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp index fe73ef572..6d6daa33d 100644 --- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp +++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp @@ -34,7 +34,7 @@ gtsam::Rot3 cRb = gtsam::Rot3(bX, bZ, -bY).inverse(); namespace example1 { const string filename = findExampleDataFile("5pointExample1.txt"); -SfM_Data data; +SfmData data; bool readOK = readBAL(filename, data); Rot3 c1Rc2 = data.cameras[1].pose().rotation(); Point3 c1Tc2 = data.cameras[1].pose().translation(); @@ -357,7 +357,7 @@ TEST (EssentialMatrixFactor3, minimization) { namespace example2 { const string filename = findExampleDataFile("5pointExample2.txt"); -SfM_Data data; +SfmData data; bool readOK = readBAL(filename, data); Rot3 aRb = data.cameras[1].pose().rotation(); Point3 aTb = data.cameras[1].pose().translation(); diff --git a/gtsam/slam/tests/testSmartProjectionFactor.cpp b/gtsam/slam/tests/testSmartProjectionFactor.cpp index c6d1a5b2c..7b3158e9a 100644 --- a/gtsam/slam/tests/testSmartProjectionFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionFactor.cpp @@ -281,14 +281,14 @@ TEST(SmartProjectionFactor, perturbPoseAndOptimizeFromSfM_tracks ) { KeyVector views {c1, c2, c3}; - SfM_Track track1; + SfmTrack track1; for (size_t i = 0; i < 3; ++i) { track1.measurements.emplace_back(i + 1, measurements_cam1.at(i)); } SmartFactor::shared_ptr smartFactor1(new SmartFactor(unit2)); smartFactor1->add(track1); - SfM_Track track2; + SfmTrack track2; for (size_t i = 0; i < 3; ++i) { track2.measurements.emplace_back(i + 1, measurements_cam2.at(i)); } diff --git a/tests/testGeneralSFMFactorB.cpp b/tests/testGeneralSFMFactorB.cpp index 10df768b9..05b4c7f66 100644 --- a/tests/testGeneralSFMFactorB.cpp +++ b/tests/testGeneralSFMFactorB.cpp @@ -42,7 +42,7 @@ using symbol_shorthand::P; /* ************************************************************************* */ TEST(PinholeCamera, BAL) { string filename = findExampleDataFile("dubrovnik-3-7-pre"); - SfM_Data db; + SfmData db; bool success = readBAL(filename, db); if (!success) throw runtime_error("Could not access file!"); @@ -50,7 +50,7 @@ TEST(PinholeCamera, BAL) { NonlinearFactorGraph graph; for (size_t j = 0; j < db.number_tracks(); j++) { - for (const SfM_Measurement& m: db.tracks[j].measurements) + for (const SfmMeasurement& m: db.tracks[j].measurements) graph.emplace_shared(m.second, unit2, m.first, P(j)); } diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 4dba540fd..4a58a57a6 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -32,12 +32,12 @@ typedef GeneralSFMFactor SfmFactor; int main(int argc, char* argv[]) { // parse options and read BAL file - SfM_Data db = preamble(argc, argv); + SfmData db = preamble(argc, argv); // Build graph using conventional GeneralSFMFactor NonlinearFactorGraph graph; for (size_t j = 0; j < db.number_tracks(); j++) { - for (const SfM_Measurement& m: db.tracks[j].measurements) { + for (const SfmMeasurement& m: db.tracks[j].measurements) { size_t i = m.first; Point2 z = m.second; graph.emplace_shared(z, gNoiseModel, C(i), P(j)); @@ -46,9 +46,9 @@ int main(int argc, char* argv[]) { Values initial; size_t i = 0, j = 0; - for (const SfM_Camera& camera: db.cameras) + for (const SfmCamera& camera: db.cameras) initial.insert(C(i++), camera); - for (const SfM_Track& track: db.tracks) + for (const SfmTrack& track: db.tracks) initial.insert(P(j++), track.p); return optimize(db, graph, initial); diff --git a/timing/timeSFMBAL.h b/timing/timeSFMBAL.h index 448e9f459..548c4de70 100644 --- a/timing/timeSFMBAL.h +++ b/timing/timeSFMBAL.h @@ -38,7 +38,7 @@ static bool gUseSchur = true; static SharedNoiseModel gNoiseModel = noiseModel::Unit::Create(2); // parse options and read BAL file -SfM_Data preamble(int argc, char* argv[]) { +SfmData preamble(int argc, char* argv[]) { // primitive argument parsing: if (argc > 2) { if (strcmp(argv[1], "--colamd")) @@ -48,7 +48,7 @@ SfM_Data preamble(int argc, char* argv[]) { } // Load BAL file - SfM_Data db; + SfmData db; string filename; if (argc > 1) filename = argv[argc - 1]; @@ -60,7 +60,7 @@ SfM_Data preamble(int argc, char* argv[]) { } // Create ordering and optimize -int optimize(const SfM_Data& db, const NonlinearFactorGraph& graph, +int optimize(const SfmData& db, const NonlinearFactorGraph& graph, const Values& initial, bool separateCalibration = false) { using symbol_shorthand::P; diff --git a/timing/timeSFMBALautodiff.cpp b/timing/timeSFMBALautodiff.cpp index 43e8a8eb1..2d0f4a1fe 100644 --- a/timing/timeSFMBALautodiff.cpp +++ b/timing/timeSFMBALautodiff.cpp @@ -38,14 +38,14 @@ typedef PinholeCamera Camera; int main(int argc, char* argv[]) { // parse options and read BAL file - SfM_Data db = preamble(argc, argv); + SfmData db = preamble(argc, argv); AdaptAutoDiff snavely; // Build graph NonlinearFactorGraph graph; for (size_t j = 0; j < db.number_tracks(); j++) { - for (const SfM_Measurement& m: db.tracks[j].measurements) { + for (const SfmMeasurement& m: db.tracks[j].measurements) { size_t i = m.first; Point2 z = m.second; Expression camera_(C(i)); @@ -58,14 +58,14 @@ int main(int argc, char* argv[]) { Values initial; size_t i = 0, j = 0; - for (const SfM_Camera& camera: db.cameras) { + for (const SfmCamera& camera: db.cameras) { // readBAL converts to GTSAM format, so we need to convert back ! Pose3 openGLpose = gtsam2openGL(camera.pose()); Vector9 v9; v9 << Pose3::Logmap(openGLpose), camera.calibration(); initial.insert(C(i++), v9); } - for (const SfM_Track& track: db.tracks) { + for (const SfmTrack& track: db.tracks) { Vector3 v3 = track.p; initial.insert(P(j++), v3); } diff --git a/timing/timeSFMBALcamTnav.cpp b/timing/timeSFMBALcamTnav.cpp index 474cc3c96..355defed9 100644 --- a/timing/timeSFMBALcamTnav.cpp +++ b/timing/timeSFMBALcamTnav.cpp @@ -29,12 +29,12 @@ using namespace gtsam; int main(int argc, char* argv[]) { // parse options and read BAL file - SfM_Data db = preamble(argc, argv); + SfmData db = preamble(argc, argv); // Build graph using conventional GeneralSFMFactor NonlinearFactorGraph graph; for (size_t j = 0; j < db.number_tracks(); j++) { - for (const SfM_Measurement& m: db.tracks[j].measurements) { + for (const SfmMeasurement& m: db.tracks[j].measurements) { size_t i = m.first; Point2 z = m.second; Pose3_ camTnav_(C(i)); @@ -49,12 +49,12 @@ int main(int argc, char* argv[]) { Values initial; size_t i = 0, j = 0; - for (const SfM_Camera& camera: db.cameras) { + for (const SfmCamera& camera: db.cameras) { initial.insert(C(i), camera.pose().inverse()); // inverse !!! initial.insert(K(i), camera.calibration()); i += 1; } - for (const SfM_Track& track: db.tracks) + for (const SfmTrack& track: db.tracks) initial.insert(P(j++), track.p); bool separateCalibration = true; diff --git a/timing/timeSFMBALnavTcam.cpp b/timing/timeSFMBALnavTcam.cpp index e553ff0cf..e602ef241 100644 --- a/timing/timeSFMBALnavTcam.cpp +++ b/timing/timeSFMBALnavTcam.cpp @@ -29,13 +29,13 @@ using namespace gtsam; int main(int argc, char* argv[]) { // parse options and read BAL file - SfM_Data db = preamble(argc, argv); + SfmData db = preamble(argc, argv); // Build graph using conventional GeneralSFMFactor NonlinearFactorGraph graph; for (size_t j = 0; j < db.number_tracks(); j++) { Point3_ nav_point_(P(j)); - for (const SfM_Measurement& m: db.tracks[j].measurements) { + for (const SfmMeasurement& m: db.tracks[j].measurements) { size_t i = m.first; Point2 z = m.second; Pose3_ navTcam_(C(i)); @@ -49,12 +49,12 @@ int main(int argc, char* argv[]) { Values initial; size_t i = 0, j = 0; - for (const SfM_Camera& camera: db.cameras) { + for (const SfmCamera& camera: db.cameras) { initial.insert(C(i), camera.pose()); initial.insert(K(i), camera.calibration()); i += 1; } - for (const SfM_Track& track: db.tracks) + for (const SfmTrack& track: db.tracks) initial.insert(P(j++), track.p); bool separateCalibration = true; diff --git a/timing/timeSFMBALsmart.cpp b/timing/timeSFMBALsmart.cpp index cc250f2e8..a69d895a5 100644 --- a/timing/timeSFMBALsmart.cpp +++ b/timing/timeSFMBALsmart.cpp @@ -31,13 +31,13 @@ typedef SmartProjectionFactor SfmFactor; int main(int argc, char* argv[]) { // parse options and read BAL file - SfM_Data db = preamble(argc, argv); + SfmData db = preamble(argc, argv); // Add smart factors to graph NonlinearFactorGraph graph; for (size_t j = 0; j < db.number_tracks(); j++) { auto smartFactor = boost::make_shared(gNoiseModel); - for (const SfM_Measurement& m : db.tracks[j].measurements) { + for (const SfmMeasurement& m : db.tracks[j].measurements) { size_t i = m.first; Point2 z = m.second; smartFactor->add(z, C(i)); @@ -48,7 +48,7 @@ int main(int argc, char* argv[]) { Values initial; size_t i = 0; gUseSchur = false; - for (const SfM_Camera& camera : db.cameras) + for (const SfmCamera& camera : db.cameras) initial.insert(C(i++), camera); return optimize(db, graph, initial); From aed74f79d7659aa012b66e4b62292feaee3dfb83 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 6 Mar 2020 18:31:30 -0500 Subject: [PATCH 0214/1152] moved deprecated aliases to bottom of dataset.h --- gtsam/slam/dataset.h | 22 ++++++++++++---------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h index d6e7967b0..3ab199bab 100644 --- a/gtsam/slam/dataset.h +++ b/gtsam/slam/dataset.h @@ -12,7 +12,9 @@ /** * @file dataset.h * @date Jan 22, 2010 - * @author nikai, Luca Carlone + * @author Ni Kai + * @author Luca Carlone + * @author Varun Agrawal * @brief utility functions for loading datasets */ @@ -216,15 +218,6 @@ struct SfmData { } }; -/// Aliases for backwards compatibility -#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 -typedef SfmMeasurement SfM_Measurement; -typedef SiftIndex SIFT_Index; -typedef SfmTrack SfM_Track; -typedef SfmCamera SfM_Camera; -typedef SfmData SfM_data; -#endif - /** * @brief This function parses a bundler output file and stores the data into a * SfmData structure @@ -307,4 +300,13 @@ GTSAM_EXPORT Values initialCamerasEstimate(const SfmData& db); */ GTSAM_EXPORT Values initialCamerasAndPointsEstimate(const SfmData& db); +/// Aliases for backwards compatibility +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 +typedef SfmMeasurement SfM_Measurement; +typedef SiftIndex SIFT_Index; +typedef SfmTrack SfM_Track; +typedef SfmCamera SfM_Camera; +typedef SfmData SfM_data; +#endif + } // namespace gtsam From 7019d6f4b8f9d45dae8f5f9cbe7b758bd6a5dac1 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 7 Mar 2020 08:35:08 -0500 Subject: [PATCH 0215/1152] convert axisAngle to static ToAxisAngle, update tests --- gtsam.h | 2 +- gtsam/geometry/Rot3.cpp | 6 ------ gtsam/geometry/Rot3.h | 18 +++++++++++------- gtsam/geometry/tests/testRot3.cpp | 11 +++++------ 4 files changed, 17 insertions(+), 20 deletions(-) diff --git a/gtsam.h b/gtsam.h index 6e2eea686..521495bdf 100644 --- a/gtsam.h +++ b/gtsam.h @@ -642,6 +642,7 @@ class Rot3 { static gtsam::Rot3 Rodrigues(Vector v); static gtsam::Rot3 Rodrigues(double wx, double wy, double wz); static gtsam::Rot3 ClosestTo(const Matrix M); + static std::pair ToAxisAngle(const gtsam::Rot3& R) const; // Testable void print(string s) const; @@ -677,7 +678,6 @@ class Rot3 { // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly Vector quaternion() const; gtsam::Rot3 slerp(double t, const gtsam::Rot3& other) const; - double angle(const gtsam::Rot3& other) const; // enabling serialization functionality void serialize() const; diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index 9b68bb1f1..b1e8dd14b 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -228,12 +228,6 @@ Rot3 Rot3::slerp(double t, const Rot3& other) const { return interpolate(*this, other, t); } -/* ************************************************************************* */ -pair Rot3::axisAngle(const Rot3& other) const { - Vector3 rot = Rot3::Logmap(this->between(other)); - return pair(Unit3(rot), rot.norm()); -} - /* ************************************************************************* */ } // namespace gtsam diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 41b5a6ca1..974e9b195 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -194,7 +194,7 @@ namespace gtsam { /** * Convert from axis/angle representation - * @param axisw is the rotation axis, unit length + * @param axis is the rotation axis, unit length * @param angle rotation angle * @return incremental rotation */ @@ -216,6 +216,16 @@ namespace gtsam { return AxisAngle(axis.unitVector(),angle); } + /** + * Compute to the Euler axis and angle (in radians) representation + * @param R is the rotation matrix + * @return pair consisting of Unit3 axis and angle in radians + */ + static std::pair ToAxisAngle(const Rot3& R) { + const Vector3 omega = Rot3::Logmap(R); + return std::pair(Unit3(omega), omega.norm()); + } + /** * Rodrigues' formula to compute an incremental rotation * @param w a vector of incremental roll,pitch,yaw @@ -479,12 +489,6 @@ namespace gtsam { */ Rot3 slerp(double t, const Rot3& other) const; - /** - * @brief Compute the Euler axis and angle (in radians) between *this and other - * @param other Rot3 element - */ - std::pair axisAngle(const Rot3& other) const; - /// Output stream operator GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Rot3& p); diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index c37dfda35..dbd4e84a1 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -14,6 +14,7 @@ * @brief Unit tests for Rot3 class - common between Matrix and Quaternion * @author Alireza Fathi * @author Frank Dellaert + * @author Varun Agrawal */ #include @@ -663,14 +664,12 @@ TEST(Rot3, ClosestTo) { /* ************************************************************************* */ TEST(Rot3, angle) { - Rot3 R1 = Rot3::Ypr(0, 0, 0); - - Rot3 R2 = Rot3::Ypr(M_PI/4, 0, 0); + Rot3 R1 = Rot3::Ypr(M_PI/4, 0, 0); - Unit3 expectedAxis(0, 0, 1); - double expectedAngle = M_PI/4; + Unit3 expectedAxis(-0.350067, -0.472463, 0.808846); + double expectedAngle = 0.709876; - pair actual = R1.axisAngle(R2); + pair actual = Rot3::ToAxisAngle(R.between(R1)); EXPECT(assert_equal(expectedAxis, actual.first, 1e-6)); EXPECT(assert_equal(expectedAngle, actual.second, 1e-6)); From 4befe7a01fa4d22b23a4f7c9408479923ae9006f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 7 Mar 2020 22:40:23 -0500 Subject: [PATCH 0216/1152] improved floating point comparison for better numerical stability --- gtsam/base/Matrix.h | 5 ++--- gtsam/base/Vector.cpp | 32 ++++++++++++++++++++++++++------ gtsam/base/Vector.h | 12 ++++++++++++ 3 files changed, 40 insertions(+), 9 deletions(-) diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index 2910ce74c..04bddb111 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -88,10 +88,9 @@ bool equal_with_abs_tol(const Eigen::DenseBase& A, const Eigen::DenseBas for(size_t i=0; i tol) + if(!fp_isequal(A(i,j), B(i,j), tol)) { return false; + } } return true; } diff --git a/gtsam/base/Vector.cpp b/gtsam/base/Vector.cpp index ac03c0f53..f00f9fddf 100644 --- a/gtsam/base/Vector.cpp +++ b/gtsam/base/Vector.cpp @@ -14,6 +14,7 @@ * @brief typedef and functions to augment Eigen's Vectors * @author Kai Ni * @author Frank Dellaert + * @author Varun Agrawal */ #include @@ -33,6 +34,29 @@ using namespace std; namespace gtsam { +/* ************************************************************************* */ +bool fp_isequal(double a, double b, double epsilon) { + double DOUBLE_MIN_NORMAL = std::numeric_limits::min() + 1.0; + + // handle NaNs + if(std::isnan(a) ^ std::isnan(b)) { + return false; + } + // handle inf + else if(std::isinf(a) ^ std::isinf(b)) { + return false; + } + // If the two values are zero or both are extremely close to it + // relative error is less meaningful here + else if(a == 0 || b == 0 || (std::abs(a) + std::abs(b)) < DOUBLE_MIN_NORMAL) { + return std::abs(a-b) < epsilon * DOUBLE_MIN_NORMAL; + } + // Use relative error + else { + return std::abs(a-b) < epsilon * std::min((std::abs(a) + std::abs(b)), std::numeric_limits::max()); + } +} + /* ************************************************************************* */ //3 argument call void print(const Vector& v, const string& s, ostream& stream) { @@ -82,9 +106,7 @@ bool equal_with_abs_tol(const Vector& vec1, const Vector& vec2, double tol) { if (vec1.size()!=vec2.size()) return false; size_t m = vec1.size(); for(size_t i=0; i tol) + if (!fp_isequal(vec1[i], vec2[i], tol)) return false; } return true; @@ -95,9 +117,7 @@ bool equal_with_abs_tol(const SubVector& vec1, const SubVector& vec2, double tol if (vec1.size()!=vec2.size()) return false; size_t m = vec1.size(); for(size_t i=0; i tol) + if (!fp_isequal(vec1[i], vec2[i], tol)) return false; } return true; diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h index 99c5a4d42..1b51a1b99 100644 --- a/gtsam/base/Vector.h +++ b/gtsam/base/Vector.h @@ -15,6 +15,7 @@ * @author Kai Ni * @author Frank Dellaert * @author Alex Hagiopol + * @author Varun Agrawal */ // \callgraph @@ -24,6 +25,8 @@ #define MKL_BLAS MKL_DOMAIN_BLAS #endif +#include +#include #include #include #include @@ -75,6 +78,15 @@ static_assert( "Error: GTSAM was built against a different version of Eigen"); #endif +/** + * Numerically stable function for comparing if floating point values are equal + * within epsilon tolerance. + * Used for vector and matrix comparison with C++11 compatible functions. + * Reference : https://floating-point-gui.de/errors/comparison/ + * Return true if two numbers are close wrt epsilon. + */ +GTSAM_EXPORT bool fp_isequal(double a, double b, double epsilon); + /** * print without optional string, must specify cout yourself */ From 0fbe63aa1746fcddb02763a8e340df971c746cf7 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 8 Mar 2020 17:07:40 -0400 Subject: [PATCH 0217/1152] static function & method for axis-angle with improved tests and fix for sign ambiguity --- gtsam.h | 5 +- gtsam/geometry/Rot3.cpp | 6 +++ gtsam/geometry/Rot3.h | 20 ++++++-- gtsam/geometry/tests/testRot3.cpp | 77 +++++++++++++++++++++++++++---- 4 files changed, 94 insertions(+), 14 deletions(-) diff --git a/gtsam.h b/gtsam.h index 521495bdf..8382c06a7 100644 --- a/gtsam.h +++ b/gtsam.h @@ -642,7 +642,7 @@ class Rot3 { static gtsam::Rot3 Rodrigues(Vector v); static gtsam::Rot3 Rodrigues(double wx, double wy, double wz); static gtsam::Rot3 ClosestTo(const Matrix M); - static std::pair ToAxisAngle(const gtsam::Rot3& R) const; + static pair ToAxisAngle(const gtsam::Rot3& R); // Testable void print(string s) const; @@ -675,6 +675,7 @@ class Rot3 { double roll() const; double pitch() const; double yaw() const; + pair axisAngle() const; // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly Vector quaternion() const; gtsam::Rot3 slerp(double t, const gtsam::Rot3& other) const; @@ -1309,7 +1310,7 @@ class SymbolicBayesTree { // class SymbolicBayesTreeClique { // BayesTreeClique(); // BayesTreeClique(CONDITIONAL* conditional); -// // BayesTreeClique(const std::pair& result) : Base(result) {} +// // BayesTreeClique(const pair& result) : Base(result) {} // // bool equals(const This& other, double tol) const; // void print(string s) const; diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index b1e8dd14b..9fc7ee6b1 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -16,6 +16,7 @@ * @author Christian Potthast * @author Frank Dellaert * @author Richard Roberts + * @author Varun Agrawal */ #include @@ -185,6 +186,11 @@ Vector Rot3::quaternion() const { return v; } +/* ************************************************************************* */ +pair Rot3::axisAngle() { + return Rot3::ToAxisAngle(*this); +} + /* ************************************************************************* */ Matrix3 Rot3::ExpmapDerivative(const Vector3& x) { return SO3::ExpmapDerivative(x); diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 974e9b195..3f2a962d5 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -17,6 +17,7 @@ * @author Frank Dellaert * @author Richard Roberts * @author Luca Carlone + * @author Varun Agrawal */ // \callgraph @@ -217,13 +218,19 @@ namespace gtsam { } /** - * Compute to the Euler axis and angle (in radians) representation + * Compute the Euler axis and angle (in radians) representation * @param R is the rotation matrix * @return pair consisting of Unit3 axis and angle in radians */ static std::pair ToAxisAngle(const Rot3& R) { const Vector3 omega = Rot3::Logmap(R); - return std::pair(Unit3(omega), omega.norm()); + int direction = 1; + // Check if any element in axis is negative. + // This implies that the rotation is clockwise and not counterclockwise. + if (omega.minCoeff() < 0.0) { + direction = -1; + } + return std::pair(Unit3(omega), direction * omega.norm()); } /** @@ -439,7 +446,7 @@ namespace gtsam { /** * Use RQ to calculate roll-pitch-yaw angle representation - * @return a vector containing ypr s.t. R = Rot3::Ypr(y,p,r) + * @return a vector containing rpy s.t. R = Rot3::Ypr(y,p,r) */ Vector3 rpy() const; @@ -471,6 +478,13 @@ namespace gtsam { /// @name Advanced Interface /// @{ + /** + * Compute the Euler axis and angle (in radians) representation + * of this rotation. + * @return pair consisting of Unit3 axis and angle in radians + */ + std::pair axisAngle(); + /** Compute the quaternion representation of this rotation. * @return The quaternion */ diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index dbd4e84a1..59397d199 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -663,16 +663,75 @@ TEST(Rot3, ClosestTo) { } /* ************************************************************************* */ -TEST(Rot3, angle) { - Rot3 R1 = Rot3::Ypr(M_PI/4, 0, 0); +TEST(Rot3, ToAxisAngle) { + /// Test rotations along each axis + Rot3 R1; - Unit3 expectedAxis(-0.350067, -0.472463, 0.808846); - double expectedAngle = 0.709876; - - pair actual = Rot3::ToAxisAngle(R.between(R1)); - - EXPECT(assert_equal(expectedAxis, actual.first, 1e-6)); - EXPECT(assert_equal(expectedAngle, actual.second, 1e-6)); + // Negative because rotation is counterclockwise when looking at unchanging axis + Rot3 yaw = Rot3::Ypr(-M_PI/4, 0, 0); + Rot3 pitch = Rot3::Ypr(0, -M_PI/4, 0); + Rot3 roll = Rot3::Ypr(0, 0, -M_PI/4); + + EXPECT(assert_equal(Unit3(0, 0, 1), Rot3::ToAxisAngle(yaw.between(R1)).first, 1e-6)); + EXPECT_DOUBLES_EQUAL(M_PI/4, Rot3::ToAxisAngle(yaw.between(R1)).second, 1e-9); + + EXPECT(assert_equal(Unit3(0, 1, 0), Rot3::ToAxisAngle(pitch.between(R1)).first, 1e-6)); + EXPECT_DOUBLES_EQUAL(M_PI/4, Rot3::ToAxisAngle(pitch.between(R1)).second, 1e-9); + + EXPECT(assert_equal(Unit3(1, 0, 0), Rot3::ToAxisAngle(roll.between(R1)).first, 1e-6)); + EXPECT_DOUBLES_EQUAL(M_PI/4, Rot3::ToAxisAngle(roll.between(R1)).second, 1e-9); + + Unit3 axis; double angle; + std::tie(axis,angle) = Rot3::ToAxisAngle(R); + EXPECT(assert_equal(Unit3(0.1, 0.4, 0.2), axis)); + EXPECT_DOUBLES_EQUAL(Vector3(0.1, 0.4, 0.2).norm(), angle, 1e-9); + + /// Test for sign ambiguity + double theta = M_PI + M_PI/2; // 270 degrees + Rot3 R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); + + EXPECT_DOUBLES_EQUAL(theta - 2*M_PI, Rot3::ToAxisAngle(R2).second, 1e-9); + + theta = -M_PI/2; // -90 degrees + R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); + + EXPECT_DOUBLES_EQUAL(theta, Rot3::ToAxisAngle(R2).second, 1e-9); +} + +/* ************************************************************************* */ +TEST(Rot3, axisAngle) { + /// Test rotations along each axis + Rot3 R1; + + // Negative because rotation is counterclockwise when looking at unchanging axis + Rot3 yaw = Rot3::Ypr(-M_PI/4, 0, 0); + Rot3 pitch = Rot3::Ypr(0, -M_PI/4, 0); + Rot3 roll = Rot3::Ypr(0, 0, -M_PI/4); + + EXPECT(assert_equal(Unit3(0, 0, 1), yaw.between(R1).axisAngle().first, 1e-6)); + EXPECT_DOUBLES_EQUAL(M_PI/4, yaw.between(R1).axisAngle().second, 1e-9); + + EXPECT(assert_equal(Unit3(0, 1, 0), pitch.between(R1).axisAngle().first, 1e-6)); + EXPECT_DOUBLES_EQUAL(M_PI/4, pitch.between(R1).axisAngle().second, 1e-9); + + EXPECT(assert_equal(Unit3(1, 0, 0), roll.between(R1).axisAngle().first, 1e-6)); + EXPECT_DOUBLES_EQUAL(M_PI/4, roll.between(R1).axisAngle().second, 1e-9); + + Unit3 axis; double angle; + std::tie(axis,angle) = R.axisAngle(); + EXPECT(assert_equal(Unit3(0.1, 0.4, 0.2), axis)); + EXPECT_DOUBLES_EQUAL(Vector3(0.1, 0.4, 0.2).norm(), angle, 1e-9); + + /// Test for sign ambiguity + double theta = M_PI + M_PI/2; // 270 degrees + Rot3 R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); + + EXPECT_DOUBLES_EQUAL(theta - 2*M_PI, R2.axisAngle().second, 1e-9); + + theta = -M_PI/2; // 270 degrees + R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); + + EXPECT_DOUBLES_EQUAL(theta, R2.axisAngle().second, 1e-9); } /* ************************************************************************* */ From 670cc7a74ee10774fd793317b65f6d958073ae4b Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 9 Mar 2020 10:50:12 -0400 Subject: [PATCH 0218/1152] correct handling of NaNs and Infs, camelCase, and better namespace handling --- gtsam/base/Matrix.h | 2 +- gtsam/base/Vector.cpp | 36 ++++++++++++++++++++++++------------ gtsam/base/Vector.h | 10 ++++++---- 3 files changed, 31 insertions(+), 17 deletions(-) diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index 04bddb111..1ee1a6c4a 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -88,7 +88,7 @@ bool equal_with_abs_tol(const Eigen::DenseBase& A, const Eigen::DenseBas for(size_t i=0; i::min() + 1.0; +bool fpEqual(double a, double b, double tol) { + using std::abs; + using std::isnan; + using std::isinf; + + double DOUBLE_MIN_NORMAL = numeric_limits::min() + 1.0; + double larger = (abs(b) > abs(a)) ? abs(b) : abs(a); // handle NaNs - if(std::isnan(a) ^ std::isnan(b)) { - return false; + if(std::isnan(a) || isnan(b)) { + return isnan(a) && isnan(b); } // handle inf - else if(std::isinf(a) ^ std::isinf(b)) { - return false; + else if(isinf(a) || isinf(b)) { + return isinf(a) && isinf(b); } // If the two values are zero or both are extremely close to it // relative error is less meaningful here - else if(a == 0 || b == 0 || (std::abs(a) + std::abs(b)) < DOUBLE_MIN_NORMAL) { - return std::abs(a-b) < epsilon * DOUBLE_MIN_NORMAL; + else if(a == 0 || b == 0 || (abs(a) + abs(b)) < DOUBLE_MIN_NORMAL) { + return abs(a-b) <= tol * DOUBLE_MIN_NORMAL; + } + // Check if the numbers are really close + // Needed when comparing numbers near zero or tol is in vicinity + else if(abs(a-b) <= tol) { + return true; } // Use relative error - else { - return std::abs(a-b) < epsilon * std::min((std::abs(a) + std::abs(b)), std::numeric_limits::max()); + else if(abs(a-b) <= tol * min(larger, std::numeric_limits::max())) { + return true; } + + return false; } /* ************************************************************************* */ @@ -106,7 +118,7 @@ bool equal_with_abs_tol(const Vector& vec1, const Vector& vec2, double tol) { if (vec1.size()!=vec2.size()) return false; size_t m = vec1.size(); for(size_t i=0; i -#include #include #include +#include #include +#include #include namespace gtsam { @@ -82,10 +82,12 @@ static_assert( * Numerically stable function for comparing if floating point values are equal * within epsilon tolerance. * Used for vector and matrix comparison with C++11 compatible functions. - * Reference : https://floating-point-gui.de/errors/comparison/ + * References: + * 1. https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/ + * 2. https://floating-point-gui.de/errors/comparison/ * Return true if two numbers are close wrt epsilon. */ -GTSAM_EXPORT bool fp_isequal(double a, double b, double epsilon); +GTSAM_EXPORT bool fpEqual(double a, double b, double epsilon); /** * print without optional string, must specify cout yourself From ab46c7c3cee81cb69185509b5da3acb3a40f6aff Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 9 Mar 2020 16:01:24 -0400 Subject: [PATCH 0219/1152] removed static ToAxisAngle function --- gtsam.h | 1 - gtsam/geometry/Rot3.cpp | 9 +++++++- gtsam/geometry/Rot3.h | 16 -------------- gtsam/geometry/tests/testRot3.cpp | 36 ------------------------------- 4 files changed, 8 insertions(+), 54 deletions(-) diff --git a/gtsam.h b/gtsam.h index 8382c06a7..de1a3887b 100644 --- a/gtsam.h +++ b/gtsam.h @@ -642,7 +642,6 @@ class Rot3 { static gtsam::Rot3 Rodrigues(Vector v); static gtsam::Rot3 Rodrigues(double wx, double wy, double wz); static gtsam::Rot3 ClosestTo(const Matrix M); - static pair ToAxisAngle(const gtsam::Rot3& R); // Testable void print(string s) const; diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index 9fc7ee6b1..14646659d 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -188,7 +188,14 @@ Vector Rot3::quaternion() const { /* ************************************************************************* */ pair Rot3::axisAngle() { - return Rot3::ToAxisAngle(*this); + const Vector3 omega = Rot3::Logmap(*this); + int direction = 1; + // Check if any element in axis is negative. + // This implies that the rotation is clockwise and not counterclockwise. + if (omega.minCoeff() < 0.0) { + direction = -1; + } + return std::pair(Unit3(omega), direction * omega.norm()); } /* ************************************************************************* */ diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 3f2a962d5..b1cfc4926 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -217,22 +217,6 @@ namespace gtsam { return AxisAngle(axis.unitVector(),angle); } - /** - * Compute the Euler axis and angle (in radians) representation - * @param R is the rotation matrix - * @return pair consisting of Unit3 axis and angle in radians - */ - static std::pair ToAxisAngle(const Rot3& R) { - const Vector3 omega = Rot3::Logmap(R); - int direction = 1; - // Check if any element in axis is negative. - // This implies that the rotation is clockwise and not counterclockwise. - if (omega.minCoeff() < 0.0) { - direction = -1; - } - return std::pair(Unit3(omega), direction * omega.norm()); - } - /** * Rodrigues' formula to compute an incremental rotation * @param w a vector of incremental roll,pitch,yaw diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index 59397d199..1b01b92c2 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -662,42 +662,6 @@ TEST(Rot3, ClosestTo) { EXPECT(assert_equal(expected, actual.matrix(), 1e-6)); } -/* ************************************************************************* */ -TEST(Rot3, ToAxisAngle) { - /// Test rotations along each axis - Rot3 R1; - - // Negative because rotation is counterclockwise when looking at unchanging axis - Rot3 yaw = Rot3::Ypr(-M_PI/4, 0, 0); - Rot3 pitch = Rot3::Ypr(0, -M_PI/4, 0); - Rot3 roll = Rot3::Ypr(0, 0, -M_PI/4); - - EXPECT(assert_equal(Unit3(0, 0, 1), Rot3::ToAxisAngle(yaw.between(R1)).first, 1e-6)); - EXPECT_DOUBLES_EQUAL(M_PI/4, Rot3::ToAxisAngle(yaw.between(R1)).second, 1e-9); - - EXPECT(assert_equal(Unit3(0, 1, 0), Rot3::ToAxisAngle(pitch.between(R1)).first, 1e-6)); - EXPECT_DOUBLES_EQUAL(M_PI/4, Rot3::ToAxisAngle(pitch.between(R1)).second, 1e-9); - - EXPECT(assert_equal(Unit3(1, 0, 0), Rot3::ToAxisAngle(roll.between(R1)).first, 1e-6)); - EXPECT_DOUBLES_EQUAL(M_PI/4, Rot3::ToAxisAngle(roll.between(R1)).second, 1e-9); - - Unit3 axis; double angle; - std::tie(axis,angle) = Rot3::ToAxisAngle(R); - EXPECT(assert_equal(Unit3(0.1, 0.4, 0.2), axis)); - EXPECT_DOUBLES_EQUAL(Vector3(0.1, 0.4, 0.2).norm(), angle, 1e-9); - - /// Test for sign ambiguity - double theta = M_PI + M_PI/2; // 270 degrees - Rot3 R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); - - EXPECT_DOUBLES_EQUAL(theta - 2*M_PI, Rot3::ToAxisAngle(R2).second, 1e-9); - - theta = -M_PI/2; // -90 degrees - R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); - - EXPECT_DOUBLES_EQUAL(theta, Rot3::ToAxisAngle(R2).second, 1e-9); -} - /* ************************************************************************* */ TEST(Rot3, axisAngle) { /// Test rotations along each axis From 8b00840169e8c481376f03051327847ae74f842a Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 9 Mar 2020 16:33:56 -0400 Subject: [PATCH 0220/1152] removed header bloat and added reference comment for fpEqual implementation --- gtsam/base/Matrix.h | 1 + gtsam/base/Vector.cpp | 6 +++++- gtsam/base/Vector.h | 2 -- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index 1ee1a6c4a..fa70e5b00 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -17,6 +17,7 @@ * @author Frank Dellaert * @author Alex Cunningham * @author Alex Hagiopol + * @author Varun Agrawal */ // \callgraph diff --git a/gtsam/base/Vector.cpp b/gtsam/base/Vector.cpp index 8c8b15416..beec030ba 100644 --- a/gtsam/base/Vector.cpp +++ b/gtsam/base/Vector.cpp @@ -34,7 +34,11 @@ using namespace std; namespace gtsam { -/* ************************************************************************* */ +/* ************************************************************************* + * References: + * 1. https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/ + * 2. https://floating-point-gui.de/errors/comparison/ + * ************************************************************************* */ bool fpEqual(double a, double b, double tol) { using std::abs; using std::isnan; diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h index 035a6fa87..576717a0c 100644 --- a/gtsam/base/Vector.h +++ b/gtsam/base/Vector.h @@ -27,9 +27,7 @@ #include #include -#include #include -#include #include namespace gtsam { From 4625a16d707d4bac663ccc4dd162d944ddb3e9d7 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 9 Mar 2020 22:57:59 -0400 Subject: [PATCH 0221/1152] wrapped simpleCamera function to get camera from projection matrix --- gtsam.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/gtsam.h b/gtsam.h index a2276705e..062bcb531 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1123,6 +1123,8 @@ virtual class SimpleCamera { }; +gtsam::SimpleCamera simpleCamera(const Matrix& P); + // Some typedefs for common camera types // PinholeCameraCal3_S2 is the same as SimpleCamera above typedef gtsam::PinholeCamera PinholeCameraCal3_S2; From 750240266d4290c1ad55c9be12e90e2db22d599e Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Tue, 10 Mar 2020 13:58:38 -0400 Subject: [PATCH 0222/1152] Add triggering for python build --- .github/workflows/trigger-python.yml | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100644 .github/workflows/trigger-python.yml diff --git a/.github/workflows/trigger-python.yml b/.github/workflows/trigger-python.yml new file mode 100644 index 000000000..5a49348fe --- /dev/null +++ b/.github/workflows/trigger-python.yml @@ -0,0 +1,13 @@ +name: Trigger Python Builds +on: push +jobs: + triggerCython: + runs-on: ubuntu-latest + steps: + - name: Repository Dispatch + uses: ProfFan/repository-dispatch@master + with: + token: ${{ secrets.PYTHON_CI_REPO_ACCESS_TOKEN }} + repository: borglab/gtsam-manylinux-build + event-type: cython-wrapper + client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}' \ No newline at end of file From 0a91c081fb18301549ca8c82a3fe518420e4b081 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 10 Mar 2020 14:18:07 -0400 Subject: [PATCH 0223/1152] moved references for implementation from header to cpp --- gtsam/base/Vector.h | 3 --- 1 file changed, 3 deletions(-) diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h index 576717a0c..bd72a0473 100644 --- a/gtsam/base/Vector.h +++ b/gtsam/base/Vector.h @@ -80,9 +80,6 @@ static_assert( * Numerically stable function for comparing if floating point values are equal * within epsilon tolerance. * Used for vector and matrix comparison with C++11 compatible functions. - * References: - * 1. https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/ - * 2. https://floating-point-gui.de/errors/comparison/ * Return true if two numbers are close wrt epsilon. */ GTSAM_EXPORT bool fpEqual(double a, double b, double epsilon); From 1553d4321c479d60cecaea78e5dc537137cc5e67 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 13 Mar 2020 19:33:57 -0400 Subject: [PATCH 0224/1152] correct way of maintaining angle of axis-angle representation within (-pi,pi] --- gtsam/geometry/Rot3.cpp | 20 +++++++++++++------- 1 file changed, 13 insertions(+), 7 deletions(-) diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index 14646659d..1256271bc 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -188,14 +188,20 @@ Vector Rot3::quaternion() const { /* ************************************************************************* */ pair Rot3::axisAngle() { - const Vector3 omega = Rot3::Logmap(*this); - int direction = 1; - // Check if any element in axis is negative. - // This implies that the rotation is clockwise and not counterclockwise. - if (omega.minCoeff() < 0.0) { - direction = -1; + Vector3 omega = Rot3::Logmap(*this); + // Get the rotation angle. + double theta = omega.norm(); + + // Check if angle belongs to (-pi, pi]. + // If yes, rotate in opposite direction to maintain range. + if (theta > M_PI) { + theta = theta - 2*M_PI; + omega = -omega; + } else if (theta <= -M_PI) { + theta = theta + 2*M_PI; + omega = -omega; } - return std::pair(Unit3(omega), direction * omega.norm()); + return std::pair(Unit3(omega), theta); } /* ************************************************************************* */ From b5e975f7e4969718e9ed835da6457aa59b32f8cd Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 13 Mar 2020 19:42:14 -0400 Subject: [PATCH 0225/1152] added documentation to fpEqual on behavior for NaNs/Infs --- gtsam/base/Vector.h | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h index bd72a0473..81be36c0a 100644 --- a/gtsam/base/Vector.h +++ b/gtsam/base/Vector.h @@ -80,9 +80,14 @@ static_assert( * Numerically stable function for comparing if floating point values are equal * within epsilon tolerance. * Used for vector and matrix comparison with C++11 compatible functions. - * Return true if two numbers are close wrt epsilon. + * + * If either value is NaN or Inf, we check for both values to be NaN or Inf + * respectively for the comparison to be true. + * If one is NaN/Inf and the other is not, returns false. + * + * Return true if two numbers are close wrt tol. */ -GTSAM_EXPORT bool fpEqual(double a, double b, double epsilon); +GTSAM_EXPORT bool fpEqual(double a, double b, double tol); /** * print without optional string, must specify cout yourself From 8f2a00e4bd2222b71e86da5473856875275e91f8 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 14 Mar 2020 10:10:00 -0400 Subject: [PATCH 0226/1152] fix for angle outside the range (-pi,pi] and added more tests to verify --- gtsam/geometry/Rot3.cpp | 12 +++++------- gtsam/geometry/tests/testRot3.cpp | 19 ++++++++++++++----- 2 files changed, 19 insertions(+), 12 deletions(-) diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index 1256271bc..f2d60f1f7 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -192,14 +192,12 @@ pair Rot3::axisAngle() { // Get the rotation angle. double theta = omega.norm(); - // Check if angle belongs to (-pi, pi]. + // Check if angle `theta` belongs to (-pi, pi]. // If yes, rotate in opposite direction to maintain range. - if (theta > M_PI) { - theta = theta - 2*M_PI; - omega = -omega; - } else if (theta <= -M_PI) { - theta = theta + 2*M_PI; - omega = -omega; + // Since omega = theta * u, if all coefficients are negative, + // then theta is outside the expected range. + if ((omega.array() < 0).all()) { + theta = -theta; } return std::pair(Unit3(omega), theta); } diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index 1b01b92c2..f7d2609d4 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -686,16 +686,25 @@ TEST(Rot3, axisAngle) { EXPECT(assert_equal(Unit3(0.1, 0.4, 0.2), axis)); EXPECT_DOUBLES_EQUAL(Vector3(0.1, 0.4, 0.2).norm(), angle, 1e-9); - /// Test for sign ambiguity - double theta = M_PI + M_PI/2; // 270 degrees - Rot3 R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); + double theta; + /// Test for sign ambiguity + theta = M_PI + M_PI/2; // 270 degrees + Rot3 R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); EXPECT_DOUBLES_EQUAL(theta - 2*M_PI, R2.axisAngle().second, 1e-9); - theta = -M_PI/2; // 270 degrees + theta = -(M_PI + M_PI/2); // 90 (or -270) degrees R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); + EXPECT_DOUBLES_EQUAL(2*M_PI + theta, R2.axisAngle().second, 1e-9); - EXPECT_DOUBLES_EQUAL(theta, R2.axisAngle().second, 1e-9); + /// Non-trivial angles + theta = 195 * M_PI / 180; // 195 degrees + Rot3 R3 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); + EXPECT_DOUBLES_EQUAL(theta - 2*M_PI, R3.axisAngle().second, 1e-9); + + theta = -195 * M_PI / 180; // 165 degrees + R3 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); + EXPECT_DOUBLES_EQUAL(2*M_PI + theta, R3.axisAngle().second, 1e-9); } /* ************************************************************************* */ From 906d0277e93b43f5160c7a18df6e83a5990d1ce9 Mon Sep 17 00:00:00 2001 From: Thomas Jespersen Date: Mon, 16 Mar 2020 00:48:36 +0800 Subject: [PATCH 0227/1152] Added ported C++ version of ISAM2 Kitti example --- examples/IMUKittiExampleGPS.cpp | 293 ++++++++++++++++++++++++++++++++ 1 file changed, 293 insertions(+) create mode 100644 examples/IMUKittiExampleGPS.cpp diff --git a/examples/IMUKittiExampleGPS.cpp b/examples/IMUKittiExampleGPS.cpp new file mode 100644 index 000000000..9f302ab2f --- /dev/null +++ b/examples/IMUKittiExampleGPS.cpp @@ -0,0 +1,293 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file IMUKittiExampleGPS + * @brief Example of application of ISAM2 for GPS-aided navigation on the KITTI VISION BENCHMARK SUITE + * @author Ported by Thomas Jespersen (thomasj@tkjelectronics.dk), TKJ Electronics + */ + +// GTSAM related includes. +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace gtsam; +using namespace std; + +using symbol_shorthand::X; // Pose3 (x,y,z,r,p,y) +using symbol_shorthand::V; // Vel (xdot,ydot,zdot) +using symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz) + +typedef struct { + double Time; + double dt; + Vector3 Accelerometer; + Vector3 Gyroscope; // omega +} imuMeasurement_t; + +typedef struct { + double Time; + Vector3 Position; // x,y,z +} gpsMeasurement_t; + +const string output_filename = "IMUKittyExampleGPSResults.csv"; + +int main(int argc, char* argv[]) +{ + string line; + + // Read IMU metadata and compute relative sensor pose transforms + // BodyPtx BodyPty BodyPtz BodyPrx BodyPry BodyPrz AccelerometerSigma GyroscopeSigma IntegrationSigma AccelerometerBiasSigma GyroscopeBiasSigma AverageDeltaT + // 0 0 0 0 0 0 0.01 0.000175 0 0.000167 2.91e-006 0.0100395199348279 + string IMU_metadata_file = findExampleDataFile("KittiEquivBiasedImu_metadata.txt"); + ifstream IMU_metadata(IMU_metadata_file.c_str()); + + printf("-- Reading sensor metadata\n"); + + getline(IMU_metadata, line, '\n'); // ignore the first line + + double BodyPtx, BodyPty, BodyPtz, BodyPrx, BodyPry, BodyPrz, AccelerometerSigma, GyroscopeSigma, IntegrationSigma, AccelerometerBiasSigma, GyroscopeBiasSigma, AverageDeltaT; + getline(IMU_metadata, line, '\n'); + sscanf(line.c_str(), "%lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf", &BodyPtx, &BodyPty, &BodyPtz, &BodyPrx, &BodyPry, &BodyPrz, &AccelerometerSigma, &GyroscopeSigma, &IntegrationSigma, &AccelerometerBiasSigma, &GyroscopeBiasSigma, &AverageDeltaT); + printf("IMU metadata: %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf\n", BodyPtx, BodyPty, BodyPtz, BodyPrx, BodyPry, BodyPrz, AccelerometerSigma, GyroscopeSigma, IntegrationSigma, AccelerometerBiasSigma, GyroscopeBiasSigma, AverageDeltaT); + + Vector6 BodyP = (Vector(6) << BodyPtx, BodyPty, BodyPtz, BodyPrx, BodyPry, BodyPrz).finished(); + auto body_T_imu = Pose3::Expmap(BodyP); + if (!body_T_imu.equals(Pose3(), 1e-5)) { + printf("Currently only support IMUinBody is identity, i.e. IMU and body frame are the same"); + exit(-1); + } + + // Read IMU data + // Time dt accelX accelY accelZ omegaX omegaY omegaZ + // 46534.47837579 46534.47837579 1.7114864219577 0.1717911743144 9.80533438749 -0.0032006241515747 0.031231284764596 -0.0063569265706488 + vector IMU_measurements; + string IMU_data_file = findExampleDataFile("KittiEquivBiasedImu.txt"); + + printf("-- Reading IMU measurements from file\n"); + { + ifstream IMU_data(IMU_data_file.c_str()); + getline(IMU_data, line, '\n'); // ignore the first line + + double time = 0, dt = 0, acc_x = 0, acc_y = 0, acc_z = 0, gyro_x = 0, gyro_y = 0, gyro_z = 0; + while (!IMU_data.eof()) { + getline(IMU_data, line, '\n'); + sscanf(line.c_str(), "%lf %lf %lf %lf %lf %lf %lf %lf", &time, &dt, &acc_x, &acc_y, &acc_z, &gyro_x, + &gyro_y, &gyro_z); + + imuMeasurement_t measurement; + measurement.Time = time; + measurement.dt = dt; + measurement.Accelerometer = Vector3(acc_x, acc_y, acc_z); + measurement.Gyroscope = Vector3(gyro_x, gyro_y, gyro_z); + IMU_measurements.push_back(measurement); + } + } + + // Read GPS data + // Time,X,Y,Z + // 46534.478375790000428,-6.8269361350059405424,-11.868164241239471224,0.040306091310000624617 + vector GPS_measurements; + string GPS_data_file = findExampleDataFile("KittiGps_converted.txt"); + + printf("-- Reading GPS measurements from file\n"); + { + ifstream GPS_data(GPS_data_file.c_str()); + getline(GPS_data, line, '\n'); // ignore the first line + + double time = 0, gps_x = 0, gps_y = 0, gps_z = 0; + while (!GPS_data.eof()) { + getline(GPS_data, line, '\n'); + sscanf(line.c_str(), "%lf,%lf,%lf,%lf", &time, &gps_x, &gps_y, &gps_z); + + gpsMeasurement_t measurement; + measurement.Time = time; + measurement.Position = Vector3(gps_x, gps_y, gps_z); + GPS_measurements.push_back(measurement); + } + } + + // Configure different variables + double tOffset = GPS_measurements[0].Time; + size_t firstGPSPose = 1; + size_t GPSskip = 10; // Skip this many GPS measurements each time + double g = 9.8; + auto w_coriolis = Vector3(); // zero vector + + // Configure noise models + noiseModel::Diagonal::shared_ptr noiseModelGPS = noiseModel::Diagonal::Precisions((Vector(6) << Vector3::Constant(0), Vector3::Constant(1.0/0.07)).finished()); + + // Set initial conditions for the estimated trajectory + auto currentPoseGlobal = Pose3(Rot3(), GPS_measurements[firstGPSPose].Position); // initial pose is the reference frame (navigation frame) + auto currentVelocityGlobal = Vector3(); // the vehicle is stationary at the beginning at position 0,0,0 + auto currentBias = imuBias::ConstantBias(); // init with zero bias + + noiseModel::Diagonal::shared_ptr sigma_init_x = noiseModel::Isotropic::Precisions((Vector(6) << Vector3::Constant(0), Vector3::Constant(1.0)).finished()); + noiseModel::Diagonal::shared_ptr sigma_init_v = noiseModel::Isotropic::Sigma(3, 1000.0); + noiseModel::Diagonal::shared_ptr sigma_init_b = noiseModel::Isotropic::Sigmas((Vector(6) << Vector3::Constant(0.100), Vector3::Constant(5.00e-05)).finished()); + + // Set IMU preintegration parameters + Matrix33 measured_acc_cov = Matrix33::Identity(3,3) * pow(AccelerometerSigma,2); + Matrix33 measured_omega_cov = Matrix33::Identity(3,3) * pow(GyroscopeSigma,2); + Matrix33 integration_error_cov = Matrix33::Identity(3,3) * pow(IntegrationSigma,2); // error committed in integrating position from velocities + + boost::shared_ptr IMU_params = PreintegratedImuMeasurements::Params::MakeSharedU(g); + IMU_params->accelerometerCovariance = measured_acc_cov; // acc white noise in continuous + IMU_params->integrationCovariance = integration_error_cov; // integration uncertainty continuous + IMU_params->gyroscopeCovariance = measured_omega_cov; // gyro white noise in continuous + IMU_params->omegaCoriolis = w_coriolis; + + std::shared_ptr currentSummarizedMeasurement = nullptr; + + // Set ISAM2 parameters and create ISAM2 solver object + ISAM2Params isamParams; + isamParams.factorization = ISAM2Params::CHOLESKY; + isamParams.relinearizeSkip = 10; + + ISAM2 isam(isamParams); + + // Create the factor graph and values object that will store new factors and values to add to the incremental graph + NonlinearFactorGraph newFactors; + Values newValues; // values storing the initial estimates of new nodes in the factor graph + + /// Main loop: + /// (1) we read the measurements + /// (2) we create the corresponding factors in the graph + /// (3) we solve the graph to obtain and optimal estimate of robot trajectory + printf("-- Starting main loop: inference is performed at each time step, but we plot trajectory every 10 steps\n"); + size_t imuMeasurementIndex = 0; + for (size_t gpsMeasurementIndex = firstGPSPose; gpsMeasurementIndex < GPS_measurements.size() - 1; gpsMeasurementIndex++) { + // At each non=IMU measurement we initialize a new node in the graph + auto currentPoseKey = X(gpsMeasurementIndex); + auto currentVelKey = V(gpsMeasurementIndex); + auto currentBiasKey = B(gpsMeasurementIndex); + double t = GPS_measurements[gpsMeasurementIndex].Time; + + if (gpsMeasurementIndex == firstGPSPose) { + // Create initial estimate and prior on initial pose, velocity, and biases + newValues.insert(currentPoseKey, currentPoseGlobal); + newValues.insert(currentVelKey, currentVelocityGlobal); + newValues.insert(currentBiasKey, currentBias); + newFactors.add(PriorFactor(currentPoseKey, currentPoseGlobal, sigma_init_x)); + newFactors.add(PriorFactor(currentVelKey, currentVelocityGlobal, sigma_init_v)); + newFactors.add(PriorFactor(currentBiasKey, currentBias, sigma_init_b)); + } else { + double t_previous = GPS_measurements[gpsMeasurementIndex-1].Time; + + // Summarize IMU data between the previous GPS measurement and now + currentSummarizedMeasurement = std::make_shared(IMU_params, currentBias); + static size_t includedIMUmeasurementCount = 0; + while (imuMeasurementIndex < IMU_measurements.size() && IMU_measurements[imuMeasurementIndex].Time <= t) { + if (IMU_measurements[imuMeasurementIndex].Time >= t_previous) { + currentSummarizedMeasurement->integrateMeasurement(IMU_measurements[imuMeasurementIndex].Accelerometer, IMU_measurements[imuMeasurementIndex].Gyroscope, IMU_measurements[imuMeasurementIndex].dt); + includedIMUmeasurementCount++; + } + imuMeasurementIndex++; + } + + // Create IMU factor + auto previousPoseKey = X(gpsMeasurementIndex-1); + auto previousVelKey = V(gpsMeasurementIndex-1); + auto previousBiasKey = B(gpsMeasurementIndex-1); + + newFactors.add(ImuFactor( + previousPoseKey, previousVelKey, + currentPoseKey, currentVelKey, + previousBiasKey, *currentSummarizedMeasurement)); + + // Bias evolution as given in the IMU metadata + noiseModel::Diagonal::shared_ptr sigma_between_b = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(sqrt(includedIMUmeasurementCount) * AccelerometerBiasSigma), Vector3::Constant(sqrt(includedIMUmeasurementCount) * GyroscopeBiasSigma)).finished()); + newFactors.add(BetweenFactor(previousBiasKey, currentBiasKey, imuBias::ConstantBias(), sigma_between_b)); + + // Create GPS factor + auto GPSPose = Pose3(currentPoseGlobal.rotation(), GPS_measurements[gpsMeasurementIndex].Position); + if ((gpsMeasurementIndex % GPSskip) == 0) { + newFactors.add(PriorFactor(currentPoseKey, GPSPose, noiseModelGPS)); + newValues.insert(currentPoseKey, GPSPose); + + printf("################ POSE INCLUDED AT TIME %lf ################\n", t); + GPSPose.translation().print(); + printf("\n\n"); + } else { + newValues.insert(currentPoseKey, currentPoseGlobal); + } + + // Add initial values for velocity and bias based on the previous estimates + newValues.insert(currentVelKey, currentVelocityGlobal); + newValues.insert(currentBiasKey, currentBias); + + // Update solver + // ======================================================================= + // We accumulate 2*GPSskip GPS measurements before updating the solver at + //first so that the heading becomes observable. + if (gpsMeasurementIndex > (firstGPSPose + 2*GPSskip)) { + printf("################ NEW FACTORS AT TIME %lf ################\n", t); + newFactors.print(); + + isam.update(newFactors, newValues); + + // Reset the newFactors and newValues list + newFactors.resize(0); + newValues.clear(); + + // Extract the result/current estimates + Values result = isam.calculateEstimate(); + + currentPoseGlobal = result.at(currentPoseKey); + currentVelocityGlobal = result.at(currentVelKey); + currentBias = result.at(currentBiasKey); + + printf("\n################ POSE AT TIME %lf ################\n", t); + currentPoseGlobal.print(); + printf("\n\n"); + } + } + } + + // Save results to file + printf("\nWriting results to file...\n"); + FILE* fp_out = fopen(output_filename.c_str(), "w+"); + fprintf(fp_out, "#time(s),x(m),y(m),z(m),qx,qy,qz,qw,gt_x(m),gt_y(m),gt_z(m)\n"); + + Values result = isam.calculateEstimate(); + for (size_t gpsMeasurementIndex = firstGPSPose; gpsMeasurementIndex < GPS_measurements.size() - 1; gpsMeasurementIndex++) { + auto poseKey = X(gpsMeasurementIndex); + auto velKey = V(gpsMeasurementIndex); + auto biasKey = B(gpsMeasurementIndex); + + auto pose = result.at(poseKey); + auto velocity = result.at(velKey); + auto bias = result.at(biasKey); + + auto pose_quat = pose.rotation().toQuaternion(); + auto gps = GPS_measurements[gpsMeasurementIndex].Position; + + fprintf(fp_out, "%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", + GPS_measurements[gpsMeasurementIndex].Time, + pose.x(), pose.y(), pose.z(), + pose_quat.x(), pose_quat.y(), pose_quat.z(), pose_quat.w(), + gps(0), gps(1), gps(2)); + } + + fclose(fp_out); +} \ No newline at end of file From 6ec13bdcd5370fbe4022a37ec61d6b9c18710662 Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Sun, 12 Jan 2020 14:19:40 -0500 Subject: [PATCH 0228/1152] add tbb version guard to fix clang build (cherry picked from commit 9b912f6b14d2cf715d17208df35b8253d5e648e7) --- CMakeLists.txt | 5 +++++ gtsam/linear/VectorValues.cpp | 28 ++++++++++++++++++++++++++++ gtsam/linear/VectorValues.h | 6 +++++- 3 files changed, 38 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index c84835d82..56250a12c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -200,6 +200,11 @@ 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_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) diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp index f18ad9c5f..e74d3776d 100644 --- a/gtsam/linear/VectorValues.cpp +++ b/gtsam/linear/VectorValues.cpp @@ -51,7 +51,11 @@ namespace gtsam { Key key; size_t n; boost::tie(key, n) = v; +#ifdef TBB_GREATER_EQUAL_2020 values_.emplace(key, x.segment(j, n)); +#else + values_.insert(std::make_pair(key, x.segment(j, n))); +#endif j += n; } } @@ -60,7 +64,11 @@ namespace gtsam { VectorValues::VectorValues(const Vector& x, const Scatter& scatter) { size_t j = 0; for (const SlotEntry& v : scatter) { +#ifdef TBB_GREATER_EQUAL_2020 values_.emplace(v.key, x.segment(j, v.dimension)); +#else + values_.insert(std::make_pair(v.key, x.segment(j, v.dimension))); +#endif j += v.dimension; } } @@ -70,7 +78,11 @@ namespace gtsam { { VectorValues result; for(const KeyValuePair& v: other) +#ifdef TBB_GREATER_EQUAL_2020 result.values_.emplace(v.first, Vector::Zero(v.second.size())); +#else + result.values_.insert(std::make_pair(v.first, Vector::Zero(v.second.size()))); +#endif return result; } @@ -86,7 +98,11 @@ namespace gtsam { /* ************************************************************************* */ VectorValues::iterator VectorValues::emplace(Key j, const Vector& value) { +#ifdef TBB_GREATER_EQUAL_2020 std::pair result = values_.emplace(j, value); +#else + std::pair result = values_.insert(std::make_pair(j, value)); +#endif if(!result.second) throw std::invalid_argument( "Requested to emplace variable '" + DefaultKeyFormatter(j) @@ -266,7 +282,11 @@ namespace gtsam { VectorValues result; // The result.end() hint here should result in constant-time inserts for(const_iterator j1 = begin(), j2 = c.begin(); j1 != end(); ++j1, ++j2) +#ifdef TBB_GREATER_EQUAL_2020 result.values_.emplace(j1->first, j1->second + j2->second); +#else + result.values_.insert(std::make_pair(j1->first, j1->second + j2->second)); +#endif return result; } @@ -324,7 +344,11 @@ namespace gtsam { VectorValues result; // The result.end() hint here should result in constant-time inserts for(const_iterator j1 = begin(), j2 = c.begin(); j1 != end(); ++j1, ++j2) +#ifdef TBB_GREATER_EQUAL_2020 result.values_.emplace(j1->first, j1->second - j2->second); +#else + result.values_.insert(std::make_pair(j1->first, j1->second - j2->second)); +#endif return result; } @@ -340,7 +364,11 @@ namespace gtsam { { VectorValues result; for(const VectorValues::KeyValuePair& key_v: v) +#ifdef TBB_GREATER_EQUAL_2020 result.values_.emplace(key_v.first, a * key_v.second); +#else + result.values_.insert(std::make_pair(key_v.first, a * key_v.second)); +#endif return result; } diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 46da2d5f9..eed212eda 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -198,7 +198,11 @@ namespace gtsam { * exist, it is inserted and an iterator pointing to the new element, along with 'true', is * returned. */ std::pair tryInsert(Key j, const Vector& value) { - return values_.emplace(j, value); +#ifdef TBB_GREATER_EQUAL_2020 + return values_.emplace(j, value); +#else + return values_.insert(std::make_pair(j, value)); +#endif } /** Erase the vector with the given key, or throw std::out_of_range if it does not exist */ From 8096b0e251c88b3df18eb9ec840f773376a05fec Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Mon, 16 Mar 2020 00:49:17 -0400 Subject: [PATCH 0229/1152] add deprecated task_scheduler_init unitl alternative is found --- examples/SolverComparer.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp index 528a441b3..d9dce7181 100644 --- a/examples/SolverComparer.cpp +++ b/examples/SolverComparer.cpp @@ -57,6 +57,10 @@ #include #include +#ifdef GTSAM_USE_TBB +#include // tbb::task_scheduler_init +#endif + using namespace std; using namespace gtsam; using namespace gtsam::symbol_shorthand; @@ -200,8 +204,10 @@ int main(int argc, char *argv[]) { } #ifdef GTSAM_USE_TBB + std::unique_ptr init; if(nThreads > 0) { cout << "Using " << nThreads << " threads" << endl; + init.reset(new tbb::task_scheduler_init(nThreads)); } else cout << "Using threads for all processors" << endl; #else From 170d1526b73a824c8d6b509a66d2b266065b01fc Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 16 Mar 2020 23:33:34 -0400 Subject: [PATCH 0230/1152] =?UTF-8?q?axisAngle=20maintains=20angle=20betwe?= =?UTF-8?q?en=20[0,=20=CF=80]=20so=20updated=20docs=20and=20tests=20accord?= =?UTF-8?q?ingly?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- gtsam/geometry/Rot3.cpp | 12 +----------- gtsam/geometry/Rot3.h | 3 +++ gtsam/geometry/tests/testRot3.cpp | 6 ++++-- 3 files changed, 8 insertions(+), 13 deletions(-) diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index f2d60f1f7..9b305640b 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -189,17 +189,7 @@ Vector Rot3::quaternion() const { /* ************************************************************************* */ pair Rot3::axisAngle() { Vector3 omega = Rot3::Logmap(*this); - // Get the rotation angle. - double theta = omega.norm(); - - // Check if angle `theta` belongs to (-pi, pi]. - // If yes, rotate in opposite direction to maintain range. - // Since omega = theta * u, if all coefficients are negative, - // then theta is outside the expected range. - if ((omega.array() < 0).all()) { - theta = -theta; - } - return std::pair(Unit3(omega), theta); + return std::pair(Unit3(omega), omega.norm()); } /* ************************************************************************* */ diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index b1cfc4926..80d363d35 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -465,6 +465,9 @@ namespace gtsam { /** * Compute the Euler axis and angle (in radians) representation * of this rotation. + * The angle is in the range [0, π]. If the angle is not in the range, + * the axis is flipped around accordingly so that the returned angle is + * within the specified range. * @return pair consisting of Unit3 axis and angle in radians */ std::pair axisAngle(); diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index f7d2609d4..6b0daa368 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -691,7 +691,8 @@ TEST(Rot3, axisAngle) { /// Test for sign ambiguity theta = M_PI + M_PI/2; // 270 degrees Rot3 R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); - EXPECT_DOUBLES_EQUAL(theta - 2*M_PI, R2.axisAngle().second, 1e-9); + EXPECT(assert_equal(Unit3(-0.1, -0.3, -0.4), R2.axisAngle().first, 1e-9)); + EXPECT_DOUBLES_EQUAL(M_PI/2, R2.axisAngle().second, 1e-9); theta = -(M_PI + M_PI/2); // 90 (or -270) degrees R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); @@ -700,7 +701,8 @@ TEST(Rot3, axisAngle) { /// Non-trivial angles theta = 195 * M_PI / 180; // 195 degrees Rot3 R3 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); - EXPECT_DOUBLES_EQUAL(theta - 2*M_PI, R3.axisAngle().second, 1e-9); + EXPECT(assert_equal(Unit3(-0.1, -0.3, -0.4), R3.axisAngle().first, 1e-9)); + EXPECT_DOUBLES_EQUAL(165*M_PI/180, R3.axisAngle().second, 1e-9); theta = -195 * M_PI / 180; // 165 degrees R3 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); From 81b52c674a4e3c1c6303003b8365f039ff06cbd7 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 16 Mar 2020 23:33:55 -0400 Subject: [PATCH 0231/1152] wrap AxisAngle constructor for rotations --- gtsam.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam.h b/gtsam.h index de1a3887b..fbd70622f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -639,6 +639,7 @@ class Rot3 { static gtsam::Rot3 Roll(double t); // positive roll is to right (increasing yaw in aircraft) static gtsam::Rot3 Ypr(double y, double p, double r); static gtsam::Rot3 Quaternion(double w, double x, double y, double z); + static gtsam::Rot3 AxisAngle(const gtsam::Point3& axis, double angle); static gtsam::Rot3 Rodrigues(Vector v); static gtsam::Rot3 Rodrigues(double wx, double wy, double wz); static gtsam::Rot3 ClosestTo(const Matrix M); From 8f17fbcc8e06f9bf1b79129a28ebf1f2f5961a51 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 17 Mar 2020 13:11:48 -0400 Subject: [PATCH 0232/1152] improved printing for Point3 and Unit3 --- gtsam/geometry/Point3.cpp | 5 ++++- gtsam/geometry/Unit3.cpp | 5 ++++- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/Point3.cpp b/gtsam/geometry/Point3.cpp index 8aa339a89..c9452efff 100644 --- a/gtsam/geometry/Point3.cpp +++ b/gtsam/geometry/Point3.cpp @@ -29,7 +29,10 @@ bool Point3::equals(const Point3 &q, double tol) const { } void Point3::print(const string& s) const { - cout << s << *this << endl; + if (s.size() != 0) { + cout << s << " "; + } + cout << *this << endl; } /* ************************************************************************* */ diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index 3d46b18b8..a2a7e6851 100755 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -154,7 +154,10 @@ std::ostream& operator<<(std::ostream& os, const Unit3& pair) { /* ************************************************************************* */ void Unit3::print(const std::string& s) const { - cout << s << ":" << p_ << endl; + if(s.size() != 0) { + cout << s << ":"; + } + cout << p_ << endl; } /* ************************************************************************* */ From 0d46932456667015ce8402767987aea40b5514d6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 17 Mar 2020 13:15:35 -0400 Subject: [PATCH 0233/1152] Proper const --- gtsam/geometry/Rot3.cpp | 4 ++-- gtsam/geometry/Rot3.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index 9b305640b..3481ac146 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -187,8 +187,8 @@ Vector Rot3::quaternion() const { } /* ************************************************************************* */ -pair Rot3::axisAngle() { - Vector3 omega = Rot3::Logmap(*this); +pair Rot3::axisAngle() const { + const Vector3 omega = Rot3::Logmap(*this); return std::pair(Unit3(omega), omega.norm()); } diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 80d363d35..e5e65b77d 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -470,7 +470,7 @@ namespace gtsam { * within the specified range. * @return pair consisting of Unit3 axis and angle in radians */ - std::pair axisAngle(); + std::pair axisAngle() const; /** Compute the quaternion representation of this rotation. * @return The quaternion From ca549630debb250112ed44d5bad91387f0daf96d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 17 Mar 2020 13:15:48 -0400 Subject: [PATCH 0234/1152] More systematic tests --- gtsam/geometry/tests/testRot3.cpp | 80 ++++++++++++++++++------------- 1 file changed, 46 insertions(+), 34 deletions(-) diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index 6b0daa368..efb4bf70b 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -664,49 +664,61 @@ TEST(Rot3, ClosestTo) { /* ************************************************************************* */ TEST(Rot3, axisAngle) { - /// Test rotations along each axis - Rot3 R1; + Unit3 actualAxis; + double actualAngle; - // Negative because rotation is counterclockwise when looking at unchanging axis - Rot3 yaw = Rot3::Ypr(-M_PI/4, 0, 0); - Rot3 pitch = Rot3::Ypr(0, -M_PI/4, 0); - Rot3 roll = Rot3::Ypr(0, 0, -M_PI/4); +// not a lambda as otherwise we can't trace error easily +#define CHECK_AXIS_ANGLE(expectedAxis, expectedAngle, rotation) \ + std::tie(actualAxis, actualAngle) = rotation.axisAngle(); \ + EXPECT(assert_equal(expectedAxis, actualAxis, 1e-9)); \ + EXPECT_DOUBLES_EQUAL(expectedAngle, actualAngle, 1e-9); \ + EXPECT(assert_equal(rotation, Rot3::AxisAngle(expectedAxis, expectedAngle))) - EXPECT(assert_equal(Unit3(0, 0, 1), yaw.between(R1).axisAngle().first, 1e-6)); - EXPECT_DOUBLES_EQUAL(M_PI/4, yaw.between(R1).axisAngle().second, 1e-9); + // CHECK R defined at top = Rot3::Rodrigues(0.1, 0.4, 0.2) + Vector3 omega(0.1, 0.4, 0.2); + Unit3 axis(omega), _axis(-omega); + CHECK_AXIS_ANGLE(axis, omega.norm(), R); - EXPECT(assert_equal(Unit3(0, 1, 0), pitch.between(R1).axisAngle().first, 1e-6)); - EXPECT_DOUBLES_EQUAL(M_PI/4, pitch.between(R1).axisAngle().second, 1e-9); + // rotate by 90 + CHECK_AXIS_ANGLE(Unit3(1, 0, 0), M_PI_2, Rot3::Ypr(0, 0, M_PI_2)) + CHECK_AXIS_ANGLE(Unit3(0, 1, 0), M_PI_2, Rot3::Ypr(0, M_PI_2, 0)) + CHECK_AXIS_ANGLE(Unit3(0, 0, 1), M_PI_2, Rot3::Ypr(M_PI_2, 0, 0)) + CHECK_AXIS_ANGLE(axis, M_PI_2, Rot3::AxisAngle(axis, M_PI_2)) - EXPECT(assert_equal(Unit3(1, 0, 0), roll.between(R1).axisAngle().first, 1e-6)); - EXPECT_DOUBLES_EQUAL(M_PI/4, roll.between(R1).axisAngle().second, 1e-9); + // rotate by -90 + CHECK_AXIS_ANGLE(Unit3(-1, 0, 0), M_PI_2, Rot3::Ypr(0, 0, -M_PI_2)) + CHECK_AXIS_ANGLE(Unit3(0, -1, 0), M_PI_2, Rot3::Ypr(0, -M_PI_2, 0)) + CHECK_AXIS_ANGLE(Unit3(0, 0, -1), M_PI_2, Rot3::Ypr(-M_PI_2, 0, 0)) + CHECK_AXIS_ANGLE(_axis, M_PI_2, Rot3::AxisAngle(axis, -M_PI_2)) - Unit3 axis; double angle; - std::tie(axis,angle) = R.axisAngle(); - EXPECT(assert_equal(Unit3(0.1, 0.4, 0.2), axis)); - EXPECT_DOUBLES_EQUAL(Vector3(0.1, 0.4, 0.2).norm(), angle, 1e-9); + // rotate by 270 + const double theta270 = M_PI + M_PI / 2; + CHECK_AXIS_ANGLE(Unit3(-1, 0, 0), M_PI_2, Rot3::Ypr(0, 0, theta270)) + CHECK_AXIS_ANGLE(Unit3(0, -1, 0), M_PI_2, Rot3::Ypr(0, theta270, 0)) + CHECK_AXIS_ANGLE(Unit3(0, 0, -1), M_PI_2, Rot3::Ypr(theta270, 0, 0)) + CHECK_AXIS_ANGLE(_axis, M_PI_2, Rot3::AxisAngle(axis, theta270)) - double theta; + // rotate by -270 + const double theta_270 = -(M_PI + M_PI / 2); // 90 (or -270) degrees + CHECK_AXIS_ANGLE(Unit3(1, 0, 0), M_PI_2, Rot3::Ypr(0, 0, theta_270)) + CHECK_AXIS_ANGLE(Unit3(0, 1, 0), M_PI_2, Rot3::Ypr(0, theta_270, 0)) + CHECK_AXIS_ANGLE(Unit3(0, 0, 1), M_PI_2, Rot3::Ypr(theta_270, 0, 0)) + CHECK_AXIS_ANGLE(axis, M_PI_2, Rot3::AxisAngle(axis, theta_270)) - /// Test for sign ambiguity - theta = M_PI + M_PI/2; // 270 degrees - Rot3 R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); - EXPECT(assert_equal(Unit3(-0.1, -0.3, -0.4), R2.axisAngle().first, 1e-9)); - EXPECT_DOUBLES_EQUAL(M_PI/2, R2.axisAngle().second, 1e-9); + const double theta195 = 195 * M_PI / 180; + const double theta165 = 165 * M_PI / 180; - theta = -(M_PI + M_PI/2); // 90 (or -270) degrees - R2 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); - EXPECT_DOUBLES_EQUAL(2*M_PI + theta, R2.axisAngle().second, 1e-9); + /// Non-trivial angle 165 + CHECK_AXIS_ANGLE(Unit3(1, 0, 0), theta165, Rot3::Ypr(0, 0, theta165)) + CHECK_AXIS_ANGLE(Unit3(0, 1, 0), theta165, Rot3::Ypr(0, theta165, 0)) + CHECK_AXIS_ANGLE(Unit3(0, 0, 1), theta165, Rot3::Ypr(theta165, 0, 0)) + CHECK_AXIS_ANGLE(axis, theta165, Rot3::AxisAngle(axis, theta165)) - /// Non-trivial angles - theta = 195 * M_PI / 180; // 195 degrees - Rot3 R3 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); - EXPECT(assert_equal(Unit3(-0.1, -0.3, -0.4), R3.axisAngle().first, 1e-9)); - EXPECT_DOUBLES_EQUAL(165*M_PI/180, R3.axisAngle().second, 1e-9); - - theta = -195 * M_PI / 180; // 165 degrees - R3 = Rot3::AxisAngle(Unit3(0.1, 0.3, 0.4), theta); - EXPECT_DOUBLES_EQUAL(2*M_PI + theta, R3.axisAngle().second, 1e-9); + /// Non-trivial angle 195 + CHECK_AXIS_ANGLE(Unit3(-1, 0, 0), theta165, Rot3::Ypr(0, 0, theta195)) + CHECK_AXIS_ANGLE(Unit3(0, -1, 0), theta165, Rot3::Ypr(0, theta195, 0)) + CHECK_AXIS_ANGLE(Unit3(0, 0, -1), theta165, Rot3::Ypr(theta195, 0, 0)) + CHECK_AXIS_ANGLE(_axis, theta165, Rot3::AxisAngle(axis, theta195)) } /* ************************************************************************* */ From e987cb53a0e81daf8f5eebc20c86b5933b9d6c9a Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 17 Mar 2020 14:00:27 -0400 Subject: [PATCH 0235/1152] Lots of improvements to Rot3 - Ensure axis in AxisAngle constructor is a unit vector. Added test. - Improved rotation inverse with support for quaternions. - Use Eigen::Transpose for transpose return type. - Roll/Pitch/Yaw is more efficient. - Fix/Remove old TODOs. --- gtsam/geometry/Rot3.cpp | 1 - gtsam/geometry/Rot3.h | 42 ++++++++++++++----------------- gtsam/geometry/Rot3M.cpp | 3 +-- gtsam/geometry/tests/testRot3.cpp | 4 +++ 4 files changed, 24 insertions(+), 26 deletions(-) diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index b1e8dd14b..24bdd6f17 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -36,7 +36,6 @@ void Rot3::print(const std::string& s) const { /* ************************************************************************* */ Rot3 Rot3::Random(std::mt19937& rng) { - // TODO allow any engine without including all of boost :-( Unit3 axis = Unit3::Random(rng); uniform_real_distribution randomAngle(-M_PI, M_PI); double angle = randomAngle(rng); diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index e4408c9f4..474c88047 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -194,22 +194,24 @@ namespace gtsam { /** * Convert from axis/angle representation - * @param axisw is the rotation axis, unit length - * @param angle rotation angle + * @param axis is the rotation axis, unit length + * @param angle rotation angle * @return incremental rotation */ - static Rot3 AxisAngle(const Point3& axis, double angle) { + static Rot3 AxisAngle(const Vector3& axis, double angle) { + // Convert to unit vector. + Vector3 unitAxis = Unit3(axis).unitVector(); #ifdef GTSAM_USE_QUATERNIONS - return gtsam::Quaternion(Eigen::AngleAxis(angle, axis)); + return gtsam::Quaternion(Eigen::AngleAxis(angle, unitAxis)); #else - return Rot3(SO3::AxisAngle(axis,angle)); + return Rot3(SO3::AxisAngle(unitAxis,angle)); #endif } /** * Convert from axis/angle representation - * @param axis is the rotation axis - * @param angle rotation angle + * @param axis is the rotation axis + * @param angle rotation angle * @return incremental rotation */ static Rot3 AxisAngle(const Unit3& axis, double angle) { @@ -268,9 +270,13 @@ namespace gtsam { /// Syntatic sugar for composing two rotations Rot3 operator*(const Rot3& R2) const; - /// inverse of a rotation, TODO should be different for M/Q + /// inverse of a rotation Rot3 inverse() const { - return Rot3(Matrix3(transpose())); +#ifdef GTSAM_USE_QUATERNIONS + return quaternion_.inverse(); +#else + return Rot3(transpose()); +#endif } /** @@ -405,8 +411,7 @@ namespace gtsam { /** * Return 3*3 transpose (inverse) rotation matrix */ - Matrix3 transpose() const; - // TODO: const Eigen::Transpose transpose() const; + const Eigen::Transpose transpose() const; /// @deprecated, this is base 1, and was just confusing Point3 column(int index) const; @@ -435,27 +440,18 @@ namespace gtsam { /** * Accessor to get to component of angle representations - * NOTE: these are not efficient to get to multiple separate parts, - * you should instead use xyz() or ypr() - * TODO: make this more efficient */ - inline double roll() const { return ypr()(2); } + inline double roll() const { return xyz()(0); } /** * Accessor to get to component of angle representations - * NOTE: these are not efficient to get to multiple separate parts, - * you should instead use xyz() or ypr() - * TODO: make this more efficient */ - inline double pitch() const { return ypr()(1); } + inline double pitch() const { return xyz()(1); } /** * Accessor to get to component of angle representations - * NOTE: these are not efficient to get to multiple separate parts, - * you should instead use xyz() or ypr() - * TODO: make this more efficient */ - inline double yaw() const { return ypr()(0); } + inline double yaw() const { return xyz()(2); } /// @} /// @name Advanced Interface diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index d38d33bf1..85d9923fb 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -110,8 +110,7 @@ Rot3 Rot3::operator*(const Rot3& R2) const { } /* ************************************************************************* */ -// TODO const Eigen::Transpose Rot3::transpose() const { -Matrix3 Rot3::transpose() const { +const Eigen::Transpose Rot3::transpose() const { return rot_.matrix().transpose(); } diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index c95b85f21..d9d08a48e 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -115,6 +115,10 @@ TEST( Rot3, AxisAngle) CHECK(assert_equal(expected,actual,1e-5)); Rot3 actual2 = Rot3::AxisAngle(axis, angle-2*M_PI); CHECK(assert_equal(expected,actual2,1e-5)); + + axis = Vector3(0, 50, 0); + Rot3 actual3 = Rot3::AxisAngle(axis, angle); + CHECK(assert_equal(expected,actual3,1e-5)); } /* ************************************************************************* */ From 2087075ee787e561e825c84084b0c0e4964a36ca Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 17 Mar 2020 14:34:11 -0400 Subject: [PATCH 0236/1152] Transitioned toa method to a functor --- gtsam_unstable/geometry/Event.h | 91 ++++++++++++--------- gtsam_unstable/geometry/tests/testEvent.cpp | 42 +++++----- gtsam_unstable/slam/TOAFactor.h | 44 ++++++---- gtsam_unstable/slam/tests/testTOAFactor.cpp | 49 +++++------ wrap/python/pybind11 | 1 + 5 files changed, 125 insertions(+), 102 deletions(-) create mode 160000 wrap/python/pybind11 diff --git a/gtsam_unstable/geometry/Event.h b/gtsam_unstable/geometry/Event.h index fc186857f..b2a746595 100644 --- a/gtsam_unstable/geometry/Event.h +++ b/gtsam_unstable/geometry/Event.h @@ -20,42 +20,43 @@ #pragma once #include +#include + #include #include -#include +#include namespace gtsam { -/// A space-time event +/** + * A space-time event models an event that happens at a certain 3D location, at + * a certain time. One use for it is in sound-based or UWB-ranging tracking or + * SLAM, where we have "time of arrival" measurements at a set of sensors. The + * TOA functor below provides a measurement function for those applications. + */ class Event { + double time_; ///< Time event was generated + Point3 location_; ///< Location at time event was generated - double time_; ///< Time event was generated - Point3 location_; ///< Location at time event was generated - -public: + public: enum { dimension = 4 }; /// Default Constructor - Event() : - time_(0), location_(0,0,0) { - } + Event() : time_(0), location_(0, 0, 0) {} /// Constructor from time and location - Event(double t, const Point3& p) : - time_(t), location_(p) { - } + Event(double t, const Point3& p) : time_(t), location_(p) {} /// Constructor with doubles - Event(double t, double x, double y, double z) : - time_(t), location_(x, y, z) { - } + Event(double t, double x, double y, double z) + : time_(t), location_(x, y, z) {} - double time() const { return time_;} - Point3 location() const { return location_;} + double time() const { return time_; } + Point3 location() const { return location_; } - // TODO we really have to think of a better way to do linear arguments - double height(OptionalJacobian<1,4> H = boost::none) const { - static const Matrix14 JacobianZ = (Matrix14() << 0,0,0,1).finished(); + // TODO(frank) we really have to think of a better way to do linear arguments + double height(OptionalJacobian<1, 4> H = boost::none) const { + static const Matrix14 JacobianZ = (Matrix14() << 0, 0, 0, 1).finished(); if (H) *H = JacobianZ; return location_.z(); } @@ -64,7 +65,8 @@ public: GTSAM_UNSTABLE_EXPORT void print(const std::string& s = "") const; /** equals with an tolerance */ - GTSAM_UNSTABLE_EXPORT bool equals(const Event& other, double tol = 1e-9) const; + GTSAM_UNSTABLE_EXPORT bool equals(const Event& other, + double tol = 1e-9) const; /// Updates a with tangent space delta inline Event retract(const Vector4& v) const { @@ -73,28 +75,37 @@ public: /// Returns inverse retraction inline Vector4 localCoordinates(const Event& q) const { - return Vector4::Zero(); // TODO - } - - /// Time of arrival to given microphone - double toa(const Point3& microphone, // - OptionalJacobian<1, 4> H1 = boost::none, // - OptionalJacobian<1, 3> H2 = boost::none) const { - static const double Speed = 330; - Matrix13 D1, D2; - double distance = gtsam::distance3(location_, microphone, D1, D2); - if (H1) - // derivative of toa with respect to event - *H1 << 1.0, D1 / Speed; - if (H2) - // derivative of toa with respect to microphone location - *H2 << D2 / Speed; - return time_ + distance / Speed; + return Vector4::Zero(); // TODO(frank) implement! } }; // Define GTSAM traits -template<> +template <> struct traits : internal::Manifold {}; -} //\ namespace gtsam +/// Time of arrival to given sensor +class TimeOfArrival { + const double speed_; ///< signal speed + public: + typedef double result_type; + + /// Constructor with optional speed of signal, in m/sec + explicit TimeOfArrival(double speed = 330) : speed_(speed) {} + + /// Calculate time of arrival + double operator()(const Event& event, const Point3& sensor, // + OptionalJacobian<1, 4> H1 = boost::none, // + OptionalJacobian<1, 3> H2 = boost::none) const { + Matrix13 D1, D2; + double distance = gtsam::distance3(event.location(), sensor, D1, D2); + if (H1) + // derivative of toa with respect to event + *H1 << 1.0, D1 / speed_; + if (H2) + // derivative of toa with respect to sensor location + *H2 << D2 / speed_; + return event.time() + distance / speed_; + } +}; + +} // namespace gtsam diff --git a/gtsam_unstable/geometry/tests/testEvent.cpp b/gtsam_unstable/geometry/tests/testEvent.cpp index ec8ca1f4b..0349f3293 100644 --- a/gtsam_unstable/geometry/tests/testEvent.cpp +++ b/gtsam_unstable/geometry/tests/testEvent.cpp @@ -17,10 +17,12 @@ * @date December 2014 */ -#include #include #include +#include + #include + #include using namespace std; @@ -30,56 +32,59 @@ using namespace gtsam; static const double ms = 1e-3; static const double cm = 1e-2; typedef Eigen::Matrix Vector1; -static SharedNoiseModel model(noiseModel::Isotropic::Sigma(1,0.5*ms)); +static SharedNoiseModel model(noiseModel::Isotropic::Sigma(1, 0.5 * ms)); static const double timeOfEvent = 25; static const Event exampleEvent(timeOfEvent, 1, 0, 0); -static const Point3 microphoneAt0(0,0,0); +static const Point3 microphoneAt0(0, 0, 0); + +static const double kSpeedOfSound = 340; +static const TimeOfArrival kToa(kSpeedOfSound); //***************************************************************************** -TEST( Event, Constructor ) { +TEST(Event, Constructor) { const double t = 0; Event actual(t, 201.5 * cm, 201.5 * cm, (212 - 45) * cm); } //***************************************************************************** -TEST( Event, Toa1 ) { +TEST(Event, Toa1) { Event event(0, 1, 0, 0); - double expected = 1. / 330; - EXPECT_DOUBLES_EQUAL(expected, event.toa(microphoneAt0), 1e-9); + double expected = 1. / kSpeedOfSound; + EXPECT_DOUBLES_EQUAL(expected, kToa(event, microphoneAt0), 1e-9); } //***************************************************************************** -TEST( Event, Toa2 ) { - double expectedTOA = timeOfEvent + 1. / 330; - EXPECT_DOUBLES_EQUAL(expectedTOA, exampleEvent.toa(microphoneAt0), 1e-9); +TEST(Event, Toa2) { + double expectedTOA = timeOfEvent + 1. / kSpeedOfSound; + EXPECT_DOUBLES_EQUAL(expectedTOA, kToa(exampleEvent, microphoneAt0), 1e-9); } //************************************************************************* -TEST (Event, Derivatives) { +TEST(Event, Derivatives) { Matrix14 actualH1; Matrix13 actualH2; - exampleEvent.toa(microphoneAt0, actualH1, actualH2); + kToa(exampleEvent, microphoneAt0, actualH1, actualH2); Matrix expectedH1 = numericalDerivative11( - boost::bind(&Event::toa, _1, microphoneAt0, boost::none, boost::none), + boost::bind(kToa, _1, microphoneAt0, boost::none, boost::none), exampleEvent); EXPECT(assert_equal(expectedH1, actualH1, 1e-8)); Matrix expectedH2 = numericalDerivative11( - boost::bind(&Event::toa, exampleEvent, _1, boost::none, boost::none), + boost::bind(kToa, exampleEvent, _1, boost::none, boost::none), microphoneAt0); EXPECT(assert_equal(expectedH2, actualH2, 1e-8)); } //***************************************************************************** -TEST( Event, Expression ) { +TEST(Event, Expression) { Key key = 12; Expression event_(key); - Expression knownMicrophone_(microphoneAt0); // constant expression - Expression expression(&Event::toa, event_, knownMicrophone_); + Expression knownMicrophone_(microphoneAt0); // constant expression + Expression expression(kToa, event_, knownMicrophone_); Values values; values.insert(key, exampleEvent); - double expectedTOA = timeOfEvent + 1. / 330; + double expectedTOA = timeOfEvent + 1. / kSpeedOfSound; EXPECT_DOUBLES_EQUAL(expectedTOA, expression.value(values), 1e-9); } @@ -97,4 +102,3 @@ int main() { return TestRegistry::runAllTests(tr); } //***************************************************************************** - diff --git a/gtsam_unstable/slam/TOAFactor.h b/gtsam_unstable/slam/TOAFactor.h index 1df14a8de..af9dce51b 100644 --- a/gtsam_unstable/slam/TOAFactor.h +++ b/gtsam_unstable/slam/TOAFactor.h @@ -17,33 +17,47 @@ * @date December 2014 */ +#pragma once + #include #include namespace gtsam { /// A "Time of Arrival" factor - so little code seems hardly worth it :-) -class TOAFactor: public ExpressionFactor { - +class TOAFactor : public ExpressionFactor { typedef Expression Double_; -public: - + public: /** - * Constructor - * @param some expression yielding an event - * @param microphone_ expression yielding a microphone location - * @param toaMeasurement time of arrival at microphone + * Most genral constructor with two expressions + * @param eventExpression expression yielding an event + * @param sensorExpression expression yielding a sensor location + * @param toaMeasurement time of arrival at sensor * @param model noise model + * @param toa optional time of arrival functor */ TOAFactor(const Expression& eventExpression, - const Expression& microphone_, double toaMeasurement, - const SharedNoiseModel& model) : - ExpressionFactor(model, toaMeasurement, - Double_(&Event::toa, eventExpression, microphone_)) { - } + const Expression& sensorExpression, double toaMeasurement, + const SharedNoiseModel& model, + const TimeOfArrival& toa = TimeOfArrival()) + : ExpressionFactor( + model, toaMeasurement, + Double_(toa, eventExpression, sensorExpression)) {} + /** + * Constructor with fixed sensor + * @param eventExpression expression yielding an event + * @param sensor a known sensor location + * @param toaMeasurement time of arrival at sensor + * @param model noise model + * @param toa optional time of arrival functor + */ + TOAFactor(const Expression& eventExpression, const Point3& sensor, + double toaMeasurement, const SharedNoiseModel& model, + const TimeOfArrival& toa = TimeOfArrival()) + : TOAFactor(eventExpression, Expression(sensor), toaMeasurement, + model, toa) {} }; -} //\ namespace gtsam - +} // namespace gtsam diff --git a/gtsam_unstable/slam/tests/testTOAFactor.cpp b/gtsam_unstable/slam/tests/testTOAFactor.cpp index 4b10d5c0b..0e7a19095 100644 --- a/gtsam_unstable/slam/tests/testTOAFactor.cpp +++ b/gtsam_unstable/slam/tests/testTOAFactor.cpp @@ -17,15 +17,16 @@ * @date December 2014 */ -#include -#include -#include -#include #include +#include +#include +#include +#include +#include #include -#include #include +#include using namespace std; using namespace gtsam; @@ -43,21 +44,18 @@ static SharedNoiseModel model(noiseModel::Isotropic::Sigma(1, 0.5 * ms)); static const double timeOfEvent = 25; static const Event exampleEvent(timeOfEvent, 1, 0, 0); -static const Point3 microphoneAt0(0,0,0); +static const Point3 microphoneAt0(0, 0, 0); //***************************************************************************** -TEST( TOAFactor, NewWay ) { +TEST(TOAFactor, NewWay) { Key key = 12; Event_ eventExpression(key); - Point3_ microphoneConstant(microphoneAt0); // constant expression double measurement = 7; - Double_ expression(&Event::toa, eventExpression, microphoneConstant); - ExpressionFactor factor(model, measurement, expression); + TOAFactor factor(eventExpression, microphoneAt0, measurement, model); } //***************************************************************************** -TEST( TOAFactor, WholeEnchilada ) { - +TEST(TOAFactor, WholeEnchilada) { static const bool verbose = false; // Create microphones @@ -68,7 +66,7 @@ TEST( TOAFactor, WholeEnchilada ) { microphones.push_back(Point3(403 * cm, 403 * cm, height)); microphones.push_back(Point3(0, 403 * cm, 2 * height)); EXPECT_LONGS_EQUAL(4, microphones.size()); -// microphones.push_back(Point3(200 * cm, 200 * cm, height)); + // microphones.push_back(Point3(200 * cm, 200 * cm, height)); // Create a ground truth point const double timeOfEvent = 0; @@ -77,8 +75,9 @@ TEST( TOAFactor, WholeEnchilada ) { // Simulate simulatedTOA size_t K = microphones.size(); vector simulatedTOA(K); + TimeOfArrival toa; for (size_t i = 0; i < K; i++) { - simulatedTOA[i] = groundTruthEvent.toa(microphones[i]); + simulatedTOA[i] = toa(groundTruthEvent, microphones[i]); if (verbose) { cout << "mic" << i << " = " << microphones[i] << endl; cout << "z" << i << " = " << simulatedTOA[i] / ms << endl; @@ -86,40 +85,35 @@ TEST( TOAFactor, WholeEnchilada ) { } // Now, estimate using non-linear optimization - ExpressionFactorGraph graph; + NonlinearFactorGraph graph; Key key = 12; Event_ eventExpression(key); for (size_t i = 0; i < K; i++) { - Point3_ microphone_i(microphones[i]); // constant expression - Double_ predictTOA(&Event::toa, eventExpression, microphone_i); - graph.addExpressionFactor(predictTOA, simulatedTOA[i], model); + graph.emplace_shared(eventExpression, microphones[i], + simulatedTOA[i], model); } /// Print the graph - if (verbose) - GTSAM_PRINT(graph); + if (verbose) GTSAM_PRINT(graph); // Create initial estimate Values initialEstimate; - //Event estimatedEvent(timeOfEvent -10, 200 * cm, 150 * cm, 350 * cm); + // Event estimatedEvent(timeOfEvent -10, 200 * cm, 150 * cm, 350 * cm); Vector4 delta; delta << 0.1, 0.1, -0.1, 0.1; Event estimatedEvent = groundTruthEvent.retract(delta); initialEstimate.insert(key, estimatedEvent); // Print - if (verbose) - initialEstimate.print("Initial Estimate:\n"); + if (verbose) initialEstimate.print("Initial Estimate:\n"); // Optimize using Levenberg-Marquardt optimization. LevenbergMarquardtParams params; params.setAbsoluteErrorTol(1e-10); - if (verbose) - params.setVerbosity("ERROR"); + if (verbose) params.setVerbosity("ERROR"); LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, params); Values result = optimizer.optimize(); - if (verbose) - result.print("Final Result:\n"); + if (verbose) result.print("Final Result:\n"); EXPECT(assert_equal(groundTruthEvent, result.at(key), 1e-6)); } @@ -129,4 +123,3 @@ int main() { return TestRegistry::runAllTests(tr); } //***************************************************************************** - diff --git a/wrap/python/pybind11 b/wrap/python/pybind11 new file mode 160000 index 000000000..b3bf248ee --- /dev/null +++ b/wrap/python/pybind11 @@ -0,0 +1 @@ +Subproject commit b3bf248eec9cad8260753c982e1ae6cb72fff470 From cd88c795ae6543ac3f9c9648872bb8b450e09ada Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 17 Mar 2020 15:10:13 -0400 Subject: [PATCH 0237/1152] more efficient and explicit inverse() --- gtsam/geometry/Rot3.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 474c88047..3e0e33609 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -198,7 +198,7 @@ namespace gtsam { * @param angle rotation angle * @return incremental rotation */ - static Rot3 AxisAngle(const Vector3& axis, double angle) { + static Rot3 AxisAngle(const Point3& axis, double angle) { // Convert to unit vector. Vector3 unitAxis = Unit3(axis).unitVector(); #ifdef GTSAM_USE_QUATERNIONS @@ -273,9 +273,9 @@ namespace gtsam { /// inverse of a rotation Rot3 inverse() const { #ifdef GTSAM_USE_QUATERNIONS - return quaternion_.inverse(); + return Rot3(quaternion_.inverse()); #else - return Rot3(transpose()); + return Rot3(rot_.matrix().transpose()); #endif } From 510d5c500c78544079a5f21c567fd85dfa4d5bb5 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 17 Mar 2020 15:10:22 -0400 Subject: [PATCH 0238/1152] Revert "improved printing for Point3 and Unit3" This reverts commit 8f17fbcc8e06f9bf1b79129a28ebf1f2f5961a51. --- gtsam/geometry/Point3.cpp | 5 +---- gtsam/geometry/Unit3.cpp | 5 +---- 2 files changed, 2 insertions(+), 8 deletions(-) diff --git a/gtsam/geometry/Point3.cpp b/gtsam/geometry/Point3.cpp index c9452efff..8aa339a89 100644 --- a/gtsam/geometry/Point3.cpp +++ b/gtsam/geometry/Point3.cpp @@ -29,10 +29,7 @@ bool Point3::equals(const Point3 &q, double tol) const { } void Point3::print(const string& s) const { - if (s.size() != 0) { - cout << s << " "; - } - cout << *this << endl; + cout << s << *this << endl; } /* ************************************************************************* */ diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index a2a7e6851..3d46b18b8 100755 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -154,10 +154,7 @@ std::ostream& operator<<(std::ostream& os, const Unit3& pair) { /* ************************************************************************* */ void Unit3::print(const std::string& s) const { - if(s.size() != 0) { - cout << s << ":"; - } - cout << p_ << endl; + cout << s << ":" << p_ << endl; } /* ************************************************************************* */ From 3f8209de21d465b8cd072b9808f47fbbaf6f9fff Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 17 Mar 2020 15:20:22 -0400 Subject: [PATCH 0239/1152] set dimension of calibration classes with static const variable --- gtsam/geometry/Cal3DS2.h | 10 +++++++--- gtsam/geometry/Cal3Unified.h | 7 ++++--- gtsam/geometry/Cal3_S2.h | 7 ++++--- gtsam/geometry/Cal3_S2Stereo.h | 7 ++++--- gtsam/geometry/CalibratedCamera.h | 10 +++++++--- 5 files changed, 26 insertions(+), 15 deletions(-) diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h index 4009a1921..d4461f23f 100644 --- a/gtsam/geometry/Cal3DS2.h +++ b/gtsam/geometry/Cal3DS2.h @@ -33,9 +33,13 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base { typedef Cal3DS2_Base Base; +private: + + static const size_t dimension_ = 9; + public: - enum { dimension = 9 }; + enum { dimension = dimension_ }; /// @name Standard Constructors /// @{ @@ -76,10 +80,10 @@ public: Vector localCoordinates(const Cal3DS2& T2) const ; /// Return dimensions of calibration manifold object - virtual size_t dim() const { return 9 ; } //TODO: make a final dimension variable (also, usually size_t in other classes e.g. Pose2) + virtual size_t dim() const { return dimension_ ; } /// Return dimensions of calibration manifold object - static size_t Dim() { return 9; } //TODO: make a final dimension variable + static size_t Dim() { return dimension_; } /// @} /// @name Clone diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h index 9982cec47..4feba996a 100644 --- a/gtsam/geometry/Cal3Unified.h +++ b/gtsam/geometry/Cal3Unified.h @@ -47,10 +47,11 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base { private: double xi_; // mirror parameter + static const size_t dimension_ = 10; public: - enum { dimension = 10 }; + enum { dimension = dimension_ }; /// @name Standard Constructors /// @{ @@ -118,10 +119,10 @@ public: Vector10 localCoordinates(const Cal3Unified& T2) const ; /// Return dimensions of calibration manifold object - virtual size_t dim() const { return 10 ; } //TODO: make a final dimension variable (also, usually size_t in other classes e.g. Pose2) + virtual size_t dim() const { return dimension_ ; } /// Return dimensions of calibration manifold object - static size_t Dim() { return 10; } //TODO: make a final dimension variable + static size_t Dim() { return dimension_; } /// Return all parameters as a vector Vector10 vector() const ; diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h index 747f53fe1..fdf3b7d28 100644 --- a/gtsam/geometry/Cal3_S2.h +++ b/gtsam/geometry/Cal3_S2.h @@ -33,9 +33,10 @@ namespace gtsam { class GTSAM_EXPORT Cal3_S2 { private: double fx_, fy_, s_, u0_, v0_; + static const size_t dimension_ = 5; public: - enum { dimension = 5 }; + enum { dimension = dimension_ }; typedef boost::shared_ptr shared_ptr; ///< shared pointer to calibration object /// @name Standard Constructors @@ -194,12 +195,12 @@ public: /// return DOF, dimensionality of tangent space inline size_t dim() const { - return 5; + return dimension_; } /// return DOF, dimensionality of tangent space static size_t Dim() { - return 5; + return dimension_; } /// Given 5-dim tangent vector, create new calibration diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h index 51692dc82..fc85d9d36 100644 --- a/gtsam/geometry/Cal3_S2Stereo.h +++ b/gtsam/geometry/Cal3_S2Stereo.h @@ -32,10 +32,11 @@ namespace gtsam { Cal3_S2 K_; double b_; + static const size_t dimension_ = 6; public: - enum { dimension = 6 }; + enum { dimension = dimension_ }; typedef boost::shared_ptr shared_ptr; ///< shared pointer to stereo calibration object /// @name Standard Constructors @@ -112,12 +113,12 @@ namespace gtsam { /// return DOF, dimensionality of tangent space inline size_t dim() const { - return 6; + return dimension_; } /// return DOF, dimensionality of tangent space static size_t Dim() { - return 6; + return dimension_; } /// Given 6-dim tangent vector, create new calibration diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 9d9b37d7a..2ee5266a7 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -248,10 +248,14 @@ private: */ class GTSAM_EXPORT CalibratedCamera: public PinholeBase { +private: + + static const size_t dimension_ = 6; + public: enum { - dimension = 6 + dimension = dimension_ }; /// @name Standard Constructors @@ -326,12 +330,12 @@ public: /// @deprecated inline size_t dim() const { - return 6; + return dimension_; } /// @deprecated inline static size_t Dim() { - return 6; + return dimension_; } /// @} From cf3e886d84aeb1b98be879a98c093a8525327c8f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 17 Mar 2020 15:20:54 -0400 Subject: [PATCH 0240/1152] move print() and iostream to .cpp file for SO --- gtsam/geometry/SOn-inl.h | 9 +++++++++ gtsam/geometry/SOn.cpp | 1 + gtsam/geometry/SOn.h | 5 +---- 3 files changed, 11 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/SOn-inl.h b/gtsam/geometry/SOn-inl.h index 344822c1f..0d7f3e108 100644 --- a/gtsam/geometry/SOn-inl.h +++ b/gtsam/geometry/SOn-inl.h @@ -20,6 +20,10 @@ #include +#include + +using namespace std; + namespace gtsam { // Implementation for N>5 just uses dynamic version @@ -109,4 +113,9 @@ typename SO::VectorN2 SO::vec( return X; } +template +void SO::print(const std::string& s) const { + cout << s << matrix_ << endl; +} + } // namespace gtsam diff --git a/gtsam/geometry/SOn.cpp b/gtsam/geometry/SOn.cpp index be5acc23b..0676b4a67 100644 --- a/gtsam/geometry/SOn.cpp +++ b/gtsam/geometry/SOn.cpp @@ -13,6 +13,7 @@ * @file SOn.cpp * @brief Definitions of dynamic specializations of SO(n) * @author Frank Dellaert + * @author Varun Agrawal * @date March 2019 */ diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 8b37f443a..117c2336e 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -24,7 +24,6 @@ #include -#include // TODO(frank): how to avoid? #include #include #include @@ -148,9 +147,7 @@ class SO : public LieGroup, internal::DimensionSO(N)> { /// @name Testable /// @{ - void print(const std::string& s) const { - std::cout << s << matrix_ << std::endl; - } + void print(const std::string& s = std::string()) const; bool equals(const SO& other, double tol) const { return equal_with_abs_tol(matrix_, other.matrix_, tol); From abe1636ac8b302b9d74b200bcc8b60e214b9c675 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 17 Mar 2020 15:22:05 -0400 Subject: [PATCH 0241/1152] deprecate PinholeCamera specific functions for triangulation --- gtsam/geometry/triangulation.h | 22 ++++++++++++---------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index ed61c75b5..3b58c2943 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -124,7 +124,17 @@ std::pair triangulationGraph( return std::make_pair(graph, values); } -/// PinholeCamera specific version // TODO: (chris) why does this exist? +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 +/// DEPRECATED: PinholeCamera specific version +template +Point3 triangulateNonlinear( + const CameraSet >& cameras, + const Point2Vector& measurements, const Point3& initialEstimate) { + return triangulateNonlinear > // + (cameras, measurements, initialEstimate); +} + +/// DEPRECATED: PinholeCamera specific version template std::pair triangulationGraph( const CameraSet >& cameras, @@ -133,6 +143,7 @@ std::pair triangulationGraph( return triangulationGraph > // (cameras, measurements, landmarkKey, initialEstimate); } +#endif /** * Optimize for triangulation @@ -187,15 +198,6 @@ Point3 triangulateNonlinear( return optimize(graph, values, Symbol('p', 0)); } -/// PinholeCamera specific version // TODO: (chris) why does this exist? -template -Point3 triangulateNonlinear( - const CameraSet >& cameras, - const Point2Vector& measurements, const Point3& initialEstimate) { - return triangulateNonlinear > // - (cameras, measurements, initialEstimate); -} - /** * Create a 3*4 camera projection matrix from calibration and pose. * Functor for partial application on calibration From b0f7d3498b8509413177a2db287ec3cacc9e50e9 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 17 Mar 2020 15:37:08 -0400 Subject: [PATCH 0242/1152] simpler checks for infinity in NoiseModel --- gtsam/linear/NoiseModel.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index a6ebea394..58a569d2b 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -136,7 +136,8 @@ bool Gaussian::equals(const Base& expected, double tol) const { const Gaussian* p = dynamic_cast (&expected); if (p == NULL) return false; if (typeid(*this) != typeid(*p)) return false; - //if (!sqrt_information_) return true; // ALEX todo; + //TODO(Alex); + //if (!sqrt_information_) return true; return equal_with_abs_tol(R(), p->R(), sqrt(tol)); } @@ -311,10 +312,9 @@ void Diagonal::WhitenInPlace(Eigen::Block H) const { namespace internal { // switch precisions and invsigmas to finite value -// TODO: why?? And, why not just ask s==0.0 below ? static void fix(const Vector& sigmas, Vector& precisions, Vector& invsigmas) { for (Vector::Index i = 0; i < sigmas.size(); ++i) - if (!std::isfinite(1. / sigmas[i])) { + if (sigmas[i] <= 1e-12) { precisions[i] = 0.0; invsigmas[i] = 0.0; } @@ -341,8 +341,8 @@ Constrained::shared_ptr Constrained::MixedSigmas(const Vector& mu, /* ************************************************************************* */ bool Constrained::constrained(size_t i) const { - // TODO why not just check sigmas_[i]==0.0 ? - return !std::isfinite(1./sigmas_[i]); + // numerically stable way, rather than comparing to 0.0 directly. + return sigmas_[i] <= 1e-12; } /* ************************************************************************* */ From 1cb7b223ae14591728928f655fc966216e5d7b98 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 17 Mar 2020 16:44:10 -0400 Subject: [PATCH 0243/1152] faster computation of sigmas in NoiseModel --- gtsam/linear/NoiseModel.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 58a569d2b..3019275dd 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -143,8 +143,8 @@ bool Gaussian::equals(const Base& expected, double tol) const { /* ************************************************************************* */ Vector Gaussian::sigmas() const { - // TODO(frank): can this be done faster? - return Vector((thisR().transpose() * thisR()).inverse().diagonal()).cwiseSqrt(); + Matrix Rinv = thisR().inverse(); // inverse of triangular matrix is fast + return Vector((Rinv * Rinv.transpose()).diagonal()).cwiseSqrt(); } /* ************************************************************************* */ From 359bc161a67798a79e60ccff593107aef2952aba Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 18 Mar 2020 10:44:21 -0400 Subject: [PATCH 0244/1152] updated transpose signature for Rot3Q --- gtsam/geometry/Rot3Q.cpp | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp index 8af9a7144..377cc4a5f 100644 --- a/gtsam/geometry/Rot3Q.cpp +++ b/gtsam/geometry/Rot3Q.cpp @@ -79,11 +79,9 @@ namespace gtsam { } /* ************************************************************************* */ - // TODO: Could we do this? It works in Rot3M but not here, probably because - // here we create an intermediate value by calling matrix() - // const Eigen::Transpose Rot3::transpose() const { - Matrix3 Rot3::transpose() const { - return matrix().transpose(); + const Eigen::Transpose Rot3::transpose() const { + // `.eval()` to avoid aliasing effect due to transpose (allows compilation). + return matrix().eval().transpose(); } /* ************************************************************************* */ From f3865539c66b495b3684e0ec6bf3d065b8a64374 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 18 Mar 2020 15:44:33 -0400 Subject: [PATCH 0245/1152] Refactor TOAFactor and test --- gtsam_unstable/slam/TOAFactor.h | 13 +++---- gtsam_unstable/slam/tests/testTOAFactor.cpp | 43 +++++++-------------- 2 files changed, 19 insertions(+), 37 deletions(-) diff --git a/gtsam_unstable/slam/TOAFactor.h b/gtsam_unstable/slam/TOAFactor.h index af9dce51b..c52f1b54c 100644 --- a/gtsam_unstable/slam/TOAFactor.h +++ b/gtsam_unstable/slam/TOAFactor.h @@ -30,20 +30,19 @@ class TOAFactor : public ExpressionFactor { public: /** - * Most genral constructor with two expressions + * Most general constructor with two expressions * @param eventExpression expression yielding an event * @param sensorExpression expression yielding a sensor location * @param toaMeasurement time of arrival at sensor * @param model noise model - * @param toa optional time of arrival functor + * @param speed optional speed of signal, in m/sec */ TOAFactor(const Expression& eventExpression, const Expression& sensorExpression, double toaMeasurement, - const SharedNoiseModel& model, - const TimeOfArrival& toa = TimeOfArrival()) + const SharedNoiseModel& model, double speed = 330) : ExpressionFactor( model, toaMeasurement, - Double_(toa, eventExpression, sensorExpression)) {} + Double_(TimeOfArrival(speed), eventExpression, sensorExpression)) {} /** * Constructor with fixed sensor @@ -55,9 +54,9 @@ class TOAFactor : public ExpressionFactor { */ TOAFactor(const Expression& eventExpression, const Point3& sensor, double toaMeasurement, const SharedNoiseModel& model, - const TimeOfArrival& toa = TimeOfArrival()) + double speed = 330) : TOAFactor(eventExpression, Expression(sensor), toaMeasurement, - model, toa) {} + model, speed) {} }; } // namespace gtsam diff --git a/gtsam_unstable/slam/tests/testTOAFactor.cpp b/gtsam_unstable/slam/tests/testTOAFactor.cpp index 0e7a19095..042130a24 100644 --- a/gtsam_unstable/slam/tests/testTOAFactor.cpp +++ b/gtsam_unstable/slam/tests/testTOAFactor.cpp @@ -44,58 +44,46 @@ static SharedNoiseModel model(noiseModel::Isotropic::Sigma(1, 0.5 * ms)); static const double timeOfEvent = 25; static const Event exampleEvent(timeOfEvent, 1, 0, 0); -static const Point3 microphoneAt0(0, 0, 0); +static const Point3 sensorAt0(0, 0, 0); //***************************************************************************** TEST(TOAFactor, NewWay) { Key key = 12; - Event_ eventExpression(key); double measurement = 7; - TOAFactor factor(eventExpression, microphoneAt0, measurement, model); + TOAFactor factor(key, sensorAt0, measurement, model); } //***************************************************************************** TEST(TOAFactor, WholeEnchilada) { - static const bool verbose = false; - - // Create microphones + // Create sensors const double height = 0.5; - vector microphones; - microphones.push_back(Point3(0, 0, height)); - microphones.push_back(Point3(403 * cm, 0, height)); - microphones.push_back(Point3(403 * cm, 403 * cm, height)); - microphones.push_back(Point3(0, 403 * cm, 2 * height)); - EXPECT_LONGS_EQUAL(4, microphones.size()); - // microphones.push_back(Point3(200 * cm, 200 * cm, height)); + vector sensors; + sensors.push_back(Point3(0, 0, height)); + sensors.push_back(Point3(403 * cm, 0, height)); + sensors.push_back(Point3(403 * cm, 403 * cm, height)); + sensors.push_back(Point3(0, 403 * cm, 2 * height)); + EXPECT_LONGS_EQUAL(4, sensors.size()); + // sensors.push_back(Point3(200 * cm, 200 * cm, height)); // Create a ground truth point const double timeOfEvent = 0; Event groundTruthEvent(timeOfEvent, 245 * cm, 201.5 * cm, (212 - 45) * cm); // Simulate simulatedTOA - size_t K = microphones.size(); + size_t K = sensors.size(); vector simulatedTOA(K); TimeOfArrival toa; for (size_t i = 0; i < K; i++) { - simulatedTOA[i] = toa(groundTruthEvent, microphones[i]); - if (verbose) { - cout << "mic" << i << " = " << microphones[i] << endl; - cout << "z" << i << " = " << simulatedTOA[i] / ms << endl; - } + simulatedTOA[i] = toa(groundTruthEvent, sensors[i]); } // Now, estimate using non-linear optimization NonlinearFactorGraph graph; Key key = 12; - Event_ eventExpression(key); for (size_t i = 0; i < K; i++) { - graph.emplace_shared(eventExpression, microphones[i], - simulatedTOA[i], model); + graph.emplace_shared(key, sensors[i], simulatedTOA[i], model); } - /// Print the graph - if (verbose) GTSAM_PRINT(graph); - // Create initial estimate Values initialEstimate; // Event estimatedEvent(timeOfEvent -10, 200 * cm, 150 * cm, 350 * cm); @@ -104,16 +92,11 @@ TEST(TOAFactor, WholeEnchilada) { Event estimatedEvent = groundTruthEvent.retract(delta); initialEstimate.insert(key, estimatedEvent); - // Print - if (verbose) initialEstimate.print("Initial Estimate:\n"); - // Optimize using Levenberg-Marquardt optimization. LevenbergMarquardtParams params; params.setAbsoluteErrorTol(1e-10); - if (verbose) params.setVerbosity("ERROR"); LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, params); Values result = optimizer.optimize(); - if (verbose) result.print("Final Result:\n"); EXPECT(assert_equal(groundTruthEvent, result.at(key), 1e-6)); } From 2e75ffd01da7f65af78751271a01fccc5ce3d813 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 18 Mar 2020 15:44:45 -0400 Subject: [PATCH 0246/1152] C++ example --- .../examples/TimeOfArrivalExample.cpp | 160 ++++++++++++++++++ gtsam_unstable/geometry/Event.cpp | 9 +- 2 files changed, 165 insertions(+), 4 deletions(-) create mode 100644 gtsam_unstable/examples/TimeOfArrivalExample.cpp diff --git a/gtsam_unstable/examples/TimeOfArrivalExample.cpp b/gtsam_unstable/examples/TimeOfArrivalExample.cpp new file mode 100644 index 000000000..f49d47fb7 --- /dev/null +++ b/gtsam_unstable/examples/TimeOfArrivalExample.cpp @@ -0,0 +1,160 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file TimeOfArrivalExample.cpp + * @brief Track a moving object "Time of Arrival" measurements at 4 + * microphones. + * @author Frank Dellaert + * @author Jay Chakravarty + * @date March 2020 + */ + +#include +#include +#include +#include +#include + +#include +#include + +#include + +using namespace std; +using namespace gtsam; + +// units +static const double ms = 1e-3; +static const double cm = 1e-2; + +// Instantiate functor with speed of sound value +static const TimeOfArrival kTimeOfArrival(330); + +/* ************************************************************************* */ +// Create microphones +vector defineMicrophones() { + const double height = 0.5; + vector microphones; + microphones.push_back(Point3(0, 0, height)); + microphones.push_back(Point3(403 * cm, 0, height)); + microphones.push_back(Point3(403 * cm, 403 * cm, height)); + microphones.push_back(Point3(0, 403 * cm, 2 * height)); + return microphones; +} + +/* ************************************************************************* */ +// Create ground truth trajectory +vector createTrajectory(int n) { + vector trajectory; + double timeOfEvent = 10; + // simulate emitting a sound every second while moving on straight line + for (size_t key = 0; key < n; key++) { + trajectory.push_back( + Event(timeOfEvent, 245 * cm + key * 1.0, 201.5 * cm, (212 - 45) * cm)); + timeOfEvent += 1; + } + return trajectory; +} + +/* ************************************************************************* */ +// Simulate time-of-arrival measurements for a single event +vector simulateTOA(const vector& microphones, + const Event& event) { + size_t K = microphones.size(); + vector simulatedTOA(K); + for (size_t i = 0; i < K; i++) { + simulatedTOA[i] = kTimeOfArrival(event, microphones[i]); + } + return simulatedTOA; +} + +/* ************************************************************************* */ +// Simulate time-of-arrival measurements for an entire trajectory +vector> simulateTOA(const vector& microphones, + const vector& trajectory) { + vector> simulatedTOA; + for (auto event : trajectory) { + simulatedTOA.push_back(simulateTOA(microphones, event)); + } + return simulatedTOA; +} + +/* ************************************************************************* */ +// create factor graph +NonlinearFactorGraph createGraph(const vector& microphones, + const vector>& simulatedTOA) { + NonlinearFactorGraph graph; + + // Create a noise model for the TOA error + auto model = noiseModel::Isotropic::Sigma(1, 0.5 * ms); + + size_t K = microphones.size(); + size_t key = 0; + for (auto toa : simulatedTOA) { + for (size_t i = 0; i < K; i++) { + graph.emplace_shared(key, microphones[i], toa[i], model); + } + key += 1; + } + return graph; +} + +/* ************************************************************************* */ +// create initial estimate for n events +Values createInitialEstimate(int n) { + Values initial; + + Event zero; + for (size_t key = 0; key < n; key++) { + initial.insert(key, zero); + } + return initial; +} + +/* ************************************************************************* */ +int main(int argc, char* argv[]) { + // Create microphones + auto microphones = defineMicrophones(); + size_t K = microphones.size(); + for (size_t i = 0; i < K; i++) { + cout << "mic" << i << " = " << microphones[i] << endl; + } + + // Create a ground truth trajectory + const size_t n = 5; + auto groundTruth = createTrajectory(n); + + // Simulate time-of-arrival measurements + auto simulatedTOA = simulateTOA(microphones, groundTruth); + for (size_t key = 0; key < n; key++) { + for (size_t i = 0; i < K; i++) { + cout << "z_" << key << i << " = " << simulatedTOA[key][i] / ms << " ms" + << endl; + } + } + + // Create factor graph + auto graph = createGraph(microphones, simulatedTOA); + + // Create initial estimate + auto initialEstimate = createInitialEstimate(n); + initialEstimate.print("Initial Estimate:\n"); + + // Optimize using Levenberg-Marquardt optimization. + LevenbergMarquardtParams params; + params.setAbsoluteErrorTol(1e-10); + params.setVerbosityLM("SUMMARY"); + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, params); + Values result = optimizer.optimize(); + result.print("Final Result:\n"); +} +/* ************************************************************************* */ diff --git a/gtsam_unstable/geometry/Event.cpp b/gtsam_unstable/geometry/Event.cpp index c503514a6..45a24c101 100644 --- a/gtsam_unstable/geometry/Event.cpp +++ b/gtsam_unstable/geometry/Event.cpp @@ -24,15 +24,16 @@ namespace gtsam { /* ************************************************************************* */ void Event::print(const std::string& s) const { - std::cout << s << "time = " << time_ << "location = " << location_.transpose(); + std::cout << s << "{'time':" << time_ + << ", 'location': " << location_.transpose() << "}"; } /* ************************************************************************* */ bool Event::equals(const Event& other, double tol) const { - return std::abs(time_ - other.time_) < tol - && traits::Equals(location_, other.location_, tol); + return std::abs(time_ - other.time_) < tol && + traits::Equals(location_, other.location_, tol); } /* ************************************************************************* */ -} //\ namespace gtsam +} // namespace gtsam From cd318b2295dd0d23c0119d4a55d7a5a7c810e90a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 18 Mar 2020 17:28:40 -0400 Subject: [PATCH 0247/1152] Python example and necessary wrapper gymnastics --- .../examples/TimeOfArrivalExample.py | 128 ++++++++++++++++++ gtsam_unstable/geometry/Event.h | 7 + gtsam_unstable/gtsam_unstable.h | 24 ++++ gtsam_unstable/slam/TOAFactor.h | 5 + 4 files changed, 164 insertions(+) create mode 100644 cython/gtsam_unstable/examples/TimeOfArrivalExample.py diff --git a/cython/gtsam_unstable/examples/TimeOfArrivalExample.py b/cython/gtsam_unstable/examples/TimeOfArrivalExample.py new file mode 100644 index 000000000..ac3af8a38 --- /dev/null +++ b/cython/gtsam_unstable/examples/TimeOfArrivalExample.py @@ -0,0 +1,128 @@ +""" +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 + +Track a moving object "Time of Arrival" measurements at 4 microphones. +Author: Frank Dellaert +""" +# pylint: disable=invalid-name, no-name-in-module + +from gtsam import (LevenbergMarquardtOptimizer, LevenbergMarquardtParams, + NonlinearFactorGraph, Point3, Values, noiseModel_Isotropic) +from gtsam_unstable import Event, TimeOfArrival, TOAFactor + +# units +MS = 1e-3 +CM = 1e-2 + +# Instantiate functor with speed of sound value +TIME_OF_ARRIVAL = TimeOfArrival(330) + + +def defineMicrophones(): + """Create microphones.""" + height = 0.5 + microphones = [] + microphones.append(Point3(0, 0, height)) + microphones.append(Point3(403 * CM, 0, height)) + microphones.append(Point3(403 * CM, 403 * CM, height)) + microphones.append(Point3(0, 403 * CM, 2 * height)) + return microphones + + +def createTrajectory(n): + """Create ground truth trajectory.""" + trajectory = [] + timeOfEvent = 10 + # simulate emitting a sound every second while moving on straight line + for key in range(n): + trajectory.append( + Event(timeOfEvent, 245 * CM + key * 1.0, 201.5 * CM, (212 - 45) * CM)) + timeOfEvent += 1 + + return trajectory + + +def simulateOneTOA(microphones, event): + """Simulate time-of-arrival measurements for a single event.""" + return [TIME_OF_ARRIVAL.measure(event, microphones[i]) + for i in range(len(microphones))] + + +def simulateTOA(microphones, trajectory): + """Simulate time-of-arrival measurements for an entire trajectory.""" + return [simulateOneTOA(microphones, event) + for event in trajectory] + + +def createGraph(microphones, simulatedTOA): + """Create factor graph.""" + graph = NonlinearFactorGraph() + + # Create a noise model for the TOA error + model = noiseModel_Isotropic.Sigma(1, 0.5 * MS) + + K = len(microphones) + key = 0 + for toa in simulatedTOA: + for i in range(K): + factor = TOAFactor(key, microphones[i], toa[i], model) + graph.push_back(factor) + key += 1 + + return graph + + +def createInitialEstimate(n): + """Create initial estimate for n events.""" + initial = Values() + zero = Event() + for key in range(n): + TOAFactor.InsertEvent(key, zero, initial) + return initial + + +def TimeOfArrivalExample(): + """Run example with 4 microphones and 5 events in a straight line.""" + # Create microphones + microphones = defineMicrophones() + K = len(microphones) + for i in range(K): + print("mic {} = {}".format(i, microphones[i])) + + # Create a ground truth trajectory + n = 5 + groundTruth = createTrajectory(n) + for event in groundTruth: + print(event) + + # Simulate time-of-arrival measurements + simulatedTOA = simulateTOA(microphones, groundTruth) + for key in range(n): + for i in range(K): + print("z_{}{} = {} ms".format(key, i, simulatedTOA[key][i] / MS)) + + # create factor graph + graph = createGraph(microphones, simulatedTOA) + print(graph.at(0)) + + # Create initial estimate + initial_estimate = createInitialEstimate(n) + print(initial_estimate) + + # Optimize using Levenberg-Marquardt optimization. + params = LevenbergMarquardtParams() + params.setAbsoluteErrorTol(1e-10) + params.setVerbosityLM("SUMMARY") + optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate, params) + result = optimizer.optimize() + print("Final Result:\n", result) + + +if __name__ == '__main__': + TimeOfArrivalExample() + print("Example complete") diff --git a/gtsam_unstable/geometry/Event.h b/gtsam_unstable/geometry/Event.h index b2a746595..383c34915 100644 --- a/gtsam_unstable/geometry/Event.h +++ b/gtsam_unstable/geometry/Event.h @@ -86,6 +86,7 @@ struct traits : internal::Manifold {}; /// Time of arrival to given sensor class TimeOfArrival { const double speed_; ///< signal speed + public: typedef double result_type; @@ -93,6 +94,12 @@ class TimeOfArrival { explicit TimeOfArrival(double speed = 330) : speed_(speed) {} /// Calculate time of arrival + double measure(const Event& event, const Point3& sensor) const { + double distance = gtsam::distance3(event.location(), sensor); + return event.time() + distance / speed_; + } + + /// Calculate time of arrival, with derivatives double operator()(const Event& event, const Point3& sensor, // OptionalJacobian<1, 4> H1 = boost::none, // OptionalJacobian<1, 3> H2 = boost::none) const { diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index d77895d86..b46c5354b 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -377,6 +377,30 @@ virtual class RangeFactor : gtsam::NoiseModelFactor { typedef gtsam::RangeFactor RangeFactorRTV; +#include +class Event { + Event(); + Event(double t, const gtsam::Point3& p); + Event(double t, double x, double y, double z); + double time() const; + gtsam::Point3 location() const; + double height() const; + void print(string s) const; +}; + +class TimeOfArrival { + TimeOfArrival(); + TimeOfArrival(double speed); + double measure(const gtsam::Event& event, const gtsam::Point3& sensor) const; +}; + +#include +virtual class TOAFactor : gtsam::NonlinearFactor { + // For now, because of overload issues, we only expose constructor with known sensor coordinates: + TOAFactor(size_t key1, gtsam::Point3 sensor, double measured, + const gtsam::noiseModel::Base* noiseModel); + static void InsertEvent(size_t key, const gtsam::Event& event, gtsam::Values* values); +}; #include template diff --git a/gtsam_unstable/slam/TOAFactor.h b/gtsam_unstable/slam/TOAFactor.h index c52f1b54c..8ad4a14a6 100644 --- a/gtsam_unstable/slam/TOAFactor.h +++ b/gtsam_unstable/slam/TOAFactor.h @@ -57,6 +57,11 @@ class TOAFactor : public ExpressionFactor { double speed = 330) : TOAFactor(eventExpression, Expression(sensor), toaMeasurement, model, speed) {} + + static void InsertEvent(Key key, const Event& event, + boost::shared_ptr values) { + values->insert(key, event); + } }; } // namespace gtsam From 2a07cfed6604d4b9a7f43e71a7a600a0756b6fd0 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 18 Mar 2020 18:18:51 -0400 Subject: [PATCH 0248/1152] improved rotation transpose with quaternions --- gtsam/geometry/Rot3Q.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp index 377cc4a5f..64e8324b8 100644 --- a/gtsam/geometry/Rot3Q.cpp +++ b/gtsam/geometry/Rot3Q.cpp @@ -19,8 +19,8 @@ #ifdef GTSAM_USE_QUATERNIONS -#include #include +#include #include using namespace std; @@ -80,8 +80,8 @@ namespace gtsam { /* ************************************************************************* */ const Eigen::Transpose Rot3::transpose() const { - // `.eval()` to avoid aliasing effect due to transpose (allows compilation). - return matrix().eval().transpose(); + // `eval` for immediate evaluation (allows compilation). + return Rot3(matrix()).matrix().eval().transpose(); } /* ************************************************************************* */ From bde27615c506abf1b0343265af2e711514d866bc Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 18 Mar 2020 18:19:40 -0400 Subject: [PATCH 0249/1152] test in testAHRSFactor is already fixed --- gtsam/navigation/tests/testAHRSFactor.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/gtsam/navigation/tests/testAHRSFactor.cpp b/gtsam/navigation/tests/testAHRSFactor.cpp index d32553b94..dd216ce34 100644 --- a/gtsam/navigation/tests/testAHRSFactor.cpp +++ b/gtsam/navigation/tests/testAHRSFactor.cpp @@ -15,6 +15,7 @@ * @author Krunal Chande * @author Luca Carlone * @author Frank Dellaert + * @author Varun Agrawal */ #include @@ -200,7 +201,7 @@ TEST(AHRSFactor, Error) { // 1e-5 needs to be added only when using quaternions for rotations EXPECT(assert_equal(H3e, H3a, 1e-5)); - // FIXME!! DOes not work. Different matrix dimensions. + // 1e-5 needs to be added only when using quaternions for rotations } /* ************************************************************************* */ From 1d5239dd251e91e4a12907d5ce4bc0d1ddd96703 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 18 Mar 2020 18:20:18 -0400 Subject: [PATCH 0250/1152] test for stability of RQ due to atan2 as well as fix --- gtsam/geometry/Rot3.cpp | 18 +++++++++++++++--- gtsam/geometry/tests/testRot3.cpp | 26 +++++++++++++++++++++++++- 2 files changed, 40 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index 24bdd6f17..96c714166 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -197,15 +197,27 @@ Matrix3 Rot3::LogmapDerivative(const Vector3& x) { /* ************************************************************************* */ pair RQ(const Matrix3& A) { - double x = -atan2(-A(2, 1), A(2, 2)); + // atan2 has curious/unstable behavior near 0. + // If either x or y is close to zero, the results can vary depending on + // what the sign of either x or y is. + // E.g. for x = 1e-15, y = -0.08, atan2(x, y) != atan2(-x, y), + // even though arithmetically, they are both atan2(0, y). + // Suppressing small numbers to 0.0 doesn't work since the floating point + // representation still causes the issue due to a delta difference. + // The only fix is to convert to an int so we are guaranteed the value is 0. + // This lambda function checks if a number is close to 0. + // If yes, then return the integer representation, else do nothing. + auto suppress = [](auto x) { return abs(x) > 1e-15 ? x : int(x); }; + + double x = -atan2(-suppress(A(2, 1)), suppress(A(2, 2))); Rot3 Qx = Rot3::Rx(-x); Matrix3 B = A * Qx.matrix(); - double y = -atan2(B(2, 0), B(2, 2)); + double y = -atan2(suppress(B(2, 0)), suppress(B(2, 2))); Rot3 Qy = Rot3::Ry(-y); Matrix3 C = B * Qy.matrix(); - double z = -atan2(-C(1, 0), C(1, 1)); + double z = -atan2(-suppress(C(1, 0)), suppress(C(1, 1))); Rot3 Qz = Rot3::Rz(-z); Matrix3 R = C * Qz.matrix(); diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index d9d08a48e..2cdb9c4f0 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -14,6 +14,7 @@ * @brief Unit tests for Rot3 class - common between Matrix and Quaternion * @author Alireza Fathi * @author Frank Dellaert + * @author Varun Agrawal */ #include @@ -380,7 +381,7 @@ TEST( Rot3, inverse ) Rot3 actual = R.inverse(actualH); CHECK(assert_equal(I,R*actual)); CHECK(assert_equal(I,actual*R)); - CHECK(assert_equal((Matrix)actual.matrix(), R.transpose())); + CHECK(assert_equal(actual, Rot3(R.transpose()))); Matrix numericalH = numericalDerivative11(testing::inverse, R); CHECK(assert_equal(numericalH,actualH)); @@ -502,6 +503,29 @@ TEST( Rot3, RQ) CHECK(assert_equal(expected,actual,1e-6)); } +/* ************************************************************************* */ +TEST( Rot3, RQStability) +{ + // Test case to check if xyz() is computed correctly when using quaternions. + Matrix actualR; + Vector actualXyz; + + // A is equivalent to the below + double kDegree = M_PI / 180; + const Rot3 nRy = Rot3::Yaw(315 * kDegree); + const Rot3 yRp = Rot3::Pitch(275 * kDegree); + const Rot3 pRb = Rot3::Roll(180 * kDegree); + const Rot3 nRb = nRy * yRp * pRb; + + // A(2, 1) ~= -0.0 + // Since A(2, 2) < 0, x-angle should be positive + Matrix A = nRb.matrix(); + boost::tie(actualR, actualXyz) = RQ(A); + + Vector3 expectedXyz(3.14159, -1.48353, -0.785398); + CHECK(assert_equal(expectedXyz,actualXyz,1e-6)); +} + /* ************************************************************************* */ TEST( Rot3, expmapStability ) { Vector w = Vector3(78e-9, 5e-8, 97e-7); From 7b6a80eba247843ae74a74b53cfe93f4d15d371b Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 18 Mar 2020 19:14:19 -0400 Subject: [PATCH 0251/1152] Revert "test for stability of RQ due to atan2 as well as fix" This reverts commit 1d5239dd251e91e4a12907d5ce4bc0d1ddd96703. --- gtsam/geometry/Rot3.cpp | 18 +++--------------- gtsam/geometry/tests/testRot3.cpp | 26 +------------------------- 2 files changed, 4 insertions(+), 40 deletions(-) diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index 96c714166..24bdd6f17 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -197,27 +197,15 @@ Matrix3 Rot3::LogmapDerivative(const Vector3& x) { /* ************************************************************************* */ pair RQ(const Matrix3& A) { - // atan2 has curious/unstable behavior near 0. - // If either x or y is close to zero, the results can vary depending on - // what the sign of either x or y is. - // E.g. for x = 1e-15, y = -0.08, atan2(x, y) != atan2(-x, y), - // even though arithmetically, they are both atan2(0, y). - // Suppressing small numbers to 0.0 doesn't work since the floating point - // representation still causes the issue due to a delta difference. - // The only fix is to convert to an int so we are guaranteed the value is 0. - // This lambda function checks if a number is close to 0. - // If yes, then return the integer representation, else do nothing. - auto suppress = [](auto x) { return abs(x) > 1e-15 ? x : int(x); }; - - double x = -atan2(-suppress(A(2, 1)), suppress(A(2, 2))); + double x = -atan2(-A(2, 1), A(2, 2)); Rot3 Qx = Rot3::Rx(-x); Matrix3 B = A * Qx.matrix(); - double y = -atan2(suppress(B(2, 0)), suppress(B(2, 2))); + double y = -atan2(B(2, 0), B(2, 2)); Rot3 Qy = Rot3::Ry(-y); Matrix3 C = B * Qy.matrix(); - double z = -atan2(-suppress(C(1, 0)), suppress(C(1, 1))); + double z = -atan2(-C(1, 0), C(1, 1)); Rot3 Qz = Rot3::Rz(-z); Matrix3 R = C * Qz.matrix(); diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index 2cdb9c4f0..d9d08a48e 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -14,7 +14,6 @@ * @brief Unit tests for Rot3 class - common between Matrix and Quaternion * @author Alireza Fathi * @author Frank Dellaert - * @author Varun Agrawal */ #include @@ -381,7 +380,7 @@ TEST( Rot3, inverse ) Rot3 actual = R.inverse(actualH); CHECK(assert_equal(I,R*actual)); CHECK(assert_equal(I,actual*R)); - CHECK(assert_equal(actual, Rot3(R.transpose()))); + CHECK(assert_equal((Matrix)actual.matrix(), R.transpose())); Matrix numericalH = numericalDerivative11(testing::inverse, R); CHECK(assert_equal(numericalH,actualH)); @@ -503,29 +502,6 @@ TEST( Rot3, RQ) CHECK(assert_equal(expected,actual,1e-6)); } -/* ************************************************************************* */ -TEST( Rot3, RQStability) -{ - // Test case to check if xyz() is computed correctly when using quaternions. - Matrix actualR; - Vector actualXyz; - - // A is equivalent to the below - double kDegree = M_PI / 180; - const Rot3 nRy = Rot3::Yaw(315 * kDegree); - const Rot3 yRp = Rot3::Pitch(275 * kDegree); - const Rot3 pRb = Rot3::Roll(180 * kDegree); - const Rot3 nRb = nRy * yRp * pRb; - - // A(2, 1) ~= -0.0 - // Since A(2, 2) < 0, x-angle should be positive - Matrix A = nRb.matrix(); - boost::tie(actualR, actualXyz) = RQ(A); - - Vector3 expectedXyz(3.14159, -1.48353, -0.785398); - CHECK(assert_equal(expectedXyz,actualXyz,1e-6)); -} - /* ************************************************************************* */ TEST( Rot3, expmapStability ) { Vector w = Vector3(78e-9, 5e-8, 97e-7); From dec918c3d54ee24764c0ff1d59152d8f632075a9 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 18 Mar 2020 19:25:31 -0400 Subject: [PATCH 0252/1152] undo return type of Eigen::Transpose, and add back TODO to optimize RPY --- gtsam/geometry/Rot3.h | 11 ++++++++++- gtsam/geometry/Rot3M.cpp | 2 +- gtsam/geometry/Rot3Q.cpp | 5 +++-- 3 files changed, 14 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 3e0e33609..fead20ea9 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -411,7 +411,7 @@ namespace gtsam { /** * Return 3*3 transpose (inverse) rotation matrix */ - const Eigen::Transpose transpose() const; + Matrix3 transpose() const; /// @deprecated, this is base 1, and was just confusing Point3 column(int index) const; @@ -440,16 +440,25 @@ namespace gtsam { /** * Accessor to get to component of angle representations + * NOTE: these are not efficient to get to multiple separate parts, + * you should instead use xyz() or ypr() + * TODO: make this more efficient */ inline double roll() const { return xyz()(0); } /** * Accessor to get to component of angle representations + * NOTE: these are not efficient to get to multiple separate parts, + * you should instead use xyz() or ypr() + * TODO: make this more efficient */ inline double pitch() const { return xyz()(1); } /** * Accessor to get to component of angle representations + * NOTE: these are not efficient to get to multiple separate parts, + * you should instead use xyz() or ypr() + * TODO: make this more efficient */ inline double yaw() const { return xyz()(2); } diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index 85d9923fb..46a07e50a 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -110,7 +110,7 @@ Rot3 Rot3::operator*(const Rot3& R2) const { } /* ************************************************************************* */ -const Eigen::Transpose Rot3::transpose() const { +Matrix3 Rot3::transpose() const { return rot_.matrix().transpose(); } diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp index 64e8324b8..0116f137d 100644 --- a/gtsam/geometry/Rot3Q.cpp +++ b/gtsam/geometry/Rot3Q.cpp @@ -79,9 +79,10 @@ namespace gtsam { } /* ************************************************************************* */ - const Eigen::Transpose Rot3::transpose() const { + Matrix3 Rot3::transpose() const { // `eval` for immediate evaluation (allows compilation). - return Rot3(matrix()).matrix().eval().transpose(); + // return Rot3(matrix()).matrix().eval().transpose(); + return matrix().eval().transpose(); } /* ************************************************************************* */ From c96300a7c6b06768cd1fdd44dbb9aa501b42d9ff Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 19 Mar 2020 12:04:32 -0400 Subject: [PATCH 0253/1152] added const to matrix() function for Rot3 to be consistent with SOn and added note about using Eigen transpose expression --- gtsam/geometry/Rot3.h | 4 ++-- gtsam/geometry/Rot3M.cpp | 4 ++-- gtsam/geometry/Rot3Q.cpp | 15 ++++++++++----- gtsam/geometry/tests/testRot3.cpp | 2 +- 4 files changed, 15 insertions(+), 10 deletions(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index fead20ea9..9b3bff53a 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -406,12 +406,12 @@ namespace gtsam { /// @{ /** return 3*3 rotation matrix */ - Matrix3 matrix() const; + const Matrix3 matrix() const; /** * Return 3*3 transpose (inverse) rotation matrix */ - Matrix3 transpose() const; + const Matrix3 transpose() const; /// @deprecated, this is base 1, and was just confusing Point3 column(int index) const; diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index 46a07e50a..b39f3725e 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -110,7 +110,7 @@ Rot3 Rot3::operator*(const Rot3& R2) const { } /* ************************************************************************* */ -Matrix3 Rot3::transpose() const { +const Matrix3 Rot3::transpose() const { return rot_.matrix().transpose(); } @@ -175,7 +175,7 @@ Vector3 Rot3::ChartAtOrigin::Local(const Rot3& R, ChartJacobian H) { } /* ************************************************************************* */ -Matrix3 Rot3::matrix() const { +const Matrix3 Rot3::matrix() const { return rot_.matrix(); } diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp index 0116f137d..9c06d54e9 100644 --- a/gtsam/geometry/Rot3Q.cpp +++ b/gtsam/geometry/Rot3Q.cpp @@ -79,10 +79,15 @@ namespace gtsam { } /* ************************************************************************* */ - Matrix3 Rot3::transpose() const { - // `eval` for immediate evaluation (allows compilation). - // return Rot3(matrix()).matrix().eval().transpose(); - return matrix().eval().transpose(); + // TODO: Maybe use return type `const Eigen::Transpose`? + // It works in Rot3M but not here, because of some weird behavior + // due to Eigen's expression templates which needs more investigation. + // For example, if we use matrix(), the value returned has a 1e-10, + // and if we use quaternion_.toRotationMatrix(), the matrix is arbitrary. + // Using eval() here doesn't help, it only helps if we use it in + // the downstream code. + const Matrix3 Rot3::transpose() const { + return matrix().transpose(); } /* ************************************************************************* */ @@ -115,7 +120,7 @@ namespace gtsam { } /* ************************************************************************* */ - Matrix3 Rot3::matrix() const {return quaternion_.toRotationMatrix();} + const Matrix3 Rot3::matrix() const {return quaternion_.toRotationMatrix();} /* ************************************************************************* */ Point3 Rot3::r1() const { return Point3(quaternion_.toRotationMatrix().col(0)); } diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index d9d08a48e..eeda3c3d3 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -380,7 +380,7 @@ TEST( Rot3, inverse ) Rot3 actual = R.inverse(actualH); CHECK(assert_equal(I,R*actual)); CHECK(assert_equal(I,actual*R)); - CHECK(assert_equal((Matrix)actual.matrix(), R.transpose())); + CHECK(assert_equal(actual.matrix(), R.transpose())); Matrix numericalH = numericalDerivative11(testing::inverse, R); CHECK(assert_equal(numericalH,actualH)); From b058adc675782354561ad94507e360020faa790f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 20 Mar 2020 17:50:34 -0400 Subject: [PATCH 0254/1152] remove const from return types for Rot3 --- gtsam/geometry/Rot3.h | 4 ++-- gtsam/geometry/Rot3M.cpp | 4 ++-- gtsam/geometry/Rot3Q.cpp | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index b900b8c82..fc3a8b3f2 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -407,12 +407,12 @@ namespace gtsam { /// @{ /** return 3*3 rotation matrix */ - const Matrix3 matrix() const; + Matrix3 matrix() const; /** * Return 3*3 transpose (inverse) rotation matrix */ - const Matrix3 transpose() const; + Matrix3 transpose() const; /// @deprecated, this is base 1, and was just confusing Point3 column(int index) const; diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index b39f3725e..46a07e50a 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -110,7 +110,7 @@ Rot3 Rot3::operator*(const Rot3& R2) const { } /* ************************************************************************* */ -const Matrix3 Rot3::transpose() const { +Matrix3 Rot3::transpose() const { return rot_.matrix().transpose(); } @@ -175,7 +175,7 @@ Vector3 Rot3::ChartAtOrigin::Local(const Rot3& R, ChartJacobian H) { } /* ************************************************************************* */ -const Matrix3 Rot3::matrix() const { +Matrix3 Rot3::matrix() const { return rot_.matrix(); } diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp index 9c06d54e9..d609c289c 100644 --- a/gtsam/geometry/Rot3Q.cpp +++ b/gtsam/geometry/Rot3Q.cpp @@ -86,7 +86,7 @@ namespace gtsam { // and if we use quaternion_.toRotationMatrix(), the matrix is arbitrary. // Using eval() here doesn't help, it only helps if we use it in // the downstream code. - const Matrix3 Rot3::transpose() const { + Matrix3 Rot3::transpose() const { return matrix().transpose(); } @@ -120,7 +120,7 @@ namespace gtsam { } /* ************************************************************************* */ - const Matrix3 Rot3::matrix() const {return quaternion_.toRotationMatrix();} + Matrix3 Rot3::matrix() const {return quaternion_.toRotationMatrix();} /* ************************************************************************* */ Point3 Rot3::r1() const { return Point3(quaternion_.toRotationMatrix().col(0)); } From f7d86a80cf8e54bbabf15773ae28e5385f9cac98 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 19 Mar 2020 12:13:54 -0400 Subject: [PATCH 0255/1152] matplotlib function to set axes equal for 3D plots --- cython/gtsam/utils/plot.py | 25 +++++++++++++++++++++++++ 1 file changed, 25 insertions(+) diff --git a/cython/gtsam/utils/plot.py b/cython/gtsam/utils/plot.py index 3871fa18c..4ab70ee1e 100644 --- a/cython/gtsam/utils/plot.py +++ b/cython/gtsam/utils/plot.py @@ -3,6 +3,30 @@ import numpy as np import matplotlib.pyplot as plt from matplotlib import patches +from mpl_toolkits.mplot3d import Axes3D + + +def set_axes_equal(ax): + """ + Make axes of 3D plot have equal scale so that spheres appear as spheres, + cubes as cubes, etc.. This is one possible solution to Matplotlib's + ax.set_aspect('equal') and ax.axis('equal') not working for 3D. + Input + ax: a matplotlib axis, e.g., as output from plt.gca(). + """ + + limits = np.array([ + ax.get_xlim3d(), + ax.get_ylim3d(), + ax.get_zlim3d(), + ]) + + origin = np.mean(limits, axis=1) + radius = 0.5 * np.max(np.abs(limits[:, 1] - limits[:, 0])) + + ax.set_xlim3d([origin[0] - radius, origin[0] + radius]) + ax.set_ylim3d([origin[1] - radius, origin[1] + radius]) + ax.set_zlim3d([origin[2] - radius, origin[2] + radius]) def plot_pose2_on_axes(axes, pose, axis_length=0.1, covariance=None): @@ -35,6 +59,7 @@ def plot_pose2_on_axes(axes, pose, axis_length=0.1, covariance=None): np.rad2deg(angle), fill=False) axes.add_patch(e1) + def plot_pose2(fignum, pose, axis_length=0.1, covariance=None): """Plot a 2D pose on given figure with given 'axis_length'.""" # get figure object From 26d6cb3d6ebc06b95270649ab3e084a80adade66 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 20 Mar 2020 12:03:37 -0400 Subject: [PATCH 0256/1152] code to plot 3D covariance ellipsoid --- cython/gtsam/utils/plot.py | 93 +++++++++++++++++++++++++++++--------- 1 file changed, 71 insertions(+), 22 deletions(-) diff --git a/cython/gtsam/utils/plot.py b/cython/gtsam/utils/plot.py index 4ab70ee1e..848facc25 100644 --- a/cython/gtsam/utils/plot.py +++ b/cython/gtsam/utils/plot.py @@ -5,8 +5,10 @@ import matplotlib.pyplot as plt from matplotlib import patches from mpl_toolkits.mplot3d import Axes3D +import gtsam -def set_axes_equal(ax): + +def set_axes_equal(fignum): """ Make axes of 3D plot have equal scale so that spheres appear as spheres, cubes as cubes, etc.. This is one possible solution to Matplotlib's @@ -14,6 +16,8 @@ def set_axes_equal(ax): Input ax: a matplotlib axis, e.g., as output from plt.gca(). """ + fig = plt.figure(fignum) + ax = fig.gca(projection='3d') limits = np.array([ ax.get_xlim3d(), @@ -29,6 +33,46 @@ def set_axes_equal(ax): ax.set_zlim3d([origin[2] - radius, origin[2] + radius]) +def ellipsoid(xc, yc, zc, rx, ry, rz, n): + """Numpy equivalent of Matlab's ellipsoid function""" + u = np.linspace(0, 2*np.pi, n+1) + v = np.linspace(0, np.pi, n+1) + x = -rx * np.outer(np.cos(u), np.sin(v)).T + y = -ry * np.outer(np.sin(u), np.sin(v)).T + z = -rz * np.outer(np.ones_like(u), np.cos(v)).T + + return x, y, z + + +def plot_covariance_ellipse_3d(axes, origin, P, scale=1, n=8, alpha=0.5): + """ + Plots a Gaussian as an uncertainty ellipse + + Based on Maybeck Vol 1, page 366 + k=2.296 corresponds to 1 std, 68.26% of all probability + k=11.82 corresponds to 3 std, 99.74% of all probability + """ + k = 11.82 + U, S, _ = np.linalg.svd(P) + + radii = k * np.sqrt(S) + radii = radii * scale + rx, ry, rz = radii + + # generate data for "unrotated" ellipsoid + xc, yc, zc = ellipsoid(0, 0, 0, rx, ry, rz, n) + + # rotate data with orientation matrix U and center c + data = np.kron(U[:, 0:1], xc) + np.kron(U[:, 1:2], yc) + \ + np.kron(U[:, 2:3], zc) + n = data.shape[1] + x = data[0:n, :] + origin[0] + y = data[n:2*n, :] + origin[1] + z = data[2*n:, :] + origin[2] + + axes.plot_surface(x, y, z, alpha=alpha, cmap='hot') + + def plot_pose2_on_axes(axes, pose, axis_length=0.1, covariance=None): """Plot a 2D pose on given axis 'axes' with given 'axis_length'.""" # get rotation and translation (center) @@ -68,19 +112,21 @@ def plot_pose2(fignum, pose, axis_length=0.1, covariance=None): plot_pose2_on_axes(axes, pose, axis_length, covariance) -def plot_point3_on_axes(axes, point, linespec): +def plot_point3_on_axes(axes, point, linespec, P=None): """Plot a 3D point on given axis 'axes' with given 'linespec'.""" axes.plot([point.x()], [point.y()], [point.z()], linespec) + if P is not None: + plot_covariance_ellipse_3d(axes, point.vector(), P) -def plot_point3(fignum, point, linespec): +def plot_point3(fignum, point, linespec, P=None): """Plot a 3D point on given figure with given 'linespec'.""" fig = plt.figure(fignum) axes = fig.gca(projection='3d') - plot_point3_on_axes(axes, point, linespec) + plot_point3_on_axes(axes, point, linespec, P) -def plot_3d_points(fignum, values, linespec, marginals=None): +def plot_3d_points(fignum, values, linespec="g*", marginals=None): """ Plots the Point3s in 'values', with optional covariances. Finds all the Point3 objects in the given Values object and plots them. @@ -93,23 +139,25 @@ def plot_3d_points(fignum, values, linespec, marginals=None): # Plot points and covariance matrices for i in range(keys.size()): try: - p = values.atPoint3(keys.at(i)) - # if haveMarginals - # P = marginals.marginalCovariance(key); - # gtsam.plot_point3(p, linespec, P); - # else - plot_point3(fignum, p, linespec) + key = keys.at(i) + point = values.atPoint3(key) + if marginals is not None: + P = marginals.marginalCovariance(key); + else: + P = None + + plot_point3(fignum, point, linespec, P) + except RuntimeError: continue # I guess it's not a Point3 -def plot_pose3_on_axes(axes, pose, axis_length=0.1): +def plot_pose3_on_axes(axes, pose, P=None, scale=1, axis_length=0.1): """Plot a 3D pose on given axis 'axes' with given 'axis_length'.""" # get rotation and translation (center) gRp = pose.rotation().matrix() # rotation from pose to global - t = pose.translation() - origin = np.array([t.x(), t.y(), t.z()]) + origin = pose.translation().vector() # draw the camera axes x_axis = origin + gRp[:, 0] * axis_length @@ -125,17 +173,18 @@ def plot_pose3_on_axes(axes, pose, axis_length=0.1): axes.plot(line[:, 0], line[:, 1], line[:, 2], 'b-') # plot the covariance - # TODO (dellaert): make this work - # if (nargin>2) && (~isempty(P)) - # pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame - # gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame - # gtsam.covarianceEllipse3D(origin,gPp); - # end + if P is not None: + # covariance matrix in pose coordinate frame + pPp = P[3:6, 3:6] + # convert the covariance matrix to global coordinate frame + gPp = gRp @ pPp @ gRp.T + plot_covariance_ellipse_3d(axes, origin, gPp) -def plot_pose3(fignum, pose, axis_length=0.1): +def plot_pose3(fignum, pose, P, axis_length=0.1): """Plot a 3D pose on given figure with given 'axis_length'.""" # get figure object fig = plt.figure(fignum) axes = fig.gca(projection='3d') - plot_pose3_on_axes(axes, pose, axis_length) + plot_pose3_on_axes(axes, pose, P=P, axis_length=axis_length) + From b3a9c7a5efc9c0594aba5bfa06103fa40602205c Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 20 Mar 2020 12:05:59 -0400 Subject: [PATCH 0257/1152] function to plot trajectory --- cython/gtsam/utils/plot.py | 43 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 43 insertions(+) diff --git a/cython/gtsam/utils/plot.py b/cython/gtsam/utils/plot.py index 848facc25..6b43552c7 100644 --- a/cython/gtsam/utils/plot.py +++ b/cython/gtsam/utils/plot.py @@ -188,3 +188,46 @@ def plot_pose3(fignum, pose, P, axis_length=0.1): axes = fig.gca(projection='3d') plot_pose3_on_axes(axes, pose, P=P, axis_length=axis_length) +def plot_trajectory(fignum, values, scale=1, marginals=None): + pose3Values = gtsam.allPose3s(values) + keys = gtsam.KeyVector(pose3Values.keys()) + lastIndex = None + + for i in range(keys.size()): + key = keys.at(i) + try: + pose = pose3Values.atPose3(key) + except: + print("Warning: no Pose3 at key: {0}".format(key)) + + if lastIndex is not None: + lastKey = keys.at(lastIndex) + try: + lastPose = pose3Values.atPose3(lastKey) + except: + print("Warning: no Pose3 at key: {0}".format(lastKey)) + pass + + if marginals: + P = marginals.marginalCovariance(lastKey) + else: + P = None + + plot_pose3(fignum, lastPose, P, scale) + + lastIndex = i + + # Draw final pose + if lastIndex is not None: + lastKey = keys.at(lastIndex) + try: + lastPose = pose3Values.atPose3(lastKey) + if marginals: + P = marginals.marginalCovariance(lastKey) + else: + P = None + + plot_pose3(fignum, lastPose, P, scale) + + except: + pass From 81b4765299b2f08e4dc9fb689607444d54579634 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 20 Mar 2020 12:12:06 -0400 Subject: [PATCH 0258/1152] modernized SFM example and added plotting of trajectory and landmarks --- cython/gtsam/examples/SFMExample.py | 23 +++++++++++++++-------- cython/gtsam/examples/SFMdata.py | 5 +++-- matlab/+gtsam/covarianceEllipse3D.m | 4 ++-- 3 files changed, 20 insertions(+), 12 deletions(-) diff --git a/cython/gtsam/examples/SFMExample.py b/cython/gtsam/examples/SFMExample.py index bf46f09d5..d4451d44e 100644 --- a/cython/gtsam/examples/SFMExample.py +++ b/cython/gtsam/examples/SFMExample.py @@ -10,13 +10,17 @@ A structure-from-motion problem on a simulated dataset """ from __future__ import print_function -import gtsam +import matplotlib.pyplot as plt import numpy as np + +import gtsam from gtsam.examples import SFMdata from gtsam.gtsam import (Cal3_S2, DoglegOptimizer, - GenericProjectionFactorCal3_S2, NonlinearFactorGraph, - Point3, Pose3, PriorFactorPoint3, PriorFactorPose3, - Rot3, SimpleCamera, Values) + GenericProjectionFactorCal3_S2, Marginals, + NonlinearFactorGraph, Point3, Pose3, + PriorFactorPoint3, PriorFactorPose3, Rot3, + SimpleCamera, Values) +from gtsam.utils import plot def symbol(name: str, index: int) -> int: @@ -94,12 +98,10 @@ def main(): # Intentionally initialize the variables off from the ground truth initial_estimate = Values() for i, pose in enumerate(poses): - r = Rot3.Rodrigues(-0.1, 0.2, 0.25) - t = Point3(0.05, -0.10, 0.20) - transformed_pose = pose.compose(Pose3(r, t)) + transformed_pose = pose.retract(0.1*np.random.randn(6,1)) initial_estimate.insert(symbol('x', i), transformed_pose) for j, point in enumerate(points): - transformed_point = Point3(point.vector() + np.array([-0.25, 0.20, 0.15])) + transformed_point = Point3(point.vector() + 0.1*np.random.randn(3)) initial_estimate.insert(symbol('l', j), transformed_point) initial_estimate.print_('Initial Estimates:\n') @@ -113,6 +115,11 @@ def main(): print('initial error = {}'.format(graph.error(initial_estimate))) print('final error = {}'.format(graph.error(result))) + marginals = Marginals(graph, result) + plot.plot_3d_points(1, result, marginals=marginals) + plot.plot_trajectory(1, result, marginals=marginals, scale=8) + plot.set_axes_equal(1) + plt.show() if __name__ == '__main__': main() diff --git a/cython/gtsam/examples/SFMdata.py b/cython/gtsam/examples/SFMdata.py index 1d5c499fa..c586f7e52 100644 --- a/cython/gtsam/examples/SFMdata.py +++ b/cython/gtsam/examples/SFMdata.py @@ -25,14 +25,15 @@ def createPoints(): def createPoses(K): # Create the set of ground-truth poses - radius = 30.0 + radius = 40.0 + height = 10.0 angles = np.linspace(0, 2*np.pi, 8, endpoint=False) up = gtsam.Point3(0, 0, 1) target = gtsam.Point3(0, 0, 0) poses = [] for theta in angles: position = gtsam.Point3(radius*np.cos(theta), - radius*np.sin(theta), 0.0) + radius*np.sin(theta), height) camera = gtsam.PinholeCameraCal3_S2.Lookat(position, target, up, K) poses.append(camera.pose()) return poses diff --git a/matlab/+gtsam/covarianceEllipse3D.m b/matlab/+gtsam/covarianceEllipse3D.m index 4364e0fe4..51026f698 100644 --- a/matlab/+gtsam/covarianceEllipse3D.m +++ b/matlab/+gtsam/covarianceEllipse3D.m @@ -22,8 +22,8 @@ end % rotate data with orientation matrix U and center M data = kron(e(:,1),xc) + kron(e(:,2),yc) + kron(e(:,3),zc); n = size(data,2); -x = data(1:n,:)+c(1); -y = data(n+1:2*n,:)+c(2); +x = data(1:n,:)+c(1); +y = data(n+1:2*n,:)+c(2); z = data(2*n+1:end,:)+c(3); % now plot the rotated ellipse From 8fdbf2fa6e25f3fde36947e710a7221fe74f4434 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 21 Mar 2020 15:29:07 -0400 Subject: [PATCH 0259/1152] added Cal3_S2 header and Frank's recommendations --- examples/CameraResectioning.cpp | 1 + examples/ISAM2Example_SmartFactor.cpp | 1 + examples/ImuFactorExample2.cpp | 3 ++- gtsam/sam/tests/testRangeFactor.cpp | 8 +++++--- 4 files changed, 9 insertions(+), 4 deletions(-) diff --git a/examples/CameraResectioning.cpp b/examples/CameraResectioning.cpp index e93e6ffca..b12418098 100644 --- a/examples/CameraResectioning.cpp +++ b/examples/CameraResectioning.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include using namespace gtsam; diff --git a/examples/ISAM2Example_SmartFactor.cpp b/examples/ISAM2Example_SmartFactor.cpp index 46b9fcd47..21fe6e661 100644 --- a/examples/ISAM2Example_SmartFactor.cpp +++ b/examples/ISAM2Example_SmartFactor.cpp @@ -5,6 +5,7 @@ */ #include +#include #include #include #include diff --git a/examples/ImuFactorExample2.cpp b/examples/ImuFactorExample2.cpp index 4ebc342eb..f83a539af 100644 --- a/examples/ImuFactorExample2.cpp +++ b/examples/ImuFactorExample2.cpp @@ -1,5 +1,6 @@ #include +#include #include #include #include @@ -34,7 +35,7 @@ int main(int argc, char* argv[]) { double radius = 30; const Point3 up(0, 0, 1), target(0, 0, 0); const Point3 position(radius, 0, 0); - const PinholeCamera camera = PinholeCamera::Lookat(position, target, up); + const auto camera = PinholeCamera::Lookat(position, target, up); const auto pose_0 = camera.pose(); // Now, create a constant-twist scenario that makes the camera orbit the diff --git a/gtsam/sam/tests/testRangeFactor.cpp b/gtsam/sam/tests/testRangeFactor.cpp index 0d19918f6..54d4a43c0 100644 --- a/gtsam/sam/tests/testRangeFactor.cpp +++ b/gtsam/sam/tests/testRangeFactor.cpp @@ -356,9 +356,11 @@ TEST(RangeFactor, Point3) { /* ************************************************************************* */ // Do tests with PinholeCamera TEST( RangeFactor, Camera) { - RangeFactor,Point3> factor1(poseKey, pointKey, measurement, model); - RangeFactor,Pose3> factor2(poseKey, pointKey, measurement, model); - RangeFactor,PinholeCamera> factor3(poseKey, pointKey, measurement, model); + using Camera = PinholeCamera; + + RangeFactor factor1(poseKey, pointKey, measurement, model); + RangeFactor factor2(poseKey, pointKey, measurement, model); + RangeFactor factor3(poseKey, pointKey, measurement, model); } /* ************************************************************************* */ From 87c338a18b2d083bd66dc9b755d17fad60f4f937 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 22 Mar 2020 12:32:16 -0400 Subject: [PATCH 0260/1152] import python classes --- cython/gtsam/examples/ImuFactorExample2.py | 40 ++++++++++--------- cython/gtsam/utils/visual_data_generator.py | 43 +++++++++++---------- 2 files changed, 44 insertions(+), 39 deletions(-) diff --git a/cython/gtsam/examples/ImuFactorExample2.py b/cython/gtsam/examples/ImuFactorExample2.py index 4b86d4837..80f573d12 100644 --- a/cython/gtsam/examples/ImuFactorExample2.py +++ b/cython/gtsam/examples/ImuFactorExample2.py @@ -14,6 +14,11 @@ from mpl_toolkits.mplot3d import Axes3D # pylint: disable=W0611 import gtsam import gtsam.utils.plot as gtsam_plot +from gtsam import (ISAM2, BetweenFactorConstantBias, Cal3_S2, + ConstantTwistScenario, ImuFactor, NonlinearFactorGraph, + PinholeCameraCal3_S2, Point3, Pose3, + PriorFactorConstantBias, PriorFactorPose3, + PriorFactorVector, Rot3, Values) def X(key): @@ -69,8 +74,8 @@ PARAMS.setUse2ndOrderCoriolis(False) PARAMS.setOmegaCoriolis(vector3(0, 0, 0)) BIAS_COVARIANCE = gtsam.noiseModel_Isotropic.Variance(6, 0.1) -DELTA = gtsam.Pose3(gtsam.Rot3.Rodrigues(0, 0, 0), - gtsam.Point3(0.05, -0.10, 0.20)) +DELTA = Pose3(Rot3.Rodrigues(0, 0, 0), + Point3(0.05, -0.10, 0.20)) def IMU_example(): @@ -78,10 +83,10 @@ def IMU_example(): # Start with a camera on x-axis looking at origin radius = 30 - up = gtsam.Point3(0, 0, 1) - target = gtsam.Point3(0, 0, 0) - position = gtsam.Point3(radius, 0, 0) - camera = gtsam.PinholeCameraCal3_S2.Lookat(position, target, up, gtsam.Cal3_S2()) + up = Point3(0, 0, 1) + target = Point3(0, 0, 0) + position = Point3(radius, 0, 0) + camera = PinholeCameraCal3_S2.Lookat(position, target, up, Cal3_S2()) pose_0 = camera.pose() # Create the set of ground-truth landmarks and poses @@ -90,37 +95,37 @@ def IMU_example(): angular_velocity_vector = vector3(0, -angular_velocity, 0) linear_velocity_vector = vector3(radius * angular_velocity, 0, 0) - scenario = gtsam.ConstantTwistScenario( + scenario = ConstantTwistScenario( angular_velocity_vector, linear_velocity_vector, pose_0) # Create a factor graph - newgraph = gtsam.NonlinearFactorGraph() + newgraph = NonlinearFactorGraph() # Create (incremental) ISAM2 solver - isam = gtsam.ISAM2() + isam = ISAM2() # Create the initial estimate to the solution # Intentionally initialize the variables off from the ground truth - initialEstimate = gtsam.Values() + initialEstimate = Values() # Add a prior on pose x0. This indirectly specifies where the origin is. # 30cm std on x,y,z 0.1 rad on roll,pitch,yaw noise = gtsam.noiseModel_Diagonal.Sigmas( np.array([0.1, 0.1, 0.1, 0.3, 0.3, 0.3])) - newgraph.push_back(gtsam.PriorFactorPose3(X(0), pose_0, noise)) + newgraph.push_back(PriorFactorPose3(X(0), pose_0, noise)) # Add imu priors biasKey = gtsam.symbol(ord('b'), 0) biasnoise = gtsam.noiseModel_Isotropic.Sigma(6, 0.1) - biasprior = gtsam.PriorFactorConstantBias(biasKey, gtsam.imuBias_ConstantBias(), - biasnoise) + biasprior = PriorFactorConstantBias(biasKey, gtsam.imuBias_ConstantBias(), + biasnoise) newgraph.push_back(biasprior) initialEstimate.insert(biasKey, gtsam.imuBias_ConstantBias()) velnoise = gtsam.noiseModel_Isotropic.Sigma(3, 0.1) # Calculate with correct initial velocity n_velocity = vector3(0, angular_velocity * radius, 0) - velprior = gtsam.PriorFactorVector(V(0), n_velocity, velnoise) + velprior = PriorFactorVector(V(0), n_velocity, velnoise) newgraph.push_back(velprior) initialEstimate.insert(V(0), n_velocity) @@ -141,7 +146,7 @@ def IMU_example(): # Add Bias variables periodically if i % 5 == 0: biasKey += 1 - factor = gtsam.BetweenFactorConstantBias( + factor = BetweenFactorConstantBias( biasKey - 1, biasKey, gtsam.imuBias_ConstantBias(), BIAS_COVARIANCE) newgraph.add(factor) initialEstimate.insert(biasKey, gtsam.imuBias_ConstantBias()) @@ -154,8 +159,7 @@ def IMU_example(): accum.integrateMeasurement(measuredAcc, measuredOmega, delta_t) # Add Imu Factor - imufac = gtsam.ImuFactor( - X(i - 1), V(i - 1), X(i), V(i), biasKey, accum) + imufac = ImuFactor(X(i - 1), V(i - 1), X(i), V(i), biasKey, accum) newgraph.add(imufac) # insert new velocity, which is wrong @@ -168,7 +172,7 @@ def IMU_example(): ISAM2_plot(result) # reset - newgraph = gtsam.NonlinearFactorGraph() + newgraph = NonlinearFactorGraph() initialEstimate.clear() diff --git a/cython/gtsam/utils/visual_data_generator.py b/cython/gtsam/utils/visual_data_generator.py index 7cd885d49..f04588e70 100644 --- a/cython/gtsam/utils/visual_data_generator.py +++ b/cython/gtsam/utils/visual_data_generator.py @@ -1,8 +1,9 @@ from __future__ import print_function import numpy as np -from math import pi, cos, sin + import gtsam +from gtsam import Cal3_S2, PinholeCameraCal3_S2, Point2, Point3, Pose3 class Options: @@ -10,7 +11,7 @@ class Options: Options to generate test scenario """ - def __init__(self, triangle=False, nrCameras=3, K=gtsam.Cal3_S2()): + def __init__(self, triangle=False, nrCameras=3, K=Cal3_S2()): """ Options to generate test scenario @param triangle: generate a triangle scene with 3 points if True, otherwise @@ -27,10 +28,10 @@ class GroundTruth: Object holding generated ground-truth data """ - def __init__(self, K=gtsam.Cal3_S2(), nrCameras=3, nrPoints=4): + def __init__(self, K=Cal3_S2(), nrCameras=3, nrPoints=4): self.K = K - self.cameras = [gtsam.Pose3()] * nrCameras - self.points = [gtsam.Point3()] * nrPoints + self.cameras = [Pose3()] * nrCameras + self.points = [Point3()] * nrPoints def print_(self, s=""): print(s) @@ -52,11 +53,11 @@ class Data: class NoiseModels: pass - def __init__(self, K=gtsam.Cal3_S2(), nrCameras=3, nrPoints=4): + def __init__(self, K=Cal3_S2(), nrCameras=3, nrPoints=4): self.K = K - self.Z = [x[:] for x in [[gtsam.Point2()] * nrPoints] * nrCameras] + self.Z = [x[:] for x in [[Point2()] * nrPoints] * nrCameras] self.J = [x[:] for x in [[0] * nrPoints] * nrCameras] - self.odometry = [gtsam.Pose3()] * nrCameras + self.odometry = [Pose3()] * nrCameras # Set Noise parameters self.noiseModels = Data.NoiseModels() @@ -73,7 +74,7 @@ class Data: def generate_data(options): """ Generate ground-truth and measurement data. """ - K = gtsam.Cal3_S2(500, 500, 0, 640. / 2., 480. / 2.) + K = Cal3_S2(500, 500, 0, 640. / 2., 480. / 2.) nrPoints = 3 if options.triangle else 8 truth = GroundTruth(K=K, nrCameras=options.nrCameras, nrPoints=nrPoints) @@ -83,26 +84,26 @@ def generate_data(options): if options.triangle: # Create a triangle target, just 3 points on a plane r = 10 for j in range(len(truth.points)): - theta = j * 2 * pi / nrPoints - truth.points[j] = gtsam.Point3(r * cos(theta), r * sin(theta), 0) + theta = j * 2 * np.pi / nrPoints + truth.points[j] = Point3(r * np.cos(theta), r * np.sin(theta), 0) else: # 3D landmarks as vertices of a cube truth.points = [ - gtsam.Point3(10, 10, 10), gtsam.Point3(-10, 10, 10), - gtsam.Point3(-10, -10, 10), gtsam.Point3(10, -10, 10), - gtsam.Point3(10, 10, -10), gtsam.Point3(-10, 10, -10), - gtsam.Point3(-10, -10, -10), gtsam.Point3(10, -10, -10) + Point3(10, 10, 10), Point3(-10, 10, 10), + Point3(-10, -10, 10), Point3(10, -10, 10), + Point3(10, 10, -10), Point3(-10, 10, -10), + Point3(-10, -10, -10), Point3(10, -10, -10) ] # Create camera cameras on a circle around the triangle height = 10 r = 40 for i in range(options.nrCameras): - theta = i * 2 * pi / options.nrCameras - t = gtsam.Point3(r * cos(theta), r * sin(theta), height) - truth.cameras[i] = gtsam.PinholeCameraCal3_S2.Lookat(t, - gtsam.Point3(), - gtsam.Point3(0, 0, 1), - truth.K) + theta = i * 2 * np.pi / options.nrCameras + t = Point3(r * np.cos(theta), r * np.sin(theta), height) + truth.cameras[i] = PinholeCameraCal3_S2.Lookat(t, + Point3(), + Point3(0, 0, 1), + truth.K) # Create measurements for j in range(nrPoints): # All landmarks seen in every frame From 73271816a6c26aab9d40de7f8011dddf5d243e30 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 22 Mar 2020 12:45:21 -0400 Subject: [PATCH 0261/1152] make exceptions as const reference --- gtsam/nonlinear/utilities.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/utilities.h b/gtsam/nonlinear/utilities.h index 867db70e0..1228cd4db 100644 --- a/gtsam/nonlinear/utilities.h +++ b/gtsam/nonlinear/utilities.h @@ -237,12 +237,12 @@ Values localToWorld(const Values& local, const Pose2& base, // if value is a Pose2, compose it with base pose Pose2 pose = local.at(key); world.insert(key, base.compose(pose)); - } catch (std::exception e1) { + } catch (const std::exception& e1) { try { // if value is a Point2, transform it from base pose Point2 point = local.at(key); world.insert(key, base.transformFrom(point)); - } catch (std::exception e2) { + } catch (const std::exception& e2) { // if not Pose2 or Point2, do nothing } } From d2d5ce1166d6e01101b2679020edf66899305702 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 22 Mar 2020 12:46:25 -0400 Subject: [PATCH 0262/1152] Eigen alignment --- gtsam/nonlinear/NonlinearEquality.h | 6 ++++++ gtsam_unstable/slam/AHRS.h | 2 ++ 2 files changed, 8 insertions(+) diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h index 4d928482e..d4eb655c3 100644 --- a/gtsam/nonlinear/NonlinearEquality.h +++ b/gtsam/nonlinear/NonlinearEquality.h @@ -175,6 +175,8 @@ public: /// @} + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + private: /** Serialization function */ @@ -263,6 +265,8 @@ public: traits::Print(value_, "Value"); } + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + private: /** Serialization function */ @@ -327,6 +331,8 @@ public: return traits::Local(x1,x2); } + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + private: /** Serialization function */ diff --git a/gtsam_unstable/slam/AHRS.h b/gtsam_unstable/slam/AHRS.h index f22de48cf..35b4677d5 100644 --- a/gtsam_unstable/slam/AHRS.h +++ b/gtsam_unstable/slam/AHRS.h @@ -77,6 +77,8 @@ public: void print(const std::string& s = "") const; virtual ~AHRS(); + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; } /* namespace gtsam */ From c2d7df3f148894badce29fd7ee21cdaa46e9fca2 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 22 Mar 2020 20:03:10 -0400 Subject: [PATCH 0263/1152] make exception as reference --- gtsam/geometry/tests/testEssentialMatrix.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/tests/testEssentialMatrix.cpp b/gtsam/geometry/tests/testEssentialMatrix.cpp index c923e398b..86a498cdc 100644 --- a/gtsam/geometry/tests/testEssentialMatrix.cpp +++ b/gtsam/geometry/tests/testEssentialMatrix.cpp @@ -159,7 +159,7 @@ TEST (EssentialMatrix, rotate) { Matrix actH1, actH2; try { bodyE.rotate(cRb, actH1, actH2); - } catch (exception e) { + } catch (exception& e) { } // avoid exception Matrix expH1 = numericalDerivative21(rotate_, bodyE, cRb), // expH2 = numericalDerivative22(rotate_, bodyE, cRb); From 9bef6bfded7c0c46d4706d0d23f1b3fe963c539d Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 22 Mar 2020 20:04:04 -0400 Subject: [PATCH 0264/1152] initialize PreintegrationParams default constructor and make serialization test more explicit --- gtsam/navigation/PreintegrationParams.h | 9 +++++++-- gtsam/navigation/tests/testImuFactorSerialization.cpp | 6 +++--- 2 files changed, 10 insertions(+), 5 deletions(-) diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h index 0fb54a358..962fef277 100644 --- a/gtsam/navigation/PreintegrationParams.h +++ b/gtsam/navigation/PreintegrationParams.h @@ -29,6 +29,13 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams { bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration Vector3 n_gravity; ///< Gravity vector in nav frame + /// Default constructor for serialization only + PreintegrationParams() + : accelerometerCovariance(I_3x3), + integrationCovariance(I_3x3), + use2ndOrderCoriolis(false), + n_gravity(0, 0, -1) {} + /// The Params constructor insists on getting the navigation frame gravity vector /// For convenience, two commonly used conventions are provided by named constructors below PreintegrationParams(const Vector3& n_gravity) @@ -60,8 +67,6 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams { bool getUse2ndOrderCoriolis() const { return use2ndOrderCoriolis; } protected: - /// Default constructor for serialization only: uninitialized! - PreintegrationParams() {} /** Serialization function */ friend class boost::serialization::access; diff --git a/gtsam/navigation/tests/testImuFactorSerialization.cpp b/gtsam/navigation/tests/testImuFactorSerialization.cpp index 9f9781d2c..59d0ac199 100644 --- a/gtsam/navigation/tests/testImuFactorSerialization.cpp +++ b/gtsam/navigation/tests/testImuFactorSerialization.cpp @@ -64,9 +64,9 @@ TEST(ImuFactor, serialization) { ImuFactor factor(1, 2, 3, 4, 5, pim); - EXPECT(equalsObj(factor)); - EXPECT(equalsXML(factor)); - EXPECT(equalsBinary(factor)); + EXPECT(equalsObj(factor)); + EXPECT(equalsXML(factor)); + EXPECT(equalsBinary(factor)); } /* ************************************************************************* */ From 0479223b3fbbdc7b5957c682cda03d5471cb8cc5 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 22 Mar 2020 20:04:33 -0400 Subject: [PATCH 0265/1152] suppress warning when wrapper indentation is too long --- CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 6ac85bff6..42ebe7ea4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -416,6 +416,8 @@ add_subdirectory(CppUnitLite) # Build wrap if (GTSAM_BUILD_WRAP) add_subdirectory(wrap) + # suppress warning of cython line being too long + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-misleading-indentation") endif(GTSAM_BUILD_WRAP) # Build GTSAM library From cd809309f72e3193518ffaf01550126884d5a16e Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 23 Mar 2020 08:04:17 -0400 Subject: [PATCH 0266/1152] suppress warning only on linux for now, need to figure out for other OSes --- CMakeLists.txt | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 42ebe7ea4..be556d27e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -417,7 +417,9 @@ add_subdirectory(CppUnitLite) if (GTSAM_BUILD_WRAP) add_subdirectory(wrap) # suppress warning of cython line being too long - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-misleading-indentation") + if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-misleading-indentation") + endif() endif(GTSAM_BUILD_WRAP) # Build GTSAM library From 1cfcd2075a6beb8e6c289029feaa9caa6dd9fcb0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 25 Mar 2020 08:59:58 -0400 Subject: [PATCH 0267/1152] Style and dates --- .../examples/TimeOfArrivalExample.py | 30 +++++++++---------- .../examples/TimeOfArrivalExample.cpp | 2 +- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/cython/gtsam_unstable/examples/TimeOfArrivalExample.py b/cython/gtsam_unstable/examples/TimeOfArrivalExample.py index ac3af8a38..6ba06f0f2 100644 --- a/cython/gtsam_unstable/examples/TimeOfArrivalExample.py +++ b/cython/gtsam_unstable/examples/TimeOfArrivalExample.py @@ -1,5 +1,5 @@ """ -GTSAM Copyright 2010-2018, Georgia Tech Research Corporation, +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, Atlanta, Georgia 30332-0415 All Rights Reserved Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -23,7 +23,7 @@ CM = 1e-2 TIME_OF_ARRIVAL = TimeOfArrival(330) -def defineMicrophones(): +def define_microphones(): """Create microphones.""" height = 0.5 microphones = [] @@ -34,7 +34,7 @@ def defineMicrophones(): return microphones -def createTrajectory(n): +def create_trajectory(n): """Create ground truth trajectory.""" trajectory = [] timeOfEvent = 10 @@ -47,19 +47,19 @@ def createTrajectory(n): return trajectory -def simulateOneTOA(microphones, event): +def simulate_one_toa(microphones, event): """Simulate time-of-arrival measurements for a single event.""" return [TIME_OF_ARRIVAL.measure(event, microphones[i]) for i in range(len(microphones))] -def simulateTOA(microphones, trajectory): +def simulate_toa(microphones, trajectory): """Simulate time-of-arrival measurements for an entire trajectory.""" - return [simulateOneTOA(microphones, event) + return [simulate_one_toa(microphones, event) for event in trajectory] -def createGraph(microphones, simulatedTOA): +def create_graph(microphones, simulatedTOA): """Create factor graph.""" graph = NonlinearFactorGraph() @@ -77,7 +77,7 @@ def createGraph(microphones, simulatedTOA): return graph -def createInitialEstimate(n): +def create_initial_estimate(n): """Create initial estimate for n events.""" initial = Values() zero = Event() @@ -86,32 +86,32 @@ def createInitialEstimate(n): return initial -def TimeOfArrivalExample(): +def toa_example(): """Run example with 4 microphones and 5 events in a straight line.""" # Create microphones - microphones = defineMicrophones() + microphones = define_microphones() K = len(microphones) for i in range(K): print("mic {} = {}".format(i, microphones[i])) # Create a ground truth trajectory n = 5 - groundTruth = createTrajectory(n) + groundTruth = create_trajectory(n) for event in groundTruth: print(event) # Simulate time-of-arrival measurements - simulatedTOA = simulateTOA(microphones, groundTruth) + simulatedTOA = simulate_toa(microphones, groundTruth) for key in range(n): for i in range(K): print("z_{}{} = {} ms".format(key, i, simulatedTOA[key][i] / MS)) # create factor graph - graph = createGraph(microphones, simulatedTOA) + graph = create_graph(microphones, simulatedTOA) print(graph.at(0)) # Create initial estimate - initial_estimate = createInitialEstimate(n) + initial_estimate = create_initial_estimate(n) print(initial_estimate) # Optimize using Levenberg-Marquardt optimization. @@ -124,5 +124,5 @@ def TimeOfArrivalExample(): if __name__ == '__main__': - TimeOfArrivalExample() + toa_example() print("Example complete") diff --git a/gtsam_unstable/examples/TimeOfArrivalExample.cpp b/gtsam_unstable/examples/TimeOfArrivalExample.cpp index f49d47fb7..9991e04b6 100644 --- a/gtsam_unstable/examples/TimeOfArrivalExample.cpp +++ b/gtsam_unstable/examples/TimeOfArrivalExample.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) From 6945845868bc3598ddcbb255e9e3bae2964af378 Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Wed, 25 Mar 2020 20:03:03 -0400 Subject: [PATCH 0268/1152] add default value of GTSAM_WITH_TBB --- .travis.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/.travis.sh b/.travis.sh index bc9029595..d57b784df 100755 --- a/.travis.sh +++ b/.travis.sh @@ -24,6 +24,7 @@ function configure() -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \ -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \ -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \ + -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-ON} \ -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \ -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \ From ea8f774f8d723f053e3c53170476673e2fbdad75 Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Thu, 26 Mar 2020 13:38:17 -0400 Subject: [PATCH 0269/1152] make GTSAM_WITH_TBB=OFF default in ci --- .travis.sh | 2 +- .travis.yml | 18 +++++++++--------- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/.travis.sh b/.travis.sh index d57b784df..78351f095 100755 --- a/.travis.sh +++ b/.travis.sh @@ -24,7 +24,7 @@ function configure() -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \ -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \ -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \ - -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-ON} \ + -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \ -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \ -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \ diff --git a/.travis.yml b/.travis.yml index e4e1a3440..870a4bdb9 100644 --- a/.travis.yml +++ b/.travis.yml @@ -44,7 +44,7 @@ jobs: - stage: compile os: osx compiler: gcc - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF script: bash .travis.sh -b - stage: compile os: osx @@ -55,7 +55,7 @@ jobs: - stage: compile os: osx compiler: clang - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF script: bash .travis.sh -b - stage: compile os: osx @@ -66,7 +66,7 @@ jobs: - stage: compile os: linux compiler: gcc - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF script: bash .travis.sh -b - stage: compile os: linux @@ -77,7 +77,7 @@ jobs: - stage: compile os: linux compiler: clang - env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF + env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF script: bash .travis.sh -b - stage: compile os: linux @@ -88,13 +88,13 @@ jobs: - stage: special os: linux compiler: clang - env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON GTSAM_WITH_TBB=OFF + env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON script: bash .travis.sh -b -# on Linux, with GTSAM_WITH_TBB not off to make sure GTSAM still compiles/tests +# on Linux, with GTSAM_WITH_TBB on to make sure GTSAM still compiles/tests - stage: special os: linux compiler: gcc - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=ON script: bash .travis.sh -b # -------- STAGE 2: TESTS ----------- # on Mac, GCC @@ -106,7 +106,7 @@ jobs: - stage: test os: osx compiler: clang - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF script: bash .travis.sh -t - stage: test os: linux @@ -116,7 +116,7 @@ jobs: - stage: test os: linux compiler: gcc - env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF + env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF script: bash .travis.sh -t - stage: test os: linux From 88005a99a13dff3dacb726ebb9ae36b4be63df15 Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Thu, 26 Mar 2020 13:46:30 -0400 Subject: [PATCH 0270/1152] fix tbb CMakeLists indentation --- CMakeLists.txt | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 56250a12c..57c9d5f2f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -199,17 +199,17 @@ 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 (${TBB_VERSION_MAJOR} GREATER_EQUAL 2020) - set(TBB_GREATER_EQUAL_2020 1) - else() - set(TBB_GREATER_EQUAL_2020 0) - endif() - # all definitions and link requisites will go via imported targets: - # tbb & tbbmalloc - list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc) + set(GTSAM_USE_TBB 1) # This will go into config.h + if (${TBB_VERSION_MAJOR} GREATER_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 + set(GTSAM_USE_TBB 0) # This will go into config.h endif() ############################################################################### From 80fc06cad7fbb31089e4e11709fd7c81bc98327b Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 26 Mar 2020 16:03:51 -0400 Subject: [PATCH 0271/1152] function to add tbb with debug --- .travis.sh | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/.travis.sh b/.travis.sh index 78351f095..9ff1f22cd 100755 --- a/.travis.sh +++ b/.travis.sh @@ -1,5 +1,17 @@ #!/bin/bash +# install TBB with _debug.so files +function install_tbb() +{ + wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.5/tbb44_20160526oss_lin.tgz + if [ $(uname -s) == "Linux"]; then + tar -xvf tbb44_20160526oss_lin.tgz + elif [ $(uname -s) == "Linux" ]; then + tar -xvf tbb44_20160526oss_mac.tgz + fi + source tbb44_20160526oss/bin/tbbvars.sh intel64 linux auto_tbbroot +} + # common tasks before either build or test function configure() { @@ -19,6 +31,8 @@ function configure() export CXX=g++-$GCC_VERSION fi + install_tbb + # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs cmake $SOURCE_DIR \ -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \ From 026c794a9279b3b764f9101f4e410c25793c69c1 Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Thu, 26 Mar 2020 16:32:05 -0400 Subject: [PATCH 0272/1152] use the same tbb as xenial --- .travis.sh | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/.travis.sh b/.travis.sh index 9ff1f22cd..5db84e1e5 100755 --- a/.travis.sh +++ b/.travis.sh @@ -3,13 +3,14 @@ # install TBB with _debug.so files function install_tbb() { - wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.5/tbb44_20160526oss_lin.tgz - if [ $(uname -s) == "Linux"]; then - tar -xvf tbb44_20160526oss_lin.tgz - elif [ $(uname -s) == "Linux" ]; then - tar -xvf tbb44_20160526oss_mac.tgz + if [ $(uname -s) == "Linux" ]; then + wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz + tar -xvf tbb44_20151115oss_lin.tgz + elif [ $(uname -s) == "Darwin" ]; then + wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz + tar -xvf tbb44_20151115oss_osx.tgz fi - source tbb44_20160526oss/bin/tbbvars.sh intel64 linux auto_tbbroot + source tbb44_20151115oss/bin/tbbvars.sh intel64 linux auto_tbbroot } # common tasks before either build or test From 4a356b9bd93ab4f7076a778b073c77b104a89c40 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 26 Mar 2020 18:00:47 -0400 Subject: [PATCH 0273/1152] improved install_tbb function --- .travis.sh | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/.travis.sh b/.travis.sh index 5db84e1e5..8fdf27bd3 100755 --- a/.travis.sh +++ b/.travis.sh @@ -5,12 +5,23 @@ function install_tbb() { if [ $(uname -s) == "Linux" ]; then wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz - tar -xvf tbb44_20151115oss_lin.tgz + tar -xf tbb44_20151115oss_lin.tgz elif [ $(uname -s) == "Darwin" ]; then wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz - tar -xvf tbb44_20151115oss_osx.tgz + tar -xf tbb44_20151115oss_osx.tgz fi - source tbb44_20151115oss/bin/tbbvars.sh intel64 linux auto_tbbroot + + # Variables needed for setting the correct library path + TBB_TARGET_ARCH="intel64" + TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/.. + library_directory="${TBB_TARGET_ARCH}/gcc4.1" + + # Set library paths + MIC_LD_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LD_LIBRARY_PATH}"; export MIC_LD_LIBRARY_PATH + MIC_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LIBRARY_PATH}"; export MIC_LIBRARY_PATH + LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}"; export LD_LIBRARY_PATH + LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}"; export LIBRARY_PATH + CPATH="${TBBROOT}/include:$CPATH"; export CPATH } # common tasks before either build or test From 34069a60df3cb216f74a6faabdcc2ee54e7e2d90 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 26 Mar 2020 21:00:23 -0400 Subject: [PATCH 0274/1152] specific paths for Mac, removed libtbb from travis packages list --- .travis.sh | 28 ++++++++++++++++++---------- .travis.yml | 1 - 2 files changed, 18 insertions(+), 11 deletions(-) diff --git a/.travis.sh b/.travis.sh index 8fdf27bd3..1f681043a 100755 --- a/.travis.sh +++ b/.travis.sh @@ -6,21 +6,29 @@ function install_tbb() if [ $(uname -s) == "Linux" ]; then wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz tar -xf tbb44_20151115oss_lin.tgz + + TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/.. + + TBB_TARGET_ARCH="intel64" + library_directory="${TBB_TARGET_ARCH}/gcc4.1" + + # Set library paths + MIC_LD_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LD_LIBRARY_PATH}"; export MIC_LD_LIBRARY_PATH + MIC_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LIBRARY_PATH}"; export MIC_LIBRARY_PATH + LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}"; export LD_LIBRARY_PATH + LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}"; export LIBRARY_PATH + elif [ $(uname -s) == "Darwin" ]; then wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz tar -xf tbb44_20151115oss_osx.tgz + + TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/.. + + # Set library paths + LIBRARY_PATH="${TBBROOT}/lib:$LIBRARY_PATH"; export LIBRARY_PATH + DYLD_LIBRARY_PATH="${TBBROOT}/lib:$DYLD_LIBRARY_PATH"; export DYLD_LIBRARY_PATH fi - # Variables needed for setting the correct library path - TBB_TARGET_ARCH="intel64" - TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/.. - library_directory="${TBB_TARGET_ARCH}/gcc4.1" - - # Set library paths - MIC_LD_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LD_LIBRARY_PATH}"; export MIC_LD_LIBRARY_PATH - MIC_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LIBRARY_PATH}"; export MIC_LIBRARY_PATH - LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}"; export LD_LIBRARY_PATH - LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}"; export LIBRARY_PATH CPATH="${TBBROOT}/include:$CPATH"; export CPATH } diff --git a/.travis.yml b/.travis.yml index 870a4bdb9..2de325818 100644 --- a/.travis.yml +++ b/.travis.yml @@ -16,7 +16,6 @@ addons: - cmake - libpython-dev python-numpy - libboost-all-dev - - libtbb-dev # before_install: # - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update ; fi From 2e34a175f7aca1bd0d8a1f11e83550b80bddfe57 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 26 Mar 2020 22:05:28 -0400 Subject: [PATCH 0275/1152] properly export variables --- .travis.sh | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/.travis.sh b/.travis.sh index 1f681043a..708572ef2 100755 --- a/.travis.sh +++ b/.travis.sh @@ -13,10 +13,10 @@ function install_tbb() library_directory="${TBB_TARGET_ARCH}/gcc4.1" # Set library paths - MIC_LD_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LD_LIBRARY_PATH}"; export MIC_LD_LIBRARY_PATH - MIC_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LIBRARY_PATH}"; export MIC_LIBRARY_PATH - LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}"; export LD_LIBRARY_PATH - LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}"; export LIBRARY_PATH + export MIC_LD_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LD_LIBRARY_PATH}" + export MIC_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LIBRARY_PATH}" + export LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}" + export LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}" elif [ $(uname -s) == "Darwin" ]; then wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz @@ -25,8 +25,8 @@ function install_tbb() TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/.. # Set library paths - LIBRARY_PATH="${TBBROOT}/lib:$LIBRARY_PATH"; export LIBRARY_PATH - DYLD_LIBRARY_PATH="${TBBROOT}/lib:$DYLD_LIBRARY_PATH"; export DYLD_LIBRARY_PATH + export LIBRARY_PATH="${TBBROOT}/lib:$LIBRARY_PATH" + export DYLD_LIBRARY_PATH="${TBBROOT}/lib:$DYLD_LIBRARY_PATH" fi CPATH="${TBBROOT}/include:$CPATH"; export CPATH From de170d5f3a4767fc2673c8439986ce9314c7987f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 27 Mar 2020 07:53:40 -0400 Subject: [PATCH 0276/1152] use enum dimension for camera DoF --- gtsam/geometry/Cal3DS2.h | 10 +++------- gtsam/geometry/Cal3Unified.h | 7 +++---- gtsam/geometry/Cal3_S2.h | 11 +++-------- gtsam/geometry/Cal3_S2Stereo.h | 11 +++-------- gtsam/geometry/CalibratedCamera.h | 10 +++------- 5 files changed, 15 insertions(+), 34 deletions(-) diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h index d4461f23f..3e62f758d 100644 --- a/gtsam/geometry/Cal3DS2.h +++ b/gtsam/geometry/Cal3DS2.h @@ -33,13 +33,9 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base { typedef Cal3DS2_Base Base; -private: - - static const size_t dimension_ = 9; - public: - enum { dimension = dimension_ }; + enum { dimension = 9 }; /// @name Standard Constructors /// @{ @@ -80,10 +76,10 @@ public: Vector localCoordinates(const Cal3DS2& T2) const ; /// Return dimensions of calibration manifold object - virtual size_t dim() const { return dimension_ ; } + virtual size_t dim() const { return dimension ; } /// Return dimensions of calibration manifold object - static size_t Dim() { return dimension_; } + static size_t Dim() { return dimension; } /// @} /// @name Clone diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h index 4feba996a..ae75c3916 100644 --- a/gtsam/geometry/Cal3Unified.h +++ b/gtsam/geometry/Cal3Unified.h @@ -47,11 +47,10 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base { private: double xi_; // mirror parameter - static const size_t dimension_ = 10; public: - enum { dimension = dimension_ }; + enum { dimension = 10 }; /// @name Standard Constructors /// @{ @@ -119,10 +118,10 @@ public: Vector10 localCoordinates(const Cal3Unified& T2) const ; /// Return dimensions of calibration manifold object - virtual size_t dim() const { return dimension_ ; } + virtual size_t dim() const { return dimension ; } /// Return dimensions of calibration manifold object - static size_t Dim() { return dimension_; } + static size_t Dim() { return dimension; } /// Return all parameters as a vector Vector10 vector() const ; diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h index fdf3b7d28..f2848d0a3 100644 --- a/gtsam/geometry/Cal3_S2.h +++ b/gtsam/geometry/Cal3_S2.h @@ -33,10 +33,9 @@ namespace gtsam { class GTSAM_EXPORT Cal3_S2 { private: double fx_, fy_, s_, u0_, v0_; - static const size_t dimension_ = 5; public: - enum { dimension = dimension_ }; + enum { dimension = 5 }; typedef boost::shared_ptr shared_ptr; ///< shared pointer to calibration object /// @name Standard Constructors @@ -194,14 +193,10 @@ public: /// @{ /// return DOF, dimensionality of tangent space - inline size_t dim() const { - return dimension_; - } + inline size_t dim() const { return dimension; } /// return DOF, dimensionality of tangent space - static size_t Dim() { - return dimension_; - } + static size_t Dim() { return dimension; } /// Given 5-dim tangent vector, create new calibration inline Cal3_S2 retract(const Vector& d) const { diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h index fc85d9d36..a6eb41b60 100644 --- a/gtsam/geometry/Cal3_S2Stereo.h +++ b/gtsam/geometry/Cal3_S2Stereo.h @@ -32,11 +32,10 @@ namespace gtsam { Cal3_S2 K_; double b_; - static const size_t dimension_ = 6; public: - enum { dimension = dimension_ }; + enum { dimension = 6 }; typedef boost::shared_ptr shared_ptr; ///< shared pointer to stereo calibration object /// @name Standard Constructors @@ -112,14 +111,10 @@ namespace gtsam { /// @{ /// return DOF, dimensionality of tangent space - inline size_t dim() const { - return dimension_; - } + inline size_t dim() const { return dimension; } /// return DOF, dimensionality of tangent space - static size_t Dim() { - return dimension_; - } + static size_t Dim() { return dimension; } /// Given 6-dim tangent vector, create new calibration inline Cal3_S2Stereo retract(const Vector& d) const { diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 2ee5266a7..eff747eb5 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -248,14 +248,10 @@ private: */ class GTSAM_EXPORT CalibratedCamera: public PinholeBase { -private: - - static const size_t dimension_ = 6; - public: enum { - dimension = dimension_ + dimension = 6 }; /// @name Standard Constructors @@ -330,12 +326,12 @@ public: /// @deprecated inline size_t dim() const { - return dimension_; + return dimension; } /// @deprecated inline static size_t Dim() { - return dimension_; + return dimension; } /// @} From a59786c809ca7abaaf5449112fe39c66afb75f53 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 27 Mar 2020 07:54:50 -0400 Subject: [PATCH 0277/1152] undo sigma checks, and use explicit triangular view to perform inverse of R matrix --- gtsam/linear/NoiseModel.cpp | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 3019275dd..3ecb274de 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -143,7 +143,10 @@ bool Gaussian::equals(const Base& expected, double tol) const { /* ************************************************************************* */ Vector Gaussian::sigmas() const { - Matrix Rinv = thisR().inverse(); // inverse of triangular matrix is fast + Matrix R = thisR(); + // fast inverse of upper-triangular matrix + // Alternate for Matrix Rinv = R.inverse(); + Matrix Rinv = R.triangularView().solve(Matrix::Identity(R.rows(), R.cols())); return Vector((Rinv * Rinv.transpose()).diagonal()).cwiseSqrt(); } @@ -312,9 +315,10 @@ void Diagonal::WhitenInPlace(Eigen::Block H) const { namespace internal { // switch precisions and invsigmas to finite value +// TODO: why?? And, why not just ask s==0.0 below ? static void fix(const Vector& sigmas, Vector& precisions, Vector& invsigmas) { for (Vector::Index i = 0; i < sigmas.size(); ++i) - if (sigmas[i] <= 1e-12) { + if (!std::isfinite(1. / sigmas[i])) { precisions[i] = 0.0; invsigmas[i] = 0.0; } @@ -341,8 +345,8 @@ Constrained::shared_ptr Constrained::MixedSigmas(const Vector& mu, /* ************************************************************************* */ bool Constrained::constrained(size_t i) const { - // numerically stable way, rather than comparing to 0.0 directly. - return sigmas_[i] <= 1e-12; + // TODO why not just check sigmas_[i]==0.0 ? + return !std::isfinite(1./sigmas_[i]); } /* ************************************************************************* */ From 7248b149fd0bbc7f077dc6bd5361bb280b4af6f3 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 27 Mar 2020 08:39:06 -0400 Subject: [PATCH 0278/1152] save tbb download to /tmp --- .travis.sh | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/.travis.sh b/.travis.sh index 708572ef2..e08ab5a30 100755 --- a/.travis.sh +++ b/.travis.sh @@ -3,11 +3,11 @@ # install TBB with _debug.so files function install_tbb() { - if [ $(uname -s) == "Linux" ]; then - wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz - tar -xf tbb44_20151115oss_lin.tgz + if [ "$(uname -s)" == "Linux" ]; then + wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz -O /tmp/tbb442.tgz + tar -C /tmp -xvf /tmp/tbb442.tgz - TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/.. + TBBROOT=/tmp/tbb44_20151115oss TBB_TARGET_ARCH="intel64" library_directory="${TBB_TARGET_ARCH}/gcc4.1" @@ -18,18 +18,18 @@ function install_tbb() export LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}" export LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}" - elif [ $(uname -s) == "Darwin" ]; then - wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz - tar -xf tbb44_20151115oss_osx.tgz + elif [ "$(uname -s)" == "Darwin" ]; then + wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz -O /tmp/tbb442.tgz + tar -C /tmp -xvf /tmp/tbb442.tgz - TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/.. + TBBROOT=/tmp/tbb44_20151115oss # Set library paths export LIBRARY_PATH="${TBBROOT}/lib:$LIBRARY_PATH" export DYLD_LIBRARY_PATH="${TBBROOT}/lib:$DYLD_LIBRARY_PATH" fi - CPATH="${TBBROOT}/include:$CPATH"; export CPATH + # CPATH="${TBBROOT}/include:$CPATH"; export CPATH } # common tasks before either build or test From 5dc19e074674ab3aa7cc23656491294ead0cbef8 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 27 Mar 2020 09:21:51 -0400 Subject: [PATCH 0279/1152] install tbb before install to allow propagation of env variables --- .travis.sh | 9 +++++---- .travis.yml | 5 +++-- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/.travis.sh b/.travis.sh index e08ab5a30..5f999e7a9 100755 --- a/.travis.sh +++ b/.travis.sh @@ -5,7 +5,7 @@ function install_tbb() { if [ "$(uname -s)" == "Linux" ]; then wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz -O /tmp/tbb442.tgz - tar -C /tmp -xvf /tmp/tbb442.tgz + tar -C /tmp -xf /tmp/tbb442.tgz TBBROOT=/tmp/tbb44_20151115oss @@ -20,7 +20,7 @@ function install_tbb() elif [ "$(uname -s)" == "Darwin" ]; then wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz -O /tmp/tbb442.tgz - tar -C /tmp -xvf /tmp/tbb442.tgz + tar -C /tmp -xf /tmp/tbb442.tgz TBBROOT=/tmp/tbb44_20151115oss @@ -51,8 +51,6 @@ function configure() export CXX=g++-$GCC_VERSION fi - install_tbb - # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs cmake $SOURCE_DIR \ -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \ @@ -111,4 +109,7 @@ case $1 in -t) test ;; + -tbb) + install_tbb + ;; esac diff --git a/.travis.yml b/.travis.yml index 2de325818..7e5b33ec4 100644 --- a/.travis.yml +++ b/.travis.yml @@ -17,8 +17,9 @@ addons: - libpython-dev python-numpy - libboost-all-dev -# before_install: -# - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update ; fi +before_install: + - ./.travis.sh -tbb + # - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update; fi install: - if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache ; fi From 99e1c42282d2cde3bf5e42e33f38c14171820d6a Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 27 Mar 2020 10:53:22 -0400 Subject: [PATCH 0280/1152] update travis.yml to install tbb during install phase, source script to add variables to current shell --- .travis.sh | 8 +++----- .travis.yml | 4 ++-- 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/.travis.sh b/.travis.sh index 5f999e7a9..2bf4f038c 100755 --- a/.travis.sh +++ b/.travis.sh @@ -3,12 +3,12 @@ # install TBB with _debug.so files function install_tbb() { + TBBROOT=/tmp/tbb44_20151115oss + if [ "$(uname -s)" == "Linux" ]; then wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz -O /tmp/tbb442.tgz tar -C /tmp -xf /tmp/tbb442.tgz - TBBROOT=/tmp/tbb44_20151115oss - TBB_TARGET_ARCH="intel64" library_directory="${TBB_TARGET_ARCH}/gcc4.1" @@ -22,14 +22,12 @@ function install_tbb() wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz -O /tmp/tbb442.tgz tar -C /tmp -xf /tmp/tbb442.tgz - TBBROOT=/tmp/tbb44_20151115oss - # Set library paths export LIBRARY_PATH="${TBBROOT}/lib:$LIBRARY_PATH" export DYLD_LIBRARY_PATH="${TBBROOT}/lib:$DYLD_LIBRARY_PATH" fi - # CPATH="${TBBROOT}/include:$CPATH"; export CPATH + CPATH="${TBBROOT}/include:$CPATH"; export CPATH } # common tasks before either build or test diff --git a/.travis.yml b/.travis.yml index 7e5b33ec4..893627df3 100644 --- a/.travis.yml +++ b/.travis.yml @@ -17,13 +17,13 @@ addons: - libpython-dev python-numpy - libboost-all-dev -before_install: - - ./.travis.sh -tbb +# before_install: # - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update; fi install: - if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache ; fi - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH" ; fi + - source .travis.sh -tbb # We first do the compile stage specified below, then the matrix expansion specified after. stages: From ba5086f2717466f413796068c53fa337ecd73531 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 27 Mar 2020 13:15:59 -0400 Subject: [PATCH 0281/1152] vastly improved install_tbb function which copies files correctly --- .travis.sh | 42 ++++++++++++++++++++++-------------------- 1 file changed, 22 insertions(+), 20 deletions(-) diff --git a/.travis.sh b/.travis.sh index 2bf4f038c..10d5fd545 100755 --- a/.travis.sh +++ b/.travis.sh @@ -3,31 +3,33 @@ # install TBB with _debug.so files function install_tbb() { - TBBROOT=/tmp/tbb44_20151115oss + TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download + TBB_VERSION=4.4.2 + TBB_DIR=tbb44_20151115oss + TBB_SAVEPATH="/tmp/tbb.tgz" - if [ "$(uname -s)" == "Linux" ]; then - wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz -O /tmp/tbb442.tgz - tar -C /tmp -xf /tmp/tbb442.tgz + if [ "$TRAVIS_OS_NAME" == "linux" ]; then + OS_SHORT="lin" + TBB_LIB_DIR="intel64/gcc4.4" + SUDO="sudo" - TBB_TARGET_ARCH="intel64" - library_directory="${TBB_TARGET_ARCH}/gcc4.1" + elif [ "$TRAVIS_OS_NAME" == "osx" ]; then + OS_SHORT="lin" + TBB_LIB_DIR="" + SUDO="" - # Set library paths - export MIC_LD_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LD_LIBRARY_PATH}" - export MIC_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LIBRARY_PATH}" - export LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}" - export LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}" - - elif [ "$(uname -s)" == "Darwin" ]; then - wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz -O /tmp/tbb442.tgz - tar -C /tmp -xf /tmp/tbb442.tgz - - # Set library paths - export LIBRARY_PATH="${TBBROOT}/lib:$LIBRARY_PATH" - export DYLD_LIBRARY_PATH="${TBBROOT}/lib:$DYLD_LIBRARY_PATH" fi - CPATH="${TBBROOT}/include:$CPATH"; export CPATH + wget "${TBB_BASEURL}/${TBB_VERSION}/${TBB_DIR}_${OS_SHORT}.tgz" -O $TBB_SAVEPATH + tar -C /tmp -xf $TBB_SAVEPATH + + TBBROOT=/tmp/$TBB_DIR + # Copy the needed files to the correct places. + # This works correctly for travis builds, instead of setting path variables. + # This is what Homebrew does to install TBB on Macs + $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/ + $SUDO cp -R $TBBROOT/include/ /usr/local/include/ + } # common tasks before either build or test From 44ec8ba8c09a85a9d8721729e31d0dd3a97d66df Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 27 Mar 2020 23:22:42 -0400 Subject: [PATCH 0282/1152] make covariance() use fast triangular inverse and use that for sigmas --- gtsam/linear/NoiseModel.cpp | 17 ++++++++++++----- gtsam/linear/NoiseModel.h | 2 +- 2 files changed, 13 insertions(+), 6 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 3ecb274de..915550d22 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -141,13 +141,20 @@ bool Gaussian::equals(const Base& expected, double tol) const { return equal_with_abs_tol(R(), p->R(), sqrt(tol)); } +/* ************************************************************************* */ +Matrix Gaussian::covariance() const { + // Uses a fast version of `covariance = information().inverse();` + Matrix R = this->R(); + Matrix I = Matrix::Identity(R.rows(), R.cols()); + // Fast inverse of upper-triangular matrix R using forward-substitution + Matrix Rinv = R.triangularView().solve(I); + // (R' * R)^{-1} = R^{-1} * R^{-1}' + return (Rinv * Rinv.transpose()); +} + /* ************************************************************************* */ Vector Gaussian::sigmas() const { - Matrix R = thisR(); - // fast inverse of upper-triangular matrix - // Alternate for Matrix Rinv = R.inverse(); - Matrix Rinv = R.triangularView().solve(Matrix::Identity(R.rows(), R.cols())); - return Vector((Rinv * Rinv.transpose()).diagonal()).cwiseSqrt(); + return Vector(covariance().diagonal()).cwiseSqrt(); } /* ************************************************************************* */ diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 6c42fc7ba..dda780a36 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -257,7 +257,7 @@ namespace gtsam { virtual Matrix information() const { return R().transpose() * R(); } /// Compute covariance matrix - virtual Matrix covariance() const { return information().inverse(); } + virtual Matrix covariance() const; private: /** Serialization function */ From 8dc7359924176c0c575d8b1f014057ce99aaac03 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 27 Mar 2020 23:30:50 -0400 Subject: [PATCH 0283/1152] set makefile to not verbose to speed up travis and reduce log length --- .travis.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.sh b/.travis.sh index 10d5fd545..d1940db52 100755 --- a/.travis.sh +++ b/.travis.sh @@ -61,7 +61,7 @@ function configure() -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \ -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \ -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ - -DCMAKE_VERBOSE_MAKEFILE=ON + -DCMAKE_VERBOSE_MAKEFILE=OFF } From d608611c871035269dcc702bd13377050c8757b9 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 28 Mar 2020 06:56:58 -0400 Subject: [PATCH 0284/1152] install tbb as part of configure --- .travis.sh | 5 ++--- .travis.yml | 1 - 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/.travis.sh b/.travis.sh index d1940db52..535a72f4b 100755 --- a/.travis.sh +++ b/.travis.sh @@ -46,6 +46,8 @@ function configure() rm -fr $BUILD_DIR || true mkdir $BUILD_DIR && cd $BUILD_DIR + install_tbb + if [ ! -z "$GCC_VERSION" ]; then export CC=gcc-$GCC_VERSION export CXX=g++-$GCC_VERSION @@ -109,7 +111,4 @@ case $1 in -t) test ;; - -tbb) - install_tbb - ;; esac diff --git a/.travis.yml b/.travis.yml index 893627df3..c272cff07 100644 --- a/.travis.yml +++ b/.travis.yml @@ -23,7 +23,6 @@ addons: install: - if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache ; fi - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH" ; fi - - source .travis.sh -tbb # We first do the compile stage specified below, then the matrix expansion specified after. stages: From 02ff7ae276514bb3633638416fda95e7b3100fae Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 28 Mar 2020 09:56:29 -0400 Subject: [PATCH 0285/1152] output message for exception in debug mode --- gtsam/nonlinear/utilities.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/nonlinear/utilities.h b/gtsam/nonlinear/utilities.h index 1228cd4db..2044d091f 100644 --- a/gtsam/nonlinear/utilities.h +++ b/gtsam/nonlinear/utilities.h @@ -244,6 +244,9 @@ Values localToWorld(const Values& local, const Pose2& base, world.insert(key, base.transformFrom(point)); } catch (const std::exception& e2) { // if not Pose2 or Point2, do nothing + #ifndef NDEBUG + std::cerr << "Values[key] is neither Pose2 nor Point2, so skip" << std::endl; + #endif } } } From 35bfc8468485796e1de882c753a8777273c3682f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 28 Mar 2020 10:05:38 -0400 Subject: [PATCH 0286/1152] make makefile verbose again --- .travis.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.sh b/.travis.sh index 535a72f4b..9fc09a3f8 100755 --- a/.travis.sh +++ b/.travis.sh @@ -63,7 +63,7 @@ function configure() -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \ -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \ -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ - -DCMAKE_VERBOSE_MAKEFILE=OFF + -DCMAKE_VERBOSE_MAKEFILE=ON } From 4197fa3c54751a32bcaa4dabaee9955e476ea28b Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 29 Mar 2020 19:11:44 -0400 Subject: [PATCH 0287/1152] removed graphWithPrior from all examples while keeping functionality the same --- cython/gtsam/examples/Pose2SLAMExample_g2o.py | 5 ++--- cython/gtsam/examples/Pose3SLAMExample_g2o.py | 9 ++++----- examples/Pose2SLAMExample_g2o.cpp | 5 ++--- examples/Pose2SLAMExample_lago.cpp | 12 +++++++----- examples/Pose3Localization.cpp | 12 +++++++----- examples/Pose3SLAMExample_g2o.cpp | 10 ++++++---- examples/Pose3SLAMExample_initializePose3Chordal.cpp | 10 ++++++---- .../Pose3SLAMExample_initializePose3Gradient.cpp | 10 ++++++---- 8 files changed, 40 insertions(+), 33 deletions(-) diff --git a/cython/gtsam/examples/Pose2SLAMExample_g2o.py b/cython/gtsam/examples/Pose2SLAMExample_g2o.py index 3aee7daff..83d543310 100644 --- a/cython/gtsam/examples/Pose2SLAMExample_g2o.py +++ b/cython/gtsam/examples/Pose2SLAMExample_g2o.py @@ -53,16 +53,15 @@ graph, initial = gtsam.readG2o(g2oFile, is3D) assert args.kernel == "none", "Supplied kernel type is not yet implemented" # Add prior on the pose having index (key) = 0 -graphWithPrior = graph priorModel = gtsam.noiseModel_Diagonal.Variances(vector3(1e-6, 1e-6, 1e-8)) -graphWithPrior.add(gtsam.PriorFactorPose2(0, gtsam.Pose2(), priorModel)) +graph.add(gtsam.PriorFactorPose2(0, gtsam.Pose2(), priorModel)) params = gtsam.GaussNewtonParams() params.setVerbosity("Termination") params.setMaxIterations(maxIterations) # parameters.setRelativeErrorTol(1e-5) # Create the optimizer ... -optimizer = gtsam.GaussNewtonOptimizer(graphWithPrior, initial, params) +optimizer = gtsam.GaussNewtonOptimizer(graph, initial, params) # ... and optimize result = optimizer.optimize() diff --git a/cython/gtsam/examples/Pose3SLAMExample_g2o.py b/cython/gtsam/examples/Pose3SLAMExample_g2o.py index 38c5db275..25686c762 100644 --- a/cython/gtsam/examples/Pose3SLAMExample_g2o.py +++ b/cython/gtsam/examples/Pose3SLAMExample_g2o.py @@ -43,18 +43,17 @@ priorModel = gtsam.noiseModel_Diagonal.Variances(vector6(1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4)) print("Adding prior to g2o file ") -graphWithPrior = graph firstKey = initial.keys().at(0) -graphWithPrior.add(gtsam.PriorFactorPose3(firstKey, gtsam.Pose3(), priorModel)) +graph.add(gtsam.PriorFactorPose3(firstKey, gtsam.Pose3(), priorModel)) params = gtsam.GaussNewtonParams() params.setVerbosity("Termination") # this will show info about stopping conds -optimizer = gtsam.GaussNewtonOptimizer(graphWithPrior, initial, params) +optimizer = gtsam.GaussNewtonOptimizer(graph, initial, params) result = optimizer.optimize() print("Optimization complete") -print("initial error = ", graphWithPrior.error(initial)) -print("final error = ", graphWithPrior.error(result)) +print("initial error = ", graph.error(initial)) +print("final error = ", graph.error(result)) if args.output is None: print("Final Result:\n{}".format(result)) diff --git a/examples/Pose2SLAMExample_g2o.cpp b/examples/Pose2SLAMExample_g2o.cpp index 35f9884e1..a38dfafa6 100644 --- a/examples/Pose2SLAMExample_g2o.cpp +++ b/examples/Pose2SLAMExample_g2o.cpp @@ -63,10 +63,9 @@ int main(const int argc, const char *argv[]) { } // Add prior on the pose having index (key) = 0 - NonlinearFactorGraph graphWithPrior = *graph; noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances(Vector3(1e-6, 1e-6, 1e-8)); - graphWithPrior.add(PriorFactor(0, Pose2(), priorModel)); + graph->add(PriorFactor(0, Pose2(), priorModel)); std::cout << "Adding prior on pose 0 " << std::endl; GaussNewtonParams params; @@ -77,7 +76,7 @@ int main(const int argc, const char *argv[]) { } std::cout << "Optimizing the factor graph" << std::endl; - GaussNewtonOptimizer optimizer(graphWithPrior, *initial, params); + GaussNewtonOptimizer optimizer(*graph, *initial, params); Values result = optimizer.optimize(); std::cout << "Optimization complete" << std::endl; diff --git a/examples/Pose2SLAMExample_lago.cpp b/examples/Pose2SLAMExample_lago.cpp index b83dfa1db..d6164450b 100644 --- a/examples/Pose2SLAMExample_lago.cpp +++ b/examples/Pose2SLAMExample_lago.cpp @@ -42,14 +42,13 @@ int main(const int argc, const char *argv[]) { boost::tie(graph, initial) = readG2o(g2oFile); // Add prior on the pose having index (key) = 0 - NonlinearFactorGraph graphWithPrior = *graph; noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances(Vector3(1e-6, 1e-6, 1e-8)); - graphWithPrior.add(PriorFactor(0, Pose2(), priorModel)); - graphWithPrior.print(); + graph->add(PriorFactor(0, Pose2(), priorModel)); + graph->print(); std::cout << "Computing LAGO estimate" << std::endl; - Values estimateLago = lago::initialize(graphWithPrior); + Values estimateLago = lago::initialize(*graph); std::cout << "done!" << std::endl; if (argc < 3) { @@ -57,7 +56,10 @@ int main(const int argc, const char *argv[]) { } else { const string outputFile = argv[2]; std::cout << "Writing results to file: " << outputFile << std::endl; - writeG2o(*graph, estimateLago, outputFile); + NonlinearFactorGraph::shared_ptr graphNoKernel; + Values::shared_ptr initial2; + boost::tie(graphNoKernel, initial2) = readG2o(g2oFile); + writeG2o(*graphNoKernel, estimateLago, outputFile); std::cout << "done! " << std::endl; } diff --git a/examples/Pose3Localization.cpp b/examples/Pose3Localization.cpp index becb9530c..05a04b353 100644 --- a/examples/Pose3Localization.cpp +++ b/examples/Pose3Localization.cpp @@ -21,8 +21,8 @@ #include #include #include -#include #include +#include using namespace std; using namespace gtsam; @@ -42,21 +42,20 @@ int main(const int argc, const char *argv[]) { boost::tie(graph, initial) = readG2o(g2oFile, is3D); // Add prior on the first key - NonlinearFactorGraph graphWithPrior = *graph; noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished()); Key firstKey = 0; for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; - graphWithPrior.add(PriorFactor(firstKey, Pose3(), priorModel)); + graph->add(PriorFactor(firstKey, Pose3(), priorModel)); break; } std::cout << "Optimizing the factor graph" << std::endl; GaussNewtonParams params; params.setVerbosity("TERMINATION"); // this will show info about stopping conditions - GaussNewtonOptimizer optimizer(graphWithPrior, *initial, params); + GaussNewtonOptimizer optimizer(*graph, *initial, params); Values result = optimizer.optimize(); std::cout << "Optimization complete" << std::endl; @@ -68,7 +67,10 @@ int main(const int argc, const char *argv[]) { } else { const string outputFile = argv[2]; std::cout << "Writing results to file: " << outputFile << std::endl; - writeG2o(*graph, result, outputFile); + NonlinearFactorGraph::shared_ptr graphNoKernel; + Values::shared_ptr initial2; + boost::tie(graphNoKernel, initial2) = readG2o(g2oFile); + writeG2o(*graphNoKernel, result, outputFile); std::cout << "done! " << std::endl; } diff --git a/examples/Pose3SLAMExample_g2o.cpp b/examples/Pose3SLAMExample_g2o.cpp index 5066222e5..25297806e 100644 --- a/examples/Pose3SLAMExample_g2o.cpp +++ b/examples/Pose3SLAMExample_g2o.cpp @@ -41,21 +41,20 @@ int main(const int argc, const char *argv[]) { boost::tie(graph, initial) = readG2o(g2oFile, is3D); // Add prior on the first key - NonlinearFactorGraph graphWithPrior = *graph; noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished()); Key firstKey = 0; for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; - graphWithPrior.add(PriorFactor(firstKey, Pose3(), priorModel)); + graph->add(PriorFactor(firstKey, Pose3(), priorModel)); break; } std::cout << "Optimizing the factor graph" << std::endl; GaussNewtonParams params; params.setVerbosity("TERMINATION"); // this will show info about stopping conditions - GaussNewtonOptimizer optimizer(graphWithPrior, *initial, params); + GaussNewtonOptimizer optimizer(*graph, *initial, params); Values result = optimizer.optimize(); std::cout << "Optimization complete" << std::endl; @@ -67,7 +66,10 @@ int main(const int argc, const char *argv[]) { } else { const string outputFile = argv[2]; std::cout << "Writing results to file: " << outputFile << std::endl; - writeG2o(*graph, result, outputFile); + NonlinearFactorGraph::shared_ptr graphNoKernel; + Values::shared_ptr initial2; + boost::tie(graphNoKernel, initial2) = readG2o(g2oFile); + writeG2o(*graphNoKernel, result, outputFile); std::cout << "done! " << std::endl; } return 0; diff --git a/examples/Pose3SLAMExample_initializePose3Chordal.cpp b/examples/Pose3SLAMExample_initializePose3Chordal.cpp index e90d014c0..9726f467c 100644 --- a/examples/Pose3SLAMExample_initializePose3Chordal.cpp +++ b/examples/Pose3SLAMExample_initializePose3Chordal.cpp @@ -41,19 +41,18 @@ int main(const int argc, const char *argv[]) { boost::tie(graph, initial) = readG2o(g2oFile, is3D); // Add prior on the first key - NonlinearFactorGraph graphWithPrior = *graph; noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished()); Key firstKey = 0; for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; - graphWithPrior.add(PriorFactor(firstKey, Pose3(), priorModel)); + graph->add(PriorFactor(firstKey, Pose3(), priorModel)); break; } std::cout << "Initializing Pose3 - chordal relaxation" << std::endl; - Values initialization = InitializePose3::initialize(graphWithPrior); + Values initialization = InitializePose3::initialize(*graph); std::cout << "done!" << std::endl; if (argc < 3) { @@ -61,7 +60,10 @@ int main(const int argc, const char *argv[]) { } else { const string outputFile = argv[2]; std::cout << "Writing results to file: " << outputFile << std::endl; - writeG2o(*graph, initialization, outputFile); + NonlinearFactorGraph::shared_ptr graphNoKernel; + Values::shared_ptr initial2; + boost::tie(graphNoKernel, initial2) = readG2o(g2oFile); + writeG2o(*graphNoKernel, initialization, outputFile); std::cout << "done! " << std::endl; } return 0; diff --git a/examples/Pose3SLAMExample_initializePose3Gradient.cpp b/examples/Pose3SLAMExample_initializePose3Gradient.cpp index 10960cf31..000150846 100644 --- a/examples/Pose3SLAMExample_initializePose3Gradient.cpp +++ b/examples/Pose3SLAMExample_initializePose3Gradient.cpp @@ -41,20 +41,19 @@ int main(const int argc, const char *argv[]) { boost::tie(graph, initial) = readG2o(g2oFile, is3D); // Add prior on the first key - NonlinearFactorGraph graphWithPrior = *graph; noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished()); Key firstKey = 0; for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; - graphWithPrior.add(PriorFactor(firstKey, Pose3(), priorModel)); + graph->add(PriorFactor(firstKey, Pose3(), priorModel)); break; } std::cout << "Initializing Pose3 - Riemannian gradient" << std::endl; bool useGradient = true; - Values initialization = InitializePose3::initialize(graphWithPrior, *initial, useGradient); + Values initialization = InitializePose3::initialize(*graph, *initial, useGradient); std::cout << "done!" << std::endl; std::cout << "initial error=" <error(*initial)<< std::endl; @@ -65,7 +64,10 @@ int main(const int argc, const char *argv[]) { } else { const string outputFile = argv[2]; std::cout << "Writing results to file: " << outputFile << std::endl; - writeG2o(*graph, initialization, outputFile); + NonlinearFactorGraph::shared_ptr graphNoKernel; + Values::shared_ptr initial2; + boost::tie(graphNoKernel, initial2) = readG2o(g2oFile); + writeG2o(*graphNoKernel, initialization, outputFile); std::cout << "done! " << std::endl; } return 0; From 221dcaa13ac427082e55b7b3b67c78b9eec396a1 Mon Sep 17 00:00:00 2001 From: kvmanohar22 Date: Mon, 30 Mar 2020 22:16:30 +0530 Subject: [PATCH 0288/1152] adding functionality to use ISAM2 for imu preintegration example --- examples/ImuFactorsExample.cpp | 29 ++++++++++++++++++++++++++++- 1 file changed, 28 insertions(+), 1 deletion(-) diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp index e038f5117..bdeb99d0c 100644 --- a/examples/ImuFactorsExample.cpp +++ b/examples/ImuFactorsExample.cpp @@ -33,6 +33,8 @@ * optional arguments: * data_csv_path path to the CSV file with the IMU data. * -c use CombinedImuFactor + * Note: Define USE_LM to use Levenberg Marquardt Optimizer + * By default ISAM2 is used */ // GTSAM related includes. @@ -44,11 +46,15 @@ #include #include #include +#include #include #include #include #include +// Uncomment the following to use Levenberg Marquardt Optimizer +// #define USE_LM + using namespace gtsam; using namespace std; @@ -67,6 +73,17 @@ int main(int argc, char* argv[]) { string data_filename; bool use_combined_imu = false; + +#ifndef USE_LM + printf("Using ISAM2\n"); + ISAM2Params parameters; + parameters.relinearizeThreshold = 0.01; + parameters.relinearizeSkip = 1; + ISAM2 isam2(parameters); +#else + printf("Using Levenberg Marquardt Optimizer\n"); +#endif + if (argc < 2) { printf("using default CSV file\n"); data_filename = findExampleDataFile("imuAndGPSdata.csv"); @@ -248,9 +265,19 @@ int main(int argc, char* argv[]) initial_values.insert(V(correction_count), prop_state.v()); initial_values.insert(B(correction_count), prev_bias); + Values result; +#ifdef USE_LM LevenbergMarquardtOptimizer optimizer(*graph, initial_values); - Values result = optimizer.optimize(); + result = optimizer.optimize(); +#else + isam2.update(*graph, initial_values); + isam2.update(); + result = isam2.calculateEstimate(); + // reset the graph + graph->resize(0); + initial_values.clear(); +#endif // Overwrite the beginning of the preintegration for the next step. prev_state = NavState(result.at(X(correction_count)), result.at(V(correction_count))); From 7fcacf90c69b73076e2e67e286e03febbd07f8d6 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Tue, 31 Mar 2020 22:22:12 -0400 Subject: [PATCH 0289/1152] Fix unittest when GTSAM_DEFINE_POINTS_AS_VECTORS is defined --- gtsam/geometry/tests/testPose3.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 8433bbb01..ec0450abb 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -1008,7 +1008,14 @@ TEST(Pose3, print) { // Generate the expected output std::stringstream expected; Point3 translation(1, 2, 3); + +#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS + expected << "1\n" + "2\n" + "3;\n"; +#else expected << '[' << translation.x() << ", " << translation.y() << ", " << translation.z() << "]\';"; +#endif // reset cout to the original stream std::cout.rdbuf(oldbuf); From 8c2bd979401df08ed1a5944a6573ad05b9e5472c Mon Sep 17 00:00:00 2001 From: yetongumich Date: Wed, 1 Apr 2020 15:45:04 -0400 Subject: [PATCH 0290/1152] fix comments --- gtsam/linear/GaussianBayesNet.h | 2 +- gtsam/linear/GaussianBayesTree.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/GaussianBayesNet.h b/gtsam/linear/GaussianBayesNet.h index 9da7a1609..3f6d69e91 100644 --- a/gtsam/linear/GaussianBayesNet.h +++ b/gtsam/linear/GaussianBayesNet.h @@ -143,7 +143,7 @@ namespace gtsam { * allocateVectorValues */ VectorValues gradientAtZero() const; - /** Mahalanobis norm error. */ + /** 0.5 * sum of squared Mahalanobis distances. */ double error(const VectorValues& x) const; /** diff --git a/gtsam/linear/GaussianBayesTree.h b/gtsam/linear/GaussianBayesTree.h index fcc73f80e..b6f5acd52 100644 --- a/gtsam/linear/GaussianBayesTree.h +++ b/gtsam/linear/GaussianBayesTree.h @@ -106,7 +106,7 @@ namespace gtsam { * @return A VectorValues storing the gradient. */ VectorValues gradientAtZero() const; - /** Mahalanobis norm error. */ + /** 0.5 * sum of squared Mahalanobis distances. */ double error(const VectorValues& x) const; /** Computes the determinant of a GassianBayesTree, as if the Bayes tree is reorganized into a From fbd5aef61a261879ea1dea3abeb8a246ede3ee13 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Wed, 1 Apr 2020 15:45:58 -0400 Subject: [PATCH 0291/1152] deprecated Mahalanobis, add better named functions --- gtsam/linear/NoiseModel.cpp | 4 ++-- gtsam/linear/NoiseModel.h | 19 +++++++++++++++---- gtsam/linear/tests/testNoiseModel.cpp | 4 ++-- 3 files changed, 19 insertions(+), 8 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index a6ebea394..33f51e1f0 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -157,7 +157,7 @@ Vector Gaussian::unwhiten(const Vector& v) const { } /* ************************************************************************* */ -double Gaussian::Mahalanobis(const Vector& v) const { +double Gaussian::SquaredMahalanobisDistance(const Vector& v) const { // Note: for Diagonal, which does ediv_, will be correct for constraints Vector w = whiten(v); return w.dot(w); @@ -573,7 +573,7 @@ void Isotropic::print(const string& name) const { } /* ************************************************************************* */ -double Isotropic::Mahalanobis(const Vector& v) const { +double Isotropic::SquaredMahalanobisDistance(const Vector& v) const { return v.dot(v) * invsigma_ * invsigma_; } diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 6c42fc7ba..b08207566 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -207,12 +207,23 @@ namespace gtsam { virtual Vector unwhiten(const Vector& v) const; /** - * Mahalanobis distance v'*R'*R*v = + * Squared Mahalanobis distance v'*R'*R*v = */ + virtual double SquaredMahalanobisDistance(const Vector& v) const; + + /** + * Mahalanobis distance + */ + virtual double MahalanobisDistance(const Vector& v) const { + return std::sqrt(SquaredMahalanobisDistance(v)); + } + +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 virtual double Mahalanobis(const Vector& v) const; +#endif inline virtual double distance(const Vector& v) const { - return Mahalanobis(v); + return SquaredMahalanobisDistance(v); } /** @@ -564,7 +575,7 @@ namespace gtsam { } virtual void print(const std::string& name) const; - virtual double Mahalanobis(const Vector& v) const; + virtual double SquaredMahalanobisDistance(const Vector& v) const; virtual Vector whiten(const Vector& v) const; virtual Vector unwhiten(const Vector& v) const; virtual Matrix Whiten(const Matrix& H) const; @@ -616,7 +627,7 @@ namespace gtsam { virtual bool isUnit() const { return true; } virtual void print(const std::string& name) const; - virtual double Mahalanobis(const Vector& v) const {return v.dot(v); } + virtual double SquaredMahalanobisDistance(const Vector& v) const {return v.dot(v); } virtual Vector whiten(const Vector& v) const { return v; } virtual Vector unwhiten(const Vector& v) const { return v; } virtual Matrix Whiten(const Matrix& H) const { return H; } diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 10578627f..523a38b2b 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -68,10 +68,10 @@ TEST(NoiseModel, constructors) for(Gaussian::shared_ptr mi: m) EXPECT(assert_equal(unwhitened,mi->unwhiten(whitened))); - // test Mahalanobis distance + // test squared Mahalanobis distance double distance = 5*5+10*10+15*15; for(Gaussian::shared_ptr mi: m) - DOUBLES_EQUAL(distance,mi->Mahalanobis(unwhitened),1e-9); + DOUBLES_EQUAL(distance,mi->SquaredMahalanobisDistance(unwhitened),1e-9); // test R matrix for(Gaussian::shared_ptr mi: m) From 351c6f8bccca726e3515721cde22626750fc4011 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Wed, 1 Apr 2020 16:45:37 -0400 Subject: [PATCH 0292/1152] add implementation for deprecated Mahalanobis --- gtsam/linear/NoiseModel.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index b08207566..c4128909b 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -219,7 +219,9 @@ namespace gtsam { } #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 - virtual double Mahalanobis(const Vector& v) const; + virtual double Mahalanobis(const Vector& v) const { + return SquaredMahalanobisDistance(v); + } #endif inline virtual double distance(const Vector& v) const { From 83bd42c72fe022a74c9301eac2b2b4a5e40782df Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 1 Apr 2020 16:52:57 -0400 Subject: [PATCH 0293/1152] maintain backwards compatibility of CMake --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 86234afa8..7a49a8aa6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -200,7 +200,7 @@ 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 (${TBB_VERSION_MAJOR} GREATER_EQUAL 2020) + if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020)) set(TBB_GREATER_EQUAL_2020 1) else() set(TBB_GREATER_EQUAL_2020 0) From 4e3542a74310d098b4e3f4eba104db3d3a47d9e5 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Wed, 1 Apr 2020 18:55:23 -0400 Subject: [PATCH 0294/1152] renamed residual to loss, follow PR #188 --- gtsam.h | 18 +++--- gtsam/linear/LossFunctions.cpp | 16 ++--- gtsam/linear/LossFunctions.h | 33 +++++----- gtsam/linear/NoiseModel.h | 6 +- gtsam/linear/tests/testNoiseModel.cpp | 64 ++++++++++---------- matlab/gtsam_examples/VisualizeMEstimators.m | 2 +- 6 files changed, 71 insertions(+), 68 deletions(-) diff --git a/gtsam.h b/gtsam.h index 8ee778f4c..1094d9dd9 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1458,7 +1458,7 @@ virtual class Null: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Fair: gtsam::noiseModel::mEstimator::Base { @@ -1469,7 +1469,7 @@ virtual class Fair: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Huber: gtsam::noiseModel::mEstimator::Base { @@ -1480,7 +1480,7 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Cauchy: gtsam::noiseModel::mEstimator::Base { @@ -1491,7 +1491,7 @@ virtual class Cauchy: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Tukey: gtsam::noiseModel::mEstimator::Base { @@ -1502,7 +1502,7 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Welsch: gtsam::noiseModel::mEstimator::Base { @@ -1513,7 +1513,7 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { @@ -1524,7 +1524,7 @@ virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class DCS: gtsam::noiseModel::mEstimator::Base { @@ -1535,7 +1535,7 @@ virtual class DCS: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base { @@ -1546,7 +1546,7 @@ virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; }///\namespace mEstimator diff --git a/gtsam/linear/LossFunctions.cpp b/gtsam/linear/LossFunctions.cpp index 6bc737e2c..8bb670a92 100644 --- a/gtsam/linear/LossFunctions.cpp +++ b/gtsam/linear/LossFunctions.cpp @@ -141,7 +141,7 @@ double Fair::weight(double error) const { return 1.0 / (1.0 + std::abs(error) / c_); } -double Fair::residual(double error) const { +double Fair::loss(double error) const { const double absError = std::abs(error); const double normalizedError = absError / c_; const double c_2 = c_ * c_; @@ -175,7 +175,7 @@ double Huber::weight(double error) const { return (absError <= k_) ? (1.0) : (k_ / absError); } -double Huber::residual(double error) const { +double Huber::loss(double error) const { const double absError = std::abs(error); if (absError <= k_) { // |x| <= k return error*error / 2; @@ -212,7 +212,7 @@ double Cauchy::weight(double error) const { return ksquared_ / (ksquared_ + error*error); } -double Cauchy::residual(double error) const { +double Cauchy::loss(double error) const { const double val = std::log1p(error * error / ksquared_); return ksquared_ * val * 0.5; } @@ -249,7 +249,7 @@ double Tukey::weight(double error) const { return 0.0; } -double Tukey::residual(double error) const { +double Tukey::loss(double error) const { double absError = std::abs(error); if (absError <= c_) { const double one_minus_xc2 = 1.0 - error*error/csquared_; @@ -285,7 +285,7 @@ double Welsch::weight(double error) const { return std::exp(-xc2); } -double Welsch::residual(double error) const { +double Welsch::loss(double error) const { const double xc2 = (error*error)/csquared_; return csquared_ * 0.5 * -std::expm1(-xc2); } @@ -318,7 +318,7 @@ double GemanMcClure::weight(double error) const { return c4/(c2error*c2error); } -double GemanMcClure::residual(double error) const { +double GemanMcClure::loss(double error) const { const double c2 = c_*c_; const double error2 = error*error; return 0.5 * (c2 * error2) / (c2 + error2); @@ -356,7 +356,7 @@ double DCS::weight(double error) const { return 1.0; } -double DCS::residual(double error) const { +double DCS::loss(double error) const { // This is the simplified version of Eq 9 from (Agarwal13icra) // after you simplify and cancel terms. const double e2 = error*error; @@ -400,7 +400,7 @@ double L2WithDeadZone::weight(double error) const { else return (k_+error)/error; } -double L2WithDeadZone::residual(double error) const { +double L2WithDeadZone::loss(double error) const { const double abs_error = std::abs(error); return (abs_error < k_) ? 0.0 : 0.5*(k_-abs_error)*(k_-abs_error); } diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h index 1f7cc1377..1b6f444e8 100644 --- a/gtsam/linear/LossFunctions.h +++ b/gtsam/linear/LossFunctions.h @@ -36,12 +36,12 @@ namespace noiseModel { * The mEstimator name space contains all robust error functions. * It mirrors the exposition at * https://members.loria.fr/MOBerger/Enseignement/Master2/Documents/ZhangIVC-97-01.pdf - * which talks about minimizing \sum \rho(r_i), where \rho is a residual function of choice. + * which talks about minimizing \sum \rho(r_i), where \rho is a loss function of choice. * * To illustrate, let's consider the least-squares (L2), L1, and Huber estimators as examples: * * Name Symbol Least-Squares L1-norm Huber - * Residual \rho(x) 0.5*x^2 |x| 0.5*x^2 if |x| shared_ptr; @@ -131,7 +134,7 @@ class GTSAM_EXPORT Null : public Base { Null(const ReweightScheme reweight = Block) : Base(reweight) {} ~Null() {} double weight(double /*error*/) const { return 1.0; } - double residual(double error) const { return error; } + double loss(double error) const { return 0.5 * error * error; } void print(const std::string &s) const; bool equals(const Base & /*expected*/, double /*tol*/) const { return true; } static shared_ptr Create(); @@ -155,7 +158,7 @@ class GTSAM_EXPORT Fair : public Base { Fair(double c = 1.3998, const ReweightScheme reweight = Block); double weight(double error) const override; - double residual(double error) const override; + double loss(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double c, const ReweightScheme reweight = Block); @@ -180,7 +183,7 @@ class GTSAM_EXPORT Huber : public Base { Huber(double k = 1.345, const ReweightScheme reweight = Block); double weight(double error) const override; - double residual(double error) const override; + double loss(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -210,7 +213,7 @@ class GTSAM_EXPORT Cauchy : public Base { Cauchy(double k = 0.1, const ReweightScheme reweight = Block); double weight(double error) const override; - double residual(double error) const override; + double loss(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -235,7 +238,7 @@ class GTSAM_EXPORT Tukey : public Base { Tukey(double c = 4.6851, const ReweightScheme reweight = Block); double weight(double error) const override; - double residual(double error) const override; + double loss(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -260,7 +263,7 @@ class GTSAM_EXPORT Welsch : public Base { Welsch(double c = 2.9846, const ReweightScheme reweight = Block); double weight(double error) const override; - double residual(double error) const override; + double loss(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -296,7 +299,7 @@ class GTSAM_EXPORT GemanMcClure : public Base { GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block); ~GemanMcClure() {} double weight(double error) const override; - double residual(double error) const override; + double loss(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -326,7 +329,7 @@ class GTSAM_EXPORT DCS : public Base { DCS(double c = 1.0, const ReweightScheme reweight = Block); ~DCS() {} double weight(double error) const override; - double residual(double error) const override; + double loss(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -359,7 +362,7 @@ class GTSAM_EXPORT L2WithDeadZone : public Base { L2WithDeadZone(double k = 1.0, const ReweightScheme reweight = Block); double weight(double error) const override; - double residual(double error) const override; + double loss(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index c4128909b..a4d15c0f8 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -705,11 +705,11 @@ namespace gtsam { { Vector b; Matrix B=A; this->WhitenSystem(B,b); return B; } inline virtual Vector unwhiten(const Vector& /*v*/) const { throw std::invalid_argument("unwhiten is not currently supported for robust noise models."); } - // Fold the use of the m-estimator residual(...) function into distance(...) + // Fold the use of the m-estimator loss(...) function into distance(...) inline virtual double distance(const Vector& v) const - { return robust_->residual(this->unweightedWhiten(v).norm()); } + { return robust_->loss(this->unweightedWhiten(v).norm()); } inline virtual double distance_non_whitened(const Vector& v) const - { return robust_->residual(v.norm()); } + { return robust_->loss(v.norm()); } // TODO: these are really robust iterated re-weighting support functions virtual void WhitenSystem(Vector& b) const; virtual void WhitenSystem(std::vector& A, Vector& b) const; diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 523a38b2b..0290fc5d8 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -467,10 +467,10 @@ TEST(NoiseModel, robustFunctionFair) DOUBLES_EQUAL(0.3333333333333333, fair->weight(error3), 1e-8); DOUBLES_EQUAL(0.8333333333333333, fair->weight(error4), 1e-8); - DOUBLES_EQUAL(0.441961080151135, fair->residual(error1), 1e-8); - DOUBLES_EQUAL(22.534692783297260, fair->residual(error2), 1e-8); - DOUBLES_EQUAL(22.534692783297260, fair->residual(error3), 1e-8); - DOUBLES_EQUAL(0.441961080151135, fair->residual(error4), 1e-8); + DOUBLES_EQUAL(0.441961080151135, fair->loss(error1), 1e-8); + DOUBLES_EQUAL(22.534692783297260, fair->loss(error2), 1e-8); + DOUBLES_EQUAL(22.534692783297260, fair->loss(error3), 1e-8); + DOUBLES_EQUAL(0.441961080151135, fair->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionHuber) @@ -483,10 +483,10 @@ TEST(NoiseModel, robustFunctionHuber) DOUBLES_EQUAL(0.5, huber->weight(error3), 1e-8); DOUBLES_EQUAL(1.0, huber->weight(error4), 1e-8); - DOUBLES_EQUAL(0.5000, huber->residual(error1), 1e-8); - DOUBLES_EQUAL(37.5000, huber->residual(error2), 1e-8); - DOUBLES_EQUAL(37.5000, huber->residual(error3), 1e-8); - DOUBLES_EQUAL(0.5000, huber->residual(error4), 1e-8); + DOUBLES_EQUAL(0.5000, huber->loss(error1), 1e-8); + DOUBLES_EQUAL(37.5000, huber->loss(error2), 1e-8); + DOUBLES_EQUAL(37.5000, huber->loss(error3), 1e-8); + DOUBLES_EQUAL(0.5000, huber->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionCauchy) @@ -499,10 +499,10 @@ TEST(NoiseModel, robustFunctionCauchy) DOUBLES_EQUAL(0.2000, cauchy->weight(error3), 1e-8); DOUBLES_EQUAL(0.961538461538461, cauchy->weight(error4), 1e-8); - DOUBLES_EQUAL(0.490258914416017, cauchy->residual(error1), 1e-8); - DOUBLES_EQUAL(20.117973905426254, cauchy->residual(error2), 1e-8); - DOUBLES_EQUAL(20.117973905426254, cauchy->residual(error3), 1e-8); - DOUBLES_EQUAL(0.490258914416017, cauchy->residual(error4), 1e-8); + DOUBLES_EQUAL(0.490258914416017, cauchy->loss(error1), 1e-8); + DOUBLES_EQUAL(20.117973905426254, cauchy->loss(error2), 1e-8); + DOUBLES_EQUAL(20.117973905426254, cauchy->loss(error3), 1e-8); + DOUBLES_EQUAL(0.490258914416017, cauchy->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionGemanMcClure) @@ -514,10 +514,10 @@ TEST(NoiseModel, robustFunctionGemanMcClure) DOUBLES_EQUAL(9.80296e-5, gmc->weight(error3), 1e-8); DOUBLES_EQUAL(0.25 , gmc->weight(error4), 1e-8); - DOUBLES_EQUAL(0.2500, gmc->residual(error1), 1e-8); - DOUBLES_EQUAL(0.495049504950495, gmc->residual(error2), 1e-8); - DOUBLES_EQUAL(0.495049504950495, gmc->residual(error3), 1e-8); - DOUBLES_EQUAL(0.2500, gmc->residual(error4), 1e-8); + DOUBLES_EQUAL(0.2500, gmc->loss(error1), 1e-8); + DOUBLES_EQUAL(0.495049504950495, gmc->loss(error2), 1e-8); + DOUBLES_EQUAL(0.495049504950495, gmc->loss(error3), 1e-8); + DOUBLES_EQUAL(0.2500, gmc->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionWelsch) @@ -530,10 +530,10 @@ TEST(NoiseModel, robustFunctionWelsch) DOUBLES_EQUAL(0.018315638888734, welsch->weight(error3), 1e-8); DOUBLES_EQUAL(0.960789439152323, welsch->weight(error4), 1e-8); - DOUBLES_EQUAL(0.490132010595960, welsch->residual(error1), 1e-8); - DOUBLES_EQUAL(12.271054513890823, welsch->residual(error2), 1e-8); - DOUBLES_EQUAL(12.271054513890823, welsch->residual(error3), 1e-8); - DOUBLES_EQUAL(0.490132010595960, welsch->residual(error4), 1e-8); + DOUBLES_EQUAL(0.490132010595960, welsch->loss(error1), 1e-8); + DOUBLES_EQUAL(12.271054513890823, welsch->loss(error2), 1e-8); + DOUBLES_EQUAL(12.271054513890823, welsch->loss(error3), 1e-8); + DOUBLES_EQUAL(0.490132010595960, welsch->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionTukey) @@ -546,10 +546,10 @@ TEST(NoiseModel, robustFunctionTukey) DOUBLES_EQUAL(0.0, tukey->weight(error3), 1e-8); DOUBLES_EQUAL(0.9216, tukey->weight(error4), 1e-8); - DOUBLES_EQUAL(0.480266666666667, tukey->residual(error1), 1e-8); - DOUBLES_EQUAL(4.166666666666667, tukey->residual(error2), 1e-8); - DOUBLES_EQUAL(4.166666666666667, tukey->residual(error3), 1e-8); - DOUBLES_EQUAL(0.480266666666667, tukey->residual(error4), 1e-8); + DOUBLES_EQUAL(0.480266666666667, tukey->loss(error1), 1e-8); + DOUBLES_EQUAL(4.166666666666667, tukey->loss(error2), 1e-8); + DOUBLES_EQUAL(4.166666666666667, tukey->loss(error3), 1e-8); + DOUBLES_EQUAL(0.480266666666667, tukey->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionDCS) @@ -560,8 +560,8 @@ TEST(NoiseModel, robustFunctionDCS) DOUBLES_EQUAL(1.0 , dcs->weight(error1), 1e-8); DOUBLES_EQUAL(0.00039211, dcs->weight(error2), 1e-8); - DOUBLES_EQUAL(0.5 , dcs->residual(error1), 1e-8); - DOUBLES_EQUAL(0.9900990099, dcs->residual(error2), 1e-8); + DOUBLES_EQUAL(0.5 , dcs->loss(error1), 1e-8); + DOUBLES_EQUAL(0.9900990099, dcs->loss(error2), 1e-8); } TEST(NoiseModel, robustFunctionL2WithDeadZone) @@ -576,12 +576,12 @@ TEST(NoiseModel, robustFunctionL2WithDeadZone) DOUBLES_EQUAL(0.00990099009, lsdz->weight(e4), 1e-8); DOUBLES_EQUAL(0.9, lsdz->weight(e5), 1e-8); - DOUBLES_EQUAL(40.5, lsdz->residual(e0), 1e-8); - DOUBLES_EQUAL(0.00005, lsdz->residual(e1), 1e-8); - DOUBLES_EQUAL(0.0, lsdz->residual(e2), 1e-8); - DOUBLES_EQUAL(0.0, lsdz->residual(e3), 1e-8); - DOUBLES_EQUAL(0.00005, lsdz->residual(e4), 1e-8); - DOUBLES_EQUAL(40.5, lsdz->residual(e5), 1e-8); + DOUBLES_EQUAL(40.5, lsdz->loss(e0), 1e-8); + DOUBLES_EQUAL(0.00005, lsdz->loss(e1), 1e-8); + DOUBLES_EQUAL(0.0, lsdz->loss(e2), 1e-8); + DOUBLES_EQUAL(0.0, lsdz->loss(e3), 1e-8); + DOUBLES_EQUAL(0.00005, lsdz->loss(e4), 1e-8); + DOUBLES_EQUAL(40.5, lsdz->loss(e5), 1e-8); } /* ************************************************************************* */ diff --git a/matlab/gtsam_examples/VisualizeMEstimators.m b/matlab/gtsam_examples/VisualizeMEstimators.m index 8a0485334..ce505df5d 100644 --- a/matlab/gtsam_examples/VisualizeMEstimators.m +++ b/matlab/gtsam_examples/VisualizeMEstimators.m @@ -48,7 +48,7 @@ function plot_m_estimator(x, model, plot_title, fig_id, filename) rho = zeros(size(x)); for i = 1:size(x, 2) w(i) = model.weight(x(i)); - rho(i) = model.residual(x(i)); + rho(i) = model.loss(x(i)); end psi = w .* x; From 201539680f6e2e1db00b6d2b49ceb1a8c9b8db4f Mon Sep 17 00:00:00 2001 From: yetongumich Date: Wed, 1 Apr 2020 20:07:49 -0400 Subject: [PATCH 0295/1152] remove distance in noisemodel, replace with error --- gtsam/linear/JacobianFactor.cpp | 2 +- gtsam/linear/NoiseModel.cpp | 4 ++-- gtsam/linear/NoiseModel.h | 19 ++++++++++++------- gtsam/linear/tests/testNoiseModel.cpp | 10 +++++----- gtsam/nonlinear/NonlinearFactor.cpp | 2 +- 5 files changed, 21 insertions(+), 16 deletions(-) diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 2310d88f0..2e634190c 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -515,7 +515,7 @@ Vector JacobianFactor::error_vector(const VectorValues& c) const { double JacobianFactor::error(const VectorValues& c) const { Vector e = unweighted_error(c); // Use the noise model distance function to get the correct error if available. - if (model_) return 0.5 * model_->distance(e); + if (model_) return model_->error(e); return 0.5 * e.dot(e); } diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 33f51e1f0..d1a03eb5b 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -369,12 +369,12 @@ Vector Constrained::whiten(const Vector& v) const { } /* ************************************************************************* */ -double Constrained::distance(const Vector& v) const { +double Constrained::error(const Vector& v) const { Vector w = Diagonal::whiten(v); // get noisemodel for constrained elements for (size_t i=0; i& A, Vector& b) const = 0; virtual void WhitenSystem(Matrix& A, Vector& b) const = 0; @@ -224,8 +229,8 @@ namespace gtsam { } #endif - inline virtual double distance(const Vector& v) const { - return SquaredMahalanobisDistance(v); + inline virtual double error(const Vector& v) const { + return 0.5 * SquaredMahalanobisDistance(v); } /** @@ -477,7 +482,7 @@ namespace gtsam { * for non-constrained versions, uses sigmas, otherwise * uses the penalty function with mu */ - virtual double distance(const Vector& v) const; + virtual double error(const Vector& v) const; /** Fully constrained variations */ static shared_ptr All(size_t dim) { @@ -705,11 +710,11 @@ namespace gtsam { { Vector b; Matrix B=A; this->WhitenSystem(B,b); return B; } inline virtual Vector unwhiten(const Vector& /*v*/) const { throw std::invalid_argument("unwhiten is not currently supported for robust noise models."); } - // Fold the use of the m-estimator loss(...) function into distance(...) - inline virtual double distance(const Vector& v) const + // Fold the use of the m-estimator loss(...) function into error(...) + inline virtual double error(const Vector& v) const { return robust_->loss(this->unweightedWhiten(v).norm()); } - inline virtual double distance_non_whitened(const Vector& v) const - { return robust_->loss(v.norm()); } + // inline virtual double distance_non_whitened(const Vector& v) const + // { return robust_->loss(v.norm()); } // TODO: these are really robust iterated re-weighting support functions virtual void WhitenSystem(Vector& b) const; virtual void WhitenSystem(std::vector& A, Vector& b) const; diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 0290fc5d8..52e1eefee 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -182,8 +182,8 @@ TEST(NoiseModel, ConstrainedMixed ) EXPECT(assert_equal(Vector3(0.5, 1.0, 0.5),d->whiten(infeasible))); EXPECT(assert_equal(Vector3(0.5, 0.0, 0.5),d->whiten(feasible))); - DOUBLES_EQUAL(1000.0 + 0.25 + 0.25,d->distance(infeasible),1e-9); - DOUBLES_EQUAL(0.5,d->distance(feasible),1e-9); + DOUBLES_EQUAL(0.5 * (1000.0 + 0.25 + 0.25),d->error(infeasible),1e-9); + DOUBLES_EQUAL(0.5 * 0.5,d->error(feasible),1e-9); } /* ************************************************************************* */ @@ -197,8 +197,8 @@ TEST(NoiseModel, ConstrainedAll ) EXPECT(assert_equal(Vector3(1.0, 1.0, 1.0),i->whiten(infeasible))); EXPECT(assert_equal(Vector3(0.0, 0.0, 0.0),i->whiten(feasible))); - DOUBLES_EQUAL(1000.0 * 3.0,i->distance(infeasible),1e-9); - DOUBLES_EQUAL(0.0,i->distance(feasible),1e-9); + DOUBLES_EQUAL(0.5 * 1000.0 * 3.0,i->error(infeasible),1e-9); + DOUBLES_EQUAL(0.0,i->error(feasible),1e-9); } /* ************************************************************************* */ @@ -687,7 +687,7 @@ TEST(NoiseModel, robustNoiseL2WithDeadZone) EQUALITY(cov, gaussian->covariance());\ EXPECT(assert_equal(white, gaussian->whiten(e)));\ EXPECT(assert_equal(e, gaussian->unwhiten(white)));\ - EXPECT_DOUBLES_EQUAL(251, gaussian->distance(e), 1e-9);\ + EXPECT_DOUBLES_EQUAL(0.5 * 251, gaussian->error(e), 1e-9);\ Matrix A = R.inverse(); Vector b = e;\ gaussian->WhitenSystem(A, b);\ EXPECT(assert_equal(I, A));\ diff --git a/gtsam/nonlinear/NonlinearFactor.cpp b/gtsam/nonlinear/NonlinearFactor.cpp index ee14e8073..40fc1c427 100644 --- a/gtsam/nonlinear/NonlinearFactor.cpp +++ b/gtsam/nonlinear/NonlinearFactor.cpp @@ -121,7 +121,7 @@ double NoiseModelFactor::error(const Values& c) const { const Vector b = unwhitenedError(c); check(noiseModel_, b.size()); if (noiseModel_) - return 0.5 * noiseModel_->distance(b); + return noiseModel_->error(b); else return 0.5 * b.squaredNorm(); } else { From 3b183e2da0534ffc26ce66b69aeee03ddfb2730f Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:03:05 -0400 Subject: [PATCH 0296/1152] add test on robust loss functions to behave like quadratic --- gtsam/linear/tests/testNoiseModel.cpp | 30 +++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 52e1eefee..c6fcdd77a 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -681,6 +681,36 @@ TEST(NoiseModel, robustNoiseL2WithDeadZone) } +TEST(NoiseModel, lossFunctionAtZero) +{ + const double k = 5.0; + auto fair = mEstimator::Fair::Create(k); + DOUBLES_EQUAL(fair->loss(0), 0, 1e-8); + DOUBLES_EQUAL(fair->weight(0), 1, 1e-8); + auto huber = mEstimator::Huber::Create(k); + DOUBLES_EQUAL(huber->loss(0), 0, 1e-8); + DOUBLES_EQUAL(huber->weight(0), 1, 1e-8); + auto cauchy = mEstimator::Cauchy::Create(k); + DOUBLES_EQUAL(cauchy->loss(0), 0, 1e-8); + DOUBLES_EQUAL(cauchy->weight(0), 1, 1e-8); + auto gmc = mEstimator::GemanMcClure::Create(k); + DOUBLES_EQUAL(gmc->loss(0), 0, 1e-8); + DOUBLES_EQUAL(gmc->weight(0), 1, 1e-8); + auto welsch = mEstimator::Welsch::Create(k); + DOUBLES_EQUAL(welsch->loss(0), 0, 1e-8); + DOUBLES_EQUAL(welsch->weight(0), 1, 1e-8); + auto tukey = mEstimator::Tukey::Create(k); + DOUBLES_EQUAL(tukey->loss(0), 0, 1e-8); + DOUBLES_EQUAL(tukey->weight(0), 1, 1e-8); + auto dcs = mEstimator::DCS::Create(k); + DOUBLES_EQUAL(dcs->loss(0), 0, 1e-8); + DOUBLES_EQUAL(dcs->weight(0), 1, 1e-8); + // auto lsdz = mEstimator::L2WithDeadZone::Create(k); + // DOUBLES_EQUAL(lsdz->loss(0), 0, 1e-8); + // DOUBLES_EQUAL(lsdz->weight(0), 1, 1e-8); +} + + /* ************************************************************************* */ #define TEST_GAUSSIAN(gaussian)\ EQUALITY(info, gaussian->information());\ From 4c6feb4769b8dc2e55cfe39904baffc138ea8462 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:04:31 -0400 Subject: [PATCH 0297/1152] Revert "add implementation for deprecated Mahalanobis" This reverts commit 351c6f8bccca726e3515721cde22626750fc4011. --- gtsam/linear/NoiseModel.h | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index a4d15c0f8..73f663240 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -219,9 +219,7 @@ namespace gtsam { } #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 - virtual double Mahalanobis(const Vector& v) const { - return SquaredMahalanobisDistance(v); - } + virtual double Mahalanobis(const Vector& v) const; #endif inline virtual double distance(const Vector& v) const { From 0f713ec077c0e51cca96efa4500614f67463fc8a Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:06:31 -0400 Subject: [PATCH 0298/1152] renamed squaredMahalanobisDistance --- gtsam/linear/NoiseModel.cpp | 4 ++-- gtsam/linear/NoiseModel.h | 10 +++++----- gtsam/linear/tests/testNoiseModel.cpp | 2 +- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 33f51e1f0..b324ea784 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -157,7 +157,7 @@ Vector Gaussian::unwhiten(const Vector& v) const { } /* ************************************************************************* */ -double Gaussian::SquaredMahalanobisDistance(const Vector& v) const { +double Gaussian::squaredMahalanobisDistance(const Vector& v) const { // Note: for Diagonal, which does ediv_, will be correct for constraints Vector w = whiten(v); return w.dot(w); @@ -573,7 +573,7 @@ void Isotropic::print(const string& name) const { } /* ************************************************************************* */ -double Isotropic::SquaredMahalanobisDistance(const Vector& v) const { +double Isotropic::squaredMahalanobisDistance(const Vector& v) const { return v.dot(v) * invsigma_ * invsigma_; } diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 73f663240..bdb25bec0 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -209,13 +209,13 @@ namespace gtsam { /** * Squared Mahalanobis distance v'*R'*R*v = */ - virtual double SquaredMahalanobisDistance(const Vector& v) const; + virtual double squaredMahalanobisDistance(const Vector& v) const; /** * Mahalanobis distance */ virtual double MahalanobisDistance(const Vector& v) const { - return std::sqrt(SquaredMahalanobisDistance(v)); + return std::sqrt(squaredMahalanobisDistance(v)); } #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 @@ -223,7 +223,7 @@ namespace gtsam { #endif inline virtual double distance(const Vector& v) const { - return SquaredMahalanobisDistance(v); + return squaredMahalanobisDistance(v); } /** @@ -575,7 +575,7 @@ namespace gtsam { } virtual void print(const std::string& name) const; - virtual double SquaredMahalanobisDistance(const Vector& v) const; + virtual double squaredMahalanobisDistance(const Vector& v) const; virtual Vector whiten(const Vector& v) const; virtual Vector unwhiten(const Vector& v) const; virtual Matrix Whiten(const Matrix& H) const; @@ -627,7 +627,7 @@ namespace gtsam { virtual bool isUnit() const { return true; } virtual void print(const std::string& name) const; - virtual double SquaredMahalanobisDistance(const Vector& v) const {return v.dot(v); } + virtual double squaredMahalanobisDistance(const Vector& v) const {return v.dot(v); } virtual Vector whiten(const Vector& v) const { return v; } virtual Vector unwhiten(const Vector& v) const { return v; } virtual Matrix Whiten(const Matrix& H) const { return H; } diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 0290fc5d8..2322d8432 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -71,7 +71,7 @@ TEST(NoiseModel, constructors) // test squared Mahalanobis distance double distance = 5*5+10*10+15*15; for(Gaussian::shared_ptr mi: m) - DOUBLES_EQUAL(distance,mi->SquaredMahalanobisDistance(unwhitened),1e-9); + DOUBLES_EQUAL(distance,mi->squaredMahalanobisDistance(unwhitened),1e-9); // test R matrix for(Gaussian::shared_ptr mi: m) From 17e8f21e75590c1c6c7120e02e138d8da3b887a0 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:08:58 -0400 Subject: [PATCH 0299/1152] renamed mahalanobisDistance --- gtsam/linear/NoiseModel.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index bdb25bec0..225497b42 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -214,7 +214,7 @@ namespace gtsam { /** * Mahalanobis distance */ - virtual double MahalanobisDistance(const Vector& v) const { + virtual double mahalanobisDistance(const Vector& v) const { return std::sqrt(squaredMahalanobisDistance(v)); } From 227bff6aeeddb4b85d6c05ce75f18df22c099447 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:04:31 -0400 Subject: [PATCH 0300/1152] Revert "add implementation for deprecated Mahalanobis" This reverts commit 351c6f8bccca726e3515721cde22626750fc4011. --- gtsam/linear/NoiseModel.h | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index feacf7b19..4c74d9e46 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -224,9 +224,7 @@ namespace gtsam { } #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 - virtual double Mahalanobis(const Vector& v) const { - return SquaredMahalanobisDistance(v); - } + virtual double Mahalanobis(const Vector& v) const; #endif inline virtual double error(const Vector& v) const { From 9d60c505e87ca3eb965a16ab2919d96c0e32753c Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:06:31 -0400 Subject: [PATCH 0301/1152] merge with mahalanobis renaming --- gtsam/linear/NoiseModel.cpp | 4 ++-- gtsam/linear/NoiseModel.h | 10 +++++----- gtsam/linear/tests/testNoiseModel.cpp | 2 +- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index d1a03eb5b..e0ca3726b 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -157,7 +157,7 @@ Vector Gaussian::unwhiten(const Vector& v) const { } /* ************************************************************************* */ -double Gaussian::SquaredMahalanobisDistance(const Vector& v) const { +double Gaussian::squaredMahalanobisDistance(const Vector& v) const { // Note: for Diagonal, which does ediv_, will be correct for constraints Vector w = whiten(v); return w.dot(w); @@ -573,7 +573,7 @@ void Isotropic::print(const string& name) const { } /* ************************************************************************* */ -double Isotropic::SquaredMahalanobisDistance(const Vector& v) const { +double Isotropic::squaredMahalanobisDistance(const Vector& v) const { return v.dot(v) * invsigma_ * invsigma_; } diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 4c74d9e46..cccca225b 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -214,13 +214,13 @@ namespace gtsam { /** * Squared Mahalanobis distance v'*R'*R*v = */ - virtual double SquaredMahalanobisDistance(const Vector& v) const; + virtual double squaredMahalanobisDistance(const Vector& v) const; /** * Mahalanobis distance */ virtual double MahalanobisDistance(const Vector& v) const { - return std::sqrt(SquaredMahalanobisDistance(v)); + return std::sqrt(squaredMahalanobisDistance(v)); } #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 @@ -228,7 +228,7 @@ namespace gtsam { #endif inline virtual double error(const Vector& v) const { - return 0.5 * SquaredMahalanobisDistance(v); + return 0.5 * squaredMahalanobisDistance(v); } /** @@ -580,7 +580,7 @@ namespace gtsam { } virtual void print(const std::string& name) const; - virtual double SquaredMahalanobisDistance(const Vector& v) const; + virtual double squaredMahalanobisDistance(const Vector& v) const; virtual Vector whiten(const Vector& v) const; virtual Vector unwhiten(const Vector& v) const; virtual Matrix Whiten(const Matrix& H) const; @@ -632,7 +632,7 @@ namespace gtsam { virtual bool isUnit() const { return true; } virtual void print(const std::string& name) const; - virtual double SquaredMahalanobisDistance(const Vector& v) const {return v.dot(v); } + virtual double squaredMahalanobisDistance(const Vector& v) const {return v.dot(v); } virtual Vector whiten(const Vector& v) const { return v; } virtual Vector unwhiten(const Vector& v) const { return v; } virtual Matrix Whiten(const Matrix& H) const { return H; } diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index c6fcdd77a..e879731cb 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -71,7 +71,7 @@ TEST(NoiseModel, constructors) // test squared Mahalanobis distance double distance = 5*5+10*10+15*15; for(Gaussian::shared_ptr mi: m) - DOUBLES_EQUAL(distance,mi->SquaredMahalanobisDistance(unwhitened),1e-9); + DOUBLES_EQUAL(distance,mi->squaredMahalanobisDistance(unwhitened),1e-9); // test R matrix for(Gaussian::shared_ptr mi: m) From 0acca9f8da665d40e3df4cf6c45c6e6734a10a31 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:24:26 -0400 Subject: [PATCH 0302/1152] Revert "renamed residual to loss, follow PR #188" This reverts commit 4e3542a74310d098b4e3f4eba104db3d3a47d9e5. --- gtsam.h | 18 +++--- gtsam/linear/LossFunctions.cpp | 16 ++--- gtsam/linear/LossFunctions.h | 33 +++++----- gtsam/linear/NoiseModel.h | 6 +- gtsam/linear/tests/testNoiseModel.cpp | 64 ++++++++++---------- matlab/gtsam_examples/VisualizeMEstimators.m | 2 +- 6 files changed, 68 insertions(+), 71 deletions(-) diff --git a/gtsam.h b/gtsam.h index 1094d9dd9..8ee778f4c 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1458,7 +1458,7 @@ virtual class Null: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double loss(double error) const; + double residual(double error) const; }; virtual class Fair: gtsam::noiseModel::mEstimator::Base { @@ -1469,7 +1469,7 @@ virtual class Fair: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double loss(double error) const; + double residual(double error) const; }; virtual class Huber: gtsam::noiseModel::mEstimator::Base { @@ -1480,7 +1480,7 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double loss(double error) const; + double residual(double error) const; }; virtual class Cauchy: gtsam::noiseModel::mEstimator::Base { @@ -1491,7 +1491,7 @@ virtual class Cauchy: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double loss(double error) const; + double residual(double error) const; }; virtual class Tukey: gtsam::noiseModel::mEstimator::Base { @@ -1502,7 +1502,7 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double loss(double error) const; + double residual(double error) const; }; virtual class Welsch: gtsam::noiseModel::mEstimator::Base { @@ -1513,7 +1513,7 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double loss(double error) const; + double residual(double error) const; }; virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { @@ -1524,7 +1524,7 @@ virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double loss(double error) const; + double residual(double error) const; }; virtual class DCS: gtsam::noiseModel::mEstimator::Base { @@ -1535,7 +1535,7 @@ virtual class DCS: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double loss(double error) const; + double residual(double error) const; }; virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base { @@ -1546,7 +1546,7 @@ virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double loss(double error) const; + double residual(double error) const; }; }///\namespace mEstimator diff --git a/gtsam/linear/LossFunctions.cpp b/gtsam/linear/LossFunctions.cpp index 8bb670a92..6bc737e2c 100644 --- a/gtsam/linear/LossFunctions.cpp +++ b/gtsam/linear/LossFunctions.cpp @@ -141,7 +141,7 @@ double Fair::weight(double error) const { return 1.0 / (1.0 + std::abs(error) / c_); } -double Fair::loss(double error) const { +double Fair::residual(double error) const { const double absError = std::abs(error); const double normalizedError = absError / c_; const double c_2 = c_ * c_; @@ -175,7 +175,7 @@ double Huber::weight(double error) const { return (absError <= k_) ? (1.0) : (k_ / absError); } -double Huber::loss(double error) const { +double Huber::residual(double error) const { const double absError = std::abs(error); if (absError <= k_) { // |x| <= k return error*error / 2; @@ -212,7 +212,7 @@ double Cauchy::weight(double error) const { return ksquared_ / (ksquared_ + error*error); } -double Cauchy::loss(double error) const { +double Cauchy::residual(double error) const { const double val = std::log1p(error * error / ksquared_); return ksquared_ * val * 0.5; } @@ -249,7 +249,7 @@ double Tukey::weight(double error) const { return 0.0; } -double Tukey::loss(double error) const { +double Tukey::residual(double error) const { double absError = std::abs(error); if (absError <= c_) { const double one_minus_xc2 = 1.0 - error*error/csquared_; @@ -285,7 +285,7 @@ double Welsch::weight(double error) const { return std::exp(-xc2); } -double Welsch::loss(double error) const { +double Welsch::residual(double error) const { const double xc2 = (error*error)/csquared_; return csquared_ * 0.5 * -std::expm1(-xc2); } @@ -318,7 +318,7 @@ double GemanMcClure::weight(double error) const { return c4/(c2error*c2error); } -double GemanMcClure::loss(double error) const { +double GemanMcClure::residual(double error) const { const double c2 = c_*c_; const double error2 = error*error; return 0.5 * (c2 * error2) / (c2 + error2); @@ -356,7 +356,7 @@ double DCS::weight(double error) const { return 1.0; } -double DCS::loss(double error) const { +double DCS::residual(double error) const { // This is the simplified version of Eq 9 from (Agarwal13icra) // after you simplify and cancel terms. const double e2 = error*error; @@ -400,7 +400,7 @@ double L2WithDeadZone::weight(double error) const { else return (k_+error)/error; } -double L2WithDeadZone::loss(double error) const { +double L2WithDeadZone::residual(double error) const { const double abs_error = std::abs(error); return (abs_error < k_) ? 0.0 : 0.5*(k_-abs_error)*(k_-abs_error); } diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h index 1b6f444e8..1f7cc1377 100644 --- a/gtsam/linear/LossFunctions.h +++ b/gtsam/linear/LossFunctions.h @@ -36,12 +36,12 @@ namespace noiseModel { * The mEstimator name space contains all robust error functions. * It mirrors the exposition at * https://members.loria.fr/MOBerger/Enseignement/Master2/Documents/ZhangIVC-97-01.pdf - * which talks about minimizing \sum \rho(r_i), where \rho is a loss function of choice. + * which talks about minimizing \sum \rho(r_i), where \rho is a residual function of choice. * * To illustrate, let's consider the least-squares (L2), L1, and Huber estimators as examples: * * Name Symbol Least-Squares L1-norm Huber - * Loss \rho(x) 0.5*x^2 |x| 0.5*x^2 if |x| shared_ptr; @@ -134,7 +131,7 @@ class GTSAM_EXPORT Null : public Base { Null(const ReweightScheme reweight = Block) : Base(reweight) {} ~Null() {} double weight(double /*error*/) const { return 1.0; } - double loss(double error) const { return 0.5 * error * error; } + double residual(double error) const { return error; } void print(const std::string &s) const; bool equals(const Base & /*expected*/, double /*tol*/) const { return true; } static shared_ptr Create(); @@ -158,7 +155,7 @@ class GTSAM_EXPORT Fair : public Base { Fair(double c = 1.3998, const ReweightScheme reweight = Block); double weight(double error) const override; - double loss(double error) const override; + double residual(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double c, const ReweightScheme reweight = Block); @@ -183,7 +180,7 @@ class GTSAM_EXPORT Huber : public Base { Huber(double k = 1.345, const ReweightScheme reweight = Block); double weight(double error) const override; - double loss(double error) const override; + double residual(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -213,7 +210,7 @@ class GTSAM_EXPORT Cauchy : public Base { Cauchy(double k = 0.1, const ReweightScheme reweight = Block); double weight(double error) const override; - double loss(double error) const override; + double residual(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -238,7 +235,7 @@ class GTSAM_EXPORT Tukey : public Base { Tukey(double c = 4.6851, const ReweightScheme reweight = Block); double weight(double error) const override; - double loss(double error) const override; + double residual(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -263,7 +260,7 @@ class GTSAM_EXPORT Welsch : public Base { Welsch(double c = 2.9846, const ReweightScheme reweight = Block); double weight(double error) const override; - double loss(double error) const override; + double residual(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -299,7 +296,7 @@ class GTSAM_EXPORT GemanMcClure : public Base { GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block); ~GemanMcClure() {} double weight(double error) const override; - double loss(double error) const override; + double residual(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -329,7 +326,7 @@ class GTSAM_EXPORT DCS : public Base { DCS(double c = 1.0, const ReweightScheme reweight = Block); ~DCS() {} double weight(double error) const override; - double loss(double error) const override; + double residual(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -362,7 +359,7 @@ class GTSAM_EXPORT L2WithDeadZone : public Base { L2WithDeadZone(double k = 1.0, const ReweightScheme reweight = Block); double weight(double error) const override; - double loss(double error) const override; + double residual(double error) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 225497b42..7c3cb1294 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -703,11 +703,11 @@ namespace gtsam { { Vector b; Matrix B=A; this->WhitenSystem(B,b); return B; } inline virtual Vector unwhiten(const Vector& /*v*/) const { throw std::invalid_argument("unwhiten is not currently supported for robust noise models."); } - // Fold the use of the m-estimator loss(...) function into distance(...) + // Fold the use of the m-estimator residual(...) function into distance(...) inline virtual double distance(const Vector& v) const - { return robust_->loss(this->unweightedWhiten(v).norm()); } + { return robust_->residual(this->unweightedWhiten(v).norm()); } inline virtual double distance_non_whitened(const Vector& v) const - { return robust_->loss(v.norm()); } + { return robust_->residual(v.norm()); } // TODO: these are really robust iterated re-weighting support functions virtual void WhitenSystem(Vector& b) const; virtual void WhitenSystem(std::vector& A, Vector& b) const; diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 2322d8432..3f6550b9f 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -467,10 +467,10 @@ TEST(NoiseModel, robustFunctionFair) DOUBLES_EQUAL(0.3333333333333333, fair->weight(error3), 1e-8); DOUBLES_EQUAL(0.8333333333333333, fair->weight(error4), 1e-8); - DOUBLES_EQUAL(0.441961080151135, fair->loss(error1), 1e-8); - DOUBLES_EQUAL(22.534692783297260, fair->loss(error2), 1e-8); - DOUBLES_EQUAL(22.534692783297260, fair->loss(error3), 1e-8); - DOUBLES_EQUAL(0.441961080151135, fair->loss(error4), 1e-8); + DOUBLES_EQUAL(0.441961080151135, fair->residual(error1), 1e-8); + DOUBLES_EQUAL(22.534692783297260, fair->residual(error2), 1e-8); + DOUBLES_EQUAL(22.534692783297260, fair->residual(error3), 1e-8); + DOUBLES_EQUAL(0.441961080151135, fair->residual(error4), 1e-8); } TEST(NoiseModel, robustFunctionHuber) @@ -483,10 +483,10 @@ TEST(NoiseModel, robustFunctionHuber) DOUBLES_EQUAL(0.5, huber->weight(error3), 1e-8); DOUBLES_EQUAL(1.0, huber->weight(error4), 1e-8); - DOUBLES_EQUAL(0.5000, huber->loss(error1), 1e-8); - DOUBLES_EQUAL(37.5000, huber->loss(error2), 1e-8); - DOUBLES_EQUAL(37.5000, huber->loss(error3), 1e-8); - DOUBLES_EQUAL(0.5000, huber->loss(error4), 1e-8); + DOUBLES_EQUAL(0.5000, huber->residual(error1), 1e-8); + DOUBLES_EQUAL(37.5000, huber->residual(error2), 1e-8); + DOUBLES_EQUAL(37.5000, huber->residual(error3), 1e-8); + DOUBLES_EQUAL(0.5000, huber->residual(error4), 1e-8); } TEST(NoiseModel, robustFunctionCauchy) @@ -499,10 +499,10 @@ TEST(NoiseModel, robustFunctionCauchy) DOUBLES_EQUAL(0.2000, cauchy->weight(error3), 1e-8); DOUBLES_EQUAL(0.961538461538461, cauchy->weight(error4), 1e-8); - DOUBLES_EQUAL(0.490258914416017, cauchy->loss(error1), 1e-8); - DOUBLES_EQUAL(20.117973905426254, cauchy->loss(error2), 1e-8); - DOUBLES_EQUAL(20.117973905426254, cauchy->loss(error3), 1e-8); - DOUBLES_EQUAL(0.490258914416017, cauchy->loss(error4), 1e-8); + DOUBLES_EQUAL(0.490258914416017, cauchy->residual(error1), 1e-8); + DOUBLES_EQUAL(20.117973905426254, cauchy->residual(error2), 1e-8); + DOUBLES_EQUAL(20.117973905426254, cauchy->residual(error3), 1e-8); + DOUBLES_EQUAL(0.490258914416017, cauchy->residual(error4), 1e-8); } TEST(NoiseModel, robustFunctionGemanMcClure) @@ -514,10 +514,10 @@ TEST(NoiseModel, robustFunctionGemanMcClure) DOUBLES_EQUAL(9.80296e-5, gmc->weight(error3), 1e-8); DOUBLES_EQUAL(0.25 , gmc->weight(error4), 1e-8); - DOUBLES_EQUAL(0.2500, gmc->loss(error1), 1e-8); - DOUBLES_EQUAL(0.495049504950495, gmc->loss(error2), 1e-8); - DOUBLES_EQUAL(0.495049504950495, gmc->loss(error3), 1e-8); - DOUBLES_EQUAL(0.2500, gmc->loss(error4), 1e-8); + DOUBLES_EQUAL(0.2500, gmc->residual(error1), 1e-8); + DOUBLES_EQUAL(0.495049504950495, gmc->residual(error2), 1e-8); + DOUBLES_EQUAL(0.495049504950495, gmc->residual(error3), 1e-8); + DOUBLES_EQUAL(0.2500, gmc->residual(error4), 1e-8); } TEST(NoiseModel, robustFunctionWelsch) @@ -530,10 +530,10 @@ TEST(NoiseModel, robustFunctionWelsch) DOUBLES_EQUAL(0.018315638888734, welsch->weight(error3), 1e-8); DOUBLES_EQUAL(0.960789439152323, welsch->weight(error4), 1e-8); - DOUBLES_EQUAL(0.490132010595960, welsch->loss(error1), 1e-8); - DOUBLES_EQUAL(12.271054513890823, welsch->loss(error2), 1e-8); - DOUBLES_EQUAL(12.271054513890823, welsch->loss(error3), 1e-8); - DOUBLES_EQUAL(0.490132010595960, welsch->loss(error4), 1e-8); + DOUBLES_EQUAL(0.490132010595960, welsch->residual(error1), 1e-8); + DOUBLES_EQUAL(12.271054513890823, welsch->residual(error2), 1e-8); + DOUBLES_EQUAL(12.271054513890823, welsch->residual(error3), 1e-8); + DOUBLES_EQUAL(0.490132010595960, welsch->residual(error4), 1e-8); } TEST(NoiseModel, robustFunctionTukey) @@ -546,10 +546,10 @@ TEST(NoiseModel, robustFunctionTukey) DOUBLES_EQUAL(0.0, tukey->weight(error3), 1e-8); DOUBLES_EQUAL(0.9216, tukey->weight(error4), 1e-8); - DOUBLES_EQUAL(0.480266666666667, tukey->loss(error1), 1e-8); - DOUBLES_EQUAL(4.166666666666667, tukey->loss(error2), 1e-8); - DOUBLES_EQUAL(4.166666666666667, tukey->loss(error3), 1e-8); - DOUBLES_EQUAL(0.480266666666667, tukey->loss(error4), 1e-8); + DOUBLES_EQUAL(0.480266666666667, tukey->residual(error1), 1e-8); + DOUBLES_EQUAL(4.166666666666667, tukey->residual(error2), 1e-8); + DOUBLES_EQUAL(4.166666666666667, tukey->residual(error3), 1e-8); + DOUBLES_EQUAL(0.480266666666667, tukey->residual(error4), 1e-8); } TEST(NoiseModel, robustFunctionDCS) @@ -560,8 +560,8 @@ TEST(NoiseModel, robustFunctionDCS) DOUBLES_EQUAL(1.0 , dcs->weight(error1), 1e-8); DOUBLES_EQUAL(0.00039211, dcs->weight(error2), 1e-8); - DOUBLES_EQUAL(0.5 , dcs->loss(error1), 1e-8); - DOUBLES_EQUAL(0.9900990099, dcs->loss(error2), 1e-8); + DOUBLES_EQUAL(0.5 , dcs->residual(error1), 1e-8); + DOUBLES_EQUAL(0.9900990099, dcs->residual(error2), 1e-8); } TEST(NoiseModel, robustFunctionL2WithDeadZone) @@ -576,12 +576,12 @@ TEST(NoiseModel, robustFunctionL2WithDeadZone) DOUBLES_EQUAL(0.00990099009, lsdz->weight(e4), 1e-8); DOUBLES_EQUAL(0.9, lsdz->weight(e5), 1e-8); - DOUBLES_EQUAL(40.5, lsdz->loss(e0), 1e-8); - DOUBLES_EQUAL(0.00005, lsdz->loss(e1), 1e-8); - DOUBLES_EQUAL(0.0, lsdz->loss(e2), 1e-8); - DOUBLES_EQUAL(0.0, lsdz->loss(e3), 1e-8); - DOUBLES_EQUAL(0.00005, lsdz->loss(e4), 1e-8); - DOUBLES_EQUAL(40.5, lsdz->loss(e5), 1e-8); + DOUBLES_EQUAL(40.5, lsdz->residual(e0), 1e-8); + DOUBLES_EQUAL(0.00005, lsdz->residual(e1), 1e-8); + DOUBLES_EQUAL(0.0, lsdz->residual(e2), 1e-8); + DOUBLES_EQUAL(0.0, lsdz->residual(e3), 1e-8); + DOUBLES_EQUAL(0.00005, lsdz->residual(e4), 1e-8); + DOUBLES_EQUAL(40.5, lsdz->residual(e5), 1e-8); } /* ************************************************************************* */ diff --git a/matlab/gtsam_examples/VisualizeMEstimators.m b/matlab/gtsam_examples/VisualizeMEstimators.m index ce505df5d..8a0485334 100644 --- a/matlab/gtsam_examples/VisualizeMEstimators.m +++ b/matlab/gtsam_examples/VisualizeMEstimators.m @@ -48,7 +48,7 @@ function plot_m_estimator(x, model, plot_title, fig_id, filename) rho = zeros(size(x)); for i = 1:size(x, 2) w(i) = model.weight(x(i)); - rho(i) = model.loss(x(i)); + rho(i) = model.residual(x(i)); end psi = w .* x; From ae85b640a868b58ee9a5abcd4d0d979003dd2d97 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:04:31 -0400 Subject: [PATCH 0303/1152] re-add implemntation for deprecated Mahalanobis --- gtsam/linear/NoiseModel.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 7c3cb1294..4d86e77da 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -219,7 +219,9 @@ namespace gtsam { } #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 - virtual double Mahalanobis(const Vector& v) const; + virtual double Mahalanobis(const Vector& v) const { + return squaredMahalanobisDistance(v); + } #endif inline virtual double distance(const Vector& v) const { From d86bab0e7dc8f9a16cda03cf69f0869cbbb37372 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:04:31 -0400 Subject: [PATCH 0304/1152] re-add implemntation for deprecated Mahalanobis --- gtsam/linear/NoiseModel.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index cccca225b..2badad838 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -224,7 +224,9 @@ namespace gtsam { } #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 - virtual double Mahalanobis(const Vector& v) const; + virtual double Mahalanobis(const Vector& v) const { + return squaredMahalanobisDistance(v); + } #endif inline virtual double error(const Vector& v) const { From 12b0267ab7d9cdc8a61dd5da5c442fd89752cf25 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:08:58 -0400 Subject: [PATCH 0305/1152] renamed mahalanobisDistance --- gtsam/linear/NoiseModel.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 2badad838..627c0de2b 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -219,7 +219,7 @@ namespace gtsam { /** * Mahalanobis distance */ - virtual double MahalanobisDistance(const Vector& v) const { + virtual double mahalanobisDistance(const Vector& v) const { return std::sqrt(squaredMahalanobisDistance(v)); } From 9e4be90111da17b50a00306b33e7b6b7f8d57c4a Mon Sep 17 00:00:00 2001 From: yetongumich Date: Fri, 3 Apr 2020 13:53:51 -0400 Subject: [PATCH 0306/1152] add document for robust noise model --- doc/robust.pdf | Bin 0 -> 197566 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 doc/robust.pdf diff --git a/doc/robust.pdf b/doc/robust.pdf new file mode 100644 index 0000000000000000000000000000000000000000..3404719b492e481bb77b96853eea0fa3a2fc39ba GIT binary patch literal 197566 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zR%YO5`?^DEGgI0RHsP_>C%G%`CN|u6p&&P$bG8vvKHZys5a#x;zy&|io4p2njpbw3LcPDc*5PO;~$}okEBUo;D$#% z=l|cNWo-YyR*oh%|GAo5qJzNBLDLdj!RT5ZuEB~~(ta&~A*24d#6xs2F81U+NbIz6QgC5_lZ5%F1c|PInJJrvF)s(Z1q+WU zI|~W^RqG}xwY8AmsEMZ3kNvGPN fj6OgWjqeCVOuj^ef(U!TTqjF|iKShWfn)wZkuCy` From 734772d92fca8be4c8baeb36abd96fd075ec5739 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 13 Apr 2020 20:09:43 -0400 Subject: [PATCH 0338/1152] typo fix --- gtsam/base/OptionalJacobian.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/base/OptionalJacobian.h b/gtsam/base/OptionalJacobian.h index 82a5ae7f4..fbec2f1cd 100644 --- a/gtsam/base/OptionalJacobian.h +++ b/gtsam/base/OptionalJacobian.h @@ -112,7 +112,7 @@ public: // template // OptionalJacobian(Eigen::Block block) : map_(NULL) { ?? } - /// Return true is allocated, false if default constructor was used + /// Return true if allocated, false if default constructor was used operator bool() const { return map_.data() != NULL; } @@ -197,7 +197,7 @@ public: #endif - /// Return true is allocated, false if default constructor was used + /// Return true if allocated, false if default constructor was used operator bool() const { return pointer_!=NULL; } From 5bb0bbdcc4381617ad52cc8b3969be38bc5ad414 Mon Sep 17 00:00:00 2001 From: Glen Haggin Date: Tue, 21 Apr 2020 20:11:01 -0400 Subject: [PATCH 0339/1152] Combine Cal3Fisheye and Cal3Fisheye_Base into one class --- gtsam/geometry/Cal3Fisheye.cpp | 181 +++++++++++++++++++++++++-- gtsam/geometry/Cal3Fisheye.h | 160 ++++++++++++++++++------ gtsam/geometry/Cal3Fisheye_Base.cpp | 185 ---------------------------- gtsam/geometry/Cal3Fisheye_Base.h | 180 --------------------------- 4 files changed, 297 insertions(+), 409 deletions(-) delete mode 100644 gtsam/geometry/Cal3Fisheye_Base.cpp delete mode 100644 gtsam/geometry/Cal3Fisheye_Base.h diff --git a/gtsam/geometry/Cal3Fisheye.cpp b/gtsam/geometry/Cal3Fisheye.cpp index d2bc6d679..97931f588 100644 --- a/gtsam/geometry/Cal3Fisheye.cpp +++ b/gtsam/geometry/Cal3Fisheye.cpp @@ -15,24 +15,189 @@ * @author ghaggin */ -#include #include +#include +#include #include #include -#include namespace gtsam { +/* ************************************************************************* */ +Cal3Fisheye::Cal3Fisheye(const Vector& v) + : fx_(v[0]), + fy_(v[1]), + s_(v[2]), + u0_(v[3]), + v0_(v[4]), + k1_(v[5]), + k2_(v[6]), + k3_(v[7]), + k4_(v[8]) {} + +/* ************************************************************************* */ +Vector9 Cal3Fisheye::vector() const { + Vector9 v; + v << fx_, fy_, s_, u0_, v0_, k1_, k2_, k3_, k4_; + return v; +} + +/* ************************************************************************* */ +Matrix3 Cal3Fisheye::K() const { + Matrix3 K; + K << fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0; + return K; +} + +/* ************************************************************************* */ +static Matrix29 D2dcalibration(const double xd, const double yd, + const double xi, const double yi, + const double t3, const double t5, + const double t7, const double t9, const double r, + Matrix2& DK) { + // order: fx, fy, s, u0, v0 + Matrix25 DR1; + DR1 << xd, 0.0, yd, 1.0, 0.0, 0.0, yd, 0.0, 0.0, 1.0; + + // order: k1, k2, k3, k4 + Matrix24 DR2; + DR2 << t3 * xi, t5 * xi, t7 * xi, t9 * xi, t3 * yi, t5 * yi, t7 * yi, t9 * yi; + DR2 /= r; + Matrix29 D; + D << DR1, DK * DR2; + return D; +} + +/* ************************************************************************* */ +static Matrix2 D2dintrinsic(const double xi, const double yi, const double r, + const double td, const double t, const double tt, + const double t4, const double t6, const double t8, + const double k1, const double k2, const double k3, + const double k4, const Matrix2& DK) { + const double dr_dxi = xi / sqrt(xi * xi + yi * yi); + const double dr_dyi = yi / sqrt(xi * xi + yi * yi); + const double dt_dr = 1 / (1 + r * r); + const double dtd_dt = + 1 + 3 * k1 * tt + 5 * k2 * t4 + 7 * k3 * t6 + 9 * k4 * t8; + const double dtd_dxi = dtd_dt * dt_dr * dr_dxi; + const double dtd_dyi = dtd_dt * dt_dr * dr_dyi; + + const double rinv = 1 / r; + const double rrinv = 1 / (r * r); + const double dxd_dxi = + dtd_dxi * xi * rinv + td * rinv + td * xi * (-rrinv) * dr_dxi; + const double dxd_dyi = dtd_dyi * xi * rinv - td * xi * rrinv * dr_dyi; + const double dyd_dxi = dtd_dxi * yi * rinv - td * yi * rrinv * dr_dxi; + const double dyd_dyi = + dtd_dyi * yi * rinv + td * rinv + td * yi * (-rrinv) * dr_dyi; + + Matrix2 DR; + DR << dxd_dxi, dxd_dyi, dyd_dxi, dyd_dyi; + + return DK * DR; +} + +/* ************************************************************************* */ +Point2 Cal3Fisheye::uncalibrate(const Point2& p, OptionalJacobian<2, 9> H1, + OptionalJacobian<2, 2> H2) const { + const double xi = p.x(), yi = p.y(); + const double r = sqrt(xi * xi + yi * yi); + const double t = atan(r); + const double tt = t * t, t4 = tt * tt, t6 = tt * t4, t8 = t4 * t4; + const double td = t * (1 + k1_ * tt + k2_ * t4 + k3_ * t6 + k4_ * t8); + const double xd = td / r * xi, yd = td / r * yi; + Point2 uv(fx_ * xd + s_ * yd + u0_, fy_ * yd + v0_); + + Matrix2 DK; + if (H1 || H2) DK << fx_, s_, 0.0, fy_; + + // Derivative for calibration parameters (2 by 9) + if (H1) + *H1 = D2dcalibration(xd, yd, xi, yi, t * tt, t * t4, t * t6, t * t8, r, DK); + + // Derivative for points in intrinsic coords (2 by 2) + if (H2) + *H2 = + D2dintrinsic(xi, yi, r, td, t, tt, t4, t6, t8, k1_, k2_, k3_, k4_, DK); + + return uv; +} + +/* ************************************************************************* */ +Point2 Cal3Fisheye::calibrate(const Point2& uv, const double tol) const { + // initial gues just inverts the pinhole model + const double u = uv.x(), v = uv.y(); + const double yd = (v - v0_) / fy_; + const double xd = (u - s_ * yd - u0_) / fx_; + Point2 pi(xd, yd); + + // Perform newtons method, break when solution converges past tol, + // throw exception if max iterations are reached + const int maxIterations = 10; + int iteration; + for (iteration = 0; iteration < maxIterations; ++iteration) { + Matrix2 jac; + + // Calculate the current estimate (uv_hat) and the jacobian + const Point2 uv_hat = uncalibrate(pi, boost::none, jac); + + // Test convergence + if ((uv_hat - uv).norm() < tol) break; + + // Newton's method update step + pi = pi - jac.inverse() * (uv_hat - uv); + } + + if (iteration >= maxIterations) + throw std::runtime_error( + "Cal3Fisheye::calibrate fails to converge. need a better " + "initialization"); + + return pi; +} + +/* ************************************************************************* */ +Matrix2 Cal3Fisheye::D2d_intrinsic(const Point2& p) const { + const double xi = p.x(), yi = p.y(); + const double r = sqrt(xi * xi + yi * yi); + const double t = atan(r); + const double tt = t * t, t4 = tt * tt, t6 = t4 * tt, t8 = t4 * t4; + const double td = t * (1 + k1_ * tt + k2_ * t4 + k3_ * t6 + k4_ * t8); + + Matrix2 DK; + DK << fx_, s_, 0.0, fy_; + + return D2dintrinsic(xi, yi, r, td, t, tt, t4, t6, t8, k1_, k2_, k3_, k4_, DK); +} + +/* ************************************************************************* */ +Matrix29 Cal3Fisheye::D2d_calibration(const Point2& p) const { + const double xi = p.x(), yi = p.y(); + const double r = sqrt(xi * xi + yi * yi); + const double t = atan(r); + const double tt = t * t, t4 = tt * tt, t6 = tt * t4, t8 = t4 * t4; + const double td = t * (1 + k1_ * tt + k2_ * t4 + k3_ * t6 + k4_ * t8); + const double xd = td / r * xi, yd = td / r * yi; + + Matrix2 DK; + DK << fx_, s_, 0.0, fy_; + return D2dcalibration(xd, yd, xi, yi, t * tt, t * t4, t * t6, t * t8, r, DK); +} + /* ************************************************************************* */ void Cal3Fisheye::print(const std::string& s_) const { - Base::print(s_); + gtsam::print((Matrix)K(), s_ + ".K"); + gtsam::print(Vector(k()), s_ + ".k"); + ; } /* ************************************************************************* */ bool Cal3Fisheye::equals(const Cal3Fisheye& K, double tol) const { - if (std::abs(fx_ - K.fx_) > tol || std::abs(fy_ - K.fy_) > tol || std::abs(s_ - K.s_) > tol || - std::abs(u0_ - K.u0_) > tol || std::abs(v0_ - K.v0_) > tol || std::abs(k1_ - K.k1_) > tol || - std::abs(k2_ - K.k2_) > tol || std::abs(k3_ - K.k3_) > tol || std::abs(k4_ - K.k4_) > tol) + if (std::abs(fx_ - K.fx_) > tol || std::abs(fy_ - K.fy_) > tol || + std::abs(s_ - K.s_) > tol || std::abs(u0_ - K.u0_) > tol || + std::abs(v0_ - K.v0_) > tol || std::abs(k1_ - K.k1_) > tol || + std::abs(k2_ - K.k2_) > tol || std::abs(k3_ - K.k3_) > tol || + std::abs(k4_ - K.k4_) > tol) return false; return true; } @@ -47,7 +212,5 @@ Vector Cal3Fisheye::localCoordinates(const Cal3Fisheye& T2) const { return T2.vector() - vector(); } -} +} // namespace gtsam /* ************************************************************************* */ - - diff --git a/gtsam/geometry/Cal3Fisheye.h b/gtsam/geometry/Cal3Fisheye.h index 8fd22cedc..5fb196047 100644 --- a/gtsam/geometry/Cal3Fisheye.h +++ b/gtsam/geometry/Cal3Fisheye.h @@ -11,41 +11,66 @@ /** * @file Cal3Fisheye.h - * @brief Calibration of a fisheye camera, calculations in base class Cal3Fisheye_Base + * @brief Calibration of a fisheye camera * @date Apr 8, 2020 * @author ghaggin */ #pragma once -#include +#include namespace gtsam { /** - * @brief Calibration of a fisheye camera that also supports - * Lie-group behaviors for optimization. - * \sa Cal3Fisheye_Base + * @brief Calibration of a fisheye camera * @addtogroup geometry * \nosubgrouping + * + * Uses same distortionmodel as OpenCV, with + * https://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html + * 3D point in camera frame + * p = (x, y, z) + * Intrinsic coordinates: + * [x_i;y_i] = [x/z; y/z] + * Distorted coordinates: + * r^2 = (x_i)^2 + (y_i)^2 + * th = atan(r) + * th_d = th(1 + k1*th^2 + k2*th^4 + k3*th^6 + k4*th^8) + * [x_d; y_d] = (th_d / r)*[x_i; y_i] + * Pixel coordinates: + * K = [fx s u0; 0 fy v0 ;0 0 1] + * [u; v; 1] = K*[x_d; y_d; 1] */ -class GTSAM_EXPORT Cal3Fisheye : public Cal3Fisheye_Base { - - typedef Cal3Fisheye_Base Base; - -public: +class GTSAM_EXPORT Cal3Fisheye { + protected: + double fx_, fy_, s_, u0_, v0_; // focal length, skew and principal point + double k1_, k2_, k3_, k4_; // fisheye distortion coefficients + public: enum { dimension = 9 }; + typedef boost::shared_ptr + shared_ptr; ///< shared pointer to fisheye calibration object /// @name Standard Constructors /// @{ /// Default Constructor with only unit focal length - Cal3Fisheye() : Base() {} + Cal3Fisheye() + : fx_(1), fy_(1), s_(0), u0_(0), v0_(0), k1_(0), k2_(0), k3_(0), k4_(0) {} - Cal3Fisheye(const double fx, const double fy, const double s, const double u0, const double v0, - const double k1, const double k2, const double k3, const double k4) : - Base(fx, fy, s, u0, v0, k1, k2, k3, k4) {} + Cal3Fisheye(const double fx, const double fy, const double s, const double u0, + const double v0, const double k1, const double k2, + const double k3, const double k4) + : fx_(fx), + fy_(fy), + s_(s), + u0_(u0), + v0_(v0), + k1_(k1), + k2_(k2), + k3_(k3), + k4_(k4) {} virtual ~Cal3Fisheye() {} @@ -53,14 +78,77 @@ public: /// @name Advanced Constructors /// @{ - Cal3Fisheye(const Vector &v) : Base(v) {} + Cal3Fisheye(const Vector& v); + + /// @} + /// @name Standard Interface + /// @{ + + /// focal length x + inline double fx() const { return fx_; } + + /// focal length x + inline double fy() const { return fy_; } + + /// skew + inline double skew() const { return s_; } + + /// image center in x + inline double px() const { return u0_; } + + /// image center in y + inline double py() const { return v0_; } + + /// First distortion coefficient + inline double k1() const { return k1_; } + + /// Second distortion coefficient + inline double k2() const { return k2_; } + + /// First tangential distortion coefficient + inline double k3() const { return k3_; } + + /// Second tangential distortion coefficient + inline double k4() const { return k4_; } + + /// return calibration matrix + Matrix3 K() const; + + /// return distortion parameter vector + Vector4 k() const { return Vector4(k1_, k2_, k3_, k4_); } + + /// Return all parameters as a vector + Vector9 vector() const; + + /** + * @brief convert intrinsic coordinates [x_i; y_i] to (distorted) image + * coordinates [u; v] + * @param p point in intrinsic coordinates + * @param Dcal optional 2*9 Jacobian wrpt intrinsic parameters (fx, fy, ..., + * k4) + * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates (xi, yi) + * @return point in (distorted) image coordinates + */ + Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 9> Dcal = boost::none, + OptionalJacobian<2, 2> Dp = boost::none) const; + + /// Convert (distorted) image coordinates [u;v] to intrinsic coordinates [x_i, + /// y_i] + Point2 calibrate(const Point2& p, const double tol = 1e-5) const; + + /// Derivative of uncalibrate wrpt intrinsic coordinates [x_i; y_i] + Matrix2 D2d_intrinsic(const Point2& p) const; + + /// Derivative of uncalibrate wrpt the calibration parameters + /// [fx, fy, s, u0, v0, k1, k2, k3, k4] + Matrix29 D2d_calibration(const Point2& p) const; /// @} /// @name Testable /// @{ /// print with optional string - virtual void print(const std::string& s = "") const ; + virtual void print(const std::string& s = "") const; /// assert equality up to a tolerance bool equals(const Cal3Fisheye& K, double tol = 10e-9) const; @@ -70,52 +158,54 @@ public: /// @{ /// Given delta vector, update calibration - Cal3Fisheye retract(const Vector& d) const ; + Cal3Fisheye retract(const Vector& d) const; /// Given a different calibration, calculate update to obtain it - Vector localCoordinates(const Cal3Fisheye& T2) const ; + Vector localCoordinates(const Cal3Fisheye& T2) const; /// Return dimensions of calibration manifold object - virtual size_t dim() const { return 9 ; } //TODO: make a final dimension variable (also, usually size_t in other classes e.g. Pose2) + virtual size_t dim() const { return 9; } /// Return dimensions of calibration manifold object - static size_t Dim() { return 9; } //TODO: make a final dimension variable + static size_t Dim() { return 9; } /// @} /// @name Clone /// @{ /// @return a deep copy of this object - virtual boost::shared_ptr clone() const { - return boost::shared_ptr(new Cal3Fisheye(*this)); + virtual boost::shared_ptr clone() const { + return boost::shared_ptr(new Cal3Fisheye(*this)); } /// @} - -private: - + private: /// @name Advanced Interface /// @{ /** Serialization function */ friend class boost::serialization::access; - template - void serialize(Archive & ar, const unsigned int /*version*/) - { - ar & boost::serialization::make_nvp("Cal3Fisheye", - boost::serialization::base_object(*this)); + template + void serialize(Archive& ar, const unsigned int /*version*/) { + ar& BOOST_SERIALIZATION_NVP(fx_); + ar& BOOST_SERIALIZATION_NVP(fy_); + ar& BOOST_SERIALIZATION_NVP(s_); + ar& BOOST_SERIALIZATION_NVP(u0_); + ar& BOOST_SERIALIZATION_NVP(v0_); + ar& BOOST_SERIALIZATION_NVP(k1_); + ar& BOOST_SERIALIZATION_NVP(k2_); + ar& BOOST_SERIALIZATION_NVP(k3_); + ar& BOOST_SERIALIZATION_NVP(k4_); } /// @} - }; -template<> +template <> struct traits : public internal::Manifold {}; -template<> +template <> struct traits : public internal::Manifold {}; -} - +} // namespace gtsam diff --git a/gtsam/geometry/Cal3Fisheye_Base.cpp b/gtsam/geometry/Cal3Fisheye_Base.cpp deleted file mode 100644 index 4b51276df..000000000 --- a/gtsam/geometry/Cal3Fisheye_Base.cpp +++ /dev/null @@ -1,185 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file Cal3Fisheye_Base.cpp - * @date Apr 8, 2020 - * @author ghaggin - */ - -#include -#include -#include -#include -#include - -namespace gtsam { - -/* ************************************************************************* */ -Cal3Fisheye_Base::Cal3Fisheye_Base(const Vector &v): - fx_(v[0]), fy_(v[1]), s_(v[2]), u0_(v[3]), v0_(v[4]), k1_(v[5]), k2_(v[6]), k3_(v[7]), k4_(v[8]){} - -/* ************************************************************************* */ -Matrix3 Cal3Fisheye_Base::K() const { - Matrix3 K; - K << fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0; - return K; -} - -/* ************************************************************************* */ -Vector9 Cal3Fisheye_Base::vector() const { - Vector9 v; - v << fx_, fy_, s_, u0_, v0_, k1_, k2_, k3_, k4_; - return v; -} - -/* ************************************************************************* */ -void Cal3Fisheye_Base::print(const std::string& s_) const { - gtsam::print((Matrix)K(), s_ + ".K"); - gtsam::print(Vector(k()), s_ + ".k"); -} - -/* ************************************************************************* */ -bool Cal3Fisheye_Base::equals(const Cal3Fisheye_Base& K, double tol) const { - if (std::abs(fx_ - K.fx_) > tol || std::abs(fy_ - K.fy_) > tol || std::abs(s_ - K.s_) > tol || - std::abs(u0_ - K.u0_) > tol || std::abs(v0_ - K.v0_) > tol || std::abs(k1_ - K.k1_) > tol || - std::abs(k2_ - K.k2_) > tol || std::abs(k3_ - K.k3_) > tol || std::abs(k4_ - K.k4_) > tol) - return false; - return true; -} - -/* ************************************************************************* */ -static Matrix29 D2dcalibration(const double xd, const double yd, const double xi, const double yi, const double t3, const double t5, const double t7, const double t9, const double r, Matrix2& DK) { - // order: fx, fy, s, u0, v0 - Matrix25 DR1; - DR1 << xd, 0.0, yd, 1.0, 0.0, 0.0, yd, 0.0, 0.0, 1.0; - - //order: k1, k2, k3, k4 - Matrix24 DR2; - DR2 << t3*xi, t5*xi, t7*xi, t9*xi, t3*yi, t5*yi, t7*yi, t9*yi; - DR2 /= r; - Matrix29 D; - D << DR1, DK * DR2; - return D; -} - -/* ************************************************************************* */ -static Matrix2 D2dintrinsic(const double xi, const double yi, const double r, const double td, const double t, const double tt, const double t4, const double t6, const double t8, const double k1, const double k2, const double k3, const double k4, const Matrix2& DK) { - - const double dr_dxi = xi/sqrt(xi*xi + yi*yi); - const double dr_dyi = yi/sqrt(xi*xi + yi*yi); - const double dt_dr = 1/(1 + r*r); - const double dtd_dt = 1 + 3*k1*tt + 5*k2*t4 + 7*k3*t6 + 9*k4*t8; - const double dtd_dxi = dtd_dt * dt_dr * dr_dxi; - const double dtd_dyi = dtd_dt * dt_dr * dr_dyi; - - const double rinv = 1/r; - const double rrinv = 1/(r*r); - const double dxd_dxi = dtd_dxi*xi*rinv + td*rinv + td*xi*(-rrinv)*dr_dxi; - const double dxd_dyi = dtd_dyi*xi*rinv - td*xi*rrinv*dr_dyi; - const double dyd_dxi = dtd_dxi*yi*rinv - td*yi*rrinv*dr_dxi; - const double dyd_dyi = dtd_dyi*yi*rinv + td*rinv + td*yi*(-rrinv)*dr_dyi; - - Matrix2 DR; - DR << dxd_dxi, dxd_dyi, dyd_dxi, dyd_dyi; - - return DK * DR; -} - -/* ************************************************************************* */ -Point2 Cal3Fisheye_Base::uncalibrate(const Point2& p, - OptionalJacobian<2,9> H1, OptionalJacobian<2,2> H2) const { - - const double xi = p.x(), yi = p.y(); - const double r = sqrt(xi*xi + yi*yi); - const double t = atan(r); - const double tt = t*t, t4 = tt*tt, t6 = tt*t4, t8 = t4*t4; - const double td = t*(1 + k1_*tt + k2_*t4 + k3_*t6 + k4_*t8); - const double xd = td/r*xi, yd = td/r*yi; - Point2 uv(fx_ * xd + s_ * yd + u0_, fy_ * yd + v0_); - - Matrix2 DK; - if (H1 || H2) DK << fx_, s_, 0.0, fy_; - - // Derivative for calibration parameters (2 by 9) - if (H1) - *H1 = D2dcalibration(xd, yd, xi, yi, t*tt, t*t4, t*t6, t*t8, r, DK); - - // Derivative for points in intrinsic coords (2 by 2) - if (H2) - *H2 = D2dintrinsic(xi, yi, r, td, t, tt, t4, t6, t8, k1_, k2_, k3_, k4_, DK); - - return uv; -} - -/* ************************************************************************* */ -Point2 Cal3Fisheye_Base::calibrate(const Point2& uv, const double tol) const { - // initial gues just inverts the pinhole model - const double u = uv.x(), v = uv.y(); - const double yd = (v - v0_)/fy_; - const double xd = (u - s_*yd - u0_)/fx_; - Point2 pi(xd, yd); - - // Perform newtons method, break when solution converges past tol, - // throw exception if max iterations are reached - const int maxIterations = 10; - int iteration; - for (iteration = 0; iteration < maxIterations; ++iteration) { - Matrix2 jac; - - // Calculate the current estimate (uv_hat) and the jacobian - const Point2 uv_hat = uncalibrate(pi, boost::none, jac); - - // Test convergence - if((uv_hat - uv).norm() < tol) break; - - // Newton's method update step - pi = pi - jac.inverse()*(uv_hat - uv); - } - - if ( iteration >= maxIterations ) - throw std::runtime_error("Cal3Fisheye::calibrate fails to converge. need a better initialization"); - - return pi; -} - -/* ************************************************************************* */ -Matrix2 Cal3Fisheye_Base::D2d_intrinsic(const Point2& p) const { - const double xi = p.x(), yi = p.y(); - const double r = sqrt(xi*xi + yi*yi); - const double t = atan(r); - const double tt = t*t, t4 = tt*tt, t6 = t4*tt, t8 = t4*t4; - const double td = t*(1 + k1_*tt + k2_*t4 + k3_*t6 + k4_*t8); - - Matrix2 DK; - DK << fx_, s_, 0.0, fy_; - - return D2dintrinsic(xi, yi, r, td, t, tt, t4, t6, t8, k1_, k2_, k3_, k4_, DK); -} - -/* ************************************************************************* */ -Matrix29 Cal3Fisheye_Base::D2d_calibration(const Point2& p) const { - const double xi = p.x(), yi = p.y(); - const double r = sqrt(xi*xi + yi*yi); - const double t = atan(r); - const double tt = t*t, t4 = tt*tt, t6 = tt*t4, t8 = t4*t4; - const double td = t*(1 + k1_*tt + k2_*t4 + k3_*t6 + k4_*t8); - const double xd = td/r*xi, yd = td/r*yi; - - Matrix2 DK; - DK << fx_, s_, 0.0, fy_; - return D2dcalibration(xd, yd, xi, yi, t*tt, t*t4, t*t6, t*t8, r, DK); -} - -} -/* ************************************************************************* */ - - diff --git a/gtsam/geometry/Cal3Fisheye_Base.h b/gtsam/geometry/Cal3Fisheye_Base.h deleted file mode 100644 index 0313aadb5..000000000 --- a/gtsam/geometry/Cal3Fisheye_Base.h +++ /dev/null @@ -1,180 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file Cal3Fisheye_Base.h - * @brief Calibration of a fisheye camera. - * @date Apr 8, 2020 - * @author ghaggin - */ - -#pragma once - -#include - -namespace gtsam { - -/** - * @brief Calibration of a fisheye camera - * @addtogroup geometry - * \nosubgrouping - * - * Uses same distortionmodel as OpenCV, with - * https://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html - * 3D point in camera frame - * p = (x, y, z) - * Intrinsic coordinates: - * [x_i;y_i] = [x/z; y/z] - * Distorted coordinates: - * r^2 = (x_i)^2 + (y_i)^2 - * th = atan(r) - * th_d = th(1 + k1*th^2 + k2*th^4 + k3*th^6 + k4*th^8) - * [x_d; y_d] = (th_d / r)*[x_i; y_i] - * Pixel coordinates: - * K = [fx s u0; 0 fy v0 ;0 0 1] - * [u; v; 1] = K*[x_d; y_d; 1] - */ -class GTSAM_EXPORT Cal3Fisheye_Base { - -protected: - - double fx_, fy_, s_, u0_, v0_ ; // focal length, skew and principal point - double k1_, k2_, k3_, k4_ ; // fisheye distortion coefficients - -public: - - /// @name Standard Constructors - /// @{ - - /// Default Constructor with only unit focal length - Cal3Fisheye_Base() : fx_(1), fy_(1), s_(0), u0_(0), v0_(0), k1_(0), k2_(0), k3_(0), k4_(0) {} - - Cal3Fisheye_Base(double fx, double fy, double s, double u0, double v0, - double k1, double k2, double k3, double k4) : - fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0), k1_(k1), k2_(k2), k3_(k3), k4_(k4) {} - - virtual ~Cal3Fisheye_Base() {} - - /// @} - /// @name Advanced Constructors - /// @{ - - Cal3Fisheye_Base(const Vector &v) ; - - /// @} - /// @name Testable - /// @{ - - /// print with optional string - virtual void print(const std::string& s = "") const ; - - /// assert equality up to a tolerance - bool equals(const Cal3Fisheye_Base& K, double tol = 10e-9) const; - - /// @} - /// @name Standard Interface - /// @{ - - /// focal length x - inline double fx() const { return fx_;} - - /// focal length x - inline double fy() const { return fy_;} - - /// skew - inline double skew() const { return s_;} - - /// image center in x - inline double px() const { return u0_;} - - /// image center in y - inline double py() const { return v0_;} - - /// First distortion coefficient - inline double k1() const { return k1_;} - - /// Second distortion coefficient - inline double k2() const { return k2_;} - - /// First tangential distortion coefficient - inline double k3() const { return k3_;} - - /// Second tangential distortion coefficient - inline double k4() const { return k4_;} - - /// return calibration matrix - Matrix3 K() const; - - /// return distortion parameter vector - Vector4 k() const { return Vector4(k1_, k2_, k3_, k4_); } - - /// Return all parameters as a vector - Vector9 vector() const; - - /** - * convert intrinsic coordinates [x_i; y_i] to (distorted) image coordinates [u; v] - * @param p point in intrinsic coordinates - * @param Dcal optional 2*9 Jacobian wrpt intrinsic parameters (fx, fy, ..., k4) - * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates (xi, yi) - * @return point in (distorted) image coordinates - */ - Point2 uncalibrate(const Point2& p, - OptionalJacobian<2,9> Dcal = boost::none, - OptionalJacobian<2,2> Dp = boost::none) const ; - - /// Convert (distorted) image coordinates [u;v] to intrinsic coordinates [x_i, y_i] - Point2 calibrate(const Point2& p, const double tol=1e-5) const; - - /// Derivative of uncalibrate wrpt intrinsic coordinates [x_i; y_i] - Matrix2 D2d_intrinsic(const Point2& p) const ; - - /// Derivative of uncalibrate wrpt the calibration parameters - /// [fx, fy, s, u0, v0, k1, k2, k3, k4] - Matrix29 D2d_calibration(const Point2& p) const ; - - /// @} - /// @name Clone - /// @{ - - /// @return a deep copy of this object - virtual boost::shared_ptr clone() const { - return boost::shared_ptr(new Cal3Fisheye_Base(*this)); - } - - /// @} - -private: - - /// @name Advanced Interface - /// @{ - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(Archive & ar, const unsigned int /*version*/) - { - ar & BOOST_SERIALIZATION_NVP(fx_); - ar & BOOST_SERIALIZATION_NVP(fy_); - ar & BOOST_SERIALIZATION_NVP(s_); - ar & BOOST_SERIALIZATION_NVP(u0_); - ar & BOOST_SERIALIZATION_NVP(v0_); - ar & BOOST_SERIALIZATION_NVP(k1_); - ar & BOOST_SERIALIZATION_NVP(k2_); - ar & BOOST_SERIALIZATION_NVP(k3_); - ar & BOOST_SERIALIZATION_NVP(k4_); - } - - /// @} - -}; - -} - From fd0ea0e5e4a9132a6d0ec22929528e4500264730 Mon Sep 17 00:00:00 2001 From: Glen Haggin Date: Wed, 22 Apr 2020 12:28:47 -0400 Subject: [PATCH 0340/1152] Formatted testCal3DFIsheye.cpp --- gtsam/geometry/tests/testCal3DFisheye.cpp | 101 +++++++++++----------- 1 file changed, 52 insertions(+), 49 deletions(-) diff --git a/gtsam/geometry/tests/testCal3DFisheye.cpp b/gtsam/geometry/tests/testCal3DFisheye.cpp index fbe08a5a3..50fae5a8b 100644 --- a/gtsam/geometry/tests/testCal3DFisheye.cpp +++ b/gtsam/geometry/tests/testCal3DFisheye.cpp @@ -15,7 +15,6 @@ * @author ghaggin */ - #include #include #include @@ -26,95 +25,99 @@ using namespace gtsam; GTSAM_CONCEPT_TESTABLE_INST(Cal3Fisheye) GTSAM_CONCEPT_MANIFOLD_INST(Cal3Fisheye) -static Cal3Fisheye K(500, 100, 0.1, 320, 240, -0.013721808247486035, 0.020727425669427896, -0.012786476702685545, 0.0025242267320687625); -static Point2 p(2,3); +static const double fx = 250, fy = 260, s = 0.1, u0 = 320, v0 = 240; +static Cal3Fisheye K(fx, fy, s, u0, v0, -0.013721808247486035, + 0.020727425669427896, -0.012786476702685545, + 0.0025242267320687625); +static Point2 p(2, 3); /* ************************************************************************* */ -TEST( Cal3Fisheye, uncalibrate) -{ +TEST(Cal3Fisheye, uncalibrate1) { // Calculate the solution const double xi = p.x(), yi = p.y(); - const double r = sqrt(xi*xi + yi*yi); + const double r = sqrt(xi * xi + yi * yi); const double t = atan(r); - const double tt = t*t, t4 = tt*tt, t6 = tt*t4, t8 = t4*t4; - const double td = t*(1 + K.k1()*tt + K.k2()*t4 + K.k3()*t6 + K.k4()*t8); - Vector3 pd(td/r*xi, td/r*yi, 1); - Vector3 v = K.K()*pd; + const double tt = t * t, t4 = tt * tt, t6 = tt * t4, t8 = t4 * t4; + const double td = + t * (1 + K.k1() * tt + K.k2() * t4 + K.k3() * t6 + K.k4() * t8); + Vector3 pd(td / r * xi, td / r * yi, 1); + Vector3 v = K.K() * pd; - Point2 uv_sol(v[0]/v[2], v[1]/v[2]); + Point2 uv_sol(v[0] / v[2], v[1] / v[2]); Point2 uv = K.uncalibrate(p); CHECK(assert_equal(uv, uv_sol)); } -TEST( Cal3Fisheye, calibrate ) -{ +TEST(Cal3Fisheye, calibrate) { Point2 pi; Point2 uv; Point2 pi_hat; - pi = Point2(0.5, 0.5); // point in intrinsic coordinates - uv = K.uncalibrate(pi); // map intrinsic coord to image plane (pi) - pi_hat = K.calibrate(uv); // map image coords (pi) back to intrinsic coords - CHECK( traits::Equals(pi, pi_hat, 1e-5)); // check that the inv mapping works + pi = Point2(0.5, 0.5); // point in intrinsic coordinates + uv = K.uncalibrate(pi); // map intrinsic coord to image plane (pi) + pi_hat = K.calibrate(uv); // map image coords (pi) back to intrinsic coords + CHECK(traits::Equals(pi, pi_hat, + 1e-5)); // check that the inv mapping works pi = Point2(-0.7, -1.2); - uv = K.uncalibrate(pi); - pi_hat = K.calibrate(uv); - CHECK( traits::Equals(pi, pi_hat, 1e-5)); + uv = K.uncalibrate(pi); + pi_hat = K.calibrate(uv); + CHECK(traits::Equals(pi, pi_hat, 1e-5)); - pi = Point2(-3, 5); - uv = K.uncalibrate(pi); - pi_hat = K.calibrate(uv); - CHECK( traits::Equals(pi, pi_hat, 1e-5)); + pi = Point2(-3, 5); + uv = K.uncalibrate(pi); + pi_hat = K.calibrate(uv); + CHECK(traits::Equals(pi, pi_hat, 1e-5)); - pi = Point2(7, -12); - uv = K.uncalibrate(pi); - pi_hat = K.calibrate(uv); - CHECK( traits::Equals(pi, pi_hat, 1e-5)); + pi = Point2(7, -12); + uv = K.uncalibrate(pi); + pi_hat = K.calibrate(uv); + CHECK(traits::Equals(pi, pi_hat, 1e-5)); } -Point2 uncalibrate_(const Cal3Fisheye& k, const Point2& pt) { return k.uncalibrate(pt); } +Point2 uncalibrate_(const Cal3Fisheye& k, const Point2& pt) { + return k.uncalibrate(pt); +} /* ************************************************************************* */ -TEST( Cal3Fisheye, Duncalibrate1) -{ +TEST(Cal3Fisheye, Duncalibrate1) { Matrix computed; K.uncalibrate(p, computed, boost::none); Matrix numerical = numericalDerivative21(uncalibrate_, K, p, 1e-7); - CHECK(assert_equal(numerical,computed,1e-5)); + CHECK(assert_equal(numerical, computed, 1e-5)); Matrix separate = K.D2d_calibration(p); - CHECK(assert_equal(numerical,separate,1e-5)); + CHECK(assert_equal(numerical, separate, 1e-5)); } /* ************************************************************************* */ -TEST( Cal3Fisheye, Duncalibrate2) -{ - Matrix computed; +TEST(Cal3Fisheye, Duncalibrate2) { + Matrix computed; K.uncalibrate(p, boost::none, computed); Matrix numerical = numericalDerivative22(uncalibrate_, K, p, 1e-7); - CHECK(assert_equal(numerical,computed,1e-5)); + CHECK(assert_equal(numerical, computed, 1e-5)); Matrix separate = K.D2d_intrinsic(p); - CHECK(assert_equal(numerical,separate,1e-5)); + CHECK(assert_equal(numerical, separate, 1e-5)); } /* ************************************************************************* */ -TEST( Cal3Fisheye, assert_equal) -{ - CHECK(assert_equal(K,K,1e-5)); -} +TEST(Cal3Fisheye, assert_equal) { CHECK(assert_equal(K, K, 1e-5)); } /* ************************************************************************* */ -TEST( Cal3Fisheye, retract) -{ - Cal3Fisheye expected(K.fx() + 1, K.fy() + 2, K.skew() + 3, K.px() + 4, K.py() + 5, K.k1() + 6, K.k2() + 7, K.k3() + 8, K.k4() + 9); +TEST(Cal3Fisheye, retract) { + Cal3Fisheye expected(K.fx() + 1, K.fy() + 2, K.skew() + 3, K.px() + 4, + K.py() + 5, K.k1() + 6, K.k2() + 7, K.k3() + 8, + K.k4() + 9); Vector d(9); - d << 1,2,3,4,5,6,7,8,9; + d << 1, 2, 3, 4, 5, 6, 7, 8, 9; Cal3Fisheye actual = K.retract(d); - CHECK(assert_equal(expected,actual,1e-7)); - CHECK(assert_equal(d,K.localCoordinates(actual),1e-7)); + CHECK(assert_equal(expected, actual, 1e-7)); + CHECK(assert_equal(d, K.localCoordinates(actual), 1e-7)); } /* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ From d827d3ebadd9d3f38b699028b2719c35e2211170 Mon Sep 17 00:00:00 2001 From: Glen Haggin Date: Wed, 22 Apr 2020 13:51:01 -0400 Subject: [PATCH 0341/1152] Added test cases for fisheye calibration verified in OpenCv --- gtsam/geometry/Cal3Fisheye.cpp | 3 +- gtsam/geometry/tests/testCal3DFisheye.cpp | 85 ++++++++++++++++++++++- 2 files changed, 86 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/Cal3Fisheye.cpp b/gtsam/geometry/Cal3Fisheye.cpp index 97931f588..c6b43004e 100644 --- a/gtsam/geometry/Cal3Fisheye.cpp +++ b/gtsam/geometry/Cal3Fisheye.cpp @@ -105,7 +105,8 @@ Point2 Cal3Fisheye::uncalibrate(const Point2& p, OptionalJacobian<2, 9> H1, const double t = atan(r); const double tt = t * t, t4 = tt * tt, t6 = tt * t4, t8 = t4 * t4; const double td = t * (1 + k1_ * tt + k2_ * t4 + k3_ * t6 + k4_ * t8); - const double xd = td / r * xi, yd = td / r * yi; + const double td_o_r = r > 1e-8 ? td / r : 1; + const double xd = td_o_r * xi, yd = td_o_r * yi; Point2 uv(fx_ * xd + s_ * yd + u0_, fy_ * yd + v0_); Matrix2 DK; diff --git a/gtsam/geometry/tests/testCal3DFisheye.cpp b/gtsam/geometry/tests/testCal3DFisheye.cpp index 50fae5a8b..9203b5438 100644 --- a/gtsam/geometry/tests/testCal3DFisheye.cpp +++ b/gtsam/geometry/tests/testCal3DFisheye.cpp @@ -19,6 +19,7 @@ #include #include #include +#include using namespace gtsam; @@ -49,7 +50,63 @@ TEST(Cal3Fisheye, uncalibrate1) { CHECK(assert_equal(uv, uv_sol)); } -TEST(Cal3Fisheye, calibrate) { +/* ************************************************************************* */ +/** + * Check that a point at (0,0) projects to the + * image center. + */ +TEST(Cal3Fisheye, uncalibrate2) { + Point2 pz(0, 0); + auto uv = K.uncalibrate(pz); + CHECK(assert_equal(uv, Point2(u0, v0))); +} + +/* ************************************************************************* */ +/** + * This test uses cv2::fisheye::projectPoints to test that uncalibrate + * properly projects a point into the image plane. One notable difference + * between opencv and the Cal3Fisheye::uncalibrate function is the skew + * parameter. The equivalence is alpha = s/fx. + * + * + * Python script to project points with fisheye model in OpenCv + * (script run with OpenCv version 4.2.0 and Numpy version 1.18.2) + */ +// clang-format off +/* +=========================================================== + +import numpy as np +import cv2 + +objpts = np.float64([[23,27,31]]).reshape(1,-1,3) + +cameraMatrix = np.float64([ + [250, 0, 320], + [0, 260, 240], + [0,0,1] +]) +alpha = 0.1/250 +distCoeffs = np.float64([-0.013721808247486035, 0.020727425669427896,-0.012786476702685545, 0.0025242267320687625]) + +rvec = np.float64([[0.,0.,0.]]) +tvec = np.float64([[0.,0.,0.]]); +imagePoints, jacobian = cv2.fisheye.projectPoints(objpts, rvec, tvec, cameraMatrix, distCoeffs, alpha=alpha) +np.set_printoptions(precision=14) +print(imagePoints) +=========================================================== + * Script output: [[[457.82638130304935 408.18905848512986]]] + */ +// clang-format on +TEST(Cal3Fisheye, uncalibrate3) { + Point3 p3(23, 27, 31); + Point2 xi(p3.x() / p3.z(), p3.y() / p3.z()); + auto uv = K.uncalibrate(xi); + CHECK(assert_equal(uv, Point2(457.82638130304935, 408.18905848512986))); +} + +/* ************************************************************************* */ +TEST(Cal3Fisheye, calibrate1) { Point2 pi; Point2 uv; Point2 pi_hat; @@ -76,6 +133,32 @@ TEST(Cal3Fisheye, calibrate) { CHECK(traits::Equals(pi, pi_hat, 1e-5)); } +/* ************************************************************************* */ +/** + * Check that calibrate returns (0,0) for the image center + */ +TEST(Cal3Fisheye, calibrate2) { + Point2 uv(u0, v0); + auto xi_hat = K.calibrate(uv); + CHECK(assert_equal(xi_hat, Point2(0, 0))) +} + +/** + * Run calibrate on OpenCv test from uncalibrate3 + * (script shown above) + * 3d point: (23, 27, 31) + * 2d point in image plane: (457.82638130304935, 408.18905848512986) + */ +TEST(Cal3Fisheye, calibrate3) { + Point3 p3(23, 27, 31); + Point2 xi(p3.x() / p3.z(), p3.y() / p3.z()); + Point2 uv(457.82638130304935, 408.18905848512986); + auto xi_hat = K.calibrate(uv); + CHECK(assert_equal(xi_hat, xi)); +} + +/* ************************************************************************* */ +// For numerical derivatives Point2 uncalibrate_(const Cal3Fisheye& k, const Point2& pt) { return k.uncalibrate(pt); } From 6ba9a8b283c3deb8cee3e8d9274454ada870a5b7 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Mon, 25 Nov 2019 07:28:28 +0100 Subject: [PATCH 0342/1152] Fix running unit tests in Debian builds --- debian/changelog.new | 11 +++++++++++ debian/rules | 10 +++++++--- 2 files changed, 18 insertions(+), 3 deletions(-) create mode 100644 debian/changelog.new diff --git a/debian/changelog.new b/debian/changelog.new new file mode 100644 index 000000000..aa37bba92 --- /dev/null +++ b/debian/changelog.new @@ -0,0 +1,11 @@ +gtsam (4.0.2~snapshot20191125-0729-git-fa41b88e-eoan-1) unstable; urgency=medium + + * New version of upstream sources. + + -- Jose Luis Blanco Claraco Mon, 25 Nov 2019 07:41:00 +0100 + +gtsam (4.0.0-1berndpfrommer) bionic; urgency=medium + + * initial release + + -- Bernd Pfrommer Wed, 18 Jul 2018 20:36:44 -0400 diff --git a/debian/rules b/debian/rules index 156629fd6..fab798f6e 100755 --- a/debian/rules +++ b/debian/rules @@ -3,6 +3,8 @@ # output every command that modifies files on the build system. export DH_VERBOSE = 1 +# Makefile target name for running unit tests: +GTSAM_TEST_TARGET = check # see FEATURE AREAS in dpkg-buildflags(1) #export DEB_BUILD_MAINT_OPTIONS = hardening=+all @@ -13,13 +15,15 @@ export DH_VERBOSE = 1 # package maintainers to append LDFLAGS #export DEB_LDFLAGS_MAINT_APPEND = -Wl,--as-needed - %: dh $@ --parallel - # dh_make generated override targets # This is example for Cmake (See https://bugs.debian.org/641051 ) override_dh_auto_configure: - dh_auto_configure -- -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=/usr -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_WRAP=OFF -DGTSAM_BUILD_DOCS=OFF -DGTSAM_INSTALL_CPPUNITLITE=OFF -DGTSAM_INSTALL_GEOGRAPHICLIB=OFF -DGTSAM_BUILD_TYPE_POSTFIXES=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF + dh_auto_configure -- -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=/usr -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=ON -DGTSAM_BUILD_WRAP=OFF -DGTSAM_BUILD_DOCS=OFF -DGTSAM_INSTALL_CPPUNITLITE=OFF -DGTSAM_INSTALL_GEOGRAPHICLIB=OFF -DGTSAM_BUILD_TYPE_POSTFIXES=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF +override_dh_auto_test-arch: + # Tests for arch-dependent : + echo "[override_dh_auto_test-arch]" + dh_auto_build -O--buildsystem=cmake -- $(GTSAM_TEST_TARGET) From 54b739f69585c1c723a859df17168ae4199a55e2 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Sat, 7 Dec 2019 06:55:38 +0100 Subject: [PATCH 0343/1152] relax test numerical thresholds to fix failures in some architectures --- gtsam/geometry/tests/testOrientedPlane3.cpp | 20 ++-- gtsam/geometry/tests/testPose3.cpp | 12 +- gtsam/geometry/tests/testUnit3.cpp | 106 +++++++++--------- .../tests/testSmartProjectionPoseFactor.cpp | 44 ++++---- 4 files changed, 91 insertions(+), 91 deletions(-) diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp index 849b76483..dc5851319 100644 --- a/gtsam/geometry/tests/testOrientedPlane3.cpp +++ b/gtsam/geometry/tests/testOrientedPlane3.cpp @@ -66,8 +66,8 @@ TEST (OrientedPlane3, transform) { OrientedPlane3 transformedPlane1 = OrientedPlane3::Transform(plane, pose, none, none); OrientedPlane3 transformedPlane2 = plane.transform(pose, none, none); - EXPECT(assert_equal(expectedPlane, transformedPlane1, 1e-9)); - EXPECT(assert_equal(expectedPlane, transformedPlane2, 1e-9)); + EXPECT(assert_equal(expectedPlane, transformedPlane1, 1e-5)); + EXPECT(assert_equal(expectedPlane, transformedPlane2, 1e-5)); // Test the jacobians of transform Matrix actualH1, expectedH1, actualH2, expectedH2; @@ -75,18 +75,18 @@ TEST (OrientedPlane3, transform) { // because the Transform class uses a wrong order of Jacobians in interface OrientedPlane3::Transform(plane, pose, actualH1, none); expectedH1 = numericalDerivative22(Transform_, plane, pose); - EXPECT(assert_equal(expectedH1, actualH1, 1e-9)); + EXPECT(assert_equal(expectedH1, actualH1, 1e-5)); OrientedPlane3::Transform(plane, pose, none, actualH2); expectedH2 = numericalDerivative21(Transform_, plane, pose); - EXPECT(assert_equal(expectedH2, actualH2, 1e-9)); + EXPECT(assert_equal(expectedH2, actualH2, 1e-5)); } { plane.transform(pose, actualH1, none); expectedH1 = numericalDerivative21(transform_, plane, pose); - EXPECT(assert_equal(expectedH1, actualH1, 1e-9)); + EXPECT(assert_equal(expectedH1, actualH1, 1e-5)); plane.transform(pose, none, actualH2); expectedH2 = numericalDerivative22(Transform_, plane, pose); - EXPECT(assert_equal(expectedH2, actualH2, 1e-9)); + EXPECT(assert_equal(expectedH2, actualH2, 1e-5)); } } @@ -157,8 +157,8 @@ TEST (OrientedPlane3, error2) { boost::bind(&OrientedPlane3::errorVector, _1, _2, boost::none, boost::none); expectedH1 = numericalDerivative21(f, plane1, plane2); expectedH2 = numericalDerivative22(f, plane1, plane2); - EXPECT(assert_equal(expectedH1, actualH1, 1e-9)); - EXPECT(assert_equal(expectedH2, actualH2, 1e-9)); + EXPECT(assert_equal(expectedH1, actualH1, 1e-5)); + EXPECT(assert_equal(expectedH2, actualH2, 1e-5)); } //******************************************************************************* @@ -171,13 +171,13 @@ TEST (OrientedPlane3, jacobian_retract) { Vector3 v (-0.1, 0.2, 0.3); plane.retract(v, H_actual); Matrix H_expected_numerical = numericalDerivative11(f, v); - EXPECT(assert_equal(H_expected_numerical, H_actual, 1e-9)); + EXPECT(assert_equal(H_expected_numerical, H_actual, 1e-5)); } { Vector3 v (0, 0, 0); plane.retract(v, H_actual); Matrix H_expected_numerical = numericalDerivative11(f, v); - EXPECT(assert_equal(H_expected_numerical, H_actual, 1e-9)); + EXPECT(assert_equal(H_expected_numerical, H_actual, 1e-5)); } } diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index ec0450abb..cbd08c7d4 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -649,8 +649,8 @@ TEST(Pose3, Bearing) { // Check numerical derivatives expectedH1 = numericalDerivative21(bearing_proxy, x1, l1); expectedH2 = numericalDerivative22(bearing_proxy, x1, l1); - EXPECT(assert_equal(expectedH1, actualH1)); - EXPECT(assert_equal(expectedH2, actualH2)); + EXPECT(assert_equal(expectedH1, actualH1, 1e-5)); + EXPECT(assert_equal(expectedH2, actualH2, 1e-5)); } TEST(Pose3, Bearing2) { @@ -660,8 +660,8 @@ TEST(Pose3, Bearing2) { // Check numerical derivatives expectedH1 = numericalDerivative21(bearing_proxy, x2, l4); expectedH2 = numericalDerivative22(bearing_proxy, x2, l4); - EXPECT(assert_equal(expectedH1, actualH1)); - EXPECT(assert_equal(expectedH2, actualH2)); + EXPECT(assert_equal(expectedH1, actualH1, 1e-5)); + EXPECT(assert_equal(expectedH2, actualH2, 1e-5)); } TEST(Pose3, PoseToPoseBearing) { @@ -681,8 +681,8 @@ TEST(Pose3, PoseToPoseBearing) { expectedH2.setZero(); expectedH2.block<2, 3>(0, 3) = H2block; - EXPECT(assert_equal(expectedH1, actualH1)); - EXPECT(assert_equal(expectedH2, actualH2)); + EXPECT(assert_equal(expectedH1, actualH1, 1e-5)); + EXPECT(assert_equal(expectedH2, actualH2, 1e-5)); } /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index 60f491a1c..a25ab25c7 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -58,8 +58,8 @@ TEST(Unit3, point3) { for(Point3 p: ps) { Unit3 s(p); expectedH = numericalDerivative11(point3_, s); - EXPECT(assert_equal(p, s.point3(actualH), 1e-8)); - EXPECT(assert_equal(expectedH, actualH, 1e-9)); + EXPECT(assert_equal(p, s.point3(actualH), 1e-5)); + EXPECT(assert_equal(expectedH, actualH, 1e-5)); } } @@ -73,18 +73,18 @@ TEST(Unit3, rotate) { Unit3 p(1, 0, 0); Unit3 expected = Unit3(R.column(1)); Unit3 actual = R * p; - EXPECT(assert_equal(expected, actual, 1e-8)); + EXPECT(assert_equal(expected, actual, 1e-5)); Matrix actualH, expectedH; // Use numerical derivatives to calculate the expected Jacobian { expectedH = numericalDerivative21(rotate_, R, p); R.rotate(p, actualH, boost::none); - EXPECT(assert_equal(expectedH, actualH, 1e-9)); + EXPECT(assert_equal(expectedH, actualH, 1e-5)); } { expectedH = numericalDerivative22(rotate_, R, p); R.rotate(p, boost::none, actualH); - EXPECT(assert_equal(expectedH, actualH, 1e-9)); + EXPECT(assert_equal(expectedH, actualH, 1e-5)); } } @@ -98,19 +98,19 @@ TEST(Unit3, unrotate) { Unit3 p(1, 0, 0); Unit3 expected = Unit3(1, 1, 0); Unit3 actual = R.unrotate(p); - EXPECT(assert_equal(expected, actual, 1e-8)); + EXPECT(assert_equal(expected, actual, 1e-5)); Matrix actualH, expectedH; // Use numerical derivatives to calculate the expected Jacobian { expectedH = numericalDerivative21(unrotate_, R, p); R.unrotate(p, actualH, boost::none); - EXPECT(assert_equal(expectedH, actualH, 1e-9)); + EXPECT(assert_equal(expectedH, actualH, 1e-5)); } { expectedH = numericalDerivative22(unrotate_, R, p); R.unrotate(p, boost::none, actualH); - EXPECT(assert_equal(expectedH, actualH, 1e-9)); + EXPECT(assert_equal(expectedH, actualH, 1e-5)); } } @@ -119,7 +119,7 @@ TEST(Unit3, dot) { Unit3 q = p.retract(Vector2(0.5, 0)); Unit3 r = p.retract(Vector2(0.8, 0)); Unit3 t = p.retract(Vector2(0, 0.3)); - EXPECT(assert_equal(1.0, p.dot(p), 1e-8)); + EXPECT(assert_equal(1.0, p.dot(p), 1e-5)); EXPECT(assert_equal(0.877583, p.dot(q), 1e-5)); EXPECT(assert_equal(0.696707, p.dot(r), 1e-5)); EXPECT(assert_equal(0.955336, p.dot(t), 1e-5)); @@ -130,18 +130,18 @@ TEST(Unit3, dot) { boost::none, boost::none); { p.dot(q, H1, H2); - EXPECT(assert_equal(numericalDerivative21(f, p, q), H1, 1e-9)); - EXPECT(assert_equal(numericalDerivative22(f, p, q), H2, 1e-9)); + EXPECT(assert_equal(numericalDerivative21(f, p, q), H1, 1e-5)); + EXPECT(assert_equal(numericalDerivative22(f, p, q), H2, 1e-5)); } { p.dot(r, H1, H2); - EXPECT(assert_equal(numericalDerivative21(f, p, r), H1, 1e-9)); - EXPECT(assert_equal(numericalDerivative22(f, p, r), H2, 1e-9)); + EXPECT(assert_equal(numericalDerivative21(f, p, r), H1, 1e-5)); + EXPECT(assert_equal(numericalDerivative22(f, p, r), H2, 1e-5)); } { p.dot(t, H1, H2); - EXPECT(assert_equal(numericalDerivative21(f, p, t), H1, 1e-9)); - EXPECT(assert_equal(numericalDerivative22(f, p, t), H2, 1e-9)); + EXPECT(assert_equal(numericalDerivative21(f, p, t), H1, 1e-5)); + EXPECT(assert_equal(numericalDerivative22(f, p, t), H2, 1e-5)); } } @@ -149,7 +149,7 @@ TEST(Unit3, dot) { TEST(Unit3, error) { Unit3 p(1, 0, 0), q = p.retract(Vector2(0.5, 0)), // r = p.retract(Vector2(0.8, 0)); - EXPECT(assert_equal((Vector)(Vector2(0, 0)), p.error(p), 1e-8)); + EXPECT(assert_equal((Vector)(Vector2(0, 0)), p.error(p), 1e-5)); EXPECT(assert_equal((Vector)(Vector2(0.479426, 0)), p.error(q), 1e-5)); EXPECT(assert_equal((Vector)(Vector2(0.717356, 0)), p.error(r), 1e-5)); @@ -159,13 +159,13 @@ TEST(Unit3, error) { expected = numericalDerivative11( boost::bind(&Unit3::error, &p, _1, boost::none), q); p.error(q, actual); - EXPECT(assert_equal(expected.transpose(), actual, 1e-9)); + EXPECT(assert_equal(expected.transpose(), actual, 1e-5)); } { expected = numericalDerivative11( boost::bind(&Unit3::error, &p, _1, boost::none), r); p.error(r, actual); - EXPECT(assert_equal(expected.transpose(), actual, 1e-9)); + EXPECT(assert_equal(expected.transpose(), actual, 1e-5)); } } @@ -176,7 +176,7 @@ TEST(Unit3, error2) { Unit3 r = p.retract(Vector2(0.8, 0)); // Hard-coded as simple regression values - EXPECT(assert_equal((Vector)(Vector2(0.0, 0.0)), p.errorVector(p), 1e-8)); + EXPECT(assert_equal((Vector)(Vector2(0.0, 0.0)), p.errorVector(p), 1e-5)); EXPECT(assert_equal((Vector)(Vector2(0.198337495, -0.0991687475)), p.errorVector(q), 1e-5)); EXPECT(assert_equal((Vector)(Vector2(0.717356, 0)), p.errorVector(r), 1e-5)); @@ -186,25 +186,25 @@ TEST(Unit3, error2) { expected = numericalDerivative21( boost::bind(&Unit3::errorVector, _1, _2, boost::none, boost::none), p, q); p.errorVector(q, actual, boost::none); - EXPECT(assert_equal(expected, actual, 1e-9)); + EXPECT(assert_equal(expected, actual, 1e-5)); } { expected = numericalDerivative21( boost::bind(&Unit3::errorVector, _1, _2, boost::none, boost::none), p, r); p.errorVector(r, actual, boost::none); - EXPECT(assert_equal(expected, actual, 1e-9)); + EXPECT(assert_equal(expected, actual, 1e-5)); } { expected = numericalDerivative22( boost::bind(&Unit3::errorVector, _1, _2, boost::none, boost::none), p, q); p.errorVector(q, boost::none, actual); - EXPECT(assert_equal(expected, actual, 1e-9)); + EXPECT(assert_equal(expected, actual, 1e-5)); } { expected = numericalDerivative22( boost::bind(&Unit3::errorVector, _1, _2, boost::none, boost::none), p, r); p.errorVector(r, boost::none, actual); - EXPECT(assert_equal(expected, actual, 1e-9)); + EXPECT(assert_equal(expected, actual, 1e-5)); } } @@ -212,9 +212,9 @@ TEST(Unit3, error2) { TEST(Unit3, distance) { Unit3 p(1, 0, 0), q = p.retract(Vector2(0.5, 0)), // r = p.retract(Vector2(0.8, 0)); - EXPECT_DOUBLES_EQUAL(0, p.distance(p), 1e-8); - EXPECT_DOUBLES_EQUAL(0.47942553860420301, p.distance(q), 1e-8); - EXPECT_DOUBLES_EQUAL(0.71735609089952279, p.distance(r), 1e-8); + EXPECT_DOUBLES_EQUAL(0, p.distance(p), 1e-5); + EXPECT_DOUBLES_EQUAL(0.47942553860420301, p.distance(q), 1e-5); + EXPECT_DOUBLES_EQUAL(0.71735609089952279, p.distance(r), 1e-5); Matrix actual, expected; // Use numerical derivatives to calculate the expected Jacobian @@ -222,13 +222,13 @@ TEST(Unit3, distance) { expected = numericalGradient( boost::bind(&Unit3::distance, &p, _1, boost::none), q); p.distance(q, actual); - EXPECT(assert_equal(expected.transpose(), actual, 1e-9)); + EXPECT(assert_equal(expected.transpose(), actual, 1e-5)); } { expected = numericalGradient( boost::bind(&Unit3::distance, &p, _1, boost::none), r); p.distance(r, actual); - EXPECT(assert_equal(expected.transpose(), actual, 1e-9)); + EXPECT(assert_equal(expected.transpose(), actual, 1e-5)); } } @@ -236,7 +236,7 @@ TEST(Unit3, distance) { TEST(Unit3, localCoordinates0) { Unit3 p; Vector actual = p.localCoordinates(p); - EXPECT(assert_equal(Z_2x1, actual, 1e-8)); + EXPECT(assert_equal(Z_2x1, actual, 1e-5)); } TEST(Unit3, localCoordinates) { @@ -244,46 +244,46 @@ TEST(Unit3, localCoordinates) { Unit3 p, q; Vector2 expected = Vector2::Zero(); Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal((Vector) Z_2x1, actual, 1e-8)); - EXPECT(assert_equal(q, p.retract(expected), 1e-8)); + EXPECT(assert_equal((Vector) Z_2x1, actual, 1e-5)); + EXPECT(assert_equal(q, p.retract(expected), 1e-5)); } { Unit3 p, q(1, 6.12385e-21, 0); Vector2 expected = Vector2::Zero(); Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal((Vector) Z_2x1, actual, 1e-8)); - EXPECT(assert_equal(q, p.retract(expected), 1e-8)); + EXPECT(assert_equal((Vector) Z_2x1, actual, 1e-5)); + EXPECT(assert_equal(q, p.retract(expected), 1e-5)); } { Unit3 p, q(-1, 0, 0); Vector2 expected(M_PI, 0); Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal(expected, actual, 1e-8)); - EXPECT(assert_equal(q, p.retract(expected), 1e-8)); + EXPECT(assert_equal(expected, actual, 1e-5)); + EXPECT(assert_equal(q, p.retract(expected), 1e-5)); } { Unit3 p, q(0, 1, 0); Vector2 expected(0,-M_PI_2); Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal(expected, actual, 1e-8)); - EXPECT(assert_equal(q, p.retract(expected), 1e-8)); + EXPECT(assert_equal(expected, actual, 1e-5)); + EXPECT(assert_equal(q, p.retract(expected), 1e-5)); } { Unit3 p, q(0, -1, 0); Vector2 expected(0, M_PI_2); Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal(expected, actual, 1e-8)); - EXPECT(assert_equal(q, p.retract(expected), 1e-8)); + EXPECT(assert_equal(expected, actual, 1e-5)); + EXPECT(assert_equal(q, p.retract(expected), 1e-5)); } { Unit3 p(0,1,0), q(0,-1,0); Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal(q, p.retract(actual), 1e-8)); + EXPECT(assert_equal(q, p.retract(actual), 1e-5)); } { Unit3 p(0,0,1), q(0,0,-1); Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal(q, p.retract(actual), 1e-8)); + EXPECT(assert_equal(q, p.retract(actual), 1e-5)); } double twist = 1e-4; @@ -328,11 +328,11 @@ TEST(Unit3, basis) { // with H, first time EXPECT(assert_equal(expected, p.basis(actualH), 1e-6)); - EXPECT(assert_equal(expectedH, actualH, 1e-8)); + EXPECT(assert_equal(expectedH, actualH, 1e-5)); // with H, cached EXPECT(assert_equal(expected, p.basis(actualH), 1e-6)); - EXPECT(assert_equal(expectedH, actualH, 1e-8)); + EXPECT(assert_equal(expectedH, actualH, 1e-5)); } //******************************************************************************* @@ -348,7 +348,7 @@ TEST(Unit3, basis_derivatives) { Matrix62 expectedH = numericalDerivative11( boost::bind(BasisTest, _1, boost::none), p); - EXPECT(assert_equal(expectedH, actualH, 1e-8)); + EXPECT(assert_equal(expectedH, actualH, 1e-5)); } } @@ -360,14 +360,14 @@ TEST(Unit3, retract) { Unit3 expected(0.877583, 0, 0.479426); Unit3 actual = p.retract(v); EXPECT(assert_equal(expected, actual, 1e-6)); - EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); + EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-5)); } { Unit3 p; Vector2 v(0, 0); Unit3 actual = p.retract(v); EXPECT(assert_equal(p, actual, 1e-6)); - EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); + EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-5)); } } @@ -381,13 +381,13 @@ TEST (Unit3, jacobian_retract) { Vector2 v (-0.2, 0.1); p.retract(v, H); Matrix H_expected_numerical = numericalDerivative11(f, v); - EXPECT(assert_equal(H_expected_numerical, H, 1e-9)); + EXPECT(assert_equal(H_expected_numerical, H, 1e-5)); } { Vector2 v (0, 0); p.retract(v, H); Matrix H_expected_numerical = numericalDerivative11(f, v); - EXPECT(assert_equal(H_expected_numerical, H, 1e-9)); + EXPECT(assert_equal(H_expected_numerical, H, 1e-5)); } } @@ -397,8 +397,8 @@ TEST(Unit3, retract_expmap) { Vector2 v((M_PI / 2.0), 0); Unit3 expected(Point3(0, 0, 1)); Unit3 actual = p.retract(v); - EXPECT(assert_equal(expected, actual, 1e-8)); - EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); + EXPECT(assert_equal(expected, actual, 1e-5)); + EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-5)); } //******************************************************************************* @@ -428,7 +428,7 @@ TEST(Unit3, localCoordinates_retract) { // Check if the local coordinates and retract return consistent results. Vector v12 = s1.localCoordinates(s2); Unit3 actual_s2 = s1.retract(v12); - EXPECT(assert_equal(s2, actual_s2, 1e-9)); + EXPECT(assert_equal(s2, actual_s2, 1e-5)); } } @@ -437,10 +437,10 @@ TEST (Unit3, FromPoint3) { Matrix actualH; Point3 point(1, -2, 3); // arbitrary point Unit3 expected(point); - EXPECT(assert_equal(expected, Unit3::FromPoint3(point, actualH), 1e-8)); + EXPECT(assert_equal(expected, Unit3::FromPoint3(point, actualH), 1e-5)); Matrix expectedH = numericalDerivative11( boost::bind(Unit3::FromPoint3, _1, boost::none), point); - EXPECT(assert_equal(expectedH, actualH, 1e-8)); + EXPECT(assert_equal(expectedH, actualH, 1e-5)); } //******************************************************************************* diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index ab32258ee..0cc5e8f55 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -159,7 +159,7 @@ TEST( SmartProjectionPoseFactor, noiseless ) { factor.computeJacobians(Fs, E, b, cameras, *point); double actualError3 = b.squaredNorm(); EXPECT(assert_equal(expectedE, E, 1e-7)); - EXPECT_DOUBLES_EQUAL(expectedError, actualError3, 1e-8); + EXPECT_DOUBLES_EQUAL(expectedError, actualError3, 1e-6); } /* *************************************************************************/ @@ -329,7 +329,7 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { Values result; LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); - EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-6)); } /* *************************************************************************/ @@ -407,10 +407,10 @@ TEST( SmartProjectionPoseFactor, Factors ) { boost::shared_ptr > actual = smartFactor1->createHessianFactor(cameras, 0.0); - EXPECT(assert_equal(expectedInformation, actual->information(), 1e-8)); - EXPECT(assert_equal(expected, *actual, 1e-8)); - EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-8); - EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-8); + EXPECT(assert_equal(expectedInformation, actual->information(), 1e-6)); + EXPECT(assert_equal(expected, *actual, 1e-6)); + EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-6); + EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-6); } { @@ -448,15 +448,15 @@ TEST( SmartProjectionPoseFactor, Factors ) { SharedIsotropic n = noiseModel::Isotropic::Sigma(4, sigma); Matrix3 P = (E.transpose() * E).inverse(); JacobianFactorQ<6, 2> expectedQ(keys, Fs, E, P, b, n); - EXPECT(assert_equal(expectedInformation, expectedQ.information(), 1e-8)); + EXPECT(assert_equal(expectedInformation, expectedQ.information(), 1e-6)); boost::shared_ptr > actualQ = smartFactor1->createJacobianQFactor(cameras, 0.0); CHECK(actualQ); - EXPECT(assert_equal(expectedInformation, actualQ->information(), 1e-8)); + EXPECT(assert_equal(expectedInformation, actualQ->information(), 1e-6)); EXPECT(assert_equal(expectedQ, *actualQ)); - EXPECT_DOUBLES_EQUAL(0, actualQ->error(zeroDelta), 1e-8); - EXPECT_DOUBLES_EQUAL(expectedError, actualQ->error(perturbedDelta), 1e-8); + EXPECT_DOUBLES_EQUAL(0, actualQ->error(zeroDelta), 1e-6); + EXPECT_DOUBLES_EQUAL(expectedError, actualQ->error(perturbedDelta), 1e-6); // Whiten for RegularImplicitSchurFactor (does not have noise model) model->WhitenSystem(E, b); @@ -470,11 +470,11 @@ TEST( SmartProjectionPoseFactor, Factors ) { boost::shared_ptr > actual = smartFactor1->createRegularImplicitSchurFactor(cameras, 0.0); CHECK(actual); - EXPECT(assert_equal(expectedInformation, expected.information(), 1e-8)); - EXPECT(assert_equal(expectedInformation, actual->information(), 1e-8)); + EXPECT(assert_equal(expectedInformation, expected.information(), 1e-6)); + EXPECT(assert_equal(expectedInformation, actual->information(), 1e-6)); EXPECT(assert_equal(expected, *actual)); - EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-8); - EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-8); + EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-6); + EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-6); } { @@ -484,15 +484,15 @@ TEST( SmartProjectionPoseFactor, Factors ) { double s = sigma * sin(M_PI_4); SharedIsotropic n = noiseModel::Isotropic::Sigma(4 - 3, sigma); JacobianFactor expected(x1, s * A1, x2, s * A2, b, n); - EXPECT(assert_equal(expectedInformation, expected.information(), 1e-8)); + EXPECT(assert_equal(expectedInformation, expected.information(), 1e-6)); boost::shared_ptr actual = smartFactor1->createJacobianSVDFactor(cameras, 0.0); CHECK(actual); - EXPECT(assert_equal(expectedInformation, actual->information(), 1e-8)); + EXPECT(assert_equal(expectedInformation, actual->information(), 1e-6)); EXPECT(assert_equal(expected, *actual)); - EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-8); - EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-8); + EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-6); + EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-6); } } @@ -603,7 +603,7 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { Values result; LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); - EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-6)); } /* *************************************************************************/ @@ -779,7 +779,7 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { Values result; LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); - EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-6)); } /* *************************************************************************/ @@ -899,7 +899,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { Matrix GraphInformation = GaussianGraph->hessian().first; // Check Hessian - EXPECT(assert_equal(GraphInformation, CumulativeInformation, 1e-8)); + EXPECT(assert_equal(GraphInformation, CumulativeInformation, 1e-6)); Matrix AugInformationMatrix = factor1->augmentedInformation() + factor2->augmentedInformation() + factor3->augmentedInformation(); @@ -908,7 +908,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { Vector InfoVector = AugInformationMatrix.block(0, 18, 18, 1); // 18x18 Hessian + information vector // Check Hessian - EXPECT(assert_equal(InfoVector, GaussianGraph->hessian().second, 1e-8)); + EXPECT(assert_equal(InfoVector, GaussianGraph->hessian().second, 1e-6)); } /* *************************************************************************/ From 2622acb7a7dea2cb14c516d4db4f0f77550f77e1 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Sat, 7 Dec 2019 10:10:31 +0100 Subject: [PATCH 0344/1152] remove useless file --- debian/changelog.new | 11 ----------- 1 file changed, 11 deletions(-) delete mode 100644 debian/changelog.new diff --git a/debian/changelog.new b/debian/changelog.new deleted file mode 100644 index aa37bba92..000000000 --- a/debian/changelog.new +++ /dev/null @@ -1,11 +0,0 @@ -gtsam (4.0.2~snapshot20191125-0729-git-fa41b88e-eoan-1) unstable; urgency=medium - - * New version of upstream sources. - - -- Jose Luis Blanco Claraco Mon, 25 Nov 2019 07:41:00 +0100 - -gtsam (4.0.0-1berndpfrommer) bionic; urgency=medium - - * initial release - - -- Bernd Pfrommer Wed, 18 Jul 2018 20:36:44 -0400 From 4356c1953da49bf8e4e4df0ac0ba75190eec72b9 Mon Sep 17 00:00:00 2001 From: akrishnan86 Date: Sun, 3 May 2020 12:20:33 -0400 Subject: [PATCH 0345/1152] line3 compiled tested --- doc/math.lyx | 189 +++++++++++++++++++++++++---- doc/math.pdf | Bin 242875 -> 261727 bytes gtsam/geometry/Line3.cpp | 136 +++++++++++++++++++++ gtsam/geometry/Line3.h | 178 +++++++++++++++++++++++++++ gtsam/geometry/tests/testLine3.cpp | 148 ++++++++++++++++++++++ 5 files changed, 626 insertions(+), 25 deletions(-) create mode 100644 gtsam/geometry/Line3.cpp create mode 100644 gtsam/geometry/Line3.h create mode 100644 gtsam/geometry/tests/testLine3.cpp diff --git a/doc/math.lyx b/doc/math.lyx index b579d3ea4..2533822a7 100644 --- a/doc/math.lyx +++ b/doc/math.lyx @@ -1,7 +1,9 @@ -#LyX 2.1 created this file. For more info see http://www.lyx.org/ -\lyxformat 474 +#LyX 2.3 created this file. For more info see http://www.lyx.org/ +\lyxformat 544 \begin_document \begin_header +\save_transient_properties true +\origin unavailable \textclass article \use_default_options false \begin_modules @@ -14,16 +16,18 @@ theorems-ams-bytype \language_package default \inputencoding auto \fontencoding global -\font_roman times -\font_sans default -\font_typewriter default -\font_math auto +\font_roman "times" "default" +\font_sans "default" "default" +\font_typewriter "default" "default" +\font_math "auto" "auto" \font_default_family rmdefault \use_non_tex_fonts false \font_sc false \font_osf false -\font_sf_scale 100 -\font_tt_scale 100 +\font_sf_scale 100 100 +\font_tt_scale 100 100 +\use_microtype false +\use_dash_ligatures true \graphics default \default_output_format default \output_sync 0 @@ -53,6 +57,7 @@ theorems-ams-bytype \suppress_date false \justification true \use_refstyle 0 +\use_minted 0 \index Index \shortcut idx \color #008000 @@ -65,7 +70,10 @@ theorems-ams-bytype \tocdepth 3 \paragraph_separation indent \paragraph_indentation default -\quotes_language english +\is_math_indent 0 +\math_numbering_side default +\quotes_style english +\dynamic_quotes 0 \papercolumns 1 \papersides 1 \paperpagestyle default @@ -98,6 +106,11 @@ width "100col%" special "none" height "1in" height_special "totalheight" +thickness "0.4pt" +separation "3pt" +shadowsize "4pt" +framecolor "black" +backgroundcolor "none" status collapsed \begin_layout Plain Layout @@ -654,6 +667,7 @@ reference "eq:LocalBehavior" \begin_inset CommandInset citation LatexCommand cite key "Spivak65book" +literal "true" \end_inset @@ -934,6 +948,7 @@ See \begin_inset CommandInset citation LatexCommand cite key "Spivak65book" +literal "true" \end_inset @@ -1025,6 +1040,7 @@ See \begin_inset CommandInset citation LatexCommand cite key "Spivak65book" +literal "true" \end_inset @@ -2209,6 +2225,7 @@ instantaneous velocity LatexCommand cite after "page 51 for rotations, page 419 for SE(3)" key "Murray94book" +literal "true" \end_inset @@ -2965,7 +2982,7 @@ B^{T} & I_{3}\end{array}\right] \begin_layout Subsection \begin_inset CommandInset label LatexCommand label -name "sub:Pushforward-of-Between" +name "subsec:Pushforward-of-Between" \end_inset @@ -3419,6 +3436,7 @@ A retraction \begin_inset CommandInset citation LatexCommand cite key "Absil07book" +literal "true" \end_inset @@ -3873,7 +3891,7 @@ BetweenFactor , derived in Section \begin_inset CommandInset ref LatexCommand ref -reference "sub:Pushforward-of-Between" +reference "subsec:Pushforward-of-Between" \end_inset @@ -4430,7 +4448,7 @@ In the case of \begin_inset Formula $\SOthree$ \end_inset - the vector space is + the vector space is \begin_inset Formula $\Rthree$ \end_inset @@ -4502,7 +4520,7 @@ reference "Th:InverseAction" \begin_layout Subsection \begin_inset CommandInset label LatexCommand label -name "sub:3DAngularVelocities" +name "subsec:3DAngularVelocities" \end_inset @@ -4695,6 +4713,7 @@ Absil LatexCommand cite after "page 58" key "Absil07book" +literal "true" \end_inset @@ -5395,6 +5414,7 @@ While not a Lie group, we can define an exponential map, which is given \begin_inset CommandInset citation LatexCommand cite key "Ma01ijcv" +literal "true" \end_inset @@ -5402,6 +5422,7 @@ key "Ma01ijcv" \begin_inset CommandInset href LatexCommand href name "http://stat.fsu.edu/~anuj/CVPR_Tutorial/Part2.pdf" +literal "false" \end_inset @@ -5605,6 +5626,7 @@ The exponential map uses \begin_inset CommandInset citation LatexCommand cite key "Absil07book" +literal "true" \end_inset @@ -6293,7 +6315,7 @@ d^{c}=R_{w}^{c}\left(d^{w}+(t^{w}v^{w})v^{w}-t^{w}\right) \end_layout \begin_layout Section -Line3 (Ocaml) +Line3 \end_layout \begin_layout Standard @@ -6345,6 +6367,14 @@ R'=R(I+\Omega) \end_inset + +\end_layout + +\begin_layout Subsection +Projecting Line3 +\end_layout + +\begin_layout Standard Projecting a line to 2D can be done easily, as both \begin_inset Formula $v$ \end_inset @@ -6430,13 +6460,21 @@ or the \end_layout +\begin_layout Subsection +Action of +\begin_inset Formula $\SEthree$ +\end_inset + + on the line +\end_layout + \begin_layout Standard Transforming a 3D line \begin_inset Formula $(R,(a,b))$ \end_inset from a world coordinate frame to a camera frame -\begin_inset Formula $(R_{w}^{c},t^{w})$ +\begin_inset Formula $T_{c}^{w}=(R_{c}^{w},t^{w})$ \end_inset is done by @@ -6466,17 +6504,115 @@ b'=b-R_{2}^{T}t^{w} \end_inset -Again, we need to redo the derivatives, as R is incremented from the right. - The first argument is incremented from the left, but the result is incremented - on the right: +where +\begin_inset Formula $R_{1}$ +\end_inset + + and +\begin_inset Formula $R_{2}$ +\end_inset + + are the columns of +\begin_inset Formula $R$ +\end_inset + + , as before. + +\end_layout + +\begin_layout Standard +To find the derivatives, the transformation of a line +\begin_inset Formula $l^{w}=(R,a,b)$ +\end_inset + + from world coordinates to a camera coordinate frame +\begin_inset Formula $T_{c}^{w}$ +\end_inset + +, specified in world coordinates, can be written as a function +\begin_inset Formula $f:\SEthree\times L\rightarrow L$ +\end_inset + +, as given above, i.e., \begin_inset Formula -\begin{eqnarray*} -R'(I+\Omega')=(AB)(I+\Omega') & = & (I+\Skew{S\omega})AB\\ -I+\Omega' & = & (AB)^{T}(I+\Skew{S\omega})(AB)\\ -\Omega' & = & R'^{T}\Skew{S\omega}R'\\ -\Omega' & = & \Skew{R'^{T}S\omega}\\ -\omega' & = & R'^{T}S\omega -\end{eqnarray*} +\[ +f(T_{c}^{w},l^{w})=\left(\left(R_{c}^{w}\right)^{T}R,a-R_{1}^{T}t^{w},b-R_{2}^{T}t^{w}\right). +\] + +\end_inset + +Let us find the Jacobian +\begin_inset Formula $J_{1}$ +\end_inset + + of +\begin_inset Formula $f$ +\end_inset + + with respect to the first argument +\begin_inset Formula $T_{c}^{w}$ +\end_inset + +, which should obey +\begin_inset Formula +\begin{align*} +f(T_{c}^{w}e^{\xihat},l^{w}) & \approx f(T_{c}^{w},l^{w})+J_{1}\xi +\end{align*} + +\end_inset + +Note that +\begin_inset Formula +\[ +T_{c}^{w}e^{\xihat}\approx\left[\begin{array}{cc} +R_{c}^{w}\left(I_{3}+\Skew{\omega}\right) & t^{w}+R_{c}^{w}v\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + +Let's write this out separately for each of +\begin_inset Formula $R,a,b$ +\end_inset + +: +\begin_inset Formula +\begin{align*} +\left(R_{c}^{w}\left(I_{3}+\Skew{\omega}\right)\right)^{T}R & \approx\left(R_{c}^{w}\right)^{T}R(I+\left[J_{R\omega}\omega\right]_{\times})\\ +a-R_{1}^{T}\left(t^{w}+R_{c}^{w}v\right) & \approx a-R_{1}^{T}t^{w}+J_{av}v\\ +b-R_{2}^{T}\left(t^{w}+R_{c}^{w}v\right) & \approx b-R_{2}^{T}t^{w}+J_{bv}v +\end{align*} + +\end_inset + +Simplifying, we get: +\begin_inset Formula +\begin{align*} +-\Skew{\omega}R' & \approx R'\left[J_{R\omega}\omega\right]_{\times}\\ +-R_{1}^{T}R_{c}^{w} & \approx J_{av}\\ +-R_{2}^{T}R_{c}^{w} & \approx J_{bv} +\end{align*} + +\end_inset + +which gives the expressions for +\begin_inset Formula $J_{av}$ +\end_inset + + and +\begin_inset Formula $J_{bv}$ +\end_inset + +. + The top line can be further simplified: +\begin_inset Formula +\begin{align*} +-\Skew{\omega}R' & \approx R'\left[J_{R\omega}\omega\right]_{\times}\\ +-R'^{T}\Skew{\omega}R' & \approx\left[J_{R\omega}\omega\right]_{\times}\\ +-\Skew{R'^{T}\omega} & \approx\left[J_{R\omega}\omega\right]_{\times}\\ +-R'^{T} & \approx J_{R\omega} +\end{align*} \end_inset @@ -6687,6 +6823,7 @@ Spivak \begin_inset CommandInset citation LatexCommand cite key "Spivak65book" +literal "true" \end_inset @@ -6795,6 +6932,7 @@ The following is adapted from Appendix A in \begin_inset CommandInset citation LatexCommand cite key "Murray94book" +literal "true" \end_inset @@ -6924,6 +7062,7 @@ might be LatexCommand cite after "page 45" key "Hall00book" +literal "true" \end_inset diff --git a/doc/math.pdf b/doc/math.pdf index ab8f1f69a206c8b4fdfc449edecb64d6b40a74aa..8dc7270f1139ce7e246a63925d29302f3afad2aa 100644 GIT binary patch literal 261727 zcma%>Q*bUoyQSlNv27b)Y#TeaZQHhO+qP}nJIRin>==9gGc{8+RdX&*-*i{KcYU#X 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zJWIS%$G(a;$;o5V1HE}Iy=)7KNGqPtTyc~A<;~#aq`Xvx5>OgGKX^D2tNl7|ysNbU5iT=hxYn*#9(U1= zsQl)je2npt8Qo2M0bKR1JE{;zDRM*D2ZbNlY^JeMxi6^P$-bo$7$M?1fp+ZCV0{dz7{iq)2AqY^xW^9qTWK%S{U>EtXX+pMnc%(m;--_H>l`Ojn zg_w_)IrzWEF7S)ACb^yxnm-qCO65u9g;Fs-bPR^ff>vXdLdNIrB<%i0#g#NoSAt}B zi9WxHY^B+h4lbgoMo2#r{{hVzSSU(YslhV>vEZ0+~-NrLCLfTsyANl|ftj_C; z$8x>4&U)HgN;1-Ag!Qt`;9IrCp5L@@OIjCHs*!2&eq#HaRxP<&lBf^L*RP&{LC&9_>R*NXJXpTK!@PH6P$je4 zJ4$GD3E%%}bnNIKwBOgyGyeyi;Xf4Nf1@iR9{_@rxvh=p2h9MW5#?cJVP#HTC^V^%YPBJ4geYzh{nfI*4Fs{J61tOOoK_>*~$uRXk+t1Nzka6nL7eLZaZU> zk8}or8pOfzqZ)vX2?zqRbF*@=GqN&qFanuCEKIB{0G Date: Fri, 3 Apr 2020 14:04:02 -0400 Subject: [PATCH 0307/1152] noise in robust should be gaussian, change variable names --- gtsam/linear/LossFunctions.cpp | 74 +++++++++++++++++----------------- gtsam/linear/LossFunctions.h | 40 +++++++++--------- gtsam/linear/NoiseModel.cpp | 7 ++++ gtsam/linear/NoiseModel.h | 13 +++--- 4 files changed, 71 insertions(+), 63 deletions(-) diff --git a/gtsam/linear/LossFunctions.cpp b/gtsam/linear/LossFunctions.cpp index 8bb670a92..45ad14f0f 100644 --- a/gtsam/linear/LossFunctions.cpp +++ b/gtsam/linear/LossFunctions.cpp @@ -137,12 +137,12 @@ Fair::Fair(double c, const ReweightScheme reweight) : Base(reweight), c_(c) { } } -double Fair::weight(double error) const { - return 1.0 / (1.0 + std::abs(error) / c_); +double Fair::weight(double distance) const { + return 1.0 / (1.0 + std::abs(distance) / c_); } -double Fair::loss(double error) const { - const double absError = std::abs(error); +double Fair::loss(double distance) const { + const double absError = std::abs(distance); const double normalizedError = absError / c_; const double c_2 = c_ * c_; return c_2 * (normalizedError - std::log1p(normalizedError)); @@ -170,15 +170,15 @@ Huber::Huber(double k, const ReweightScheme reweight) : Base(reweight), k_(k) { } } -double Huber::weight(double error) const { - const double absError = std::abs(error); +double Huber::weight(double distance) const { + const double absError = std::abs(distance); return (absError <= k_) ? (1.0) : (k_ / absError); } -double Huber::loss(double error) const { - const double absError = std::abs(error); +double Huber::loss(double distance) const { + const double absError = std::abs(distance); if (absError <= k_) { // |x| <= k - return error*error / 2; + return distance*distance / 2; } else { // |x| > k return k_ * (absError - (k_/2)); } @@ -208,12 +208,12 @@ Cauchy::Cauchy(double k, const ReweightScheme reweight) : Base(reweight), k_(k), } } -double Cauchy::weight(double error) const { - return ksquared_ / (ksquared_ + error*error); +double Cauchy::weight(double distance) const { + return ksquared_ / (ksquared_ + distance*distance); } -double Cauchy::loss(double error) const { - const double val = std::log1p(error * error / ksquared_); +double Cauchy::loss(double distance) const { + const double val = std::log1p(distance * distance / ksquared_); return ksquared_ * val * 0.5; } @@ -241,18 +241,18 @@ Tukey::Tukey(double c, const ReweightScheme reweight) : Base(reweight), c_(c), c } } -double Tukey::weight(double error) const { - if (std::abs(error) <= c_) { - const double one_minus_xc2 = 1.0 - error*error/csquared_; +double Tukey::weight(double distance) const { + if (std::abs(distance) <= c_) { + const double one_minus_xc2 = 1.0 - distance*distance/csquared_; return one_minus_xc2 * one_minus_xc2; } return 0.0; } -double Tukey::loss(double error) const { - double absError = std::abs(error); +double Tukey::loss(double distance) const { + double absError = std::abs(distance); if (absError <= c_) { - const double one_minus_xc2 = 1.0 - error*error/csquared_; + const double one_minus_xc2 = 1.0 - distance*distance/csquared_; const double t = one_minus_xc2*one_minus_xc2*one_minus_xc2; return csquared_ * (1 - t) / 6.0; } else { @@ -280,13 +280,13 @@ Tukey::shared_ptr Tukey::Create(double c, const ReweightScheme reweight) { Welsch::Welsch(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {} -double Welsch::weight(double error) const { - const double xc2 = (error*error)/csquared_; +double Welsch::weight(double distance) const { + const double xc2 = (distance*distance)/csquared_; return std::exp(-xc2); } -double Welsch::loss(double error) const { - const double xc2 = (error*error)/csquared_; +double Welsch::loss(double distance) const { + const double xc2 = (distance*distance)/csquared_; return csquared_ * 0.5 * -std::expm1(-xc2); } @@ -311,16 +311,16 @@ GemanMcClure::GemanMcClure(double c, const ReweightScheme reweight) : Base(reweight), c_(c) { } -double GemanMcClure::weight(double error) const { +double GemanMcClure::weight(double distance) const { const double c2 = c_*c_; const double c4 = c2*c2; - const double c2error = c2 + error*error; + const double c2error = c2 + distance*distance; return c4/(c2error*c2error); } -double GemanMcClure::loss(double error) const { +double GemanMcClure::loss(double distance) const { const double c2 = c_*c_; - const double error2 = error*error; + const double error2 = distance*distance; return 0.5 * (c2 * error2) / (c2 + error2); } @@ -345,8 +345,8 @@ DCS::DCS(double c, const ReweightScheme reweight) : Base(reweight), c_(c) { } -double DCS::weight(double error) const { - const double e2 = error*error; +double DCS::weight(double distance) const { + const double e2 = distance*distance; if (e2 > c_) { const double w = 2.0*c_/(c_ + e2); @@ -356,10 +356,10 @@ double DCS::weight(double error) const { return 1.0; } -double DCS::loss(double error) const { +double DCS::loss(double distance) const { // This is the simplified version of Eq 9 from (Agarwal13icra) // after you simplify and cancel terms. - const double e2 = error*error; + const double e2 = distance*distance; const double e4 = e2*e2; const double c2 = c_*c_; @@ -391,17 +391,17 @@ L2WithDeadZone::L2WithDeadZone(double k, const ReweightScheme reweight) } } -double L2WithDeadZone::weight(double error) const { +double L2WithDeadZone::weight(double distance) const { // note that this code is slightly uglier than residual, because there are three distinct // cases to handle (left of deadzone, deadzone, right of deadzone) instead of the two // cases (deadzone, non-deadzone) in residual. - if (std::abs(error) <= k_) return 0.0; - else if (error > k_) return (-k_+error)/error; - else return (k_+error)/error; + if (std::abs(distance) <= k_) return 0.0; + else if (distance > k_) return (-k_+distance)/distance; + else return (k_+distance)/distance; } -double L2WithDeadZone::loss(double error) const { - const double abs_error = std::abs(error); +double L2WithDeadZone::loss(double distance) const { + const double abs_error = std::abs(distance); return (abs_error < k_) ? 0.0 : 0.5*(k_-abs_error)*(k_-abs_error); } diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h index 1b6f444e8..8d569a5df 100644 --- a/gtsam/linear/LossFunctions.h +++ b/gtsam/linear/LossFunctions.h @@ -80,10 +80,10 @@ class GTSAM_EXPORT Base { * functions. It would be better for this function to accept the vector and * internally call the norm if necessary. */ - virtual double loss(double error) const { return 0; }; + virtual double loss(double distance) const { return 0; }; #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 - virtual double residual(double error) const { return loss(error); }; + virtual double residual(double distance) const { return loss(distance); }; #endif /* * This method is responsible for returning the weight function for a given @@ -93,12 +93,12 @@ class GTSAM_EXPORT Base { * for details. This method is required when optimizing cost functions with * robust penalties using iteratively re-weighted least squares. */ - virtual double weight(double error) const = 0; + virtual double weight(double distance) const = 0; virtual void print(const std::string &s) const = 0; virtual bool equals(const Base &expected, double tol = 1e-8) const = 0; - double sqrtWeight(double error) const { return std::sqrt(weight(error)); } + double sqrtWeight(double distance) const { return std::sqrt(weight(distance)); } /** produce a weight vector according to an error vector and the implemented * robust function */ @@ -157,8 +157,8 @@ class GTSAM_EXPORT Fair : public Base { typedef boost::shared_ptr shared_ptr; Fair(double c = 1.3998, const ReweightScheme reweight = Block); - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double c, const ReweightScheme reweight = Block); @@ -182,8 +182,8 @@ class GTSAM_EXPORT Huber : public Base { typedef boost::shared_ptr shared_ptr; Huber(double k = 1.345, const ReweightScheme reweight = Block); - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -212,8 +212,8 @@ class GTSAM_EXPORT Cauchy : public Base { typedef boost::shared_ptr shared_ptr; Cauchy(double k = 0.1, const ReweightScheme reweight = Block); - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -237,8 +237,8 @@ class GTSAM_EXPORT Tukey : public Base { typedef boost::shared_ptr shared_ptr; Tukey(double c = 4.6851, const ReweightScheme reweight = Block); - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -262,8 +262,8 @@ class GTSAM_EXPORT Welsch : public Base { typedef boost::shared_ptr shared_ptr; Welsch(double c = 2.9846, const ReweightScheme reweight = Block); - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -298,8 +298,8 @@ class GTSAM_EXPORT GemanMcClure : public Base { GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block); ~GemanMcClure() {} - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -328,8 +328,8 @@ class GTSAM_EXPORT DCS : public Base { DCS(double c = 1.0, const ReweightScheme reweight = Block); ~DCS() {} - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -361,8 +361,8 @@ class GTSAM_EXPORT L2WithDeadZone : public Base { typedef boost::shared_ptr shared_ptr; L2WithDeadZone(double k = 1.0, const ReweightScheme reweight = Block); - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index e0ca3726b..5855ecad4 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -654,6 +654,13 @@ void Robust::WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const{ robust_->reweight(A1,A2,A3,b); } +Robust::shared_ptr Robust::Create(const RobustModel::shared_ptr& robust, + const noiseModel::Base::shared_ptr noise) { + SharedGaussian gaussian; + gaussian = boost::dynamic_pointer_cast(noise); + return shared_ptr(new Robust(robust, gaussian)); +} + Robust::shared_ptr Robust::Create( const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise){ return shared_ptr(new Robust(robust,noise)); diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 627c0de2b..dff94c874 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -90,7 +90,7 @@ namespace gtsam { /// Unwhiten an error vector. virtual Vector unwhiten(const Vector& v) const = 0; - /// calculate the error value given error vector + /// calculate the error value given measurement error vector virtual double error(const Vector& v) const = 0; #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 @@ -677,7 +677,7 @@ namespace gtsam { protected: typedef mEstimator::Base RobustModel; - typedef noiseModel::Base NoiseModel; + typedef noiseModel::Gaussian NoiseModel; const RobustModel::shared_ptr robust_; ///< robust error function used const NoiseModel::shared_ptr noise_; ///< noise model used @@ -712,9 +712,7 @@ namespace gtsam { { throw std::invalid_argument("unwhiten is not currently supported for robust noise models."); } // Fold the use of the m-estimator loss(...) function into error(...) inline virtual double error(const Vector& v) const - { return robust_->loss(this->unweightedWhiten(v).norm()); } - // inline virtual double distance_non_whitened(const Vector& v) const - // { return robust_->loss(v.norm()); } + { return robust_->loss(noise_->mahalanobisDistance(v)); } // TODO: these are really robust iterated re-weighting support functions virtual void WhitenSystem(Vector& b) const; virtual void WhitenSystem(std::vector& A, Vector& b) const; @@ -723,13 +721,16 @@ namespace gtsam { virtual void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const; virtual Vector unweightedWhiten(const Vector& v) const { - return noise_->unweightedWhiten(v); + return noise_->whiten(v); } virtual double weight(const Vector& v) const { // Todo(mikebosse): make the robust weight function input a vector. return robust_->weight(v.norm()); } + static shared_ptr Create( + const RobustModel::shared_ptr &robust, const noiseModel::Base::shared_ptr noise); + static shared_ptr Create( const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise); From 8383e9e285d908140988b8dfbfcc4bfa535ba7d4 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Apr 2020 12:28:46 -0400 Subject: [PATCH 0308/1152] Deprecated several methods and madrng mutable, so methods are const --- gtsam/linear/Sampler.cpp | 25 +++++----- gtsam/linear/Sampler.h | 79 ++++++++++++++++-------------- gtsam/linear/tests/testSampler.cpp | 18 ++++--- 3 files changed, 66 insertions(+), 56 deletions(-) diff --git a/gtsam/linear/Sampler.cpp b/gtsam/linear/Sampler.cpp index 9f1527bf9..57a34f364 100644 --- a/gtsam/linear/Sampler.cpp +++ b/gtsam/linear/Sampler.cpp @@ -11,6 +11,8 @@ /** * @file Sampler.cpp + * @brief sampling from a NoiseModel to generate + * @author Frank Dellaert * @author Alex Cunningham */ @@ -19,24 +21,18 @@ namespace gtsam { /* ************************************************************************* */ Sampler::Sampler(const noiseModel::Diagonal::shared_ptr& model, int32_t seed) - : model_(model), generator_(static_cast(seed)) -{ -} + : model_(model), generator_(static_cast(seed)) {} /* ************************************************************************* */ Sampler::Sampler(const Vector& sigmas, int32_t seed) -: model_(noiseModel::Diagonal::Sigmas(sigmas, true)), generator_(static_cast(seed)) -{ -} + : model_(noiseModel::Diagonal::Sigmas(sigmas, true)), + generator_(static_cast(seed)) {} /* ************************************************************************* */ -Sampler::Sampler(int32_t seed) -: generator_(static_cast(seed)) -{ -} +Sampler::Sampler(int32_t seed) : generator_(static_cast(seed)) {} /* ************************************************************************* */ -Vector Sampler::sampleDiagonal(const Vector& sigmas) { +Vector Sampler::sampleDiagonal(const Vector& sigmas) const { size_t d = sigmas.size(); Vector result(d); for (size_t i = 0; i < d; i++) { @@ -55,18 +51,19 @@ Vector Sampler::sampleDiagonal(const Vector& sigmas) { } /* ************************************************************************* */ -Vector Sampler::sample() { +Vector Sampler::sample() const { assert(model_.get()); const Vector& sigmas = model_->sigmas(); return sampleDiagonal(sigmas); } /* ************************************************************************* */ -Vector Sampler::sampleNewModel(const noiseModel::Diagonal::shared_ptr& model) { +Vector Sampler::sampleNewModel( + const noiseModel::Diagonal::shared_ptr& model) const { assert(model.get()); const Vector& sigmas = model->sigmas(); return sampleDiagonal(sigmas); } /* ************************************************************************* */ -} // \namespace gtsam +} // namespace gtsam diff --git a/gtsam/linear/Sampler.h b/gtsam/linear/Sampler.h index 93145c31a..b53f02d23 100644 --- a/gtsam/linear/Sampler.h +++ b/gtsam/linear/Sampler.h @@ -10,9 +10,9 @@ * -------------------------------------------------------------------------- */ /** - * @brief sampling that can be parameterized using a NoiseModel to generate samples from * @file Sampler.h - * the given distribution + * @brief sampling from a NoiseModel to generate + * @author Frank Dellaert * @author Alex Cunningham */ @@ -27,67 +27,74 @@ namespace gtsam { /** * Sampling structure that keeps internal random number generators for * diagonal distributions specified by NoiseModel - * - * This is primarily to allow for variable seeds, and does roughly the same - * thing as sample() in NoiseModel. */ class GTSAM_EXPORT Sampler { -protected: + protected: /** noiseModel created at generation */ noiseModel::Diagonal::shared_ptr model_; /** generator */ - std::mt19937_64 generator_; + mutable std::mt19937_64 generator_; -public: + public: typedef boost::shared_ptr shared_ptr; + /// @name constructors + /// @{ + /** * Create a sampler for the distribution specified by a diagonal NoiseModel * with a manually specified seed * * NOTE: do not use zero as a seed, it will break the generator */ - Sampler(const noiseModel::Diagonal::shared_ptr& model, int32_t seed = 42u); + explicit Sampler(const noiseModel::Diagonal::shared_ptr& model, + int32_t seed = 42u); /** - * Create a sampler for a distribution specified by a vector of sigmas directly + * Create a sampler for a distribution specified by a vector of sigmas + * directly * * NOTE: do not use zero as a seed, it will break the generator */ - Sampler(const Vector& sigmas, int32_t seed = 42u); + explicit Sampler(const Vector& sigmas, int32_t seed = 42u); - /** - * Create a sampler without a given noisemodel - pass in to sample - * - * NOTE: do not use zero as a seed, it will break the generator - */ - Sampler(int32_t seed = 42u); + /// @} + /// @name access functions + /// @{ + + size_t dim() const { + assert(model_.get()); + return model_->dim(); + } + + Vector sigmas() const { + assert(model_.get()); + return model_->sigmas(); + } - /** access functions */ - size_t dim() const { assert(model_.get()); return model_->dim(); } - Vector sigmas() const { assert(model_.get()); return model_->sigmas(); } const noiseModel::Diagonal::shared_ptr& model() const { return model_; } - /** - * sample from distribution - * NOTE: not const due to need to update the underlying generator - */ - Vector sample(); + /// @} + /// @name basic functionality + /// @{ - /** - * Sample from noisemodel passed in as an argument, - * can be used without having initialized a model for the system. - * - * NOTE: not const due to need to update the underlying generator - */ - Vector sampleNewModel(const noiseModel::Diagonal::shared_ptr& model); + /// sample from distribution + Vector sample() const; -protected: + /// @} +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 + /// @name Deprecated + /// @{ + explicit Sampler(int32_t seed = 42u); + Vector sampleNewModel(const noiseModel::Diagonal::shared_ptr& model) const; + /// @} +#endif + + protected: /** given sigmas for a diagonal model, returns a sample */ - Vector sampleDiagonal(const Vector& sigmas); - + Vector sampleDiagonal(const Vector& sigmas) const; }; -} // \namespace gtsam +} // namespace gtsam diff --git a/gtsam/linear/tests/testSampler.cpp b/gtsam/linear/tests/testSampler.cpp index bd718500e..5831d9048 100644 --- a/gtsam/linear/tests/testSampler.cpp +++ b/gtsam/linear/tests/testSampler.cpp @@ -10,8 +10,10 @@ * -------------------------------------------------------------------------- */ /** - * @file testSampler + * @file testSampler.cpp + * @brief unit tests for Sampler class * @author Alex Cunningham + * @author Frank Dellaert */ #include @@ -22,14 +24,15 @@ using namespace gtsam; const double tol = 1e-5; +static const Vector3 kSigmas(1.0, 0.1, 0.0); + /* ************************************************************************* */ TEST(testSampler, basic) { - Vector sigmas = Vector3(1.0, 0.1, 0.0); - noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(sigmas); + auto model = noiseModel::Diagonal::Sigmas(kSigmas); char seed = 'A'; Sampler sampler1(model, seed), sampler2(model, 1), sampler3(model, 1); - EXPECT(assert_equal(sigmas, sampler1.sigmas())); - EXPECT(assert_equal(sigmas, sampler2.sigmas())); + EXPECT(assert_equal(kSigmas, sampler1.sigmas())); + EXPECT(assert_equal(kSigmas, sampler2.sigmas())); EXPECT_LONGS_EQUAL(3, sampler1.dim()); EXPECT_LONGS_EQUAL(3, sampler2.dim()); Vector actual1 = sampler1.sample(); @@ -38,5 +41,8 @@ TEST(testSampler, basic) { } /* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ From 054e9f19c0cefee6cdff10bec0016c7e914394ca Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Apr 2020 12:30:34 -0400 Subject: [PATCH 0309/1152] Comment typos --- gtsam/linear/Sampler.cpp | 2 +- gtsam/linear/Sampler.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/Sampler.cpp b/gtsam/linear/Sampler.cpp index 57a34f364..ed204fcac 100644 --- a/gtsam/linear/Sampler.cpp +++ b/gtsam/linear/Sampler.cpp @@ -11,7 +11,7 @@ /** * @file Sampler.cpp - * @brief sampling from a NoiseModel to generate + * @brief sampling from a diagonal NoiseModel * @author Frank Dellaert * @author Alex Cunningham */ diff --git a/gtsam/linear/Sampler.h b/gtsam/linear/Sampler.h index b53f02d23..a52cde330 100644 --- a/gtsam/linear/Sampler.h +++ b/gtsam/linear/Sampler.h @@ -11,7 +11,7 @@ /** * @file Sampler.h - * @brief sampling from a NoiseModel to generate + * @brief sampling from a NoiseModel * @author Frank Dellaert * @author Alex Cunningham */ From 218cb5537b31a11d4fe2a066d7318fd468449fd1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Apr 2020 12:34:39 -0400 Subject: [PATCH 0310/1152] Changed argument to obviate need for cast --- gtsam/linear/Sampler.cpp | 12 ++++++------ gtsam/linear/Sampler.h | 6 +++--- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/gtsam/linear/Sampler.cpp b/gtsam/linear/Sampler.cpp index ed204fcac..fc58b2ba2 100644 --- a/gtsam/linear/Sampler.cpp +++ b/gtsam/linear/Sampler.cpp @@ -20,16 +20,16 @@ namespace gtsam { /* ************************************************************************* */ -Sampler::Sampler(const noiseModel::Diagonal::shared_ptr& model, int32_t seed) - : model_(model), generator_(static_cast(seed)) {} +Sampler::Sampler(const noiseModel::Diagonal::shared_ptr& model, + uint_fast64_t seed) + : model_(model), generator_(seed) {} /* ************************************************************************* */ -Sampler::Sampler(const Vector& sigmas, int32_t seed) - : model_(noiseModel::Diagonal::Sigmas(sigmas, true)), - generator_(static_cast(seed)) {} +Sampler::Sampler(const Vector& sigmas, uint_fast64_t seed) + : model_(noiseModel::Diagonal::Sigmas(sigmas, true)), generator_(seed) {} /* ************************************************************************* */ -Sampler::Sampler(int32_t seed) : generator_(static_cast(seed)) {} +Sampler::Sampler(uint_fast64_t seed) : generator_(seed) {} /* ************************************************************************* */ Vector Sampler::sampleDiagonal(const Vector& sigmas) const { diff --git a/gtsam/linear/Sampler.h b/gtsam/linear/Sampler.h index a52cde330..54c240a2b 100644 --- a/gtsam/linear/Sampler.h +++ b/gtsam/linear/Sampler.h @@ -49,7 +49,7 @@ class GTSAM_EXPORT Sampler { * NOTE: do not use zero as a seed, it will break the generator */ explicit Sampler(const noiseModel::Diagonal::shared_ptr& model, - int32_t seed = 42u); + uint_fast64_t seed = 42u); /** * Create a sampler for a distribution specified by a vector of sigmas @@ -57,7 +57,7 @@ class GTSAM_EXPORT Sampler { * * NOTE: do not use zero as a seed, it will break the generator */ - explicit Sampler(const Vector& sigmas, int32_t seed = 42u); + explicit Sampler(const Vector& sigmas, uint_fast64_t seed = 42u); /// @} /// @name access functions @@ -87,7 +87,7 @@ class GTSAM_EXPORT Sampler { #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @name Deprecated /// @{ - explicit Sampler(int32_t seed = 42u); + explicit Sampler(uint_fast64_t seed = 42u); Vector sampleNewModel(const noiseModel::Diagonal::shared_ptr& model) const; /// @} #endif From 45cf253cecbdc8128fe8bc5a0e2b278991822285 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Apr 2020 13:08:36 -0400 Subject: [PATCH 0311/1152] Deprecated parts of cpp --- gtsam/linear/Sampler.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam/linear/Sampler.cpp b/gtsam/linear/Sampler.cpp index fc58b2ba2..16c7e73e0 100644 --- a/gtsam/linear/Sampler.cpp +++ b/gtsam/linear/Sampler.cpp @@ -28,9 +28,6 @@ Sampler::Sampler(const noiseModel::Diagonal::shared_ptr& model, Sampler::Sampler(const Vector& sigmas, uint_fast64_t seed) : model_(noiseModel::Diagonal::Sigmas(sigmas, true)), generator_(seed) {} -/* ************************************************************************* */ -Sampler::Sampler(uint_fast64_t seed) : generator_(seed) {} - /* ************************************************************************* */ Vector Sampler::sampleDiagonal(const Vector& sigmas) const { size_t d = sigmas.size(); @@ -58,12 +55,16 @@ Vector Sampler::sample() const { } /* ************************************************************************* */ +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 +Sampler::Sampler(uint_fast64_t seed) : generator_(seed) {} + Vector Sampler::sampleNewModel( const noiseModel::Diagonal::shared_ptr& model) const { assert(model.get()); const Vector& sigmas = model->sigmas(); return sampleDiagonal(sigmas); } +#endif /* ************************************************************************* */ } // namespace gtsam From d1d8543fc718197265570bc7ddcb304fd6a535d7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Apr 2020 13:57:05 -0400 Subject: [PATCH 0312/1152] Fixed issues with deprecated Sampler methods --- gtsam.h | 6 ++---- gtsam/linear/NoiseModel.cpp | 1 - gtsam/navigation/ScenarioRunner.h | 2 +- gtsam/slam/dataset.cpp | 6 +++--- 4 files changed, 6 insertions(+), 9 deletions(-) diff --git a/gtsam.h b/gtsam.h index 8ee778f4c..413a1bc7c 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1563,17 +1563,15 @@ virtual class Robust : gtsam::noiseModel::Base { #include class Sampler { - //Constructors + // Constructors Sampler(gtsam::noiseModel::Diagonal* model, int seed); Sampler(Vector sigmas, int seed); - Sampler(int seed); - //Standard Interface + // Standard Interface size_t dim() const; Vector sigmas() const; gtsam::noiseModel::Diagonal* model() const; Vector sample(); - Vector sampleNewModel(gtsam::noiseModel::Diagonal* model); }; #include diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index b324ea784..df99191b2 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -25,7 +25,6 @@ #include #include #include -#include #include #include diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 5fb9f78d7..649d0fe12 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -48,7 +48,7 @@ class GTSAM_EXPORT ScenarioRunner { const Bias estimatedBias_; // Create two samplers for acceleration and omega noise - mutable Sampler gyroSampler_, accSampler_; + Sampler gyroSampler_, accSampler_; public: ScenarioRunner(const Scenario& scenario, const SharedParams& p, diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 45d009b1c..052bb3343 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -252,7 +252,7 @@ GraphAndValues load2D(const string& filename, SharedNoiseModel model, Key maxID, is.seekg(0, ios::beg); // If asked, create a sampler with random number generator - Sampler sampler; + std::unique_ptr sampler; if (addNoise) { noiseModel::Diagonal::shared_ptr noise; if (model) @@ -261,7 +261,7 @@ GraphAndValues load2D(const string& filename, SharedNoiseModel model, Key maxID, throw invalid_argument( "gtsam::load2D: invalid noise model for adding noise" "(current version assumes diagonal noise model)!"); - sampler = Sampler(noise); + sampler.reset(new Sampler(noise)); } // Parse the pose constraints @@ -289,7 +289,7 @@ GraphAndValues load2D(const string& filename, SharedNoiseModel model, Key maxID, model = modelInFile; if (addNoise) - l1Xl2 = l1Xl2.retract(sampler.sample()); + l1Xl2 = l1Xl2.retract(sampler->sample()); // Insert vertices if pure odometry file if (!initial->exists(id1)) From e50f79b8954fe07490389e02d48778154ae346dc Mon Sep 17 00:00:00 2001 From: kvmanohar22 Date: Sat, 4 Apr 2020 23:50:53 +0530 Subject: [PATCH 0313/1152] fix typo --- gtsam/navigation/NavState.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index e9afcd3ac..f66e9d7a9 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -64,7 +64,7 @@ public: R_(pose.rotation()), t_(pose.translation()), v_(v) { } /// Construct from SO(3) and R^6 - NavState(const Matrix3& R, const Vector9 tv) : + NavState(const Matrix3& R, const Vector6& tv) : R_(R), t_(tv.head<3>()), v_(tv.tail<3>()) { } /// Named constructor with derivatives From efc264d8ee3c4704471488c982b768c1dccd57c4 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 5 Apr 2020 14:20:44 -0400 Subject: [PATCH 0314/1152] revised comments --- gtsam/linear/NoiseModel.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index dff94c874..7349f6304 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -229,6 +229,9 @@ namespace gtsam { } #endif + /** + * error value 0.5 * v'*R'*R*v + */ inline virtual double error(const Vector& v) const { return 0.5 * squaredMahalanobisDistance(v); } @@ -478,7 +481,7 @@ namespace gtsam { } /** - * The distance function for a constrained noisemodel, + * The error function for a constrained noisemodel, * for non-constrained versions, uses sigmas, otherwise * uses the penalty function with mu */ From 90b286f553fc7a5fa3f6951a60181365a0ffd1b6 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 5 Apr 2020 14:46:17 -0400 Subject: [PATCH 0315/1152] change test cases to use the updated names, remove 2nd Create in robust --- gtsam/linear/NoiseModel.cpp | 8 +-- gtsam/linear/NoiseModel.h | 4 +- gtsam/linear/tests/testNoiseModel.cpp | 72 +++++++++++++-------------- 3 files changed, 42 insertions(+), 42 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 5855ecad4..206cab3b1 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -661,10 +661,10 @@ Robust::shared_ptr Robust::Create(const RobustModel::shared_ptr& robust, return shared_ptr(new Robust(robust, gaussian)); } -Robust::shared_ptr Robust::Create( - const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise){ - return shared_ptr(new Robust(robust,noise)); -} +// Robust::shared_ptr Robust::Create( +// const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise){ +// return shared_ptr(new Robust(robust,noise)); +// } /* ************************************************************************* */ diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 7349f6304..c8e0e78a5 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -734,8 +734,8 @@ namespace gtsam { static shared_ptr Create( const RobustModel::shared_ptr &robust, const noiseModel::Base::shared_ptr noise); - static shared_ptr Create( - const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise); + // static shared_ptr Create( + // const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise); private: /** Serialization function */ diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index d6b133b98..dd1d46b42 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -451,7 +451,7 @@ TEST(NoiseModel, WhitenInPlace) /* * These tests are responsible for testing the weight functions for the m-estimators in GTSAM. - * The weight function is related to the analytic derivative of the residual function. See + * The weight function is related to the analytic derivative of the loss function. See * https://members.loria.fr/MOBerger/Enseignement/Master2/Documents/ZhangIVC-97-01.pdf * for details. This weight function is required when optimizing cost functions with robust * penalties using iteratively re-weighted least squares. @@ -467,10 +467,10 @@ TEST(NoiseModel, robustFunctionFair) DOUBLES_EQUAL(0.3333333333333333, fair->weight(error3), 1e-8); DOUBLES_EQUAL(0.8333333333333333, fair->weight(error4), 1e-8); - DOUBLES_EQUAL(0.441961080151135, fair->residual(error1), 1e-8); - DOUBLES_EQUAL(22.534692783297260, fair->residual(error2), 1e-8); - DOUBLES_EQUAL(22.534692783297260, fair->residual(error3), 1e-8); - DOUBLES_EQUAL(0.441961080151135, fair->residual(error4), 1e-8); + DOUBLES_EQUAL(0.441961080151135, fair->loss(error1), 1e-8); + DOUBLES_EQUAL(22.534692783297260, fair->loss(error2), 1e-8); + DOUBLES_EQUAL(22.534692783297260, fair->loss(error3), 1e-8); + DOUBLES_EQUAL(0.441961080151135, fair->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionHuber) @@ -483,10 +483,10 @@ TEST(NoiseModel, robustFunctionHuber) DOUBLES_EQUAL(0.5, huber->weight(error3), 1e-8); DOUBLES_EQUAL(1.0, huber->weight(error4), 1e-8); - DOUBLES_EQUAL(0.5000, huber->residual(error1), 1e-8); - DOUBLES_EQUAL(37.5000, huber->residual(error2), 1e-8); - DOUBLES_EQUAL(37.5000, huber->residual(error3), 1e-8); - DOUBLES_EQUAL(0.5000, huber->residual(error4), 1e-8); + DOUBLES_EQUAL(0.5000, huber->loss(error1), 1e-8); + DOUBLES_EQUAL(37.5000, huber->loss(error2), 1e-8); + DOUBLES_EQUAL(37.5000, huber->loss(error3), 1e-8); + DOUBLES_EQUAL(0.5000, huber->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionCauchy) @@ -499,10 +499,10 @@ TEST(NoiseModel, robustFunctionCauchy) DOUBLES_EQUAL(0.2000, cauchy->weight(error3), 1e-8); DOUBLES_EQUAL(0.961538461538461, cauchy->weight(error4), 1e-8); - DOUBLES_EQUAL(0.490258914416017, cauchy->residual(error1), 1e-8); - DOUBLES_EQUAL(20.117973905426254, cauchy->residual(error2), 1e-8); - DOUBLES_EQUAL(20.117973905426254, cauchy->residual(error3), 1e-8); - DOUBLES_EQUAL(0.490258914416017, cauchy->residual(error4), 1e-8); + DOUBLES_EQUAL(0.490258914416017, cauchy->loss(error1), 1e-8); + DOUBLES_EQUAL(20.117973905426254, cauchy->loss(error2), 1e-8); + DOUBLES_EQUAL(20.117973905426254, cauchy->loss(error3), 1e-8); + DOUBLES_EQUAL(0.490258914416017, cauchy->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionGemanMcClure) @@ -514,10 +514,10 @@ TEST(NoiseModel, robustFunctionGemanMcClure) DOUBLES_EQUAL(9.80296e-5, gmc->weight(error3), 1e-8); DOUBLES_EQUAL(0.25 , gmc->weight(error4), 1e-8); - DOUBLES_EQUAL(0.2500, gmc->residual(error1), 1e-8); - DOUBLES_EQUAL(0.495049504950495, gmc->residual(error2), 1e-8); - DOUBLES_EQUAL(0.495049504950495, gmc->residual(error3), 1e-8); - DOUBLES_EQUAL(0.2500, gmc->residual(error4), 1e-8); + DOUBLES_EQUAL(0.2500, gmc->loss(error1), 1e-8); + DOUBLES_EQUAL(0.495049504950495, gmc->loss(error2), 1e-8); + DOUBLES_EQUAL(0.495049504950495, gmc->loss(error3), 1e-8); + DOUBLES_EQUAL(0.2500, gmc->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionWelsch) @@ -530,10 +530,10 @@ TEST(NoiseModel, robustFunctionWelsch) DOUBLES_EQUAL(0.018315638888734, welsch->weight(error3), 1e-8); DOUBLES_EQUAL(0.960789439152323, welsch->weight(error4), 1e-8); - DOUBLES_EQUAL(0.490132010595960, welsch->residual(error1), 1e-8); - DOUBLES_EQUAL(12.271054513890823, welsch->residual(error2), 1e-8); - DOUBLES_EQUAL(12.271054513890823, welsch->residual(error3), 1e-8); - DOUBLES_EQUAL(0.490132010595960, welsch->residual(error4), 1e-8); + DOUBLES_EQUAL(0.490132010595960, welsch->loss(error1), 1e-8); + DOUBLES_EQUAL(12.271054513890823, welsch->loss(error2), 1e-8); + DOUBLES_EQUAL(12.271054513890823, welsch->loss(error3), 1e-8); + DOUBLES_EQUAL(0.490132010595960, welsch->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionTukey) @@ -546,10 +546,10 @@ TEST(NoiseModel, robustFunctionTukey) DOUBLES_EQUAL(0.0, tukey->weight(error3), 1e-8); DOUBLES_EQUAL(0.9216, tukey->weight(error4), 1e-8); - DOUBLES_EQUAL(0.480266666666667, tukey->residual(error1), 1e-8); - DOUBLES_EQUAL(4.166666666666667, tukey->residual(error2), 1e-8); - DOUBLES_EQUAL(4.166666666666667, tukey->residual(error3), 1e-8); - DOUBLES_EQUAL(0.480266666666667, tukey->residual(error4), 1e-8); + DOUBLES_EQUAL(0.480266666666667, tukey->loss(error1), 1e-8); + DOUBLES_EQUAL(4.166666666666667, tukey->loss(error2), 1e-8); + DOUBLES_EQUAL(4.166666666666667, tukey->loss(error3), 1e-8); + DOUBLES_EQUAL(0.480266666666667, tukey->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionDCS) @@ -560,8 +560,8 @@ TEST(NoiseModel, robustFunctionDCS) DOUBLES_EQUAL(1.0 , dcs->weight(error1), 1e-8); DOUBLES_EQUAL(0.00039211, dcs->weight(error2), 1e-8); - DOUBLES_EQUAL(0.5 , dcs->residual(error1), 1e-8); - DOUBLES_EQUAL(0.9900990099, dcs->residual(error2), 1e-8); + DOUBLES_EQUAL(0.5 , dcs->loss(error1), 1e-8); + DOUBLES_EQUAL(0.9900990099, dcs->loss(error2), 1e-8); } TEST(NoiseModel, robustFunctionL2WithDeadZone) @@ -576,12 +576,12 @@ TEST(NoiseModel, robustFunctionL2WithDeadZone) DOUBLES_EQUAL(0.00990099009, lsdz->weight(e4), 1e-8); DOUBLES_EQUAL(0.9, lsdz->weight(e5), 1e-8); - DOUBLES_EQUAL(40.5, lsdz->residual(e0), 1e-8); - DOUBLES_EQUAL(0.00005, lsdz->residual(e1), 1e-8); - DOUBLES_EQUAL(0.0, lsdz->residual(e2), 1e-8); - DOUBLES_EQUAL(0.0, lsdz->residual(e3), 1e-8); - DOUBLES_EQUAL(0.00005, lsdz->residual(e4), 1e-8); - DOUBLES_EQUAL(40.5, lsdz->residual(e5), 1e-8); + DOUBLES_EQUAL(40.5, lsdz->loss(e0), 1e-8); + DOUBLES_EQUAL(0.00005, lsdz->loss(e1), 1e-8); + DOUBLES_EQUAL(0.0, lsdz->loss(e2), 1e-8); + DOUBLES_EQUAL(0.0, lsdz->loss(e3), 1e-8); + DOUBLES_EQUAL(0.00005, lsdz->loss(e4), 1e-8); + DOUBLES_EQUAL(40.5, lsdz->loss(e5), 1e-8); } /* ************************************************************************* */ @@ -665,11 +665,11 @@ TEST(NoiseModel, robustNoiseL2WithDeadZone) /* * TODO(mike): There is currently a bug in GTSAM, where none of the mEstimator classes - * implement a residual function, and GTSAM calls the weight function to evaluate the - * total penalty, rather than calling the residual function. The weight function should be + * implement a loss function, and GTSAM calls the weight function to evaluate the + * total penalty, rather than calling the loss function. The weight function should be * used during iteratively reweighted least squares optimization, but should not be used to * evaluate the total penalty. The long-term solution is for all mEstimators to implement - * both a weight and a residual function, and for GTSAM to call the residual function when + * both a weight and a loss function, and for GTSAM to call the loss function when * evaluating the total penalty. This bug causes the test below to fail, so I'm leaving it * commented out until the underlying bug in GTSAM is fixed. * From 3f8bb104053a3d1451c9d03878f310aa53b1c84e Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 5 Apr 2020 18:44:56 -0400 Subject: [PATCH 0316/1152] modified document, remove commented function, add deprecated distance --- doc/robust.pdf | Bin 197566 -> 197679 bytes gtsam/linear/NoiseModel.cpp | 5 ----- gtsam/linear/NoiseModel.h | 12 ++++++++---- 3 files changed, 8 insertions(+), 9 deletions(-) diff --git a/doc/robust.pdf b/doc/robust.pdf index 3404719b492e481bb77b96853eea0fa3a2fc39ba..ef8dc6fe624ef0af97973b383042940993273752 100644 GIT binary patch delta 2581 zcmbuB`9Bj51IKN1-$%J}tTG|Bi_J=7aurcx`1W0Fvr#?H2^FTfrYKj|q&bqucbHr5 z9GNQ;5$cPm_)4zOG{^IOJwH6J*Yo`Pe13SpUZ3}0@NP|%EoaK6LJ=r51`M?aUjf5m z7#J9CW(FpJq0V6V-_`~UN5Ehh6EM^X{5M?xmS`jbUP*)it{@Qz@c#^Y&Ki8h+=q;y z5-}!7D$I&r1cSklWFHKfXhI|+&?GX23OAu(C}af6 z42_|nGd=+f&&Xd^{G;-KH8(!Se(xE0c;^^1(;w8Y3OZ-2A*Xod8kCuQQ6eoQ!FwGF zQkkPa#8>pnCO^}=r6!QXCtrhZGiaL?xFgu#-eZ@c0L<> zL<1RzgjD}1NxtkO^mDV5Mxt+BeZc2L=ZFKk_^f#fXr!Un%bh~griQRJ zT-5u53K&xHgL+B@k|WDmW30FvoU&siXb|D)eqEJu_*t3z!j*l0)~32c%^9BWfWc8M z=Z+Kbcs4!f6(Lku)g;pmI64gTiU}sV{V^BW&xC8%ait^^w*OH}O)lB#rb0Zhq2A{O zEgu6Dxc;*!SH6Lv-=}Z~oP{yB07ADuDxKz~5Y^BbE5n}V)ejIBpr_SNh5K8)3(u#G zpbot^T}DJs;X6^1av#jf!k)kM^V`bZnmd9f(C=JoBJ3-NXTdLgx}Jh&)~s1J83jD4 zPD(L_8x$v{pX!N9LKzh$k{PR3Z5^U7FDMFD>W7r?;;zBON<=u_iOOoC_Yrrip zP0#!04yr#+ry9@U+iS-iui>OuV+WR(cI~nW9W&o#i#kqB-F{0bvdm}TpSGM9V#J3W z>2vj2%6r@vCmrYO|4h&J6SGUli{@Jtq_U+UQCCS#eo{k{9GjXUXLTz@q9-ctm*qi% zi)5vqjf;TdnJ=)7Us6K)Jv|Ve7aHt7?sIP8O+3NSD#c@R^!JHag3UAJ=_@k+CzA?7 zLZZ~eVlpyQPLBrbYEcjD@zzXaMGkHO=rOnBDwc2~t@y9eB~_3F->}f?QB!7CLH&A!A8yi!El(k^(ZA zxd4xnAXEP~7mE4$GK{0jk~%$WQl&EUj`8!Z7cqaefPLcffwy9(- zE7ADvNkz6OY;iKC^oBQcDnZAwpat|>U_#xU1|LB1;-^g&oR{D+Iwk|R@MWE5EBo{F zgNcZN=@S?*m`PgnqrdJa!^?Bot2vrK-q=QP&|e?Ib)u!`(hh(9Ud?YdD~Wq#u$-Mdf&xb2XaUon_=^+x{=}@1v0dycKT<+?HmBz?Q_nIq7NJz zr^0aWl#^UAF|Qm)D(6#oydNq%Wur7+)LEj?l$BpC#2x7BzN8D z^524B<87@c>9Hq>PHe5x`W0{d5&4;C6b|bGJ8*sSWk*q~*LZ{2#@BAIIEm<8w>-?W z>3AmhR&ov_QB6kk?y5zVa0FqwSzM-{YyUT z2VJqsZOx$yfvO;=p=;c^#zKwt1mMapc+1o>Xz750bPMqQ_9~Nh&keoin$H4#+y)L8 z4&Qlmyn>s2$vx()>np-X4euhoOp=yb;_x7y4j-|($kN)Wmr9xH;`BVock9ZRa^O#W zwz9ufxG{Rla9#YWgayYeC$QTE%ga5#J%r6H2x`GD7t++7u8n?04BiiX3tZFOhd<7& z(+g^8e6a6OFaBb2xrO|r;;Q~8Ua^SZxI&U_OUZ^K%3WrM>Y<%W6#qlYKm5q6`#GL; zoik%v^~oCMtY2-6e3jlWGCTJjwD@Qt?+}f?RId}m5Oz=-WJW3?;i}#$!Q#Eq3*3}_ zsQ7cA_!l3SaY3kJ%+KTgpg?7QJ`KcV+46B9hsAi*|Q7@yv1tg;Okng5s zIT4}i2RWk2bO1HAM+sE^NUYS!U_hFBL=m?y@t)R6jD^T0LgWB1AacN~8xp1ngb4x( zW8DLQApbda0MIJ{GX1(5D;)^3qyPVjgeCk}dyq*Y0DW72Nr%}G zc$3R{bAozU`Y(VBMXv}fm=kYvs%qCsR_~3dB1|+lvq=SLo4+WlTrQ)zDBT}?U}OkC z*x`$!iW9^0wX%c-5L9Vy;Uoxjx|u9=OE6DHILm1WxxNVk*YBap22lHPo zE^ZDw$B<}nGct3sf)?d!vV9QD6=F2wu|wI&tT~N}DIT(~YFyc^S^Ko>=G(?pzci8e zyWvuCBXlER6o0;iJQDFxB<#30qS)Rt*Y0HCsE&dThaf$C%b~3B>9?B~Bnvzk)0yv2 zOG`!M=|V}4!(q?1-R&Vc_B&71=X#*uqvm6myHrqzHhK-7kFx2?F+VWpnc>jS&;fYK zbT_Spf4y1nu4<ZS*ON)FH;-Mn{2^y6TSsn@2mit`Y!A|&I;MW0$;u%^#)(BnXJ>4xRDy0Ad9bE8s^ z=N=-i`*@eOMAY!3`b}&8*yl;=WGK2LbeVR2(S1!Xm_e>A`t?R2f39k@Hq%S0Cx9>* zdO7cRyq9ur7acmZv++z@p(B|Rp1eR+o^i07bg-?d$YO+}(UW%&^j~sGC%yKvbOUx4 zjYBK@8%_~0aZIvGj|PGxGongWeo>|Hf;rx0AK))`^ZD`D8nIaFJ@ZXVDjCpdrX}N_ zO&;{cc%o{LV7Fb$ejVrNH%Hh%oC|6nPrvXnjHRTawy$$uOY7!ui7}v~r1-kpv^a5( z9DiQ&3c1f<3`AZ*d=Rv+_=A}quf(#LfT$hT)XEkzRv*DxUr@ZpBLmK zZab_f_KV-1dL?Ad=x(xhtxa0_8aeX}%@+s+^PdUePUkvQpsn&X`Nx-r$CEuKn(U|j zj}6Nam-c|)%*C7dhS94AFNeg6q6&SHh~R*|U$QSFE8Is~Ug=f6a<=vFQE$QWEN2H* zsW_RpDt01O1M0#6Rn>x4lfMAI#>ZYJUwRAP+%N)F6U@Io4*OJX;9ls~p=-w5QWZ}0 zcD1Z7i5@pC-MGO~@(?>M75f+Sa4k9-NMY7}19;?DNjTaka<92xjtC!G{^u9{ z;d=3R^sb_z-mauOK|KzjOZHC=It<-tuVL$&gbypSZ0FX0%vY<-?TFp(`e8b|A<4)F zqRR(foKhRi565;@8hy0x*cQ2|xUl`^Kr%%A(nb9Qx+&(Jx$c2X0R&(+0h(zmt5$|%zXb(*f8bKS5jpVrcg%I~+gHR$q2=0kOh2Ix$! 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From efcc5c908eb25290ee29f04b78e672baf40f0000 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Mon, 6 Apr 2020 10:10:46 -0400 Subject: [PATCH 0319/1152] rename residual to loss --- gtsam.h | 18 +++++++++--------- gtsam/linear/LossFunctions.h | 14 +++++++------- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/gtsam.h b/gtsam.h index 8ee778f4c..1094d9dd9 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1458,7 +1458,7 @@ virtual class Null: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Fair: gtsam::noiseModel::mEstimator::Base { @@ -1469,7 +1469,7 @@ virtual class Fair: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Huber: gtsam::noiseModel::mEstimator::Base { @@ -1480,7 +1480,7 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Cauchy: gtsam::noiseModel::mEstimator::Base { @@ -1491,7 +1491,7 @@ virtual class Cauchy: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Tukey: gtsam::noiseModel::mEstimator::Base { @@ -1502,7 +1502,7 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Welsch: gtsam::noiseModel::mEstimator::Base { @@ -1513,7 +1513,7 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { @@ -1524,7 +1524,7 @@ virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class DCS: gtsam::noiseModel::mEstimator::Base { @@ -1535,7 +1535,7 @@ virtual class DCS: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base { @@ -1546,7 +1546,7 @@ virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; }///\namespace mEstimator diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h index d1c3adb35..6a5dc5a26 100644 --- a/gtsam/linear/LossFunctions.h +++ b/gtsam/linear/LossFunctions.h @@ -36,12 +36,12 @@ namespace noiseModel { * The mEstimator name space contains all robust error functions. * It mirrors the exposition at * https://members.loria.fr/MOBerger/Enseignement/Master2/Documents/ZhangIVC-97-01.pdf - * which talks about minimizing \sum \rho(r_i), where \rho is a residual function of choice. + * which talks about minimizing \sum \rho(r_i), where \rho is a loss function of choice. * * To illustrate, let's consider the least-squares (L2), L1, and Huber estimators as examples: * * Name Symbol Least-Squares L1-norm Huber - * Residual \rho(x) 0.5*x^2 |x| 0.5*x^2 if |x| shared_ptr; @@ -135,7 +135,7 @@ class GTSAM_EXPORT Null : public Base { Null(const ReweightScheme reweight = Block) : Base(reweight) {} ~Null() {} double weight(double /*error*/) const { return 1.0; } - double residual(double error) const { return error; } + double loss(double distance) const { return 0.5 * distance * distance; } void print(const std::string &s) const; bool equals(const Base & /*expected*/, double /*tol*/) const { return true; } static shared_ptr Create(); From 76b29b78af8658d2828959f5e69285018801f19b Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Mon, 6 Apr 2020 23:31:05 +0200 Subject: [PATCH 0320/1152] Prefer C++11 nullptr --- examples/SFMExample_SmartFactor.cpp | 2 +- examples/SFMExample_SmartFactorPCG.cpp | 2 +- gtsam/base/OptionalJacobian.h | 26 +++++++++---------- .../treeTraversal/parallelTraversalTasks.h | 12 ++++----- gtsam/discrete/AlgebraicDecisionTree.h | 2 +- gtsam/discrete/DiscreteFactorGraph.cpp | 2 +- gtsam/geometry/tests/testOrientedPlane3.cpp | 2 +- gtsam/geometry/tests/testUnit3.cpp | 2 +- gtsam/inference/BayesTree-inst.h | 4 +-- gtsam/inference/FactorGraph-inst.h | 4 +-- gtsam/inference/FactorGraph.h | 2 +- gtsam/inference/Ordering.cpp | 4 +-- gtsam/linear/JacobianFactor.cpp | 2 +- gtsam/linear/JacobianFactor.h | 2 +- gtsam/linear/LossFunctions.cpp | 16 ++++++------ gtsam/linear/NoiseModel.cpp | 4 +-- gtsam/linear/tests/testJacobianFactor.cpp | 2 +- gtsam/navigation/AHRSFactor.cpp | 2 +- gtsam/navigation/AttitudeFactor.cpp | 4 +-- gtsam/navigation/CombinedImuFactor.cpp | 2 +- gtsam/navigation/GPSFactor.cpp | 4 +-- gtsam/nonlinear/ISAM2Params.h | 2 +- gtsam/nonlinear/NonlinearFactorGraph.cpp | 6 ++--- gtsam/nonlinear/tests/testCallRecord.cpp | 2 +- gtsam/slam/AntiFactor.h | 2 +- gtsam/slam/BetweenFactor.h | 2 +- gtsam/slam/EssentialMatrixConstraint.cpp | 2 +- gtsam/slam/JacobianFactorSVD.h | 2 +- gtsam/slam/OrientedPlane3Factor.cpp | 2 +- gtsam/slam/PoseRotationPrior.h | 2 +- gtsam/slam/PoseTranslationPrior.h | 2 +- gtsam/slam/PriorFactor.h | 2 +- gtsam/slam/tests/testOrientedPlane3Factor.cpp | 2 +- gtsam_unstable/base/BTree.h | 4 +-- .../linear/tests/testLinearEquality.cpp | 2 +- .../nonlinear/BatchFixedLagSmoother.cpp | 6 ++--- .../nonlinear/ConcurrentBatchFilter.cpp | 4 +-- .../nonlinear/ConcurrentBatchSmoother.cpp | 4 +-- .../nonlinear/IncrementalFixedLagSmoother.cpp | 2 +- gtsam_unstable/partition/FindSeparator-inl.h | 6 ++--- gtsam_unstable/slam/BiasedGPSFactor.h | 2 +- .../slam/EquivInertialNavFactor_GlobalVel.h | 2 +- .../EquivInertialNavFactor_GlobalVel_NoBias.h | 2 +- .../slam/GaussMarkov1stOrderFactor.h | 2 +- .../slam/InertialNavFactor_GlobalVelocity.h | 2 +- gtsam_unstable/slam/PartialPriorFactor.h | 2 +- gtsam_unstable/slam/PoseBetweenFactor.h | 2 +- gtsam_unstable/slam/PosePriorFactor.h | 2 +- .../slam/RelativeElevationFactor.cpp | 2 +- tests/testExtendedKalmanFilter.cpp | 8 +++--- 50 files changed, 92 insertions(+), 92 deletions(-) diff --git a/examples/SFMExample_SmartFactor.cpp b/examples/SFMExample_SmartFactor.cpp index c5545fc0c..6e28b87c9 100644 --- a/examples/SFMExample_SmartFactor.cpp +++ b/examples/SFMExample_SmartFactor.cpp @@ -117,7 +117,7 @@ int main(int argc, char* argv[]) { // The output of point() is in boost::optional, as sometimes // the triangulation operation inside smart factor will encounter degeneracy. boost::optional point = smart->point(result); - if (point) // ignore if boost::optional return NULL + if (point) // ignore if boost::optional return nullptr landmark_result.insert(j, *point); } } diff --git a/examples/SFMExample_SmartFactorPCG.cpp b/examples/SFMExample_SmartFactorPCG.cpp index 075e2a653..47d69160f 100644 --- a/examples/SFMExample_SmartFactorPCG.cpp +++ b/examples/SFMExample_SmartFactorPCG.cpp @@ -114,7 +114,7 @@ int main(int argc, char* argv[]) { boost::dynamic_pointer_cast(graph[j]); if (smart) { boost::optional point = smart->point(result); - if (point) // ignore if boost::optional return NULL + if (point) // ignore if boost::optional return nullptr landmark_result.insert(j, *point); } } diff --git a/gtsam/base/OptionalJacobian.h b/gtsam/base/OptionalJacobian.h index 82a5ae7f4..602c5915e 100644 --- a/gtsam/base/OptionalJacobian.h +++ b/gtsam/base/OptionalJacobian.h @@ -55,7 +55,7 @@ private: } // Private and very dangerous constructor straight from memory - OptionalJacobian(double* data) : map_(NULL) { + OptionalJacobian(double* data) : map_(nullptr) { if (data) usurp(data); } @@ -66,25 +66,25 @@ public: /// Default constructor acts like boost::none OptionalJacobian() : - map_(NULL) { + map_(nullptr) { } /// Constructor that will usurp data of a fixed-size matrix OptionalJacobian(Jacobian& fixed) : - map_(NULL) { + map_(nullptr) { usurp(fixed.data()); } /// Constructor that will usurp data of a fixed-size matrix, pointer version OptionalJacobian(Jacobian* fixedPtr) : - map_(NULL) { + map_(nullptr) { if (fixedPtr) usurp(fixedPtr->data()); } /// Constructor that will resize a dynamic matrix (unless already correct) OptionalJacobian(Eigen::MatrixXd& dynamic) : - map_(NULL) { + map_(nullptr) { dynamic.resize(Rows, Cols); // no malloc if correct size usurp(dynamic.data()); } @@ -93,12 +93,12 @@ public: /// Constructor with boost::none just makes empty OptionalJacobian(boost::none_t /*none*/) : - map_(NULL) { + map_(nullptr) { } /// Constructor compatible with old-style derivatives OptionalJacobian(const boost::optional optional) : - map_(NULL) { + map_(nullptr) { if (optional) { optional->resize(Rows, Cols); usurp(optional->data()); @@ -110,11 +110,11 @@ public: /// Constructor that will usurp data of a block expression /// TODO(frank): unfortunately using a Map makes usurping non-contiguous memory impossible // template - // OptionalJacobian(Eigen::Block block) : map_(NULL) { ?? } + // OptionalJacobian(Eigen::Block block) : map_(nullptr) { ?? } /// Return true is allocated, false if default constructor was used operator bool() const { - return map_.data() != NULL; + return map_.data() != nullptr; } /// De-reference, like boost optional @@ -173,7 +173,7 @@ public: /// Default constructor acts like boost::none OptionalJacobian() : - pointer_(NULL) { + pointer_(nullptr) { } /// Construct from pointer to dynamic matrix @@ -186,12 +186,12 @@ public: /// Constructor with boost::none just makes empty OptionalJacobian(boost::none_t /*none*/) : - pointer_(NULL) { + pointer_(nullptr) { } /// Constructor compatible with old-style derivatives OptionalJacobian(const boost::optional optional) : - pointer_(NULL) { + pointer_(nullptr) { if (optional) pointer_ = &(*optional); } @@ -199,7 +199,7 @@ public: /// Return true is allocated, false if default constructor was used operator bool() const { - return pointer_!=NULL; + return pointer_!=nullptr; } /// De-reference, like boost optional diff --git a/gtsam/base/treeTraversal/parallelTraversalTasks.h b/gtsam/base/treeTraversal/parallelTraversalTasks.h index 9b2dae3d0..db3181b87 100644 --- a/gtsam/base/treeTraversal/parallelTraversalTasks.h +++ b/gtsam/base/treeTraversal/parallelTraversalTasks.h @@ -53,7 +53,7 @@ namespace gtsam { // Run the post-order visitor (void) visitorPost(treeNode, *myData); - return NULL; + return nullptr; } }; @@ -88,7 +88,7 @@ namespace gtsam { { // Run the post-order visitor since this task was recycled to run the post-order visitor (void) visitorPost(treeNode, *myData); - return NULL; + return nullptr; } else { @@ -129,14 +129,14 @@ namespace gtsam { { // Run the post-order visitor in this task if we have no children (void) visitorPost(treeNode, *myData); - return NULL; + return nullptr; } } else { // Process this node and its children in this task processNodeRecursively(treeNode, *myData); - return NULL; + return nullptr; } } } @@ -184,8 +184,8 @@ namespace gtsam { set_ref_count(1 + (int) roots.size()); // Spawn tasks spawn_and_wait_for_all(tasks); - // Return NULL - return NULL; + // Return nullptr + return nullptr; } }; diff --git a/gtsam/discrete/AlgebraicDecisionTree.h b/gtsam/discrete/AlgebraicDecisionTree.h index 041d4c206..9cc55ed6a 100644 --- a/gtsam/discrete/AlgebraicDecisionTree.h +++ b/gtsam/discrete/AlgebraicDecisionTree.h @@ -101,7 +101,7 @@ namespace gtsam { /** Create a new function splitting on a variable */ template AlgebraicDecisionTree(Iterator begin, Iterator end, const L& label) : - Super(NULL) { + Super(nullptr) { this->root_ = compose(begin, end, label); } diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp index af11d4b14..e41968d6b 100644 --- a/gtsam/discrete/DiscreteFactorGraph.cpp +++ b/gtsam/discrete/DiscreteFactorGraph.cpp @@ -71,7 +71,7 @@ namespace gtsam { for (size_t i = 0; i < factors_.size(); i++) { std::stringstream ss; ss << "factor " << i << ": "; - if (factors_[i] != NULL) factors_[i]->print(ss.str(), formatter); + if (factors_[i] != nullptr) factors_[i]->print(ss.str(), formatter); } } diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp index 54cf84ea8..849b76483 100644 --- a/gtsam/geometry/tests/testOrientedPlane3.cpp +++ b/gtsam/geometry/tests/testOrientedPlane3.cpp @@ -183,7 +183,7 @@ TEST (OrientedPlane3, jacobian_retract) { /* ************************************************************************* */ int main() { - srand(time(NULL)); + srand(time(nullptr)); TestResult tr; return TestRegistry::runAllTests(tr); } diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index 59b99e525..e08ad97bb 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -495,7 +495,7 @@ TEST(actualH, Serialization) { /* ************************************************************************* */ int main() { - srand(time(NULL)); + srand(time(nullptr)); TestResult tr; return TestRegistry::runAllTests(tr); } diff --git a/gtsam/inference/BayesTree-inst.h b/gtsam/inference/BayesTree-inst.h index 639bcbab0..5b53a5719 100644 --- a/gtsam/inference/BayesTree-inst.h +++ b/gtsam/inference/BayesTree-inst.h @@ -125,7 +125,7 @@ namespace gtsam { void BayesTree::addClique(const sharedClique& clique, const sharedClique& parent_clique) { for(Key j: clique->conditional()->frontals()) nodes_[j] = clique; - if (parent_clique != NULL) { + if (parent_clique != nullptr) { clique->parent_ = parent_clique; parent_clique->children.push_back(clique); } else { @@ -430,7 +430,7 @@ namespace gtsam { template void BayesTree::removePath(sharedClique clique, BayesNetType* bn, Cliques* orphans) { - // base case is NULL, if so we do nothing and return empties above + // base case is nullptr, if so we do nothing and return empties above if (clique) { // remove the clique from orphans in case it has been added earlier orphans->remove(clique); diff --git a/gtsam/inference/FactorGraph-inst.h b/gtsam/inference/FactorGraph-inst.h index 34ca8ab7f..df68019e1 100644 --- a/gtsam/inference/FactorGraph-inst.h +++ b/gtsam/inference/FactorGraph-inst.h @@ -55,8 +55,8 @@ bool FactorGraph::equals(const This& fg, double tol) const { // check whether the factors are the same, in same order. for (size_t i = 0; i < factors_.size(); i++) { sharedFactor f1 = factors_[i], f2 = fg.factors_[i]; - if (f1 == NULL && f2 == NULL) continue; - if (f1 == NULL || f2 == NULL) return false; + if (f1 == nullptr && f2 == nullptr) continue; + if (f1 == nullptr || f2 == nullptr) return false; if (!f1->equals(*f2, tol)) return false; } return true; diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 600e3f9ed..2bc9578b2 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -353,7 +353,7 @@ class FactorGraph { */ void resize(size_t size) { factors_.resize(size); } - /** delete factor without re-arranging indexes by inserting a NULL pointer + /** delete factor without re-arranging indexes by inserting a nullptr pointer */ void remove(size_t i) { factors_[i].reset(); } diff --git a/gtsam/inference/Ordering.cpp b/gtsam/inference/Ordering.cpp index 0875755aa..266c54ca6 100644 --- a/gtsam/inference/Ordering.cpp +++ b/gtsam/inference/Ordering.cpp @@ -91,7 +91,7 @@ Ordering Ordering::ColamdConstrained(const VariableIndex& variableIndex, assert((size_t)count == variableIndex.nEntries()); - //double* knobs = NULL; /* colamd arg 6: parameters (uses defaults if NULL) */ + //double* knobs = nullptr; /* colamd arg 6: parameters (uses defaults if nullptr) */ double knobs[CCOLAMD_KNOBS]; ccolamd_set_defaults(knobs); knobs[CCOLAMD_DENSE_ROW] = -1; @@ -235,7 +235,7 @@ Ordering Ordering::Metis(const MetisIndex& met) { int outputError; - outputError = METIS_NodeND(&size, &xadj[0], &adj[0], NULL, NULL, &perm[0], + outputError = METIS_NodeND(&size, &xadj[0], &adj[0], nullptr, nullptr, &perm[0], &iperm[0]); Ordering result; diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 2310d88f0..839ffe69d 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -840,7 +840,7 @@ GaussianConditional::shared_ptr JacobianFactor::splitConditional(size_t nrFronta if (!model_) { throw std::invalid_argument( - "JacobianFactor::splitConditional cannot be given a NULL noise model"); + "JacobianFactor::splitConditional cannot be given a nullptr noise model"); } if (nrFrontals > size()) { diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index fad05a729..9b9d02726 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -398,7 +398,7 @@ namespace gtsam { * @param keys in some order * @param diemnsions of the variables in same order * @param m output dimension - * @param model noise model (default NULL) + * @param model noise model (default nullptr) */ template JacobianFactor(const KEYS& keys, const DIMENSIONS& dims, DenseIndex m, diff --git a/gtsam/linear/LossFunctions.cpp b/gtsam/linear/LossFunctions.cpp index 6bc737e2c..de2a5142d 100644 --- a/gtsam/linear/LossFunctions.cpp +++ b/gtsam/linear/LossFunctions.cpp @@ -153,7 +153,7 @@ void Fair::print(const std::string &s="") const bool Fair::equals(const Base &expected, double tol) const { const Fair* p = dynamic_cast (&expected); - if (p == NULL) return false; + if (p == nullptr) return false; return std::abs(c_ - p->c_ ) < tol; } @@ -190,7 +190,7 @@ void Huber::print(const std::string &s="") const { bool Huber::equals(const Base &expected, double tol) const { const Huber* p = dynamic_cast(&expected); - if (p == NULL) return false; + if (p == nullptr) return false; return std::abs(k_ - p->k_) < tol; } @@ -223,7 +223,7 @@ void Cauchy::print(const std::string &s="") const { bool Cauchy::equals(const Base &expected, double tol) const { const Cauchy* p = dynamic_cast(&expected); - if (p == NULL) return false; + if (p == nullptr) return false; return std::abs(ksquared_ - p->ksquared_) < tol; } @@ -266,7 +266,7 @@ void Tukey::print(const std::string &s="") const { bool Tukey::equals(const Base &expected, double tol) const { const Tukey* p = dynamic_cast(&expected); - if (p == NULL) return false; + if (p == nullptr) return false; return std::abs(c_ - p->c_) < tol; } @@ -296,7 +296,7 @@ void Welsch::print(const std::string &s="") const { bool Welsch::equals(const Base &expected, double tol) const { const Welsch* p = dynamic_cast(&expected); - if (p == NULL) return false; + if (p == nullptr) return false; return std::abs(c_ - p->c_) < tol; } @@ -330,7 +330,7 @@ void GemanMcClure::print(const std::string &s="") const { bool GemanMcClure::equals(const Base &expected, double tol) const { const GemanMcClure* p = dynamic_cast(&expected); - if (p == NULL) return false; + if (p == nullptr) return false; return std::abs(c_ - p->c_) < tol; } @@ -372,7 +372,7 @@ void DCS::print(const std::string &s="") const { bool DCS::equals(const Base &expected, double tol) const { const DCS* p = dynamic_cast(&expected); - if (p == NULL) return false; + if (p == nullptr) return false; return std::abs(c_ - p->c_) < tol; } @@ -411,7 +411,7 @@ void L2WithDeadZone::print(const std::string &s="") const { bool L2WithDeadZone::equals(const Base &expected, double tol) const { const L2WithDeadZone* p = dynamic_cast(&expected); - if (p == NULL) return false; + if (p == nullptr) return false; return std::abs(k_ - p->k_) < tol; } diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index df99191b2..c62fe4f21 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -133,7 +133,7 @@ void Gaussian::print(const string& name) const { /* ************************************************************************* */ bool Gaussian::equals(const Base& expected, double tol) const { const Gaussian* p = dynamic_cast (&expected); - if (p == NULL) return false; + if (p == nullptr) return false; if (typeid(*this) != typeid(*p)) return false; //if (!sqrt_information_) return true; // ALEX todo; return equal_with_abs_tol(R(), p->R(), sqrt(tol)); @@ -624,7 +624,7 @@ void Robust::print(const std::string& name) const { bool Robust::equals(const Base& expected, double tol) const { const Robust* p = dynamic_cast (&expected); - if (p == NULL) return false; + if (p == nullptr) return false; return noise_->equals(*p->noise_,tol) && robust_->equals(*p->robust_,tol); } diff --git a/gtsam/linear/tests/testJacobianFactor.cpp b/gtsam/linear/tests/testJacobianFactor.cpp index 110a1223a..21146066d 100644 --- a/gtsam/linear/tests/testJacobianFactor.cpp +++ b/gtsam/linear/tests/testJacobianFactor.cpp @@ -253,7 +253,7 @@ TEST(JacobianFactor, error) /* ************************************************************************* */ TEST(JacobianFactor, matrices_NULL) { - // Make sure everything works with NULL noise model + // Make sure everything works with nullptr noise model JacobianFactor factor(simple::terms, simple::b); Matrix jacobianExpected(3, 9); diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp index 0d7e05515..4604a55dd 100644 --- a/gtsam/navigation/AHRSFactor.cpp +++ b/gtsam/navigation/AHRSFactor.cpp @@ -114,7 +114,7 @@ void AHRSFactor::print(const string& s, //------------------------------------------------------------------------------ bool AHRSFactor::equals(const NonlinearFactor& other, double tol) const { const This *e = dynamic_cast(&other); - return e != NULL && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol); + return e != nullptr && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol); } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/AttitudeFactor.cpp b/gtsam/navigation/AttitudeFactor.cpp index 3c6af9332..7f335152e 100644 --- a/gtsam/navigation/AttitudeFactor.cpp +++ b/gtsam/navigation/AttitudeFactor.cpp @@ -52,7 +52,7 @@ void Rot3AttitudeFactor::print(const string& s, bool Rot3AttitudeFactor::equals(const NonlinearFactor& expected, double tol) const { const This* e = dynamic_cast(&expected); - return e != NULL && Base::equals(*e, tol) && this->nZ_.equals(e->nZ_, tol) + return e != nullptr && Base::equals(*e, tol) && this->nZ_.equals(e->nZ_, tol) && this->bRef_.equals(e->bRef_, tol); } @@ -69,7 +69,7 @@ void Pose3AttitudeFactor::print(const string& s, bool Pose3AttitudeFactor::equals(const NonlinearFactor& expected, double tol) const { const This* e = dynamic_cast(&expected); - return e != NULL && Base::equals(*e, tol) && this->nZ_.equals(e->nZ_, tol) + return e != nullptr && Base::equals(*e, tol) && this->nZ_.equals(e->nZ_, tol) && this->bRef_.equals(e->bRef_, tol); } diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 1967e4a56..149067269 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -174,7 +174,7 @@ void CombinedImuFactor::print(const string& s, //------------------------------------------------------------------------------ bool CombinedImuFactor::equals(const NonlinearFactor& other, double tol) const { const This* e = dynamic_cast(&other); - return e != NULL && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol); + return e != nullptr && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol); } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/GPSFactor.cpp b/gtsam/navigation/GPSFactor.cpp index 05b7259bf..f2448c488 100644 --- a/gtsam/navigation/GPSFactor.cpp +++ b/gtsam/navigation/GPSFactor.cpp @@ -32,7 +32,7 @@ void GPSFactor::print(const string& s, const KeyFormatter& keyFormatter) const { //*************************************************************************** bool GPSFactor::equals(const NonlinearFactor& expected, double tol) const { const This* e = dynamic_cast(&expected); - return e != NULL && Base::equals(*e, tol) && traits::Equals(nT_, e->nT_, tol); + return e != nullptr && Base::equals(*e, tol) && traits::Equals(nT_, e->nT_, tol); } //*************************************************************************** @@ -73,7 +73,7 @@ void GPSFactor2::print(const string& s, const KeyFormatter& keyFormatter) const //*************************************************************************** bool GPSFactor2::equals(const NonlinearFactor& expected, double tol) const { const This* e = dynamic_cast(&expected); - return e != NULL && Base::equals(*e, tol) && + return e != nullptr && Base::equals(*e, tol) && traits::Equals(nT_, e->nT_, tol); } diff --git a/gtsam/nonlinear/ISAM2Params.h b/gtsam/nonlinear/ISAM2Params.h index 5cf962e43..c6e1001c4 100644 --- a/gtsam/nonlinear/ISAM2Params.h +++ b/gtsam/nonlinear/ISAM2Params.h @@ -219,7 +219,7 @@ struct GTSAM_EXPORT ISAM2Params { /// When you will be removing many factors, e.g. when using ISAM2 as a /// fixed-lag smoother, enable this option to add factors in the first - /// available factor slots, to avoid accumulating NULL factor slots, at the + /// available factor slots, to avoid accumulating nullptr factor slots, at the /// cost of having to search for slots every time a factor is added. bool findUnusedFactorSlots; diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index d4b9fbb68..42b2d07f6 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -54,7 +54,7 @@ void NonlinearFactorGraph::print(const std::string& str, const KeyFormatter& key for (size_t i = 0; i < factors_.size(); i++) { stringstream ss; ss << "Factor " << i << ": "; - if (factors_[i] != NULL) factors_[i]->print(ss.str(), keyFormatter); + if (factors_[i] != nullptr) factors_[i]->print(ss.str(), keyFormatter); cout << endl; } } @@ -67,8 +67,8 @@ void NonlinearFactorGraph::printErrors(const Values& values, const std::string& for (size_t i = 0; i < factors_.size(); i++) { stringstream ss; ss << "Factor " << i << ": "; - if (factors_[i] == NULL) { - cout << "NULL" << endl; + if (factors_[i] == nullptr) { + cout << "nullptr" << endl; } else { factors_[i]->print(ss.str(), keyFormatter); cout << "error = " << factors_[i]->error(values) << endl; diff --git a/gtsam/nonlinear/tests/testCallRecord.cpp b/gtsam/nonlinear/tests/testCallRecord.cpp index 494a59fff..c5ccc0f52 100644 --- a/gtsam/nonlinear/tests/testCallRecord.cpp +++ b/gtsam/nonlinear/tests/testCallRecord.cpp @@ -98,7 +98,7 @@ struct Record: public internal::CallRecordImplementor { friend struct internal::CallRecordImplementor; }; -internal::JacobianMap & NJM= *static_cast(NULL); +internal::JacobianMap & NJM= *static_cast(nullptr); /* ************************************************************************* */ typedef Eigen::Matrix DynRowMat; diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index b52e115fd..9e4f7db5a 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -67,7 +67,7 @@ namespace gtsam { /** equals */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) && this->factor_->equals(*e->factor_, tol); + return e != nullptr && Base::equals(*e, tol) && this->factor_->equals(*e->factor_, tol); } /** implement functions needed to derive from Factor */ diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h index f949514e3..23138b9e6 100644 --- a/gtsam/slam/BetweenFactor.h +++ b/gtsam/slam/BetweenFactor.h @@ -81,7 +81,7 @@ namespace gtsam { /** equals */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) && traits::Equals(this->measured_, e->measured_, tol); + return e != nullptr && Base::equals(*e, tol) && traits::Equals(this->measured_, e->measured_, tol); } /** implement functions needed to derive from Factor */ diff --git a/gtsam/slam/EssentialMatrixConstraint.cpp b/gtsam/slam/EssentialMatrixConstraint.cpp index e27bbc8c5..5397c2e57 100644 --- a/gtsam/slam/EssentialMatrixConstraint.cpp +++ b/gtsam/slam/EssentialMatrixConstraint.cpp @@ -37,7 +37,7 @@ void EssentialMatrixConstraint::print(const std::string& s, bool EssentialMatrixConstraint::equals(const NonlinearFactor& expected, double tol) const { const This *e = dynamic_cast(&expected); - return e != NULL && Base::equals(*e, tol) + return e != nullptr && Base::equals(*e, tol) && this->measuredE_.equals(e->measuredE_, tol); } diff --git a/gtsam/slam/JacobianFactorSVD.h b/gtsam/slam/JacobianFactorSVD.h index b94714dd6..bc906d24e 100644 --- a/gtsam/slam/JacobianFactorSVD.h +++ b/gtsam/slam/JacobianFactorSVD.h @@ -65,7 +65,7 @@ public: Base() { size_t numKeys = Enull.rows() / ZDim; size_t m2 = ZDim * numKeys - 3; // TODO: is this not just Enull.rows()? - // PLAIN NULL SPACE TRICK + // PLAIN nullptr SPACE TRICK // Matrix Q = Enull * Enull.transpose(); // for(const KeyMatrixZD& it: Fblocks) // QF.push_back(KeyMatrix(it.first, Q.block(0, 2 * j++, m2, 2) * it.second)); diff --git a/gtsam/slam/OrientedPlane3Factor.cpp b/gtsam/slam/OrientedPlane3Factor.cpp index 5b0c6a6b9..56968301a 100644 --- a/gtsam/slam/OrientedPlane3Factor.cpp +++ b/gtsam/slam/OrientedPlane3Factor.cpp @@ -31,7 +31,7 @@ void OrientedPlane3DirectionPrior::print(const string& s, bool OrientedPlane3DirectionPrior::equals(const NonlinearFactor& expected, double tol) const { const This* e = dynamic_cast(&expected); - return e != NULL && Base::equals(*e, tol) + return e != nullptr && Base::equals(*e, tol) && this->measured_p_.equals(e->measured_p_, tol); } diff --git a/gtsam/slam/PoseRotationPrior.h b/gtsam/slam/PoseRotationPrior.h index 78030ff34..f4ce1520a 100644 --- a/gtsam/slam/PoseRotationPrior.h +++ b/gtsam/slam/PoseRotationPrior.h @@ -62,7 +62,7 @@ public: /** equals specialized to this factor */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) && measured_.equals(e->measured_, tol); + return e != nullptr && Base::equals(*e, tol) && measured_.equals(e->measured_, tol); } /** print contents */ diff --git a/gtsam/slam/PoseTranslationPrior.h b/gtsam/slam/PoseTranslationPrior.h index c38d13b58..516582d83 100644 --- a/gtsam/slam/PoseTranslationPrior.h +++ b/gtsam/slam/PoseTranslationPrior.h @@ -76,7 +76,7 @@ public: /** equals specialized to this factor */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) && traits::Equals(measured_, e->measured_, tol); + return e != nullptr && Base::equals(*e, tol) && traits::Equals(measured_, e->measured_, tol); } /** print contents */ diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h index 5b085652f..8d8c67d5c 100644 --- a/gtsam/slam/PriorFactor.h +++ b/gtsam/slam/PriorFactor.h @@ -85,7 +85,7 @@ namespace gtsam { /** equals */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This* e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) && traits::Equals(prior_, e->prior_, tol); + return e != nullptr && Base::equals(*e, tol) && traits::Equals(prior_, e->prior_, tol); } /** implement functions needed to derive from Factor */ diff --git a/gtsam/slam/tests/testOrientedPlane3Factor.cpp b/gtsam/slam/tests/testOrientedPlane3Factor.cpp index ea42a1ecd..f1dbb4239 100644 --- a/gtsam/slam/tests/testOrientedPlane3Factor.cpp +++ b/gtsam/slam/tests/testOrientedPlane3Factor.cpp @@ -175,7 +175,7 @@ TEST( OrientedPlane3DirectionPrior, Constructor ) { /* ************************************************************************* */ int main() { - srand(time(NULL)); + srand(time(nullptr)); TestResult tr; return TestRegistry::runAllTests(tr); } diff --git a/gtsam_unstable/base/BTree.h b/gtsam_unstable/base/BTree.h index fd675d0d5..96424324b 100644 --- a/gtsam_unstable/base/BTree.h +++ b/gtsam_unstable/base/BTree.h @@ -72,7 +72,7 @@ namespace gtsam { }; // Node // We store a shared pointer to the root of the functional tree - // composed of Node classes. If root_==NULL, the tree is empty. + // composed of Node classes. If root_==nullptr, the tree is empty. typedef boost::shared_ptr sharedNode; sharedNode root_; @@ -223,7 +223,7 @@ namespace gtsam { /** Return height of the tree, 0 if empty */ size_t height() const { - return (root_ != NULL) ? root_->height_ : 0; + return (root_ != nullptr) ? root_->height_ : 0; } /** return size of the tree */ diff --git a/gtsam_unstable/linear/tests/testLinearEquality.cpp b/gtsam_unstable/linear/tests/testLinearEquality.cpp index fa94dd255..36a2cacd8 100644 --- a/gtsam_unstable/linear/tests/testLinearEquality.cpp +++ b/gtsam_unstable/linear/tests/testLinearEquality.cpp @@ -136,7 +136,7 @@ TEST(LinearEquality, error) /* ************************************************************************* */ TEST(LinearEquality, matrices_NULL) { - // Make sure everything works with NULL noise model + // Make sure everything works with nullptr noise model LinearEquality factor(simple::terms, simple::b, 0); Matrix AExpected(3, 9); diff --git a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp index b0a19c6a4..777e4b2d3 100644 --- a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp +++ b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp @@ -39,7 +39,7 @@ bool BatchFixedLagSmoother::equals(const FixedLagSmoother& rhs, double tol) const { const BatchFixedLagSmoother* e = dynamic_cast(&rhs); - return e != NULL && FixedLagSmoother::equals(*e, tol) + return e != nullptr && FixedLagSmoother::equals(*e, tol) && factors_.equals(e->factors_, tol) && theta_.equals(e->theta_, tol); } @@ -145,7 +145,7 @@ void BatchFixedLagSmoother::removeFactors( } else { // TODO: Throw an error?? cout << "Attempting to remove a factor from slot " << slot - << ", but it is already NULL." << endl; + << ", but it is already nullptr." << endl; } } } @@ -370,7 +370,7 @@ void BatchFixedLagSmoother::PrintSymbolicFactor( cout << " " << DefaultKeyFormatter(key); } } else { - cout << " NULL"; + cout << " nullptr"; } cout << " )" << endl; } diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp index 97df375d5..758bcfe48 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp @@ -38,7 +38,7 @@ void ConcurrentBatchFilter::PrintNonlinearFactor(const NonlinearFactor::shared_p } std::cout << ")" << std::endl; } else { - std::cout << "{ NULL }" << std::endl; + std::cout << "{ nullptr }" << std::endl; } } @@ -79,7 +79,7 @@ void ConcurrentBatchFilter::PrintLinearFactor(const GaussianFactor::shared_ptr& } std::cout << ")" << std::endl; } else { - std::cout << "{ NULL }" << std::endl; + std::cout << "{ nullptr }" << std::endl; } } diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp index 775dccbb0..600baa9f0 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp @@ -394,7 +394,7 @@ void ConcurrentBatchSmoother::PrintNonlinearFactor(const NonlinearFactor::shared } std::cout << ")" << std::endl; } else { - std::cout << "{ NULL }" << std::endl; + std::cout << "{ nullptr }" << std::endl; } } @@ -408,7 +408,7 @@ void ConcurrentBatchSmoother::PrintLinearFactor(const GaussianFactor::shared_ptr } std::cout << ")" << std::endl; } else { - std::cout << "{ NULL }" << std::endl; + std::cout << "{ nullptr }" << std::endl; } } diff --git a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.cpp index a99360ffb..d29dfe8ca 100644 --- a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.cpp +++ b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.cpp @@ -58,7 +58,7 @@ bool IncrementalFixedLagSmoother::equals(const FixedLagSmoother& rhs, double tol) const { const IncrementalFixedLagSmoother* e = dynamic_cast(&rhs); - return e != NULL && FixedLagSmoother::equals(*e, tol) + return e != nullptr && FixedLagSmoother::equals(*e, tol) && isam_.equals(e->isam_, tol); } diff --git a/gtsam_unstable/partition/FindSeparator-inl.h b/gtsam_unstable/partition/FindSeparator-inl.h index af5415469..d87a8fd42 100644 --- a/gtsam_unstable/partition/FindSeparator-inl.h +++ b/gtsam_unstable/partition/FindSeparator-inl.h @@ -83,14 +83,14 @@ namespace gtsam { namespace partition { graph_t *graph; real_t *tpwgts2; ctrl_t *ctrl; - ctrl = SetupCtrl(METIS_OP_OMETIS, options, 1, 3, NULL, NULL); + ctrl = SetupCtrl(METIS_OP_OMETIS, options, 1, 3, nullptr, nullptr); ctrl->iptype = METIS_IPTYPE_GROW; - //if () == NULL) + //if () == nullptr) // return METIS_ERROR_INPUT; InitRandom(ctrl->seed); - graph = SetupGraph(ctrl, *nvtxs, 1, xadj, adjncy, vwgt, NULL, NULL); + graph = SetupGraph(ctrl, *nvtxs, 1, xadj, adjncy, vwgt, nullptr, nullptr); AllocateWorkSpace(ctrl, graph); diff --git a/gtsam_unstable/slam/BiasedGPSFactor.h b/gtsam_unstable/slam/BiasedGPSFactor.h index f2bcb7cd7..cf56afab2 100644 --- a/gtsam_unstable/slam/BiasedGPSFactor.h +++ b/gtsam_unstable/slam/BiasedGPSFactor.h @@ -66,7 +66,7 @@ namespace gtsam { /** equals */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) && traits::Equals(this->measured_, e->measured_, tol); + return e != nullptr && Base::equals(*e, tol) && traits::Equals(this->measured_, e->measured_, tol); } /** implement functions needed to derive from Factor */ diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h index 58284c3a6..f499a0f4b 100644 --- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h +++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h @@ -155,7 +155,7 @@ public: /** equals */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) + return e != nullptr && Base::equals(*e, tol) && (delta_pos_in_t0_ - e->delta_pos_in_t0_).norm() < tol && (delta_vel_in_t0_ - e->delta_vel_in_t0_).norm() < tol && (delta_angles_ - e->delta_angles_).norm() < tol diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h index acca233d9..86efd10c1 100644 --- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h +++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h @@ -153,7 +153,7 @@ public: /** equals */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) + return e != nullptr && Base::equals(*e, tol) && (delta_pos_in_t0_ - e->delta_pos_in_t0_).norm() < tol && (delta_vel_in_t0_ - e->delta_vel_in_t0_).norm() < tol && (delta_angles_ - e->delta_angles_).norm() < tol diff --git a/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h b/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h index 68c972a86..762199753 100644 --- a/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h +++ b/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h @@ -81,7 +81,7 @@ public: /** equals */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol); + return e != nullptr && Base::equals(*e, tol); } /** implement functions needed to derive from Factor */ diff --git a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h index c3a67232a..4763c4263 100644 --- a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h +++ b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h @@ -135,7 +135,7 @@ public: /** equals */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) + return e != nullptr && Base::equals(*e, tol) && (measurement_acc_ - e->measurement_acc_).norm() < tol && (measurement_gyro_ - e->measurement_gyro_).norm() < tol && (dt_ - e->dt_) < tol diff --git a/gtsam_unstable/slam/PartialPriorFactor.h b/gtsam_unstable/slam/PartialPriorFactor.h index c71ee7abd..c6d892e93 100644 --- a/gtsam_unstable/slam/PartialPriorFactor.h +++ b/gtsam_unstable/slam/PartialPriorFactor.h @@ -100,7 +100,7 @@ namespace gtsam { /** equals */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) && + return e != nullptr && Base::equals(*e, tol) && gtsam::equal_with_abs_tol(this->prior_, e->prior_, tol) && this->mask_ == e->mask_; } diff --git a/gtsam_unstable/slam/PoseBetweenFactor.h b/gtsam_unstable/slam/PoseBetweenFactor.h index 03803b5f4..bb5835f80 100644 --- a/gtsam_unstable/slam/PoseBetweenFactor.h +++ b/gtsam_unstable/slam/PoseBetweenFactor.h @@ -79,7 +79,7 @@ namespace gtsam { /** equals */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This *e = dynamic_cast (&expected); - return e != NULL + return e != nullptr && Base::equals(*e, tol) && this->measured_.equals(e->measured_, tol) && ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_))); diff --git a/gtsam_unstable/slam/PosePriorFactor.h b/gtsam_unstable/slam/PosePriorFactor.h index d8649a0d5..ce9861160 100644 --- a/gtsam_unstable/slam/PosePriorFactor.h +++ b/gtsam_unstable/slam/PosePriorFactor.h @@ -74,7 +74,7 @@ namespace gtsam { /** equals */ virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { const This* e = dynamic_cast (&expected); - return e != NULL + return e != nullptr && Base::equals(*e, tol) && this->prior_.equals(e->prior_, tol) && ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_))); diff --git a/gtsam_unstable/slam/RelativeElevationFactor.cpp b/gtsam_unstable/slam/RelativeElevationFactor.cpp index 32e8731cd..b35171041 100644 --- a/gtsam_unstable/slam/RelativeElevationFactor.cpp +++ b/gtsam_unstable/slam/RelativeElevationFactor.cpp @@ -38,7 +38,7 @@ Vector RelativeElevationFactor::evaluateError(const Pose3& pose, const Point3& p /* ************************************************************************* */ bool RelativeElevationFactor::equals(const NonlinearFactor& expected, double tol) const { const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) && std::abs(this->measured_ - e->measured_) < tol; + return e != nullptr && Base::equals(*e, tol) && std::abs(this->measured_ - e->measured_) < tol; } /* ************************************************************************* */ diff --git a/tests/testExtendedKalmanFilter.cpp b/tests/testExtendedKalmanFilter.cpp index b3e8a3449..212a8e107 100644 --- a/tests/testExtendedKalmanFilter.cpp +++ b/tests/testExtendedKalmanFilter.cpp @@ -162,7 +162,7 @@ public: /** Check if two factors are equal. Note type is IndexFactor and needs cast. */ virtual bool equals(const NonlinearFactor& f, double tol = 1e-9) const { const This *e = dynamic_cast (&f); - return (e != NULL) && (key1() == e->key1()) && (key2() == e->key2()); + return (e != nullptr) && (key1() == e->key1()) && (key2() == e->key2()); } /** @@ -196,7 +196,7 @@ public: Vector b = -evaluateError(x1, x2, A1, A2); SharedDiagonal constrained = boost::dynamic_pointer_cast(this->noiseModel_); - if (constrained.get() != NULL) { + if (constrained.get() != nullptr) { return JacobianFactor::shared_ptr(new JacobianFactor(key1(), A1, key2(), A2, b, constrained)); } @@ -292,7 +292,7 @@ public: /** Check if two factors are equal. Note type is IndexFactor and needs cast. */ virtual bool equals(const NonlinearFactor& f, double tol = 1e-9) const { const This *e = dynamic_cast (&f); - return (e != NULL) && Base::equals(f); + return (e != nullptr) && Base::equals(f); } /** @@ -325,7 +325,7 @@ public: Vector b = -evaluateError(x1, A1); SharedDiagonal constrained = boost::dynamic_pointer_cast(this->noiseModel_); - if (constrained.get() != NULL) { + if (constrained.get() != nullptr) { return JacobianFactor::shared_ptr(new JacobianFactor(key(), A1, b, constrained)); } // "Whiten" the system before converting to a Gaussian Factor From 69130fda7ace354b7f9096237e76c2c87fd0d5e6 Mon Sep 17 00:00:00 2001 From: Glen Haggin Date: Thu, 9 Apr 2020 09:24:55 -0400 Subject: [PATCH 0321/1152] Implemented fisheye camera calibration based on Cal3DS2 --- gtsam/geometry/Cal3Fisheye.cpp | 53 +++++++ gtsam/geometry/Cal3Fisheye.h | 121 ++++++++++++++ gtsam/geometry/Cal3Fisheye_Base.cpp | 184 ++++++++++++++++++++++ gtsam/geometry/Cal3Fisheye_Base.h | 180 +++++++++++++++++++++ gtsam/geometry/tests/testCal3DFisheye.cpp | 120 ++++++++++++++ 5 files changed, 658 insertions(+) create mode 100644 gtsam/geometry/Cal3Fisheye.cpp create mode 100644 gtsam/geometry/Cal3Fisheye.h create mode 100644 gtsam/geometry/Cal3Fisheye_Base.cpp create mode 100644 gtsam/geometry/Cal3Fisheye_Base.h create mode 100644 gtsam/geometry/tests/testCal3DFisheye.cpp diff --git a/gtsam/geometry/Cal3Fisheye.cpp b/gtsam/geometry/Cal3Fisheye.cpp new file mode 100644 index 000000000..d2bc6d679 --- /dev/null +++ b/gtsam/geometry/Cal3Fisheye.cpp @@ -0,0 +1,53 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file Cal3Fisheye.cpp + * @date Apr 8, 2020 + * @author ghaggin + */ + +#include +#include +#include +#include +#include + +namespace gtsam { + +/* ************************************************************************* */ +void Cal3Fisheye::print(const std::string& s_) const { + Base::print(s_); +} + +/* ************************************************************************* */ +bool Cal3Fisheye::equals(const Cal3Fisheye& K, double tol) const { + if (std::abs(fx_ - K.fx_) > tol || std::abs(fy_ - K.fy_) > tol || std::abs(s_ - K.s_) > tol || + std::abs(u0_ - K.u0_) > tol || std::abs(v0_ - K.v0_) > tol || std::abs(k1_ - K.k1_) > tol || + std::abs(k2_ - K.k2_) > tol || std::abs(k3_ - K.k3_) > tol || std::abs(k4_ - K.k4_) > tol) + return false; + return true; +} + +/* ************************************************************************* */ +Cal3Fisheye Cal3Fisheye::retract(const Vector& d) const { + return Cal3Fisheye(vector() + d); +} + +/* ************************************************************************* */ +Vector Cal3Fisheye::localCoordinates(const Cal3Fisheye& T2) const { + return T2.vector() - vector(); +} + +} +/* ************************************************************************* */ + + diff --git a/gtsam/geometry/Cal3Fisheye.h b/gtsam/geometry/Cal3Fisheye.h new file mode 100644 index 000000000..df2978350 --- /dev/null +++ b/gtsam/geometry/Cal3Fisheye.h @@ -0,0 +1,121 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file Cal3Fisheye.h + * @brief Calibration of a fisheye, calculations in base class Cal3Fisheye_Base + * @date Apr 8, 2020 + * @author ghaggin + */ + +#pragma once + +#include + +namespace gtsam { + +/** + * @brief Calibration of a fisheye camera that also supports + * Lie-group behaviors for optimization. + * \sa Cal3Fisheye_Base + * @addtogroup geometry + * \nosubgrouping + */ +class GTSAM_EXPORT Cal3Fisheye : public Cal3Fisheye_Base { + + typedef Cal3Fisheye_Base Base; + +public: + + enum { dimension = 9 }; + + /// @name Standard Constructors + /// @{ + + /// Default Constructor with only unit focal length + Cal3Fisheye() : Base() {} + + Cal3Fisheye(const double fx, const double fy, const double s, const double u0, const double v0, + const double k1, const double k2, const double k3, const double k4) : + Base(fx, fy, s, u0, v0, k1, k2, k3, k4) {} + + virtual ~Cal3Fisheye() {} + + /// @} + /// @name Advanced Constructors + /// @{ + + Cal3Fisheye(const Vector &v) : Base(v) {} + + /// @} + /// @name Testable + /// @{ + + /// print with optional string + virtual void print(const std::string& s = "") const ; + + /// assert equality up to a tolerance + bool equals(const Cal3Fisheye& K, double tol = 10e-9) const; + + /// @} + /// @name Manifold + /// @{ + + /// Given delta vector, update calibration + Cal3Fisheye retract(const Vector& d) const ; + + /// Given a different calibration, calculate update to obtain it + Vector localCoordinates(const Cal3Fisheye& T2) const ; + + /// Return dimensions of calibration manifold object + virtual size_t dim() const { return 9 ; } //TODO: make a final dimension variable (also, usually size_t in other classes e.g. Pose2) + + /// Return dimensions of calibration manifold object + static size_t Dim() { return 9; } //TODO: make a final dimension variable + + /// @} + /// @name Clone + /// @{ + + /// @return a deep copy of this object + virtual boost::shared_ptr clone() const { + return boost::shared_ptr(new Cal3Fisheye(*this)); + } + + /// @} + + +private: + + /// @name Advanced Interface + /// @{ + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(Archive & ar, const unsigned int /*version*/) + { + ar & boost::serialization::make_nvp("Cal3Fisheye", + boost::serialization::base_object(*this)); + } + + /// @} + +}; + +template<> +struct traits : public internal::Manifold {}; + +template<> +struct traits : public internal::Manifold {}; + +} + diff --git a/gtsam/geometry/Cal3Fisheye_Base.cpp b/gtsam/geometry/Cal3Fisheye_Base.cpp new file mode 100644 index 000000000..19f7d010b --- /dev/null +++ b/gtsam/geometry/Cal3Fisheye_Base.cpp @@ -0,0 +1,184 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file Cal3Fisheye_Base.cpp + * @date Apr 8, 2020 + * @author ghaggin + */ + +#include +#include +#include +#include +#include + +namespace gtsam { + +/* ************************************************************************* */ +Cal3Fisheye_Base::Cal3Fisheye_Base(const Vector &v): + fx_(v[0]), fy_(v[1]), s_(v[2]), u0_(v[3]), v0_(v[4]), k1_(v[5]), k2_(v[6]), k3_(v[7]), k4_(v[8]){} + +/* ************************************************************************* */ +Matrix3 Cal3Fisheye_Base::K() const { + Matrix3 K; + K << fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0; + return K; +} + +/* ************************************************************************* */ +Vector9 Cal3Fisheye_Base::vector() const { + Vector9 v; + v << fx_, fy_, s_, u0_, v0_, k1_, k2_, k3_, k4_; + return v; +} + +/* ************************************************************************* */ +void Cal3Fisheye_Base::print(const std::string& s_) const { + gtsam::print((Matrix)K(), s_ + ".K"); + gtsam::print(Vector(k()), s_ + ".k"); +} + +/* ************************************************************************* */ +bool Cal3Fisheye_Base::equals(const Cal3Fisheye_Base& K, double tol) const { + if (std::abs(fx_ - K.fx_) > tol || std::abs(fy_ - K.fy_) > tol || std::abs(s_ - K.s_) > tol || + std::abs(u0_ - K.u0_) > tol || std::abs(v0_ - K.v0_) > tol || std::abs(k1_ - K.k1_) > tol || + std::abs(k2_ - K.k2_) > tol || std::abs(k3_ - K.k3_) > tol || std::abs(k4_ - K.k4_) > tol) + return false; + return true; +} + +/* ************************************************************************* */ +static Matrix29 D2dcalibration(const double xd, const double yd, const double xi, const double yi, const double t3, const double t5, const double t7, const double t9, const double r, Matrix2& DK) { + // order: fx, fy, s, u0, v0 + Matrix25 DR1; + DR1 << xd, 0.0, yd, 1.0, 0.0, 0.0, yd, 0.0, 0.0, 1.0; + + //order: k1, k2, k3, k4 + Matrix24 DR2; + DR2 << t3*xi, t5*xi, t7*xi, t9*xi, t3*yi, t5*yi, t7*yi, t9*yi; + DR2 /= r; + Matrix29 D; + D << DR1, DK * DR2; + return D; +} + +/* ************************************************************************* */ +static Matrix2 D2dintrinsic(const double xi, const double yi, const double r, const double td, const double t, const double tt, const double t4, const double t6, const double t8, const double k1, const double k2, const double k3, const double k4, const Matrix2& DK) { + + const double dr_dxi = xi/sqrt(xi*xi + yi*yi); + const double dr_dyi = yi/sqrt(xi*xi + yi*yi); + const double dt_dr = 1/(1 + r*r); + const double dtd_dt = 1 + 3*k1*tt + 5*k2*t4 + 7*k3*t6 + 9*k4*t8; + const double dtd_dxi = dtd_dt * dt_dr * dr_dxi; + const double dtd_dyi = dtd_dt * dt_dr * dr_dyi; + + const double rr = r*r; + const double dxd_dxi = dtd_dxi*xi*(1/r) + td*(1/r) + td*xi*(-1/rr)*dr_dxi; + const double dxd_dyi = dtd_dyi*xi*(1/r) + td*xi*(-1/rr)*dr_dyi; + const double dyd_dxi = dtd_dxi*yi*(1/r) + td*yi*(-1/rr)*dr_dxi; + const double dyd_dyi = dtd_dyi*yi*(1/r) + td*(1/r) + td*yi*(-1/rr)*dr_dyi; + + Matrix2 DR; + DR << dxd_dxi, dxd_dyi, dyd_dxi, dyd_dyi; + + return DK * DR; +} + +/* ************************************************************************* */ +Point2 Cal3Fisheye_Base::uncalibrate(const Point2& p, + OptionalJacobian<2,9> H1, OptionalJacobian<2,2> H2) const { + + const double xi = p.x(), yi = p.y(); + const double r = sqrt(xi*xi + yi*yi); + const double t = atan(r); + const double tt = t*t, t4 = tt*tt, t6 = tt*t4, t8 = t4*t4; + const double td = t*(1 + k1_*tt + k2_*t4 + k3_*t6 + k4_*t8); + const double xd = td/r*xi, yd = td/r*yi; + Point2 uv(fx_ * xd + s_ * yd + u0_, fy_ * yd + v0_); + + Matrix2 DK; + if (H1 || H2) DK << fx_, s_, 0.0, fy_; + + // Derivative for calibration parameters (2 by 9) + if (H1) + *H1 = D2dcalibration(xd, yd, xi, yi, t*tt, t*t4, t*t6, t*t8, r, DK); + + // Derivative for points in intrinsic coords (2 by 2) + if (H2) + *H2 = D2dintrinsic(xi, yi, r, td, t, tt, t4, t6, t8, k1_, k2_, k3_, k4_, DK); + + return uv; +} + +/* ************************************************************************* */ +Point2 Cal3Fisheye_Base::calibrate(const Point2& uv, const double tol) const { + // initial gues just inverts the pinhole model + const double u = uv.x(), v = uv.y(); + const double yd = (v - v0_)/fy_; + const double xd = (u - s_*yd - u0_)/fx_; + Point2 pi(xd, yd); + + // Perform newtons method, break when solution converges past tol, + // throw exception if max iterations are reached + const int maxIterations = 10; + int iteration; + for (iteration = 0; iteration < maxIterations; ++iteration) { + Matrix2 jac; + + // Calculate the current estimate (uv_hat) and the jacobian + const Point2 uv_hat = uncalibrate(pi, boost::none, jac); + + // Test convergence + if((uv_hat - uv).norm() < tol) break; + + // Newton's method update step + pi = pi - jac.inverse()*(uv_hat - uv); + } + + if ( iteration >= maxIterations ) + throw std::runtime_error("Cal3Fisheye::calibrate fails to converge. need a better initialization"); + + return pi; +} + +/* ************************************************************************* */ +Matrix2 Cal3Fisheye_Base::D2d_intrinsic(const Point2& p) const { + const double xi = p.x(), yi = p.y(); + const double r = sqrt(xi*xi + yi*yi); + const double t = atan(r); + const double tt = t*t, t4 = tt*tt, t6 = t4*tt, t8 = t4*t4; + const double td = t*(1 + k1_*tt + k2_*t4 + k3_*t6 + k4_*t8); + + Matrix2 DK; + DK << fx_, s_, 0.0, fy_; + + return D2dintrinsic(xi, yi, r, td, t, tt, t4, t6, t8, k1_, k2_, k3_, k4_, DK); +} + +/* ************************************************************************* */ +Matrix29 Cal3Fisheye_Base::D2d_calibration(const Point2& p) const { + const double xi = p.x(), yi = p.y(); + const double r = sqrt(xi*xi + yi*yi); + const double t = atan(r); + const double tt = t*t, t4 = tt*tt, t6 = tt*t4, t8 = t4*t4; + const double td = t*(1 + k1_*tt + k2_*t4 + k3_*t6 + k4_*t8); + const double xd = td/r*xi, yd = td/r*yi; + + Matrix2 DK; + DK << fx_, s_, 0.0, fy_; + return D2dcalibration(xd, yd, xi, yi, t*tt, t*t4, t*t6, t*t8, r, DK); +} + +} +/* ************************************************************************* */ + + diff --git a/gtsam/geometry/Cal3Fisheye_Base.h b/gtsam/geometry/Cal3Fisheye_Base.h new file mode 100644 index 000000000..0313aadb5 --- /dev/null +++ b/gtsam/geometry/Cal3Fisheye_Base.h @@ -0,0 +1,180 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file Cal3Fisheye_Base.h + * @brief Calibration of a fisheye camera. + * @date Apr 8, 2020 + * @author ghaggin + */ + +#pragma once + +#include + +namespace gtsam { + +/** + * @brief Calibration of a fisheye camera + * @addtogroup geometry + * \nosubgrouping + * + * Uses same distortionmodel as OpenCV, with + * https://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html + * 3D point in camera frame + * p = (x, y, z) + * Intrinsic coordinates: + * [x_i;y_i] = [x/z; y/z] + * Distorted coordinates: + * r^2 = (x_i)^2 + (y_i)^2 + * th = atan(r) + * th_d = th(1 + k1*th^2 + k2*th^4 + k3*th^6 + k4*th^8) + * [x_d; y_d] = (th_d / r)*[x_i; y_i] + * Pixel coordinates: + * K = [fx s u0; 0 fy v0 ;0 0 1] + * [u; v; 1] = K*[x_d; y_d; 1] + */ +class GTSAM_EXPORT Cal3Fisheye_Base { + +protected: + + double fx_, fy_, s_, u0_, v0_ ; // focal length, skew and principal point + double k1_, k2_, k3_, k4_ ; // fisheye distortion coefficients + +public: + + /// @name Standard Constructors + /// @{ + + /// Default Constructor with only unit focal length + Cal3Fisheye_Base() : fx_(1), fy_(1), s_(0), u0_(0), v0_(0), k1_(0), k2_(0), k3_(0), k4_(0) {} + + Cal3Fisheye_Base(double fx, double fy, double s, double u0, double v0, + double k1, double k2, double k3, double k4) : + fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0), k1_(k1), k2_(k2), k3_(k3), k4_(k4) {} + + virtual ~Cal3Fisheye_Base() {} + + /// @} + /// @name Advanced Constructors + /// @{ + + Cal3Fisheye_Base(const Vector &v) ; + + /// @} + /// @name Testable + /// @{ + + /// print with optional string + virtual void print(const std::string& s = "") const ; + + /// assert equality up to a tolerance + bool equals(const Cal3Fisheye_Base& K, double tol = 10e-9) const; + + /// @} + /// @name Standard Interface + /// @{ + + /// focal length x + inline double fx() const { return fx_;} + + /// focal length x + inline double fy() const { return fy_;} + + /// skew + inline double skew() const { return s_;} + + /// image center in x + inline double px() const { return u0_;} + + /// image center in y + inline double py() const { return v0_;} + + /// First distortion coefficient + inline double k1() const { return k1_;} + + /// Second distortion coefficient + inline double k2() const { return k2_;} + + /// First tangential distortion coefficient + inline double k3() const { return k3_;} + + /// Second tangential distortion coefficient + inline double k4() const { return k4_;} + + /// return calibration matrix + Matrix3 K() const; + + /// return distortion parameter vector + Vector4 k() const { return Vector4(k1_, k2_, k3_, k4_); } + + /// Return all parameters as a vector + Vector9 vector() const; + + /** + * convert intrinsic coordinates [x_i; y_i] to (distorted) image coordinates [u; v] + * @param p point in intrinsic coordinates + * @param Dcal optional 2*9 Jacobian wrpt intrinsic parameters (fx, fy, ..., k4) + * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates (xi, yi) + * @return point in (distorted) image coordinates + */ + Point2 uncalibrate(const Point2& p, + OptionalJacobian<2,9> Dcal = boost::none, + OptionalJacobian<2,2> Dp = boost::none) const ; + + /// Convert (distorted) image coordinates [u;v] to intrinsic coordinates [x_i, y_i] + Point2 calibrate(const Point2& p, const double tol=1e-5) const; + + /// Derivative of uncalibrate wrpt intrinsic coordinates [x_i; y_i] + Matrix2 D2d_intrinsic(const Point2& p) const ; + + /// Derivative of uncalibrate wrpt the calibration parameters + /// [fx, fy, s, u0, v0, k1, k2, k3, k4] + Matrix29 D2d_calibration(const Point2& p) const ; + + /// @} + /// @name Clone + /// @{ + + /// @return a deep copy of this object + virtual boost::shared_ptr clone() const { + return boost::shared_ptr(new Cal3Fisheye_Base(*this)); + } + + /// @} + +private: + + /// @name Advanced Interface + /// @{ + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(Archive & ar, const unsigned int /*version*/) + { + ar & BOOST_SERIALIZATION_NVP(fx_); + ar & BOOST_SERIALIZATION_NVP(fy_); + ar & BOOST_SERIALIZATION_NVP(s_); + ar & BOOST_SERIALIZATION_NVP(u0_); + ar & BOOST_SERIALIZATION_NVP(v0_); + ar & BOOST_SERIALIZATION_NVP(k1_); + ar & BOOST_SERIALIZATION_NVP(k2_); + ar & BOOST_SERIALIZATION_NVP(k3_); + ar & BOOST_SERIALIZATION_NVP(k4_); + } + + /// @} + +}; + +} + diff --git a/gtsam/geometry/tests/testCal3DFisheye.cpp b/gtsam/geometry/tests/testCal3DFisheye.cpp new file mode 100644 index 000000000..fbe08a5a3 --- /dev/null +++ b/gtsam/geometry/tests/testCal3DFisheye.cpp @@ -0,0 +1,120 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file testCal3Fisheye.cpp + * @brief Unit tests for fisheye calibration class + * @author ghaggin + */ + + +#include +#include +#include +#include + +using namespace gtsam; + +GTSAM_CONCEPT_TESTABLE_INST(Cal3Fisheye) +GTSAM_CONCEPT_MANIFOLD_INST(Cal3Fisheye) + +static Cal3Fisheye K(500, 100, 0.1, 320, 240, -0.013721808247486035, 0.020727425669427896, -0.012786476702685545, 0.0025242267320687625); +static Point2 p(2,3); + +/* ************************************************************************* */ +TEST( Cal3Fisheye, uncalibrate) +{ + // Calculate the solution + const double xi = p.x(), yi = p.y(); + const double r = sqrt(xi*xi + yi*yi); + const double t = atan(r); + const double tt = t*t, t4 = tt*tt, t6 = tt*t4, t8 = t4*t4; + const double td = t*(1 + K.k1()*tt + K.k2()*t4 + K.k3()*t6 + K.k4()*t8); + Vector3 pd(td/r*xi, td/r*yi, 1); + Vector3 v = K.K()*pd; + + Point2 uv_sol(v[0]/v[2], v[1]/v[2]); + + Point2 uv = K.uncalibrate(p); + CHECK(assert_equal(uv, uv_sol)); +} + +TEST( Cal3Fisheye, calibrate ) +{ + Point2 pi; + Point2 uv; + Point2 pi_hat; + + pi = Point2(0.5, 0.5); // point in intrinsic coordinates + uv = K.uncalibrate(pi); // map intrinsic coord to image plane (pi) + pi_hat = K.calibrate(uv); // map image coords (pi) back to intrinsic coords + CHECK( traits::Equals(pi, pi_hat, 1e-5)); // check that the inv mapping works + + pi = Point2(-0.7, -1.2); + uv = K.uncalibrate(pi); + pi_hat = K.calibrate(uv); + CHECK( traits::Equals(pi, pi_hat, 1e-5)); + + pi = Point2(-3, 5); + uv = K.uncalibrate(pi); + pi_hat = K.calibrate(uv); + CHECK( traits::Equals(pi, pi_hat, 1e-5)); + + pi = Point2(7, -12); + uv = K.uncalibrate(pi); + pi_hat = K.calibrate(uv); + CHECK( traits::Equals(pi, pi_hat, 1e-5)); +} + +Point2 uncalibrate_(const Cal3Fisheye& k, const Point2& pt) { return k.uncalibrate(pt); } + +/* ************************************************************************* */ +TEST( Cal3Fisheye, Duncalibrate1) +{ + Matrix computed; + K.uncalibrate(p, computed, boost::none); + Matrix numerical = numericalDerivative21(uncalibrate_, K, p, 1e-7); + CHECK(assert_equal(numerical,computed,1e-5)); + Matrix separate = K.D2d_calibration(p); + CHECK(assert_equal(numerical,separate,1e-5)); +} + +/* ************************************************************************* */ +TEST( Cal3Fisheye, Duncalibrate2) +{ + Matrix computed; + K.uncalibrate(p, boost::none, computed); + Matrix numerical = numericalDerivative22(uncalibrate_, K, p, 1e-7); + CHECK(assert_equal(numerical,computed,1e-5)); + Matrix separate = K.D2d_intrinsic(p); + CHECK(assert_equal(numerical,separate,1e-5)); +} + +/* ************************************************************************* */ +TEST( Cal3Fisheye, assert_equal) +{ + CHECK(assert_equal(K,K,1e-5)); +} + +/* ************************************************************************* */ +TEST( Cal3Fisheye, retract) +{ + Cal3Fisheye expected(K.fx() + 1, K.fy() + 2, K.skew() + 3, K.px() + 4, K.py() + 5, K.k1() + 6, K.k2() + 7, K.k3() + 8, K.k4() + 9); + Vector d(9); + d << 1,2,3,4,5,6,7,8,9; + Cal3Fisheye actual = K.retract(d); + CHECK(assert_equal(expected,actual,1e-7)); + CHECK(assert_equal(d,K.localCoordinates(actual),1e-7)); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ From a488888d4043b8a685a27023f8871de982520f43 Mon Sep 17 00:00:00 2001 From: Glen Haggin Date: Thu, 9 Apr 2020 09:49:34 -0400 Subject: [PATCH 0322/1152] Added example with fisheye camera using the SFM data --- examples/FisheyeExample.cpp | 128 ++++++++++++++++++++++++++++++++++++ 1 file changed, 128 insertions(+) create mode 100644 examples/FisheyeExample.cpp diff --git a/examples/FisheyeExample.cpp b/examples/FisheyeExample.cpp new file mode 100644 index 000000000..2f79eb667 --- /dev/null +++ b/examples/FisheyeExample.cpp @@ -0,0 +1,128 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file VisualBatchExample.cpp + * @brief A visualSLAM example for the structure-from-motion problem on a + * simulated dataset. This version uses a fisheye camera model and a GaussNewton + * solver to solve the graph in one batch + * @author ghaggin + */ + +/** + * A structure-from-motion example with landmarks + * - The landmarks form a 10 meter cube + * - The robot rotates around the landmarks, always facing towards the cube + */ + +// For loading the data +#include "SFMdata.h" + +// Camera observations of landmarks will be stored as Point2 (x, y). +#include + +// Each variable in the system (poses and landmarks) must be identified with a +// unique key. We can either use simple integer keys (1, 2, 3, ...) or symbols +// (X1, X2, L1). Here we will use Symbols +#include + +// Use GaussNewtonOptimizer to solve graph +#include +#include +#include + +// In GTSAM, measurement functions are represented as 'factors'. Several common +// factors have been provided with the library for solving robotics/SLAM/Bundle +// Adjustment problems. Here we will use Projection factors to model the +// camera's landmark observations. Also, we will initialize the robot at some +// location using a Prior factor. +#include +#include +#include + +#include +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +int main(int argc, char *argv[]) +{ + // Define the camera calibration parameters + // Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0)); + boost::shared_ptr K(new Cal3Fisheye( + 278.66, 278.48, 0.0, 319.75, 241.96, -0.013721808247486035, 0.020727425669427896, -0.012786476702685545, 0.0025242267320687625)); + + // Define the camera observation noise model, 1 pixel stddev + auto measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); + + // Create the set of ground-truth landmarks + vector points = createPoints(); + + // Create the set of ground-truth poses + vector poses = createPoses(); + + // Create a Factor Graph and Values to hold the new data + NonlinearFactorGraph graph; + Values initialEstimate; + + // Add a prior on pose x0, 30cm std on x,y,z and 0.1 rad on roll,pitch,yaw + static auto kPosePrior = noiseModel::Diagonal::Sigmas( + (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); + graph.emplace_shared>(Symbol('x', 0), poses[0], kPosePrior); + + // Add a prior on landmark l0 + static auto kPointPrior = noiseModel::Isotropic::Sigma(3, 0.1); + graph.emplace_shared>(Symbol('l', 0), points[0], kPointPrior); + + // Add initial guesses to all observed landmarks + // Intentionally initialize the variables off from the ground truth + static Point3 kDeltaPoint(-0.25, 0.20, 0.15); + for (size_t j = 0; j < points.size(); ++j) + initialEstimate.insert(Symbol('l', j), points[j] + kDeltaPoint); + + // Loop over the poses, adding the observations to the graph + for (size_t i = 0; i < poses.size(); ++i) + { + // Add factors for each landmark observation + for (size_t j = 0; j < points.size(); ++j) + { + PinholeCamera camera(poses[i], *K); + Point2 measurement = camera.project(points[j]); + graph.emplace_shared>( + measurement, measurementNoise, Symbol('x', i), Symbol('l', j), K); + } + + // Add an initial guess for the current pose + // Intentionally initialize the variables off from the ground truth + static Pose3 kDeltaPose(Rot3::Rodrigues(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)); + initialEstimate.insert(Symbol('x', i), poses[i] * kDeltaPose); + } + + GaussNewtonParams params; + params.setVerbosity("TERMINATION"); + params.maxIterations = 10000; + + std::cout << "Optimizing the factor graph" << std::endl; + GaussNewtonOptimizer optimizer(graph, initialEstimate, params); + Values result = optimizer.optimize(); + std::cout << "Optimization complete" << std::endl; + + std::cout << "initial error=" << graph.error(initialEstimate) << std::endl; + std::cout << "final error=" << graph.error(result) << std::endl; + + std::ofstream os("examples/vio_batch.dot"); + graph.saveGraph(os, result); + + return 0; +} +/* ************************************************************************* */ From 3ee552c7c69d9f7987d0ad5485fa5313904a8158 Mon Sep 17 00:00:00 2001 From: Glen Haggin Date: Thu, 9 Apr 2020 13:24:32 -0400 Subject: [PATCH 0323/1152] Changed cacheing in jac func and fixed comments per PR discussion --- examples/FisheyeExample.cpp | 3 ++- gtsam/geometry/Cal3Fisheye.h | 2 +- gtsam/geometry/Cal3Fisheye_Base.cpp | 11 ++++++----- 3 files changed, 9 insertions(+), 7 deletions(-) diff --git a/examples/FisheyeExample.cpp b/examples/FisheyeExample.cpp index 2f79eb667..b03c9a71d 100644 --- a/examples/FisheyeExample.cpp +++ b/examples/FisheyeExample.cpp @@ -10,11 +10,12 @@ * -------------------------------------------------------------------------- */ /** - * @file VisualBatchExample.cpp + * @file FisheyeExample.cpp * @brief A visualSLAM example for the structure-from-motion problem on a * simulated dataset. This version uses a fisheye camera model and a GaussNewton * solver to solve the graph in one batch * @author ghaggin + * @Date Apr 9,2020 */ /** diff --git a/gtsam/geometry/Cal3Fisheye.h b/gtsam/geometry/Cal3Fisheye.h index df2978350..8fd22cedc 100644 --- a/gtsam/geometry/Cal3Fisheye.h +++ b/gtsam/geometry/Cal3Fisheye.h @@ -11,7 +11,7 @@ /** * @file Cal3Fisheye.h - * @brief Calibration of a fisheye, calculations in base class Cal3Fisheye_Base + * @brief Calibration of a fisheye camera, calculations in base class Cal3Fisheye_Base * @date Apr 8, 2020 * @author ghaggin */ diff --git a/gtsam/geometry/Cal3Fisheye_Base.cpp b/gtsam/geometry/Cal3Fisheye_Base.cpp index 19f7d010b..4b51276df 100644 --- a/gtsam/geometry/Cal3Fisheye_Base.cpp +++ b/gtsam/geometry/Cal3Fisheye_Base.cpp @@ -81,11 +81,12 @@ static Matrix2 D2dintrinsic(const double xi, const double yi, const double r, co const double dtd_dxi = dtd_dt * dt_dr * dr_dxi; const double dtd_dyi = dtd_dt * dt_dr * dr_dyi; - const double rr = r*r; - const double dxd_dxi = dtd_dxi*xi*(1/r) + td*(1/r) + td*xi*(-1/rr)*dr_dxi; - const double dxd_dyi = dtd_dyi*xi*(1/r) + td*xi*(-1/rr)*dr_dyi; - const double dyd_dxi = dtd_dxi*yi*(1/r) + td*yi*(-1/rr)*dr_dxi; - const double dyd_dyi = dtd_dyi*yi*(1/r) + td*(1/r) + td*yi*(-1/rr)*dr_dyi; + const double rinv = 1/r; + const double rrinv = 1/(r*r); + const double dxd_dxi = dtd_dxi*xi*rinv + td*rinv + td*xi*(-rrinv)*dr_dxi; + const double dxd_dyi = dtd_dyi*xi*rinv - td*xi*rrinv*dr_dyi; + const double dyd_dxi = dtd_dxi*yi*rinv - td*yi*rrinv*dr_dxi; + const double dyd_dyi = dtd_dyi*yi*rinv + td*rinv + td*yi*(-rrinv)*dr_dyi; Matrix2 DR; DR << dxd_dxi, dxd_dyi, dyd_dxi, dyd_dyi; From b622262acfdf1d89b5490d0611b0ca1dd5c233f0 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Tue, 7 Apr 2020 01:31:40 +0200 Subject: [PATCH 0324/1152] printError(): allow custom factor filter --- gtsam/nonlinear/NonlinearFactorGraph.cpp | 19 ++++++++++++------ gtsam/nonlinear/NonlinearFactorGraph.h | 4 +++- tests/testNonlinearFactorGraph.cpp | 25 ++++++++++++++++++++++++ 3 files changed, 41 insertions(+), 7 deletions(-) diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index 42b2d07f6..5f6cdcc98 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -61,19 +61,26 @@ void NonlinearFactorGraph::print(const std::string& str, const KeyFormatter& key /* ************************************************************************* */ void NonlinearFactorGraph::printErrors(const Values& values, const std::string& str, - const KeyFormatter& keyFormatter) const { + const KeyFormatter& keyFormatter, + const std::function& printCondition) const +{ cout << str << "size: " << size() << endl << endl; for (size_t i = 0; i < factors_.size(); i++) { + const sharedFactor& factor = factors_[i]; + const double errorValue = (factor != nullptr ? factors_[i]->error(values) : .0); + if (!printCondition(factor.get(),errorValue,i)) + continue; // User-provided filter did not pass + stringstream ss; ss << "Factor " << i << ": "; - if (factors_[i] == nullptr) { - cout << "nullptr" << endl; + if (factor == nullptr) { + cout << "nullptr" << "\n"; } else { - factors_[i]->print(ss.str(), keyFormatter); - cout << "error = " << factors_[i]->error(values) << endl; + factor->print(ss.str(), keyFormatter); + cout << "error = " << errorValue << "\n"; } - cout << endl; + cout << endl; // only one "endl" at end might be faster, \n for each factor } } diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 902a47a0f..232693a9e 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -103,7 +103,9 @@ namespace gtsam { /** print errors along with factors*/ void printErrors(const Values& values, const std::string& str = "NonlinearFactorGraph: ", - const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + const KeyFormatter& keyFormatter = DefaultKeyFormatter, + const std::function& + printCondition = [](const Factor *,double, size_t) {return true;}) const; /** Test equality */ bool equals(const NonlinearFactorGraph& other, double tol = 1e-9) const; diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index 6a7a963bc..e403edaab 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -242,6 +242,31 @@ TEST(testNonlinearFactorGraph, eliminate) { EXPECT_LONGS_EQUAL(4, bn->size()); } +/* ************************************************************************* */ +TEST(NonlinearFactorGraph, printErrors) +{ + const NonlinearFactorGraph fg = createNonlinearFactorGraph(); + const Values c = createValues(); + + // Test that it builds with default parameters. + // We cannot check the output since (at present) output is fixed to std::cout. + fg.printErrors(c); + + // Second round: using callback filter to check that we actually visit all factors: + std::vector visited; + visited.assign(fg.size(), false); + const auto testFilter = + [&](const gtsam::Factor *f, double error, size_t index) { + EXPECT(f!=nullptr); + EXPECT(error>=.0); + visited.at(index)=true; + return false; // do not print + }; + fg.printErrors(c,"Test graph: ", gtsam::DefaultKeyFormatter,testFilter); + + for (bool visit : visited) EXPECT(visit==true); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From b266287cca3511b15dd6c2e6af50bd62e0750351 Mon Sep 17 00:00:00 2001 From: alescontrela Date: Fri, 10 Apr 2020 13:01:26 -0400 Subject: [PATCH 0325/1152] Add addPrior method to NonlinearFactorGraph and corresponding unit test. --- gtsam/nonlinear/NonlinearFactorGraph.h | 24 ++++++++++++++ tests/testNonlinearFactorGraph.cpp | 44 ++++++++++++++++++++++++++ 2 files changed, 68 insertions(+) diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 902a47a0f..29fe12cc1 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -24,6 +24,7 @@ #include #include #include +#include #include #include @@ -202,6 +203,29 @@ namespace gtsam { push_back(boost::make_shared >(R, z, h)); } + /** + * Directly add a PriorFactor to the factor graph. + * @param key Variable key + * @param prior The variable's prior value + * @param model Noise model for prior factor + */ + template + void addPrior(Key key, const T& prior, + const SharedNoiseModel& model = nullptr) { + push_back(boost::make_shared>(key, prior, model)); + } + + /** + * Directly add a PriorFactor to the factor graph. + * @param key Variable key + * @param prior The variable's prior value + * @param covariance Covariance matrix. + */ + template + void addPrior(Key key, const T& prior, const Matrix& covariance) { + push_back(boost::make_shared>(key, prior, covariance)); + } + private: /** diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index 6a7a963bc..442d03307 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -25,6 +25,7 @@ #include #include #include +#include #include #include #include @@ -242,6 +243,49 @@ TEST(testNonlinearFactorGraph, eliminate) { EXPECT_LONGS_EQUAL(4, bn->size()); } +/* ************************************************************************* */ +TEST(testNonlinearFactorGraph, addPrior) { + Key k(0); + + // Factor graph. + auto graph = NonlinearFactorGraph(); + + // Add a prior factor for key k. + auto model_double = noiseModel::Isotropic::Sigma(1, 1); + graph.addPrior(k, 10.0, model_double); + + // Assert the graph has 0 error with the correct values. + Values values; + values.insert(k, 10.0); + EXPECT_DOUBLES_EQUAL(0.0, graph.error(values), 1e-16); + + // Assert the graph has some error with incorrect values. + values.clear(); + values.insert(k, 11.0); + EXPECT(0.0 != graph.error(values)); + + // Clear the factor graph and values. + values.clear(); + graph.erase(graph.begin(), graph.end()); + + // Add a Pose3 prior to the factor graph. Use a gaussian noise model by + // providing the covariance matrix. + Eigen::DiagonalMatrix covariance_pose3; + covariance_pose3.setIdentity(); + Pose3 pose{Rot3(), Point3()}; + graph.addPrior(k, pose, covariance_pose3); + + // Assert the graph has 0 error with the correct values. + values.insert(k, pose); + EXPECT_DOUBLES_EQUAL(0.0, graph.error(values), 1e-16); + + // Assert the graph has some error with incorrect values. + values.clear(); + Pose3 pose_incorrect{Rot3::RzRyRx(-M_PI, M_PI, -M_PI / 8), Point3(1, 2, 3)}; + values.insert(k, pose_incorrect); + EXPECT(0.0 != graph.error(values)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From 9887d4467c3efe31c4c3c0ea0f63f2f46a1f134b Mon Sep 17 00:00:00 2001 From: alescontrela Date: Fri, 10 Apr 2020 21:32:19 -0400 Subject: [PATCH 0326/1152] Replace push_back with emplace_shared. Address PR feedback. --- gtsam/nonlinear/NonlinearFactorGraph.h | 12 ++++++++---- tests/testNonlinearFactorGraph.cpp | 12 ++++++------ 2 files changed, 14 insertions(+), 10 deletions(-) diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 29fe12cc1..c9a28dcb8 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -204,7 +204,7 @@ namespace gtsam { } /** - * Directly add a PriorFactor to the factor graph. + * Convenience method which adds a PriorFactor to the factor graph. * @param key Variable key * @param prior The variable's prior value * @param model Noise model for prior factor @@ -212,18 +212,22 @@ namespace gtsam { template void addPrior(Key key, const T& prior, const SharedNoiseModel& model = nullptr) { - push_back(boost::make_shared>(key, prior, model)); + emplace_shared>(key, prior, model); } /** - * Directly add a PriorFactor to the factor graph. + * Convenience method which adds a PriorFactor to the factor graph. * @param key Variable key * @param prior The variable's prior value * @param covariance Covariance matrix. + * + * Note that the smart noise model associated with the prior factor + * automatically picks the right noise model (e.g. a diagonal noise model + * if the provided covariance matrix is diagonal). */ template void addPrior(Key key, const T& prior, const Matrix& covariance) { - push_back(boost::make_shared>(key, prior, covariance)); + emplace_shared>(key, prior, covariance); } private: diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index 442d03307..d669c8937 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -252,17 +252,17 @@ TEST(testNonlinearFactorGraph, addPrior) { // Add a prior factor for key k. auto model_double = noiseModel::Isotropic::Sigma(1, 1); - graph.addPrior(k, 10.0, model_double); + graph.addPrior(k, 10, model_double); // Assert the graph has 0 error with the correct values. Values values; values.insert(k, 10.0); - EXPECT_DOUBLES_EQUAL(0.0, graph.error(values), 1e-16); + EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-16); // Assert the graph has some error with incorrect values. values.clear(); values.insert(k, 11.0); - EXPECT(0.0 != graph.error(values)); + EXPECT(0 != graph.error(values)); // Clear the factor graph and values. values.clear(); @@ -272,18 +272,18 @@ TEST(testNonlinearFactorGraph, addPrior) { // providing the covariance matrix. Eigen::DiagonalMatrix covariance_pose3; covariance_pose3.setIdentity(); - Pose3 pose{Rot3(), Point3()}; + Pose3 pose{Rot3(), Point3(0, 0, 0)}; graph.addPrior(k, pose, covariance_pose3); // Assert the graph has 0 error with the correct values. values.insert(k, pose); - EXPECT_DOUBLES_EQUAL(0.0, graph.error(values), 1e-16); + EXPECT_DOUBLES_EQUAL(0, graph.error(values), 1e-16); // Assert the graph has some error with incorrect values. values.clear(); Pose3 pose_incorrect{Rot3::RzRyRx(-M_PI, M_PI, -M_PI / 8), Point3(1, 2, 3)}; values.insert(k, pose_incorrect); - EXPECT(0.0 != graph.error(values)); + EXPECT(0 != graph.error(values)); } /* ************************************************************************* */ From 3d3c41b754d93a19991d2129c33fff8258b6fa4d Mon Sep 17 00:00:00 2001 From: alescontrela Date: Fri, 10 Apr 2020 22:00:58 -0400 Subject: [PATCH 0327/1152] Move PriorFactor.h to gtsam/nonlinear. Point slam/PriorFactor.h to new header location for backwards compatibility. --- gtsam/nonlinear/PriorFactor.h | 120 ++++++++++++++++++++++++++++++++++ gtsam/slam/PriorFactor.h | 106 +----------------------------- 2 files changed, 123 insertions(+), 103 deletions(-) create mode 100644 gtsam/nonlinear/PriorFactor.h diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h new file mode 100644 index 000000000..8d8c67d5c --- /dev/null +++ b/gtsam/nonlinear/PriorFactor.h @@ -0,0 +1,120 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file PriorFactor.h + * @author Frank Dellaert + **/ +#pragma once + +#include +#include + +#include + +namespace gtsam { + + /** + * A class for a soft prior on any Value type + * @addtogroup SLAM + */ + template + class PriorFactor: public NoiseModelFactor1 { + + public: + typedef VALUE T; + + private: + + typedef NoiseModelFactor1 Base; + + VALUE prior_; /** The measurement */ + + /** concept check by type */ + GTSAM_CONCEPT_TESTABLE_TYPE(T) + + public: + + /// shorthand for a smart pointer to a factor + typedef typename boost::shared_ptr > shared_ptr; + + /// Typedef to this class + typedef PriorFactor This; + + /** default constructor - only use for serialization */ + PriorFactor() {} + + virtual ~PriorFactor() {} + + /** Constructor */ + PriorFactor(Key key, const VALUE& prior, const SharedNoiseModel& model = nullptr) : + Base(model, key), prior_(prior) { + } + + /** Convenience constructor that takes a full covariance argument */ + PriorFactor(Key key, const VALUE& prior, const Matrix& covariance) : + Base(noiseModel::Gaussian::Covariance(covariance), key), prior_(prior) { + } + + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } + + /** implement functions needed for Testable */ + + /** print */ + virtual void print(const std::string& s, const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const { + std::cout << s << "PriorFactor on " << keyFormatter(this->key()) << "\n"; + traits::Print(prior_, " prior mean: "); + if (this->noiseModel_) + this->noiseModel_->print(" noise model: "); + else + std::cout << "no noise model" << std::endl; + } + + /** equals */ + virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { + const This* e = dynamic_cast (&expected); + return e != nullptr && Base::equals(*e, tol) && traits::Equals(prior_, e->prior_, tol); + } + + /** implement functions needed to derive from Factor */ + + /** vector of errors */ + Vector evaluateError(const T& x, boost::optional H = boost::none) const { + if (H) (*H) = Matrix::Identity(traits::GetDimension(x),traits::GetDimension(x)); + // manifold equivalent of z-x -> Local(x,z) + // TODO(ASL) Add Jacobians. + return -traits::Local(x, prior_); + } + + const VALUE & prior() const { return prior_; } + + private: + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + ar & boost::serialization::make_nvp("NoiseModelFactor1", + boost::serialization::base_object(*this)); + ar & BOOST_SERIALIZATION_NVP(prior_); + } + + // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html + enum { NeedsToAlign = (sizeof(T) % 16) == 0 }; + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) + }; + +} /// namespace gtsam diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h index 8d8c67d5c..45bf2e4ed 100644 --- a/gtsam/slam/PriorFactor.h +++ b/gtsam/slam/PriorFactor.h @@ -15,106 +15,6 @@ **/ #pragma once -#include -#include - -#include - -namespace gtsam { - - /** - * A class for a soft prior on any Value type - * @addtogroup SLAM - */ - template - class PriorFactor: public NoiseModelFactor1 { - - public: - typedef VALUE T; - - private: - - typedef NoiseModelFactor1 Base; - - VALUE prior_; /** The measurement */ - - /** concept check by type */ - GTSAM_CONCEPT_TESTABLE_TYPE(T) - - public: - - /// shorthand for a smart pointer to a factor - typedef typename boost::shared_ptr > shared_ptr; - - /// Typedef to this class - typedef PriorFactor This; - - /** default constructor - only use for serialization */ - PriorFactor() {} - - virtual ~PriorFactor() {} - - /** Constructor */ - PriorFactor(Key key, const VALUE& prior, const SharedNoiseModel& model = nullptr) : - Base(model, key), prior_(prior) { - } - - /** Convenience constructor that takes a full covariance argument */ - PriorFactor(Key key, const VALUE& prior, const Matrix& covariance) : - Base(noiseModel::Gaussian::Covariance(covariance), key), prior_(prior) { - } - - /// @return a deep copy of this factor - virtual gtsam::NonlinearFactor::shared_ptr clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - - /** implement functions needed for Testable */ - - /** print */ - virtual void print(const std::string& s, const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const { - std::cout << s << "PriorFactor on " << keyFormatter(this->key()) << "\n"; - traits::Print(prior_, " prior mean: "); - if (this->noiseModel_) - this->noiseModel_->print(" noise model: "); - else - std::cout << "no noise model" << std::endl; - } - - /** equals */ - virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { - const This* e = dynamic_cast (&expected); - return e != nullptr && Base::equals(*e, tol) && traits::Equals(prior_, e->prior_, tol); - } - - /** implement functions needed to derive from Factor */ - - /** vector of errors */ - Vector evaluateError(const T& x, boost::optional H = boost::none) const { - if (H) (*H) = Matrix::Identity(traits::GetDimension(x),traits::GetDimension(x)); - // manifold equivalent of z-x -> Local(x,z) - // TODO(ASL) Add Jacobians. - return -traits::Local(x, prior_); - } - - const VALUE & prior() const { return prior_; } - - private: - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & boost::serialization::make_nvp("NoiseModelFactor1", - boost::serialization::base_object(*this)); - ar & BOOST_SERIALIZATION_NVP(prior_); - } - - // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html - enum { NeedsToAlign = (sizeof(T) % 16) == 0 }; - public: - EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) - }; - -} /// namespace gtsam +// Note: PriorFactor has been moved to gtsam/nonlinear. This file has been +// left here for backwards compatibility. +#include \ No newline at end of file From f4525b51e491ade9d53af56369e02fee15857a21 Mon Sep 17 00:00:00 2001 From: alescontrela Date: Fri, 10 Apr 2020 22:26:22 -0400 Subject: [PATCH 0328/1152] Change PriorFactor includes from gtsam/slam to gtsam/nonlinear --- cmake/example_cmake_find_gtsam/main.cpp | 2 +- examples/ImuFactorExample2.cpp | 2 +- examples/ImuFactorsExample.cpp | 2 +- examples/InverseKinematicsExampleExpressions.cpp | 2 +- examples/METISOrderingExample.cpp | 2 +- examples/OdometryExample.cpp | 2 +- examples/PlanarSLAMExample.cpp | 2 +- examples/Pose2SLAMExample.cpp | 2 +- examples/Pose2SLAMExampleExpressions.cpp | 2 +- examples/Pose2SLAMExample_g2o.cpp | 2 +- examples/Pose2SLAMExample_graph.cpp | 2 +- examples/Pose2SLAMExample_graphviz.cpp | 2 +- examples/Pose2SLAMExample_lago.cpp | 2 +- examples/Pose2SLAMStressTest.cpp | 2 +- examples/Pose2SLAMwSPCG.cpp | 2 +- examples/Pose3Localization.cpp | 2 +- examples/Pose3SLAMExample_changeKeys.cpp | 2 +- examples/Pose3SLAMExample_g2o.cpp | 2 +- examples/Pose3SLAMExample_initializePose3Chordal.cpp | 2 +- examples/Pose3SLAMExample_initializePose3Gradient.cpp | 2 +- examples/RangeISAMExample_plaza2.cpp | 2 +- examples/SFMExample.cpp | 2 +- examples/SFMExample_bal.cpp | 2 +- examples/SFMExample_bal_COLAMD_METIS.cpp | 2 +- examples/SelfCalibrationExample.cpp | 2 +- examples/SimpleRotation.cpp | 2 +- examples/SolverComparer.cpp | 2 +- examples/VisualISAM2Example.cpp | 2 +- examples/VisualISAMExample.cpp | 2 +- examples/easyPoint2KalmanFilter.cpp | 2 +- examples/elaboratePoint2KalmanFilter.cpp | 2 +- gtsam.h | 2 +- gtsam/geometry/tests/testUnit3.cpp | 2 +- gtsam/geometry/triangulation.h | 2 +- gtsam/navigation/tests/testImuFactor.cpp | 2 +- gtsam/nonlinear/NonlinearFactorGraph.h | 2 +- gtsam/slam/InitializePose3.cpp | 2 +- gtsam/slam/KarcherMeanFactor-inl.h | 2 +- gtsam/slam/lago.cpp | 2 +- gtsam/slam/tests/testAntiFactor.cpp | 2 +- gtsam/slam/tests/testGeneralSFMFactor.cpp | 2 +- gtsam/slam/tests/testInitializePose3.cpp | 2 +- gtsam/slam/tests/testLago.cpp | 2 +- gtsam/slam/tests/testOrientedPlane3Factor.cpp | 2 +- gtsam/slam/tests/testPriorFactor.cpp | 2 +- gtsam_unstable/dynamics/tests/testIMUSystem.cpp | 2 +- gtsam_unstable/examples/ConcurrentCalibration.cpp | 2 +- .../examples/ConcurrentFilteringAndSmoothingExample.cpp | 2 +- gtsam_unstable/examples/FixedLagSmootherExample.cpp | 2 +- gtsam_unstable/examples/SmartRangeExample_plaza1.cpp | 2 +- gtsam_unstable/examples/SmartRangeExample_plaza2.cpp | 2 +- gtsam_unstable/geometry/tests/testSimilarity3.cpp | 2 +- gtsam_unstable/gtsam_unstable.h | 2 +- gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp | 2 +- gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp | 2 +- gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp | 2 +- .../nonlinear/tests/testConcurrentIncrementalFilter.cpp | 2 +- .../nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp | 2 +- .../nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp | 2 +- .../nonlinear/tests/testIncrementalFixedLagSmoother.cpp | 2 +- gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp | 2 +- gtsam_unstable/slam/serialization.cpp | 2 +- gtsam_unstable/slam/tests/testBetweenFactorEM.cpp | 2 +- gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp | 2 +- gtsam_unstable/slam/tests/testSerialization.cpp | 2 +- gtsam_unstable/slam/tests/testSmartRangeFactor.cpp | 2 +- tests/testExpressionFactor.cpp | 2 +- tests/testExtendedKalmanFilter.cpp | 2 +- tests/testGaussianFactorGraphB.cpp | 2 +- tests/testGaussianISAM2.cpp | 2 +- tests/testGaussianJunctionTreeB.cpp | 2 +- tests/testGradientDescentOptimizer.cpp | 2 +- tests/testIterative.cpp | 2 +- tests/testMarginals.cpp | 2 +- tests/testNonlinearEquality.cpp | 2 +- tests/testNonlinearFactorGraph.cpp | 2 +- tests/testNonlinearISAM.cpp | 2 +- tests/testNonlinearOptimizer.cpp | 2 +- tests/testRot3Optimization.cpp | 2 +- tests/testSerializationSLAM.cpp | 2 +- tests/testVisualISAM2.cpp | 2 +- timing/timeIncremental.cpp | 2 +- timing/timeLago.cpp | 2 +- timing/timeiSAM2Chain.cpp | 2 +- 84 files changed, 84 insertions(+), 84 deletions(-) diff --git a/cmake/example_cmake_find_gtsam/main.cpp b/cmake/example_cmake_find_gtsam/main.cpp index 4d93e1b19..488883883 100644 --- a/cmake/example_cmake_find_gtsam/main.cpp +++ b/cmake/example_cmake_find_gtsam/main.cpp @@ -33,7 +33,7 @@ // Here we will use Between factors for the relative motion described by odometry measurements. // We will also use a Between Factor to encode the loop closure constraint // Also, we will initialize the robot at the origin using a Prior factor. -#include +#include #include // When the factors are created, we will add them to a Factor Graph. As the factors we are using diff --git a/examples/ImuFactorExample2.cpp b/examples/ImuFactorExample2.cpp index f83a539af..c2b819a9e 100644 --- a/examples/ImuFactorExample2.cpp +++ b/examples/ImuFactorExample2.cpp @@ -7,7 +7,7 @@ #include #include #include -#include +#include #include diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp index e038f5117..e1a3f6bcf 100644 --- a/examples/ImuFactorsExample.cpp +++ b/examples/ImuFactorsExample.cpp @@ -41,7 +41,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/examples/InverseKinematicsExampleExpressions.cpp b/examples/InverseKinematicsExampleExpressions.cpp index 9e86886e7..9da1c62c0 100644 --- a/examples/InverseKinematicsExampleExpressions.cpp +++ b/examples/InverseKinematicsExampleExpressions.cpp @@ -22,7 +22,7 @@ #include #include #include -#include +#include #include #include diff --git a/examples/METISOrderingExample.cpp b/examples/METISOrderingExample.cpp index 76b5098f6..b0736a27b 100644 --- a/examples/METISOrderingExample.cpp +++ b/examples/METISOrderingExample.cpp @@ -22,7 +22,7 @@ */ #include -#include +#include #include #include #include diff --git a/examples/OdometryExample.cpp b/examples/OdometryExample.cpp index 6dc0d9a93..7dec5ffca 100644 --- a/examples/OdometryExample.cpp +++ b/examples/OdometryExample.cpp @@ -29,7 +29,7 @@ // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // Here we will use Between factors for the relative motion described by odometry measurements. // Also, we will initialize the robot at the origin using a Prior factor. -#include +#include #include // When the factors are created, we will add them to a Factor Graph. As the factors we are using diff --git a/examples/PlanarSLAMExample.cpp b/examples/PlanarSLAMExample.cpp index 52638fdca..2b24b02fb 100644 --- a/examples/PlanarSLAMExample.cpp +++ b/examples/PlanarSLAMExample.cpp @@ -40,7 +40,7 @@ // Here we will use a RangeBearing factor for the range-bearing measurements to identified // landmarks, and Between factors for the relative motion described by odometry measurements. // Also, we will initialize the robot at the origin using a Prior factor. -#include +#include #include #include diff --git a/examples/Pose2SLAMExample.cpp b/examples/Pose2SLAMExample.cpp index f977a08af..da29aff0e 100644 --- a/examples/Pose2SLAMExample.cpp +++ b/examples/Pose2SLAMExample.cpp @@ -36,7 +36,7 @@ // Here we will use Between factors for the relative motion described by odometry measurements. // We will also use a Between Factor to encode the loop closure constraint // Also, we will initialize the robot at the origin using a Prior factor. -#include +#include #include // When the factors are created, we will add them to a Factor Graph. As the factors we are using diff --git a/examples/Pose2SLAMExampleExpressions.cpp b/examples/Pose2SLAMExampleExpressions.cpp index 1f6de6cb1..3760d0dd0 100644 --- a/examples/Pose2SLAMExampleExpressions.cpp +++ b/examples/Pose2SLAMExampleExpressions.cpp @@ -21,7 +21,7 @@ #include // For an explanation of headers below, please see Pose2SLAMExample.cpp -#include +#include #include #include #include diff --git a/examples/Pose2SLAMExample_g2o.cpp b/examples/Pose2SLAMExample_g2o.cpp index a38dfafa6..f4c38f3a4 100644 --- a/examples/Pose2SLAMExample_g2o.cpp +++ b/examples/Pose2SLAMExample_g2o.cpp @@ -19,7 +19,7 @@ */ #include -#include +#include #include #include #include diff --git a/examples/Pose2SLAMExample_graph.cpp b/examples/Pose2SLAMExample_graph.cpp index c3d901507..2f0496f3a 100644 --- a/examples/Pose2SLAMExample_graph.cpp +++ b/examples/Pose2SLAMExample_graph.cpp @@ -17,7 +17,7 @@ */ // For an explanation of headers below, please see Pose2SLAMExample.cpp -#include +#include #include #include #include diff --git a/examples/Pose2SLAMExample_graphviz.cpp b/examples/Pose2SLAMExample_graphviz.cpp index 99711da2d..9f6ce922f 100644 --- a/examples/Pose2SLAMExample_graphviz.cpp +++ b/examples/Pose2SLAMExample_graphviz.cpp @@ -17,7 +17,7 @@ */ // For an explanation of headers below, please see Pose2SLAMExample.cpp -#include +#include #include #include #include diff --git a/examples/Pose2SLAMExample_lago.cpp b/examples/Pose2SLAMExample_lago.cpp index d6164450b..59b507bd5 100644 --- a/examples/Pose2SLAMExample_lago.cpp +++ b/examples/Pose2SLAMExample_lago.cpp @@ -21,7 +21,7 @@ #include #include -#include +#include #include #include diff --git a/examples/Pose2SLAMStressTest.cpp b/examples/Pose2SLAMStressTest.cpp index 0f306b7f4..8c70d5d07 100644 --- a/examples/Pose2SLAMStressTest.cpp +++ b/examples/Pose2SLAMStressTest.cpp @@ -19,7 +19,7 @@ #include #include #include -#include +#include #include #include diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index 9b459d7b8..8de258977 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -17,7 +17,7 @@ */ // For an explanation of headers below, please see Pose2SLAMExample.cpp -#include +#include #include #include #include diff --git a/examples/Pose3Localization.cpp b/examples/Pose3Localization.cpp index 05a04b353..4dd7af960 100644 --- a/examples/Pose3Localization.cpp +++ b/examples/Pose3Localization.cpp @@ -19,7 +19,7 @@ #include #include -#include +#include #include #include #include diff --git a/examples/Pose3SLAMExample_changeKeys.cpp b/examples/Pose3SLAMExample_changeKeys.cpp index cceaac4ee..b72acd30d 100644 --- a/examples/Pose3SLAMExample_changeKeys.cpp +++ b/examples/Pose3SLAMExample_changeKeys.cpp @@ -19,7 +19,7 @@ #include #include -#include +#include #include using namespace std; diff --git a/examples/Pose3SLAMExample_g2o.cpp b/examples/Pose3SLAMExample_g2o.cpp index 25297806e..d25982ef4 100644 --- a/examples/Pose3SLAMExample_g2o.cpp +++ b/examples/Pose3SLAMExample_g2o.cpp @@ -19,7 +19,7 @@ #include #include -#include +#include #include #include diff --git a/examples/Pose3SLAMExample_initializePose3Chordal.cpp b/examples/Pose3SLAMExample_initializePose3Chordal.cpp index 9726f467c..63e81d63f 100644 --- a/examples/Pose3SLAMExample_initializePose3Chordal.cpp +++ b/examples/Pose3SLAMExample_initializePose3Chordal.cpp @@ -20,7 +20,7 @@ #include #include #include -#include +#include #include using namespace std; diff --git a/examples/Pose3SLAMExample_initializePose3Gradient.cpp b/examples/Pose3SLAMExample_initializePose3Gradient.cpp index 000150846..a7f773bcd 100644 --- a/examples/Pose3SLAMExample_initializePose3Gradient.cpp +++ b/examples/Pose3SLAMExample_initializePose3Gradient.cpp @@ -20,7 +20,7 @@ #include #include #include -#include +#include #include using namespace std; diff --git a/examples/RangeISAMExample_plaza2.cpp b/examples/RangeISAMExample_plaza2.cpp index 7b1667e12..8c19b44d2 100644 --- a/examples/RangeISAMExample_plaza2.cpp +++ b/examples/RangeISAMExample_plaza2.cpp @@ -37,7 +37,7 @@ // In GTSAM, measurement functions are represented as 'factors'. Several common factors // have been provided with the library for solving robotics SLAM problems. -#include +#include #include #include #include diff --git a/examples/SFMExample.cpp b/examples/SFMExample.cpp index 16cd25dba..18ca0040b 100644 --- a/examples/SFMExample.cpp +++ b/examples/SFMExample.cpp @@ -30,7 +30,7 @@ // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // Here we will use Projection factors to model the camera's landmark observations. // Also, we will initialize the robot at some location using a Prior factor. -#include +#include #include // When the factors are created, we will add them to a Factor Graph. As the factors we are using diff --git a/examples/SFMExample_bal.cpp b/examples/SFMExample_bal.cpp index 9d5ad0b33..c0c1e869e 100644 --- a/examples/SFMExample_bal.cpp +++ b/examples/SFMExample_bal.cpp @@ -19,7 +19,7 @@ #include #include #include -#include +#include #include #include // for loading BAL datasets ! #include diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp index b3dd3d25e..e5bc8cb90 100644 --- a/examples/SFMExample_bal_COLAMD_METIS.cpp +++ b/examples/SFMExample_bal_COLAMD_METIS.cpp @@ -21,7 +21,7 @@ #include #include #include -#include +#include #include #include // for loading BAL datasets ! diff --git a/examples/SelfCalibrationExample.cpp b/examples/SelfCalibrationExample.cpp index 1d26ea0aa..9324989f6 100644 --- a/examples/SelfCalibrationExample.cpp +++ b/examples/SelfCalibrationExample.cpp @@ -33,7 +33,7 @@ #include // SFM-specific factors -#include +#include #include // does calibration ! // Standard headers diff --git a/examples/SimpleRotation.cpp b/examples/SimpleRotation.cpp index f70a44eec..916238a28 100644 --- a/examples/SimpleRotation.cpp +++ b/examples/SimpleRotation.cpp @@ -33,7 +33,7 @@ // In GTSAM, measurement functions are represented as 'factors'. Several common factors // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // We will apply a simple prior on the rotation -#include +#include // When the factors are created, we will add them to a Factor Graph. As the factors we are using // are nonlinear factors, we will need a Nonlinear Factor Graph. diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp index 80ac08e03..525a6ab1e 100644 --- a/examples/SolverComparer.cpp +++ b/examples/SolverComparer.cpp @@ -34,7 +34,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/examples/VisualISAM2Example.cpp b/examples/VisualISAM2Example.cpp index db9090de6..182394617 100644 --- a/examples/VisualISAM2Example.cpp +++ b/examples/VisualISAM2Example.cpp @@ -47,7 +47,7 @@ // Adjustment problems. Here we will use Projection factors to model the // camera's landmark observations. Also, we will initialize the robot at some // location using a Prior factor. -#include +#include #include #include diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp index b4086910b..17f08afbe 100644 --- a/examples/VisualISAMExample.cpp +++ b/examples/VisualISAMExample.cpp @@ -38,7 +38,7 @@ // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // Here we will use Projection factors to model the camera's landmark observations. // Also, we will initialize the robot at some location using a Prior factor. -#include +#include #include // We want to use iSAM to solve the structure-from-motion problem incrementally, so diff --git a/examples/easyPoint2KalmanFilter.cpp b/examples/easyPoint2KalmanFilter.cpp index 49b99a5b6..7693fa4e4 100644 --- a/examples/easyPoint2KalmanFilter.cpp +++ b/examples/easyPoint2KalmanFilter.cpp @@ -23,7 +23,7 @@ #include #include -#include +#include #include #include diff --git a/examples/elaboratePoint2KalmanFilter.cpp b/examples/elaboratePoint2KalmanFilter.cpp index 1dde7efb5..a2ad8cf0b 100644 --- a/examples/elaboratePoint2KalmanFilter.cpp +++ b/examples/elaboratePoint2KalmanFilter.cpp @@ -20,7 +20,7 @@ * @author Stephen Williams */ -#include +#include #include //#include #include diff --git a/gtsam.h b/gtsam.h index 413a1bc7c..7a1a8864d 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2494,7 +2494,7 @@ class NonlinearISAM { #include #include -#include +#include template virtual class PriorFactor : gtsam::NoiseModelFactor { PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index e08ad97bb..6af4de731 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -27,7 +27,7 @@ #include #include #include -#include +#include #include diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index ed61c75b5..087d7c86a 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -22,7 +22,7 @@ #include #include #include -#include +#include #include #include diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 460695ec6..5f3e12399 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -717,7 +717,7 @@ TEST(ImuFactor, bodyPSensorNoBias) { /* ************************************************************************* */ #include #include -#include +#include #include #include diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index c9a28dcb8..663415bca 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -24,7 +24,7 @@ #include #include #include -#include +#include #include #include diff --git a/gtsam/slam/InitializePose3.cpp b/gtsam/slam/InitializePose3.cpp index 1e398cd99..3d4a4d40d 100644 --- a/gtsam/slam/InitializePose3.cpp +++ b/gtsam/slam/InitializePose3.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/gtsam/slam/KarcherMeanFactor-inl.h b/gtsam/slam/KarcherMeanFactor-inl.h index 076b0ff0c..6f15c1a68 100644 --- a/gtsam/slam/KarcherMeanFactor-inl.h +++ b/gtsam/slam/KarcherMeanFactor-inl.h @@ -20,7 +20,7 @@ #include #include #include -#include +#include using namespace std; diff --git a/gtsam/slam/lago.cpp b/gtsam/slam/lago.cpp index 34c8385e8..76edc8b9d 100644 --- a/gtsam/slam/lago.cpp +++ b/gtsam/slam/lago.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/gtsam/slam/tests/testAntiFactor.cpp b/gtsam/slam/tests/testAntiFactor.cpp index e34e13279..569289633 100644 --- a/gtsam/slam/tests/testAntiFactor.cpp +++ b/gtsam/slam/tests/testAntiFactor.cpp @@ -18,7 +18,7 @@ #include #include -#include +#include #include #include #include diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index 8e0b5ad8f..13a2c8090 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -18,7 +18,7 @@ #include #include -#include +#include #include #include #include diff --git a/gtsam/slam/tests/testInitializePose3.cpp b/gtsam/slam/tests/testInitializePose3.cpp index 6fe8b3d7c..60e930661 100644 --- a/gtsam/slam/tests/testInitializePose3.cpp +++ b/gtsam/slam/tests/testInitializePose3.cpp @@ -21,7 +21,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/gtsam/slam/tests/testLago.cpp b/gtsam/slam/tests/testLago.cpp index f8157c116..1dbf58352 100644 --- a/gtsam/slam/tests/testLago.cpp +++ b/gtsam/slam/tests/testLago.cpp @@ -22,7 +22,7 @@ #include #include #include -#include +#include #include #include diff --git a/gtsam/slam/tests/testOrientedPlane3Factor.cpp b/gtsam/slam/tests/testOrientedPlane3Factor.cpp index f1dbb4239..c903d5232 100644 --- a/gtsam/slam/tests/testOrientedPlane3Factor.cpp +++ b/gtsam/slam/tests/testOrientedPlane3Factor.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/gtsam/slam/tests/testPriorFactor.cpp b/gtsam/slam/tests/testPriorFactor.cpp index b26d633f5..2dc083cb2 100644 --- a/gtsam/slam/tests/testPriorFactor.cpp +++ b/gtsam/slam/tests/testPriorFactor.cpp @@ -6,7 +6,7 @@ */ #include -#include +#include #include using namespace std; diff --git a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp index 494f2731f..c7e46e400 100644 --- a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp +++ b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include #include #include diff --git a/gtsam_unstable/examples/ConcurrentCalibration.cpp b/gtsam_unstable/examples/ConcurrentCalibration.cpp index 41e75432f..70e08356e 100644 --- a/gtsam_unstable/examples/ConcurrentCalibration.cpp +++ b/gtsam_unstable/examples/ConcurrentCalibration.cpp @@ -26,7 +26,7 @@ #include #include #include -#include +#include #include #include diff --git a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp index 429a2c2b2..81cd2443a 100644 --- a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp +++ b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp @@ -34,7 +34,7 @@ // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // Here we will use Between factors for the relative motion described by odometry measurements. // Also, we will initialize the robot at the origin using a Prior factor. -#include +#include #include // When the factors are created, we will add them to a Factor Graph. As the factors we are using diff --git a/gtsam_unstable/examples/FixedLagSmootherExample.cpp b/gtsam_unstable/examples/FixedLagSmootherExample.cpp index dc9b00580..b6c0b5c2f 100644 --- a/gtsam_unstable/examples/FixedLagSmootherExample.cpp +++ b/gtsam_unstable/examples/FixedLagSmootherExample.cpp @@ -30,7 +30,7 @@ // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // Here we will use Between factors for the relative motion described by odometry measurements. // Also, we will initialize the robot at the origin using a Prior factor. -#include +#include #include // When the factors are created, we will add them to a Factor Graph. As the factors we are using diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp index 9dbeeac89..97cc3a516 100644 --- a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp +++ b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp @@ -37,7 +37,7 @@ // In GTSAM, measurement functions are represented as 'factors'. Several common factors // have been provided with the library for solving robotics SLAM problems. -#include +#include #include #include #include diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp index a63a0ba20..03c7bea1f 100644 --- a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp +++ b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp @@ -37,7 +37,7 @@ // In GTSAM, measurement functions are represented as 'factors'. Several common factors // have been provided with the library for solving robotics SLAM problems. -#include +#include #include #include diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp index aaeb0854d..8d44676af 100644 --- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp +++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index b46c5354b..ef2d16bf0 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -274,7 +274,7 @@ class SimPolygon2D { }; // Nonlinear factors from gtsam, for our Value types -#include +#include template virtual class PriorFactor : gtsam::NoiseModelFactor { PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); diff --git a/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp index a4811abd8..b2aafe535 100644 --- a/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp +++ b/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp @@ -26,7 +26,7 @@ #include #include #include -#include +#include #include using namespace std; diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp index ff5a096b0..09fbc0578 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp index 47002acb6..748a119a4 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp index 342e2e79f..ef40d9c61 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp index 98b4bf8cc..adb7c8e39 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp index d4ebc7c0a..3cba22c78 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp index 8d99ed482..60a805e1e 100644 --- a/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp +++ b/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp @@ -18,7 +18,7 @@ #include -#include +#include #include #include #include diff --git a/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp b/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp index 2240034af..10e983fd5 100644 --- a/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp +++ b/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include diff --git a/gtsam_unstable/slam/serialization.cpp b/gtsam_unstable/slam/serialization.cpp index 5b4bd8929..8a661f2ef 100644 --- a/gtsam_unstable/slam/serialization.cpp +++ b/gtsam_unstable/slam/serialization.cpp @@ -15,7 +15,7 @@ #include //#include #include -#include +#include #include #include #include diff --git a/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp b/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp index 5bb4dfd2e..9ae20eb11 100644 --- a/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp +++ b/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp @@ -13,7 +13,7 @@ #include #include -#include +#include using namespace std; diff --git a/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp b/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp index ca91d4cb5..2ae1b1d5b 100644 --- a/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp +++ b/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp @@ -16,7 +16,7 @@ * @date Nov 2009 */ -#include +#include #include #include #include diff --git a/gtsam_unstable/slam/tests/testSerialization.cpp b/gtsam_unstable/slam/tests/testSerialization.cpp index dc05711e3..e1bcfe062 100644 --- a/gtsam_unstable/slam/tests/testSerialization.cpp +++ b/gtsam_unstable/slam/tests/testSerialization.cpp @@ -15,7 +15,7 @@ #include #include -#include +#include #include #include diff --git a/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp b/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp index 8a6aab6b7..202365dc6 100644 --- a/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp @@ -19,7 +19,7 @@ #include #include #include -#include +#include #include using namespace std; diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp index d9a013a60..d33c7ba1d 100644 --- a/tests/testExpressionFactor.cpp +++ b/tests/testExpressionFactor.cpp @@ -20,7 +20,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/tests/testExtendedKalmanFilter.cpp b/tests/testExtendedKalmanFilter.cpp index 212a8e107..d759e83e1 100644 --- a/tests/testExtendedKalmanFilter.cpp +++ b/tests/testExtendedKalmanFilter.cpp @@ -14,7 +14,7 @@ * @author Stephen Williams */ -#include +#include #include #include #include diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index bf968c8d7..2d0ab2970 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -401,7 +401,7 @@ TEST(GaussianFactorGraph, hasConstraints) #include #include -#include +#include #include /* ************************************************************************* */ diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 68d10bb7b..bec266bcc 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include #include #include diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index e877e5a9d..dfdb32b46 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -18,7 +18,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp index e45f234aa..14767c5db 100644 --- a/tests/testGradientDescentOptimizer.cpp +++ b/tests/testGradientDescentOptimizer.cpp @@ -12,7 +12,7 @@ * @date Jun 11, 2012 */ -#include +#include #include #include #include diff --git a/tests/testIterative.cpp b/tests/testIterative.cpp index 7afb4e178..e08880191 100644 --- a/tests/testIterative.cpp +++ b/tests/testIterative.cpp @@ -16,7 +16,7 @@ **/ #include -#include +#include #include #include #include diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp index 3c35c6bc0..1b2c8052c 100644 --- a/tests/testMarginals.cpp +++ b/tests/testMarginals.cpp @@ -29,7 +29,7 @@ #include // add in headers for specific factors -#include +#include #include #include diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp index d59666655..9d91a344b 100644 --- a/tests/testNonlinearEquality.cpp +++ b/tests/testNonlinearEquality.cpp @@ -16,7 +16,7 @@ #include -#include +#include #include #include #include diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index d669c8937..978438402 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -27,7 +27,7 @@ #include #include #include -#include +#include #include #include diff --git a/tests/testNonlinearISAM.cpp b/tests/testNonlinearISAM.cpp index c06d10beb..9291511a0 100644 --- a/tests/testNonlinearISAM.cpp +++ b/tests/testNonlinearISAM.cpp @@ -8,7 +8,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 7b5e7a0e0..6758cf102 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -16,7 +16,7 @@ */ #include -#include +#include #include #include #include diff --git a/tests/testRot3Optimization.cpp b/tests/testRot3Optimization.cpp index 31cf68ebd..794559763 100644 --- a/tests/testRot3Optimization.cpp +++ b/tests/testRot3Optimization.cpp @@ -26,7 +26,7 @@ #include #include #include -#include +#include using namespace gtsam; diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp index 9222894a4..e3252a90b 100644 --- a/tests/testSerializationSLAM.cpp +++ b/tests/testSerializationSLAM.cpp @@ -27,7 +27,7 @@ //#include #include //#include -#include +#include #include #include #include diff --git a/tests/testVisualISAM2.cpp b/tests/testVisualISAM2.cpp index 182408004..2caed695a 100644 --- a/tests/testVisualISAM2.cpp +++ b/tests/testVisualISAM2.cpp @@ -24,7 +24,7 @@ #include #include #include -#include +#include #include #include diff --git a/timing/timeIncremental.cpp b/timing/timeIncremental.cpp index ec5fc3fa5..8928c9b3f 100644 --- a/timing/timeIncremental.cpp +++ b/timing/timeIncremental.cpp @@ -15,7 +15,7 @@ */ #include -#include +#include #include #include #include diff --git a/timing/timeLago.cpp b/timing/timeLago.cpp index d0b6b263c..929a67876 100644 --- a/timing/timeLago.cpp +++ b/timing/timeLago.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/timing/timeiSAM2Chain.cpp b/timing/timeiSAM2Chain.cpp index 7a4413ac7..e61764e22 100644 --- a/timing/timeiSAM2Chain.cpp +++ b/timing/timeiSAM2Chain.cpp @@ -17,7 +17,7 @@ #include #include #include -#include +#include #include #include #include From da6496e6ea4b042a53b05d0806b748b1a96083d5 Mon Sep 17 00:00:00 2001 From: Stephanie McCormick Date: Sat, 11 Apr 2020 13:04:22 -0400 Subject: [PATCH 0329/1152] Fixed error in description for update(). --- gtsam/nonlinear/Values.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index e48b11b32..041aa3441 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -276,8 +276,8 @@ namespace gtsam { void update(Key j, const Value& val); /** Templated version to update a variable with the given j, - * throws KeyAlreadyExists if j is already present - * if no chart is specified, the DefaultChart is used + * throws KeyDoesNotExist if j is not present. + * If no chart is specified, the DefaultChart is used. */ template void update(Key j, const T& val); From aa3ac322358a3e7317d58b38458c53d47ecfe3c2 Mon Sep 17 00:00:00 2001 From: alescontrela Date: Sat, 11 Apr 2020 20:09:54 -0400 Subject: [PATCH 0330/1152] Change all old cases of graph.emplace_shared>(...) and graph.add(PriorFactor<...>(...)) to graph.addPrior<...>(...). Removed unnecessary PriorFactor.h includes. --- cmake/example_cmake_find_gtsam/main.cpp | 3 +- doc/Code/OdometryExample.cpp | 2 +- doc/Code/Pose2SLAMExample.cpp | 2 +- examples/ISAM2Example_SmartFactor.cpp | 4 +- examples/ISAM2_SmartFactorStereo_IMU.cpp | 10 ++--- examples/ImuFactorExample2.cpp | 10 ++--- examples/ImuFactorsExample.cpp | 7 ++-- examples/METISOrderingExample.cpp | 3 +- examples/OdometryExample.cpp | 3 +- examples/PlanarSLAMExample.cpp | 3 +- examples/Pose2SLAMExample.cpp | 3 +- examples/Pose2SLAMExample_g2o.cpp | 3 +- examples/Pose2SLAMExample_graph.cpp | 3 +- examples/Pose2SLAMExample_graphviz.cpp | 3 +- examples/Pose2SLAMExample_lago.cpp | 3 +- examples/Pose2SLAMStressTest.cpp | 3 +- examples/Pose2SLAMwSPCG.cpp | 3 +- examples/Pose3Localization.cpp | 3 +- examples/Pose3SLAMExample_g2o.cpp | 3 +- ...ose3SLAMExample_initializePose3Chordal.cpp | 3 +- ...se3SLAMExample_initializePose3Gradient.cpp | 3 +- examples/RangeISAMExample_plaza2.cpp | 3 +- examples/SFMExample.cpp | 5 +-- examples/SFMExample_SmartFactor.cpp | 4 +- examples/SFMExample_SmartFactorPCG.cpp | 4 +- examples/SFMExample_bal.cpp | 5 +-- examples/SFMExample_bal_COLAMD_METIS.cpp | 5 +-- examples/SelfCalibrationExample.cpp | 7 ++-- examples/SolverComparer.cpp | 5 +-- examples/VisualISAM2Example.cpp | 7 +--- examples/VisualISAMExample.cpp | 5 +-- gtsam/geometry/tests/testTriangulation.cpp | 4 +- gtsam/geometry/tests/testUnit3.cpp | 3 +- gtsam/navigation/tests/testImuFactor.cpp | 10 ++--- gtsam/slam/KarcherMeanFactor-inl.h | 3 +- gtsam/slam/PriorFactor.h | 2 +- gtsam/slam/tests/testAntiFactor.cpp | 3 +- gtsam/slam/tests/testGeneralSFMFactor.cpp | 10 ++--- gtsam/slam/tests/testInitializePose3.cpp | 7 ++-- gtsam/slam/tests/testLago.cpp | 15 ++++--- .../slam/tests/testSmartProjectionFactor.cpp | 20 ++++----- .../tests/testSmartProjectionPoseFactor.cpp | 42 +++++++++---------- .../examples/ConcurrentCalibration.cpp | 5 +-- ...ConcurrentFilteringAndSmoothingExample.cpp | 3 +- .../examples/FixedLagSmootherExample.cpp | 3 +- .../examples/SmartRangeExample_plaza1.cpp | 3 +- .../examples/SmartRangeExample_plaza2.cpp | 3 +- .../geometry/tests/testSimilarity3.cpp | 7 +--- .../tests/testBatchFixedLagSmoother.cpp | 3 +- .../tests/testConcurrentBatchFilter.cpp | 32 +++++++------- .../tests/testConcurrentBatchSmoother.cpp | 28 ++++++------- .../tests/testConcurrentIncrementalFilter.cpp | 36 ++++++++-------- .../testConcurrentIncrementalSmootherDL.cpp | 10 ++--- .../testConcurrentIncrementalSmootherGN.cpp | 14 +++---- .../tests/testIncrementalFixedLagSmoother.cpp | 3 +- .../tests/testNonlinearClusterTree.cpp | 3 +- .../slam/tests/testBetweenFactorEM.cpp | 5 +-- .../slam/tests/testSerialization.cpp | 3 +- .../slam/tests/testSmartRangeFactor.cpp | 5 +-- .../tests/testSmartStereoFactor_iSAM2.cpp | 8 +--- .../testSmartStereoProjectionPoseFactor.cpp | 32 +++++++------- tests/testGaussianFactorGraphB.cpp | 3 +- tests/testGaussianISAM2.cpp | 13 +++--- tests/testGradientDescentOptimizer.cpp | 3 +- tests/testIterative.cpp | 3 +- tests/testMarginals.cpp | 5 +-- tests/testNonlinearFactorGraph.cpp | 7 ++-- tests/testNonlinearISAM.cpp | 16 ++++--- tests/testNonlinearOptimizer.cpp | 24 +++++------ tests/testRot3Optimization.cpp | 5 +-- tests/testVisualISAM2.cpp | 7 +--- timing/timeIncremental.cpp | 3 +- timing/timeLago.cpp | 3 +- timing/timeiSAM2Chain.cpp | 3 +- 74 files changed, 234 insertions(+), 316 deletions(-) diff --git a/cmake/example_cmake_find_gtsam/main.cpp b/cmake/example_cmake_find_gtsam/main.cpp index 488883883..12026178d 100644 --- a/cmake/example_cmake_find_gtsam/main.cpp +++ b/cmake/example_cmake_find_gtsam/main.cpp @@ -33,7 +33,6 @@ // Here we will use Between factors for the relative motion described by odometry measurements. // We will also use a Between Factor to encode the loop closure constraint // Also, we will initialize the robot at the origin using a Prior factor. -#include #include // When the factors are created, we will add them to a Factor Graph. As the factors we are using @@ -69,7 +68,7 @@ int main(int argc, char** argv) { // 2a. Add a prior on the first pose, setting it to the origin // A prior factor consists of a mean and a noise model (covariance matrix) noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.emplace_shared >(1, Pose2(0, 0, 0), priorNoise); + graph.addPrior<>(1, Pose2(0, 0, 0), priorNoise); // For simplicity, we will use the same noise model for odometry and loop closures noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1)); diff --git a/doc/Code/OdometryExample.cpp b/doc/Code/OdometryExample.cpp index 6e736e2d7..0e7d38b76 100644 --- a/doc/Code/OdometryExample.cpp +++ b/doc/Code/OdometryExample.cpp @@ -5,7 +5,7 @@ NonlinearFactorGraph graph; Pose2 priorMean(0.0, 0.0, 0.0); noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); -graph.add(PriorFactor(1, priorMean, priorNoise)); +graph.addPrior<>(1, priorMean, priorNoise); // Add two odometry factors Pose2 odometry(2.0, 0.0, 0.0); diff --git a/doc/Code/Pose2SLAMExample.cpp b/doc/Code/Pose2SLAMExample.cpp index 1738aabc5..be7c5d732 100644 --- a/doc/Code/Pose2SLAMExample.cpp +++ b/doc/Code/Pose2SLAMExample.cpp @@ -1,7 +1,7 @@ NonlinearFactorGraph graph; noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); -graph.add(PriorFactor(1, Pose2(0, 0, 0), priorNoise)); +graph.addPrior<>(1, Pose2(0, 0, 0), priorNoise); // Add odometry factors noiseModel::Diagonal::shared_ptr model = diff --git a/examples/ISAM2Example_SmartFactor.cpp b/examples/ISAM2Example_SmartFactor.cpp index 21fe6e661..d0a7b7278 100644 --- a/examples/ISAM2Example_SmartFactor.cpp +++ b/examples/ISAM2Example_SmartFactor.cpp @@ -57,7 +57,7 @@ int main(int argc, char* argv[]) { vector poses = {pose1, pose2, pose3, pose4, pose5}; // Add first pose - graph.emplace_shared>(X(0), poses[0], noise); + graph.addPrior<>(X(0), poses[0], noise); initialEstimate.insert(X(0), poses[0].compose(delta)); // Create smart factor with measurement from first pose only @@ -71,7 +71,7 @@ int main(int argc, char* argv[]) { cout << "i = " << i << endl; // Add prior on new pose - graph.emplace_shared>(X(i), poses[i], noise); + graph.addPrior<>(X(i), poses[i], noise); initialEstimate.insert(X(i), poses[i].compose(delta)); // "Simulate" measurement from this pose diff --git a/examples/ISAM2_SmartFactorStereo_IMU.cpp b/examples/ISAM2_SmartFactorStereo_IMU.cpp index f39e9f4eb..f7615635c 100644 --- a/examples/ISAM2_SmartFactorStereo_IMU.cpp +++ b/examples/ISAM2_SmartFactorStereo_IMU.cpp @@ -129,18 +129,16 @@ int main(int argc, char* argv[]) { // Pose prior - at identity auto priorPoseNoise = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.1)).finished()); - graph.emplace_shared>(X(1), Pose3::identity(), - priorPoseNoise); + graph.addPrior<>(X(1), Pose3::identity(), priorPoseNoise); initialEstimate.insert(X(0), Pose3::identity()); // Bias prior - graph.add(PriorFactor(B(1), imu.priorImuBias, - imu.biasNoiseModel)); + graph.addPrior<>(B(1), imu.priorImuBias, + imu.biasNoiseModel); initialEstimate.insert(B(0), imu.priorImuBias); // Velocity prior - assume stationary - graph.add( - PriorFactor(V(1), Vector3(0, 0, 0), imu.velocityNoiseModel)); + graph.addPrior<>(V(1), Vector3(0, 0, 0), imu.velocityNoiseModel); initialEstimate.insert(V(0), Vector3(0, 0, 0)); int lastFrame = 1; diff --git a/examples/ImuFactorExample2.cpp b/examples/ImuFactorExample2.cpp index c2b819a9e..7e444e29e 100644 --- a/examples/ImuFactorExample2.cpp +++ b/examples/ImuFactorExample2.cpp @@ -7,7 +7,6 @@ #include #include #include -#include #include @@ -61,21 +60,18 @@ int main(int argc, char* argv[]) { // 0.1 rad std on roll, pitch, yaw, 30cm std on x,y,z. auto noise = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); - newgraph.push_back(PriorFactor(X(0), pose_0, noise)); + newgraph.addPrior<>(X(0), pose_0, noise); // Add imu priors Key biasKey = Symbol('b', 0); auto biasnoise = noiseModel::Diagonal::Sigmas(Vector6::Constant(0.1)); - PriorFactor biasprior(biasKey, imuBias::ConstantBias(), - biasnoise); - newgraph.push_back(biasprior); + newgraph.addPrior<>(biasKey, imuBias::ConstantBias(), biasnoise); initialEstimate.insert(biasKey, imuBias::ConstantBias()); auto velnoise = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)); Vector n_velocity(3); n_velocity << 0, angular_velocity * radius, 0; - PriorFactor velprior(V(0), n_velocity, velnoise); - newgraph.push_back(velprior); + newgraph.addPrior<>(V(0), n_velocity, velnoise); initialEstimate.insert(V(0), n_velocity); diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp index e1a3f6bcf..25099fc39 100644 --- a/examples/ImuFactorsExample.cpp +++ b/examples/ImuFactorsExample.cpp @@ -41,7 +41,6 @@ #include #include #include -#include #include #include #include @@ -129,9 +128,9 @@ int main(int argc, char* argv[]) // Add all prior factors (pose, velocity, bias) to the graph. NonlinearFactorGraph *graph = new NonlinearFactorGraph(); - graph->add(PriorFactor(X(correction_count), prior_pose, pose_noise_model)); - graph->add(PriorFactor(V(correction_count), prior_velocity,velocity_noise_model)); - graph->add(PriorFactor(B(correction_count), prior_imu_bias,bias_noise_model)); + graph->addPrior<>(X(correction_count), prior_pose, pose_noise_model); + graph->addPrior<>(V(correction_count), prior_velocity,velocity_noise_model); + graph->addPrior<>(B(correction_count), prior_imu_bias,bias_noise_model); // We use the sensor specs to build the noise model for the IMU factor. double accel_noise_sigma = 0.0003924; diff --git a/examples/METISOrderingExample.cpp b/examples/METISOrderingExample.cpp index b0736a27b..fc39d7aee 100644 --- a/examples/METISOrderingExample.cpp +++ b/examples/METISOrderingExample.cpp @@ -22,7 +22,6 @@ */ #include -#include #include #include #include @@ -37,7 +36,7 @@ int main(int argc, char** argv) { Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.emplace_shared >(1, priorMean, priorNoise); + graph.addPrior<>(1, priorMean, priorNoise); Pose2 odometry(2.0, 0.0, 0.0); noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1)); diff --git a/examples/OdometryExample.cpp b/examples/OdometryExample.cpp index 7dec5ffca..cce27231d 100644 --- a/examples/OdometryExample.cpp +++ b/examples/OdometryExample.cpp @@ -29,7 +29,6 @@ // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // Here we will use Between factors for the relative motion described by odometry measurements. // Also, we will initialize the robot at the origin using a Prior factor. -#include #include // When the factors are created, we will add them to a Factor Graph. As the factors we are using @@ -65,7 +64,7 @@ int main(int argc, char** argv) { // A prior factor consists of a mean and a noise model (covariance matrix) Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.emplace_shared >(1, priorMean, priorNoise); + graph.addPrior<>(1, priorMean, priorNoise); // Add odometry factors Pose2 odometry(2.0, 0.0, 0.0); diff --git a/examples/PlanarSLAMExample.cpp b/examples/PlanarSLAMExample.cpp index 2b24b02fb..e329c0da0 100644 --- a/examples/PlanarSLAMExample.cpp +++ b/examples/PlanarSLAMExample.cpp @@ -40,7 +40,6 @@ // Here we will use a RangeBearing factor for the range-bearing measurements to identified // landmarks, and Between factors for the relative motion described by odometry measurements. // Also, we will initialize the robot at the origin using a Prior factor. -#include #include #include @@ -81,7 +80,7 @@ int main(int argc, char** argv) { // Add a prior on pose x1 at the origin. A prior factor consists of a mean and a noise model (covariance matrix) Pose2 prior(0.0, 0.0, 0.0); // prior mean is at origin noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta - graph.emplace_shared >(x1, prior, priorNoise); // add directly to graph + graph.addPrior<>(x1, prior, priorNoise); // add directly to graph // Add two odometry factors Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) diff --git a/examples/Pose2SLAMExample.cpp b/examples/Pose2SLAMExample.cpp index da29aff0e..f22b50a13 100644 --- a/examples/Pose2SLAMExample.cpp +++ b/examples/Pose2SLAMExample.cpp @@ -36,7 +36,6 @@ // Here we will use Between factors for the relative motion described by odometry measurements. // We will also use a Between Factor to encode the loop closure constraint // Also, we will initialize the robot at the origin using a Prior factor. -#include #include // When the factors are created, we will add them to a Factor Graph. As the factors we are using @@ -72,7 +71,7 @@ int main(int argc, char** argv) { // 2a. Add a prior on the first pose, setting it to the origin // A prior factor consists of a mean and a noise model (covariance matrix) noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.emplace_shared >(1, Pose2(0, 0, 0), priorNoise); + graph.addPrior<>(1, Pose2(0, 0, 0), priorNoise); // For simplicity, we will use the same noise model for odometry and loop closures noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1)); diff --git a/examples/Pose2SLAMExample_g2o.cpp b/examples/Pose2SLAMExample_g2o.cpp index f4c38f3a4..68bd4cbbf 100644 --- a/examples/Pose2SLAMExample_g2o.cpp +++ b/examples/Pose2SLAMExample_g2o.cpp @@ -19,7 +19,6 @@ */ #include -#include #include #include #include @@ -65,7 +64,7 @@ int main(const int argc, const char *argv[]) { // Add prior on the pose having index (key) = 0 noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances(Vector3(1e-6, 1e-6, 1e-8)); - graph->add(PriorFactor(0, Pose2(), priorModel)); + graph.addPrior<>(0, Pose2(), priorModel); std::cout << "Adding prior on pose 0 " << std::endl; GaussNewtonParams params; diff --git a/examples/Pose2SLAMExample_graph.cpp b/examples/Pose2SLAMExample_graph.cpp index 2f0496f3a..97a16e72d 100644 --- a/examples/Pose2SLAMExample_graph.cpp +++ b/examples/Pose2SLAMExample_graph.cpp @@ -17,7 +17,6 @@ */ // For an explanation of headers below, please see Pose2SLAMExample.cpp -#include #include #include #include @@ -43,7 +42,7 @@ int main (int argc, char** argv) { // Add a Gaussian prior on first poses Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.01, 0.01, 0.01)); - graph->push_back(PriorFactor(0, priorMean, priorNoise)); + graph -> addPrior<>(0, priorMean, priorNoise); // Single Step Optimization using Levenberg-Marquardt Values result = LevenbergMarquardtOptimizer(*graph, *initial).optimize(); diff --git a/examples/Pose2SLAMExample_graphviz.cpp b/examples/Pose2SLAMExample_graphviz.cpp index 9f6ce922f..c3301812a 100644 --- a/examples/Pose2SLAMExample_graphviz.cpp +++ b/examples/Pose2SLAMExample_graphviz.cpp @@ -17,7 +17,6 @@ */ // For an explanation of headers below, please see Pose2SLAMExample.cpp -#include #include #include #include @@ -33,7 +32,7 @@ int main (int argc, char** argv) { // 2a. Add a prior on the first pose, setting it to the origin noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.emplace_shared >(1, Pose2(0, 0, 0), priorNoise); + graph.addPrior<>(1, Pose2(0, 0, 0), priorNoise); // For simplicity, we will use the same noise model for odometry and loop closures noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1)); diff --git a/examples/Pose2SLAMExample_lago.cpp b/examples/Pose2SLAMExample_lago.cpp index 59b507bd5..a379ddd6b 100644 --- a/examples/Pose2SLAMExample_lago.cpp +++ b/examples/Pose2SLAMExample_lago.cpp @@ -21,7 +21,6 @@ #include #include -#include #include #include @@ -44,7 +43,7 @@ int main(const int argc, const char *argv[]) { // Add prior on the pose having index (key) = 0 noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances(Vector3(1e-6, 1e-6, 1e-8)); - graph->add(PriorFactor(0, Pose2(), priorModel)); + graph->addPrior<>(0, Pose2(), priorModel); graph->print(); std::cout << "Computing LAGO estimate" << std::endl; diff --git a/examples/Pose2SLAMStressTest.cpp b/examples/Pose2SLAMStressTest.cpp index 8c70d5d07..5c667a1e9 100644 --- a/examples/Pose2SLAMStressTest.cpp +++ b/examples/Pose2SLAMStressTest.cpp @@ -19,7 +19,6 @@ #include #include #include -#include #include #include @@ -48,7 +47,7 @@ void testGtsam(int numberNodes) { Pose3 first = Pose3(first_M); NonlinearFactorGraph graph; - graph.add(PriorFactor(0, first, priorModel)); + graph.addPrior<>(0, first, priorModel); // vo noise model auto VOCovarianceModel = noiseModel::Isotropic::Variance(6, 1e-3); diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index 8de258977..0be18e827 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -17,7 +17,6 @@ */ // For an explanation of headers below, please see Pose2SLAMExample.cpp -#include #include #include #include @@ -36,7 +35,7 @@ int main(int argc, char** argv) { // 2a. Add a prior on the first pose, setting it to the origin Pose2 prior(0.0, 0.0, 0.0); // prior at origin noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.emplace_shared >(1, prior, priorNoise); + graph.addPrior<>(1, prior, priorNoise); // 2b. Add odometry factors noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1)); diff --git a/examples/Pose3Localization.cpp b/examples/Pose3Localization.cpp index 4dd7af960..7b89ed86a 100644 --- a/examples/Pose3Localization.cpp +++ b/examples/Pose3Localization.cpp @@ -19,7 +19,6 @@ #include #include -#include #include #include #include @@ -48,7 +47,7 @@ int main(const int argc, const char *argv[]) { for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; - graph->add(PriorFactor(firstKey, Pose3(), priorModel)); + graph->addPrior<>(firstKey, Pose3(), priorModel); break; } diff --git a/examples/Pose3SLAMExample_g2o.cpp b/examples/Pose3SLAMExample_g2o.cpp index d25982ef4..8e37d6950 100644 --- a/examples/Pose3SLAMExample_g2o.cpp +++ b/examples/Pose3SLAMExample_g2o.cpp @@ -19,7 +19,6 @@ #include #include -#include #include #include @@ -47,7 +46,7 @@ int main(const int argc, const char *argv[]) { for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; - graph->add(PriorFactor(firstKey, Pose3(), priorModel)); + graph->addPrior<>(firstKey, Pose3(), priorModel); break; } diff --git a/examples/Pose3SLAMExample_initializePose3Chordal.cpp b/examples/Pose3SLAMExample_initializePose3Chordal.cpp index 63e81d63f..4b34db252 100644 --- a/examples/Pose3SLAMExample_initializePose3Chordal.cpp +++ b/examples/Pose3SLAMExample_initializePose3Chordal.cpp @@ -20,7 +20,6 @@ #include #include #include -#include #include using namespace std; @@ -47,7 +46,7 @@ int main(const int argc, const char *argv[]) { for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; - graph->add(PriorFactor(firstKey, Pose3(), priorModel)); + graph->addPrior<>(firstKey, Pose3(), priorModel); break; } diff --git a/examples/Pose3SLAMExample_initializePose3Gradient.cpp b/examples/Pose3SLAMExample_initializePose3Gradient.cpp index a7f773bcd..f059e4ae2 100644 --- a/examples/Pose3SLAMExample_initializePose3Gradient.cpp +++ b/examples/Pose3SLAMExample_initializePose3Gradient.cpp @@ -20,7 +20,6 @@ #include #include #include -#include #include using namespace std; @@ -47,7 +46,7 @@ int main(const int argc, const char *argv[]) { for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; - graph->add(PriorFactor(firstKey, Pose3(), priorModel)); + graph->addPrior<>(firstKey, Pose3(), priorModel); break; } diff --git a/examples/RangeISAMExample_plaza2.cpp b/examples/RangeISAMExample_plaza2.cpp index 8c19b44d2..50ade34e3 100644 --- a/examples/RangeISAMExample_plaza2.cpp +++ b/examples/RangeISAMExample_plaza2.cpp @@ -37,7 +37,6 @@ // In GTSAM, measurement functions are represented as 'factors'. Several common factors // have been provided with the library for solving robotics SLAM problems. -#include #include #include #include @@ -124,7 +123,7 @@ int main (int argc, char** argv) { Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120, M_PI - 2.02108900000000); NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(0, pose0, priorNoise)); + newFactors.addPrior<>(0, pose0, priorNoise); Values initial; initial.insert(0, pose0); diff --git a/examples/SFMExample.cpp b/examples/SFMExample.cpp index 18ca0040b..8912dfd9c 100644 --- a/examples/SFMExample.cpp +++ b/examples/SFMExample.cpp @@ -30,7 +30,6 @@ // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // Here we will use Projection factors to model the camera's landmark observations. // Also, we will initialize the robot at some location using a Prior factor. -#include #include // When the factors are created, we will add them to a Factor Graph. As the factors we are using @@ -75,7 +74,7 @@ int main(int argc, char* argv[]) { // Add a prior on pose x1. This indirectly specifies where the origin is. noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw - graph.emplace_shared >(Symbol('x', 0), poses[0], poseNoise); // add directly to graph + graph.addPrior<>(Symbol('x', 0), poses[0], poseNoise); // add directly to graph // Simulated measurements from each camera pose, adding them to the factor graph for (size_t i = 0; i < poses.size(); ++i) { @@ -90,7 +89,7 @@ int main(int argc, char* argv[]) { // Here we add a prior on the position of the first landmark. This fixes the scale by indicating the distance // between the first camera and the first landmark. All other landmark positions are interpreted using this scale. noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1); - graph.emplace_shared >(Symbol('l', 0), points[0], pointNoise); // add directly to graph + graph.addPrior<>(Symbol('l', 0), points[0], pointNoise); // add directly to graph graph.print("Factor Graph:\n"); // Create the data structure to hold the initial estimate to the solution diff --git a/examples/SFMExample_SmartFactor.cpp b/examples/SFMExample_SmartFactor.cpp index 6e28b87c9..23f0dc26e 100644 --- a/examples/SFMExample_SmartFactor.cpp +++ b/examples/SFMExample_SmartFactor.cpp @@ -82,13 +82,13 @@ int main(int argc, char* argv[]) { // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw noiseModel::Diagonal::shared_ptr noise = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); - graph.emplace_shared >(0, poses[0], noise); + graph.addPrior<>(0, poses[0], noise); // Because the structure-from-motion problem has a scale ambiguity, the problem is // still under-constrained. Here we add a prior on the second pose x1, so this will // fix the scale by indicating the distance between x0 and x1. // Because these two are fixed, the rest of the poses will be also be fixed. - graph.emplace_shared >(1, poses[1], noise); // add directly to graph + graph.addPrior<>(1, poses[1], noise); // add directly to graph graph.print("Factor Graph:\n"); diff --git a/examples/SFMExample_SmartFactorPCG.cpp b/examples/SFMExample_SmartFactorPCG.cpp index 47d69160f..079877a3a 100644 --- a/examples/SFMExample_SmartFactorPCG.cpp +++ b/examples/SFMExample_SmartFactorPCG.cpp @@ -74,10 +74,10 @@ int main(int argc, char* argv[]) { // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw noiseModel::Diagonal::shared_ptr noise = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); - graph.emplace_shared >(0, poses[0], noise); + graph.addPrior<>(0, poses[0], noise); // Fix the scale ambiguity by adding a prior - graph.emplace_shared >(1, poses[0], noise); + graph.addPrior<>(1, poses[0], noise); // Create the initial estimate to the solution Values initialEstimate; diff --git a/examples/SFMExample_bal.cpp b/examples/SFMExample_bal.cpp index c0c1e869e..97f830a05 100644 --- a/examples/SFMExample_bal.cpp +++ b/examples/SFMExample_bal.cpp @@ -19,7 +19,6 @@ #include #include #include -#include #include #include // for loading BAL datasets ! #include @@ -66,8 +65,8 @@ int main (int argc, char* argv[]) { // Add a prior on pose x1. This indirectly specifies where the origin is. // and a prior on the position of the first landmark to fix the scale - graph.emplace_shared >(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)); - graph.emplace_shared > (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)); + graph.addPrior<>(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)); + graph.addPrior<>(P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)); // Create initial estimate Values initial; diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp index e5bc8cb90..7c7a9a9af 100644 --- a/examples/SFMExample_bal_COLAMD_METIS.cpp +++ b/examples/SFMExample_bal_COLAMD_METIS.cpp @@ -21,7 +21,6 @@ #include #include #include -#include #include #include // for loading BAL datasets ! @@ -71,8 +70,8 @@ int main (int argc, char* argv[]) { // Add a prior on pose x1. This indirectly specifies where the origin is. // and a prior on the position of the first landmark to fix the scale - graph.emplace_shared >(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)); - graph.emplace_shared >(P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)); + graph.addPrior<>(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)); + graph.addPrior<>(P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)); // Create initial estimate Values initial; diff --git a/examples/SelfCalibrationExample.cpp b/examples/SelfCalibrationExample.cpp index 9324989f6..a2c709f9c 100644 --- a/examples/SelfCalibrationExample.cpp +++ b/examples/SelfCalibrationExample.cpp @@ -33,7 +33,6 @@ #include // SFM-specific factors -#include #include // does calibration ! // Standard headers @@ -54,7 +53,7 @@ int main(int argc, char* argv[]) { // Add a prior on pose x1. noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw - graph.emplace_shared >(Symbol('x', 0), poses[0], poseNoise); + graph.addPrior<>(Symbol('x', 0), poses[0], poseNoise); // Simulated measurements from each camera pose, adding them to the factor graph Cal3_S2 K(50.0, 50.0, 0.0, 50.0, 50.0); @@ -71,11 +70,11 @@ int main(int argc, char* argv[]) { // Add a prior on the position of the first landmark. noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1); - graph.emplace_shared >(Symbol('l', 0), points[0], pointNoise); // add directly to graph + graph.addPrior<>(Symbol('l', 0), points[0], pointNoise); // add directly to graph // Add a prior on the calibration. noiseModel::Diagonal::shared_ptr calNoise = noiseModel::Diagonal::Sigmas((Vector(5) << 500, 500, 0.1, 100, 100).finished()); - graph.emplace_shared >(Symbol('K', 0), K, calNoise); + graph.addPrior<>(Symbol('K', 0), K, calNoise); // Create the initial estimate to the solution // now including an estimate on the camera calibration parameters diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp index 525a6ab1e..37399b963 100644 --- a/examples/SolverComparer.cpp +++ b/examples/SolverComparer.cpp @@ -34,7 +34,6 @@ #include #include #include -#include #include #include #include @@ -281,7 +280,7 @@ void runIncremental() NonlinearFactorGraph newFactors; Values newVariables; - newFactors.push_back(boost::make_shared >(firstPose, Pose(), noiseModel::Unit::Create(3))); + newFactors.addPrior<>(firstPose, Pose(), noiseModel::Unit::Create(3)); newVariables.insert(firstPose, Pose()); isam2.update(newFactors, newVariables); @@ -464,7 +463,7 @@ void runBatch() cout << "Creating batch optimizer..." << endl; NonlinearFactorGraph measurements = datasetMeasurements; - measurements.push_back(boost::make_shared >(0, Pose(), noiseModel::Unit::Create(3))); + measurements.addPrior<>(0, Pose(), noiseModel::Unit::Create(3)); gttic_(Create_optimizer); GaussNewtonParams params; diff --git a/examples/VisualISAM2Example.cpp b/examples/VisualISAM2Example.cpp index 182394617..0c4bf04d0 100644 --- a/examples/VisualISAM2Example.cpp +++ b/examples/VisualISAM2Example.cpp @@ -47,7 +47,6 @@ // Adjustment problems. Here we will use Projection factors to model the // camera's landmark observations. Also, we will initialize the robot at some // location using a Prior factor. -#include #include #include @@ -110,13 +109,11 @@ int main(int argc, char* argv[]) { static auto kPosePrior = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)) .finished()); - graph.emplace_shared >(Symbol('x', 0), poses[0], - kPosePrior); + graph.addPrior<>(Symbol('x', 0), poses[0], kPosePrior); // Add a prior on landmark l0 static auto kPointPrior = noiseModel::Isotropic::Sigma(3, 0.1); - graph.emplace_shared >(Symbol('l', 0), points[0], - kPointPrior); + graph.addPrior<>(Symbol('l', 0), points[0], kPointPrior); // Add initial guesses to all observed landmarks // Intentionally initialize the variables off from the ground truth diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp index 17f08afbe..5169c5bd4 100644 --- a/examples/VisualISAMExample.cpp +++ b/examples/VisualISAMExample.cpp @@ -38,7 +38,6 @@ // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // Here we will use Projection factors to model the camera's landmark observations. // Also, we will initialize the robot at some location using a Prior factor. -#include #include // We want to use iSAM to solve the structure-from-motion problem incrementally, so @@ -108,12 +107,12 @@ int main(int argc, char* argv[]) { // Add a prior on pose x0, with 30cm std on x,y,z 0.1 rad on roll,pitch,yaw noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); - graph.emplace_shared >(Symbol('x', 0), poses[0], poseNoise); + graph.addPrior<>(Symbol('x', 0), poses[0], poseNoise); // Add a prior on landmark l0 noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1); - graph.emplace_shared >(Symbol('l', 0), points[0], pointNoise); + graph.addPrior<>(Symbol('l', 0), points[0], pointNoise); // Add initial guesses to all observed landmarks Point3 noise(-0.25, 0.20, 0.15); diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp index d2f0c91df..8f47b0d37 100644 --- a/gtsam/geometry/tests/testTriangulation.cpp +++ b/gtsam/geometry/tests/testTriangulation.cpp @@ -382,8 +382,8 @@ TEST( triangulation, StereotriangulateNonlinear ) { graph.emplace_shared(measurements[1], unit, Symbol('x',2), Symbol('l',1), stereoK); const SharedDiagonal posePrior = noiseModel::Isotropic::Sigma(6, 1e-9); - graph.emplace_shared >(Symbol('x',1), Pose3(m1), posePrior); - graph.emplace_shared >(Symbol('x',2), Pose3(m2), posePrior); + graph.addPrior<>(Symbol('x',1), Pose3(m1), posePrior); + graph.addPrior<>(Symbol('x',2), Pose3(m2), posePrior); LevenbergMarquardtOptimizer optimizer(graph, values); Values result = optimizer.optimize(); diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index 6af4de731..f9494d7ab 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -27,7 +27,6 @@ #include #include #include -#include #include @@ -456,7 +455,7 @@ TEST(Unit3, ErrorBetweenFactor) { // Add prior factors. SharedNoiseModel R_prior = noiseModel::Unit::Create(2); for (size_t i = 0; i < data.size(); i++) { - graph.emplace_shared >(U(i), data[i], R_prior); + graph.addPrior<>(U(i), data[i], R_prior); } // Add process factors using the dot product error function. diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 5f3e12399..be5295487 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -717,7 +717,6 @@ TEST(ImuFactor, bodyPSensorNoBias) { /* ************************************************************************* */ #include #include -#include #include #include @@ -763,20 +762,17 @@ TEST(ImuFactor, bodyPSensorWithBias) { NonlinearFactorGraph graph; Values values; - PriorFactor priorPose(X(0), Pose3(), priorNoisePose); - graph.add(priorPose); + graph.addPrior<>(X(0), Pose3(), priorNoisePose); values.insert(X(0), Pose3()); - PriorFactor priorVel(V(0), zeroVel, priorNoiseVel); - graph.add(priorVel); + graph.addPrior<>(V(0), zeroVel, priorNoiseVel); values.insert(V(0), zeroVel); // The key to this test is that we specify the bias, in the sensor frame, as known a priori // We also create factors below that encode our assumption that this bias is constant over time // In theory, after optimization, we should recover that same bias estimate Bias priorBias(Vector3(0, 0, 0), Vector3(0, 0.01, 0)); // Biases (acc, rot) - PriorFactor priorBiasFactor(B(0), priorBias, priorNoiseBias); - graph.add(priorBiasFactor); + graph.addPrior<>(B(0), priorBias, priorNoiseBias); values.insert(B(0), priorBias); // Now add IMU factors and bias noise models diff --git a/gtsam/slam/KarcherMeanFactor-inl.h b/gtsam/slam/KarcherMeanFactor-inl.h index 6f15c1a68..f10cc7e42 100644 --- a/gtsam/slam/KarcherMeanFactor-inl.h +++ b/gtsam/slam/KarcherMeanFactor-inl.h @@ -20,7 +20,6 @@ #include #include #include -#include using namespace std; @@ -33,7 +32,7 @@ T FindKarcherMeanImpl(const vector& rotations) { NonlinearFactorGraph graph; static const Key kKey(0); for (const auto& R : rotations) { - graph.emplace_shared >(kKey, R); + graph.addPrior(kKey, R); } Values initial; initial.insert(kKey, T()); diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h index 45bf2e4ed..d314bfd84 100644 --- a/gtsam/slam/PriorFactor.h +++ b/gtsam/slam/PriorFactor.h @@ -17,4 +17,4 @@ // Note: PriorFactor has been moved to gtsam/nonlinear. This file has been // left here for backwards compatibility. -#include \ No newline at end of file +#include diff --git a/gtsam/slam/tests/testAntiFactor.cpp b/gtsam/slam/tests/testAntiFactor.cpp index 569289633..bc5d4f240 100644 --- a/gtsam/slam/tests/testAntiFactor.cpp +++ b/gtsam/slam/tests/testAntiFactor.cpp @@ -18,7 +18,6 @@ #include #include -#include #include #include #include @@ -90,7 +89,7 @@ TEST( AntiFactor, EquivalentBayesNet) SharedNoiseModel sigma(noiseModel::Unit::Create(6)); NonlinearFactorGraph graph; - graph.emplace_shared >(1, pose1, sigma); + graph.addPrior<>(1, pose1, sigma); graph.emplace_shared >(1, 2, pose1.between(pose2), sigma); // Create a configuration corresponding to the ground truth diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index 13a2c8090..7b2f73780 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -18,7 +18,6 @@ #include #include -#include #include #include #include @@ -388,8 +387,7 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) { graph.emplace_shared< RangeFactor >(X(0), X(1), 2., noiseModel::Isotropic::Sigma(1, 1.)); - graph.emplace_shared< - PriorFactor >(X(1), Pose3(Rot3(), Point3(1., 0., 0.)), + graph.addPrior<>(X(1), Pose3(Rot3(), Point3(1., 0., 0.)), noiseModel::Isotropic::Sigma(6, 1.)); Values init; @@ -413,14 +411,12 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) { TEST(GeneralSFMFactor, CalibratedCameraPoseRange) { // Tests range factor between a CalibratedCamera and a Pose3 NonlinearFactorGraph graph; - graph.emplace_shared< - PriorFactor >(X(0), CalibratedCamera(), + graph.addPrior<>(X(0), CalibratedCamera(), noiseModel::Isotropic::Sigma(6, 1.)); graph.emplace_shared< RangeFactor >(X(0), X(1), 2., noiseModel::Isotropic::Sigma(1, 1.)); - graph.emplace_shared< - PriorFactor >(X(1), Pose3(Rot3(), Point3(1., 0., 0.)), + graph.addPrior<>(X(1), Pose3(Rot3(), Point3(1., 0., 0.)), noiseModel::Isotropic::Sigma(6, 1.)); Values init; diff --git a/gtsam/slam/tests/testInitializePose3.cpp b/gtsam/slam/tests/testInitializePose3.cpp index 60e930661..8559b06ce 100644 --- a/gtsam/slam/tests/testInitializePose3.cpp +++ b/gtsam/slam/tests/testInitializePose3.cpp @@ -21,7 +21,6 @@ #include #include #include -#include #include #include #include @@ -67,7 +66,7 @@ NonlinearFactorGraph graph() { g.add(BetweenFactor(x2, x3, pose2.between(pose3), model)); g.add(BetweenFactor(x2, x0, pose2.between(pose0), model)); g.add(BetweenFactor(x0, x3, pose0.between(pose3), model)); - g.add(PriorFactor(x0, pose0, model)); + g.addPrior<>(x0, pose0, model); return g; } @@ -78,7 +77,7 @@ NonlinearFactorGraph graph2() { g.add(BetweenFactor(x2, x3, pose2.between(pose3), noiseModel::Isotropic::Precision(6, 1.0))); g.add(BetweenFactor(x2, x0, Pose3(Rot3::Ypr(0.1,0,0.1), Point3()), noiseModel::Isotropic::Precision(6, 0.0))); // random pose, but zero information g.add(BetweenFactor(x0, x3, Pose3(Rot3::Ypr(0.5,-0.2,0.2), Point3(10,20,30)), noiseModel::Isotropic::Precision(6, 0.0))); // random pose, but zero informatoin - g.add(PriorFactor(x0, pose0, model)); + g.addPrior<>(x0, pose0, model); return g; } } @@ -267,7 +266,7 @@ TEST( InitializePose3, initializePoses ) bool is3D = true; boost::tie(inputGraph, expectedValues) = readG2o(g2oFile, is3D); noiseModel::Unit::shared_ptr priorModel = noiseModel::Unit::Create(6); - inputGraph->add(PriorFactor(0, Pose3(), priorModel)); + inputGraph->addPrior<>(0, Pose3(), priorModel); Values initial = InitializePose3::initialize(*inputGraph); EXPECT(assert_equal(*expectedValues,initial,0.1)); // TODO(frank): very loose !! diff --git a/gtsam/slam/tests/testLago.cpp b/gtsam/slam/tests/testLago.cpp index 1dbf58352..02f8b6454 100644 --- a/gtsam/slam/tests/testLago.cpp +++ b/gtsam/slam/tests/testLago.cpp @@ -22,7 +22,6 @@ #include #include #include -#include #include #include @@ -61,7 +60,7 @@ NonlinearFactorGraph graph() { g.add(BetweenFactor(x2, x3, pose2.between(pose3), model)); g.add(BetweenFactor(x2, x0, pose2.between(pose0), model)); g.add(BetweenFactor(x0, x3, pose0.between(pose3), model)); - g.add(PriorFactor(x0, pose0, model)); + g.addPrior<>(x0, pose0, model); return g; } } @@ -167,7 +166,7 @@ TEST( Lago, smallGraphVectorValuesSP ) { TEST( Lago, multiplePosePriors ) { bool useOdometricPath = false; NonlinearFactorGraph g = simpleLago::graph(); - g.add(PriorFactor(x1, simpleLago::pose1, model)); + g.addPrior<>(x1, simpleLago::pose1, model); VectorValues initial = lago::initializeOrientations(g, useOdometricPath); // comparison is up to M_PI, that's why we add some multiples of 2*M_PI @@ -180,7 +179,7 @@ TEST( Lago, multiplePosePriors ) { /* *************************************************************************** */ TEST( Lago, multiplePosePriorsSP ) { NonlinearFactorGraph g = simpleLago::graph(); - g.add(PriorFactor(x1, simpleLago::pose1, model)); + g.addPrior<>(x1, simpleLago::pose1, model); VectorValues initial = lago::initializeOrientations(g); // comparison is up to M_PI, that's why we add some multiples of 2*M_PI @@ -194,7 +193,7 @@ TEST( Lago, multiplePosePriorsSP ) { TEST( Lago, multiplePoseAndRotPriors ) { bool useOdometricPath = false; NonlinearFactorGraph g = simpleLago::graph(); - g.add(PriorFactor(x1, simpleLago::pose1.theta(), model)); + g.addPrior<>(x1, simpleLago::pose1.theta(), model); VectorValues initial = lago::initializeOrientations(g, useOdometricPath); // comparison is up to M_PI, that's why we add some multiples of 2*M_PI @@ -207,7 +206,7 @@ TEST( Lago, multiplePoseAndRotPriors ) { /* *************************************************************************** */ TEST( Lago, multiplePoseAndRotPriorsSP ) { NonlinearFactorGraph g = simpleLago::graph(); - g.add(PriorFactor(x1, simpleLago::pose1.theta(), model)); + g.addPrior<>(x1, simpleLago::pose1.theta(), model); VectorValues initial = lago::initializeOrientations(g); // comparison is up to M_PI, that's why we add some multiples of 2*M_PI @@ -267,7 +266,7 @@ TEST( Lago, largeGraphNoisy_orientations ) { // Add prior on the pose having index (key) = 0 NonlinearFactorGraph graphWithPrior = *g; noiseModel::Diagonal::shared_ptr priorModel = noiseModel::Diagonal::Variances(Vector3(1e-2, 1e-2, 1e-4)); - graphWithPrior.add(PriorFactor(0, Pose2(), priorModel)); + graphWithPrior.addPrior<>(0, Pose2(), priorModel); VectorValues actualVV = lago::initializeOrientations(graphWithPrior); Values actual; @@ -302,7 +301,7 @@ TEST( Lago, largeGraphNoisy ) { // Add prior on the pose having index (key) = 0 NonlinearFactorGraph graphWithPrior = *g; noiseModel::Diagonal::shared_ptr priorModel = noiseModel::Diagonal::Variances(Vector3(1e-2, 1e-2, 1e-4)); - graphWithPrior.add(PriorFactor(0, Pose2(), priorModel)); + graphWithPrior.addPrior<>(0, Pose2(), priorModel); Values actual = lago::initialize(graphWithPrior); diff --git a/gtsam/slam/tests/testSmartProjectionFactor.cpp b/gtsam/slam/tests/testSmartProjectionFactor.cpp index 7b3158e9a..0368fbd94 100644 --- a/gtsam/slam/tests/testSmartProjectionFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionFactor.cpp @@ -195,8 +195,8 @@ TEST(SmartProjectionFactor, perturbPoseAndOptimize ) { graph.push_back(smartFactor2); graph.push_back(smartFactor3); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6 + 5, 1e-5); - graph.emplace_shared >(c1, cam1, noisePrior); - graph.emplace_shared >(c2, cam2, noisePrior); + graph.addPrior<>(c1, cam1, noisePrior); + graph.addPrior<>(c2, cam2, noisePrior); // Create initial estimate Values initial; @@ -304,8 +304,8 @@ TEST(SmartProjectionFactor, perturbPoseAndOptimizeFromSfM_tracks ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(c1, cam1, noisePrior); - graph.emplace_shared >(c2, cam2, noisePrior); + graph.addPrior<>(c1, cam1, noisePrior); + graph.addPrior<>(c2, cam2, noisePrior); Values values; values.insert(c1, cam1); @@ -378,8 +378,8 @@ TEST(SmartProjectionFactor, perturbCamerasAndOptimize ) { graph.push_back(smartFactor3); graph.push_back(smartFactor4); graph.push_back(smartFactor5); - graph.emplace_shared >(c1, cam1, noisePrior); - graph.emplace_shared >(c2, cam2, noisePrior); + graph.addPrior<>(c1, cam1, noisePrior); + graph.addPrior<>(c2, cam2, noisePrior); Values values; values.insert(c1, cam1); @@ -453,8 +453,8 @@ TEST(SmartProjectionFactor, Cal3Bundler ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(c1, cam1, noisePrior); - graph.emplace_shared >(c2, cam2, noisePrior); + graph.addPrior<>(c1, cam1, noisePrior); + graph.addPrior<>(c2, cam2, noisePrior); Values values; values.insert(c1, cam1); @@ -526,8 +526,8 @@ TEST(SmartProjectionFactor, Cal3Bundler2 ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(c1, cam1, noisePrior); - graph.emplace_shared >(c2, cam2, noisePrior); + graph.addPrior<>(c1, cam1, noisePrior); + graph.addPrior<>(c2, cam2, noisePrior); Values values; values.insert(c1, cam1); diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index f833941bc..53692e57f 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -243,8 +243,8 @@ TEST(SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(x1, wTb1, noisePrior); - graph.emplace_shared >(x2, wTb2, noisePrior); + graph.addPrior<>(x1, wTb1, noisePrior); + graph.addPrior<>(x2, wTb2, noisePrior); // Check errors at ground truth poses Values gtValues; @@ -302,8 +302,8 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(x1, cam1.pose(), noisePrior); - graph.emplace_shared >(x2, cam2.pose(), noisePrior); + graph.addPrior<>(x1, cam1.pose(), noisePrior); + graph.addPrior<>(x2, cam2.pose(), noisePrior); Values groundTruth; groundTruth.insert(x1, cam1.pose()); @@ -525,8 +525,8 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(x1, cam1.pose(), noisePrior); - graph.emplace_shared >(x2, cam2.pose(), noisePrior); + graph.addPrior<>(x1, cam1.pose(), noisePrior); + graph.addPrior<>(x2, cam2.pose(), noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -589,8 +589,8 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(x1, cam1.pose(), noisePrior); - graph.emplace_shared >(x2, cam2.pose(), noisePrior); + graph.addPrior<>(x1, cam1.pose(), noisePrior); + graph.addPrior<>(x2, cam2.pose(), noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -647,8 +647,8 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(x1, cam1.pose(), noisePrior); - graph.emplace_shared >(x2, cam2.pose(), noisePrior); + graph.addPrior<>(x1, cam1.pose(), noisePrior); + graph.addPrior<>(x2, cam2.pose(), noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -716,8 +716,8 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { graph.push_back(smartFactor2); graph.push_back(smartFactor3); graph.push_back(smartFactor4); - graph.emplace_shared >(x1, cam1.pose(), noisePrior); - graph.emplace_shared >(x2, cam2.pose(), noisePrior); + graph.addPrior<>(x1, cam1.pose(), noisePrior); + graph.addPrior<>(x2, cam2.pose(), noisePrior); Values values; values.insert(x1, cam1.pose()); @@ -766,8 +766,8 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(x1, cam1.pose(), noisePrior); - graph.emplace_shared >(x2, cam2.pose(), noisePrior); + graph.addPrior<>(x1, cam1.pose(), noisePrior); + graph.addPrior<>(x2, cam2.pose(), noisePrior); Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise @@ -806,8 +806,8 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { graph.emplace_shared(cam3.project(landmark3), model, x3, L(3), sharedK2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); - graph.emplace_shared >(x1, level_pose, noisePrior); - graph.emplace_shared >(x2, pose_right, noisePrior); + graph.addPrior<>(x1, level_pose, noisePrior); + graph.addPrior<>(x2, pose_right, noisePrior); Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); @@ -948,7 +948,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac NonlinearFactorGraph graph; graph.push_back(smartFactor1); graph.push_back(smartFactor2); - graph.emplace_shared >(x1, cam1.pose(), noisePrior); + graph.addPrior<>(x1, cam1.pose(), noisePrior); graph.emplace_shared >(x2, positionPrior, noisePriorTranslation); graph.emplace_shared >(x3, positionPrior, noisePriorTranslation); @@ -1012,7 +1012,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(x1, cam1.pose(), noisePrior); + graph.addPrior<>(x1, cam1.pose(), noisePrior); graph.emplace_shared >(x2, positionPrior, noisePriorTranslation); graph.emplace_shared >(x3, positionPrior, noisePriorTranslation); @@ -1223,8 +1223,8 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(x1, cam1.pose(), noisePrior); - graph.emplace_shared >(x2, cam2.pose(), noisePrior); + graph.addPrior<>(x1, cam1.pose(), noisePrior); + graph.addPrior<>(x2, cam2.pose(), noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -1296,7 +1296,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(x1, cam1.pose(), noisePrior); + graph.addPrior<>(x1, cam1.pose(), noisePrior); graph.emplace_shared >(x2, positionPrior, noisePriorTranslation); graph.emplace_shared >(x3, positionPrior, noisePriorTranslation); diff --git a/gtsam_unstable/examples/ConcurrentCalibration.cpp b/gtsam_unstable/examples/ConcurrentCalibration.cpp index 70e08356e..9ff3c8fcd 100644 --- a/gtsam_unstable/examples/ConcurrentCalibration.cpp +++ b/gtsam_unstable/examples/ConcurrentCalibration.cpp @@ -26,7 +26,6 @@ #include #include #include -#include #include #include @@ -61,7 +60,7 @@ int main(int argc, char** argv){ initial_estimate.insert(Symbol('K', 0), *noisy_K); noiseModel::Diagonal::shared_ptr calNoise = noiseModel::Diagonal::Sigmas((Vector(5) << 500, 500, 1e-5, 100, 100).finished()); - graph.emplace_shared >(Symbol('K', 0), *noisy_K, calNoise); + graph.addPrior<>(Symbol('K', 0), *noisy_K, calNoise); ifstream pose_file(pose_loc.c_str()); @@ -77,7 +76,7 @@ int main(int argc, char** argv){ } noiseModel::Isotropic::shared_ptr poseNoise = noiseModel::Isotropic::Sigma(6, 0.01); - graph.emplace_shared >(Symbol('x', pose_id), Pose3(m), poseNoise); + graph.addPrior<>(Symbol('x', pose_id), Pose3(m), poseNoise); // camera and landmark keys size_t x, l; diff --git a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp index 81cd2443a..b19ee499f 100644 --- a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp +++ b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp @@ -34,7 +34,6 @@ // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // Here we will use Between factors for the relative motion described by odometry measurements. // Also, we will initialize the robot at the origin using a Prior factor. -#include #include // When the factors are created, we will add them to a Factor Graph. As the factors we are using @@ -86,7 +85,7 @@ int main(int argc, char** argv) { Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin auto priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); Key priorKey = 0; - newFactors.push_back(PriorFactor(priorKey, priorMean, priorNoise)); + newFactors.addPrior<>(priorKey, priorMean, priorNoise); newValues.insert(priorKey, priorMean); // Initialize the first pose at the mean of the prior newTimestamps[priorKey] = 0.0; // Set the timestamp associated with this key to 0.0 seconds; diff --git a/gtsam_unstable/examples/FixedLagSmootherExample.cpp b/gtsam_unstable/examples/FixedLagSmootherExample.cpp index b6c0b5c2f..a673d2b64 100644 --- a/gtsam_unstable/examples/FixedLagSmootherExample.cpp +++ b/gtsam_unstable/examples/FixedLagSmootherExample.cpp @@ -30,7 +30,6 @@ // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // Here we will use Between factors for the relative motion described by odometry measurements. // Also, we will initialize the robot at the origin using a Prior factor. -#include #include // When the factors are created, we will add them to a Factor Graph. As the factors we are using @@ -80,7 +79,7 @@ int main(int argc, char** argv) { Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); Key priorKey = 0; - newFactors.push_back(PriorFactor(priorKey, priorMean, priorNoise)); + newFactors.addPrior<>(priorKey, priorMean, priorNoise); newValues.insert(priorKey, priorMean); // Initialize the first pose at the mean of the prior newTimestamps[priorKey] = 0.0; // Set the timestamp associated with this key to 0.0 seconds; diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp index 97cc3a516..30dfd2498 100644 --- a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp +++ b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp @@ -37,7 +37,6 @@ // In GTSAM, measurement functions are represented as 'factors'. Several common factors // have been provided with the library for solving robotics SLAM problems. -#include #include #include #include @@ -127,7 +126,7 @@ int main(int argc, char** argv) { Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120, M_PI - 2.02108900000000); NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(0, pose0, priorNoise)); + newFactors.addPrior<>(0, pose0, priorNoise); ofstream os2("rangeResultLM.txt"); ofstream os3("rangeResultSR.txt"); diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp index 03c7bea1f..dde187723 100644 --- a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp +++ b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp @@ -37,7 +37,6 @@ // In GTSAM, measurement functions are represented as 'factors'. Several common factors // have been provided with the library for solving robotics SLAM problems. -#include #include #include @@ -124,7 +123,7 @@ int main(int argc, char** argv) { // Add prior on first pose Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120, -2.02108900000000); NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(0, pose0, priorNoise)); + newFactors.addPrior<>(0, pose0, priorNoise); // initialize points (Gaussian) Values initial; diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp index 8d44676af..095da8fd5 100644 --- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp +++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp @@ -17,7 +17,6 @@ */ #include -#include #include #include #include @@ -263,11 +262,10 @@ TEST(Similarity3, Optimization) { Similarity3 prior = Similarity3(Rot3::Ypr(0.1, 0.2, 0.3), Point3(1, 2, 3), 4); noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(7, 1); Symbol key('x', 1); - PriorFactor factor(key, prior, model); // Create graph NonlinearFactorGraph graph; - graph.push_back(factor); + graph.addPrior<>(key, prior, model); // Create initial estimate with identity transform Values initial; @@ -304,7 +302,6 @@ TEST(Similarity3, Optimization2) { (Vector(7) << 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 10).finished()); SharedDiagonal betweenNoise2 = noiseModel::Diagonal::Sigmas( (Vector(7) << 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 1.0).finished()); - PriorFactor factor(X(1), prior, model); // Prior ! BetweenFactor b1(X(1), X(2), m1, betweenNoise); BetweenFactor b2(X(2), X(3), m2, betweenNoise); BetweenFactor b3(X(3), X(4), m3, betweenNoise); @@ -313,7 +310,7 @@ TEST(Similarity3, Optimization2) { // Create graph NonlinearFactorGraph graph; - graph.push_back(factor); + graph.addPrior<>(X(1), prior, model); // Prior ! graph.push_back(b1); graph.push_back(b2); graph.push_back(b3); diff --git a/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp index b2aafe535..7d8611d19 100644 --- a/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp +++ b/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp @@ -26,7 +26,6 @@ #include #include #include -#include #include using namespace std; @@ -84,7 +83,7 @@ TEST( BatchFixedLagSmoother, Example ) Values newValues; Timestamps newTimestamps; - newFactors.push_back(PriorFactor(key0, Point2(0.0, 0.0), odometerNoise)); + newFactors.addPrior<>(key0, Point2(0.0, 0.0), odometerNoise); newValues.insert(key0, Point2(0.01, 0.01)); newTimestamps[key0] = 0.0; diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp index 09fbc0578..540e61072 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp @@ -134,7 +134,7 @@ TEST( ConcurrentBatchFilter, getFactors ) // Add some factors to the filter NonlinearFactorGraph newFactors1; - newFactors1.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors1.addPrior<>(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -184,7 +184,7 @@ TEST( ConcurrentBatchFilter, getLinearizationPoint ) // Add some factors to the filter NonlinearFactorGraph newFactors1; - newFactors1.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors1.addPrior<>(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -246,7 +246,7 @@ TEST( ConcurrentBatchFilter, calculateEstimate ) // Add some factors to the filter NonlinearFactorGraph newFactors2; - newFactors2.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors2.addPrior<>(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -330,7 +330,7 @@ TEST( ConcurrentBatchFilter, update_multiple ) // Add some factors to the filter NonlinearFactorGraph newFactors2; - newFactors2.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors2.addPrior<>(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -380,7 +380,7 @@ TEST( ConcurrentBatchFilter, update_and_marginalize ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -403,7 +403,7 @@ TEST( ConcurrentBatchFilter, update_and_marginalize ) NonlinearFactorGraph partialGraph; - partialGraph.emplace_shared >(1, poseInitial, noisePrior); + partialGraph.addPrior<>(1, poseInitial, noisePrior); partialGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); partialGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); @@ -504,7 +504,7 @@ TEST( ConcurrentBatchFilter, synchronize_1 ) // Insert factors into the filter, but do not marginalize out any variables. // The synchronization should still be empty NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues; newValues.insert(1, Pose3().compose(poseError)); @@ -1090,7 +1090,7 @@ TEST( ConcurrentBatchFilter, removeFactors_topology_1 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1121,7 +1121,7 @@ TEST( ConcurrentBatchFilter, removeFactors_topology_1 ) NonlinearFactorGraph actualGraph = filter.getFactors(); NonlinearFactorGraph expectedGraph; - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); // we removed this one: expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); @@ -1145,7 +1145,7 @@ TEST( ConcurrentBatchFilter, removeFactors_topology_2 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1176,7 +1176,7 @@ TEST( ConcurrentBatchFilter, removeFactors_topology_2 ) NonlinearFactorGraph actualGraph = filter.getFactors(); NonlinearFactorGraph expectedGraph; - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -1200,8 +1200,8 @@ TEST( ConcurrentBatchFilter, removeFactors_topology_3 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1233,7 +1233,7 @@ TEST( ConcurrentBatchFilter, removeFactors_topology_3 ) NonlinearFactorGraph expectedGraph; // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -1253,7 +1253,7 @@ TEST( ConcurrentBatchFilter, removeFactors_values ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.emplace_shared >(1, poseInitial, noisePrior); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.emplace_shared >(1, 2, poseOdometry, noiseOdometery); newFactors.emplace_shared >(2, 3, poseOdometry, noiseOdometery); newFactors.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -1286,7 +1286,7 @@ TEST( ConcurrentBatchFilter, removeFactors_values ) // note: factors are removed before the optimization NonlinearFactorGraph expectedGraph; - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp index 748a119a4..abf6b750c 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp @@ -104,7 +104,7 @@ TEST( ConcurrentBatchSmoother, getFactors ) // Add some factors to the smoother NonlinearFactorGraph newFactors1; - newFactors1.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors1.addPrior<>(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -154,7 +154,7 @@ TEST( ConcurrentBatchSmoother, getLinearizationPoint ) // Add some factors to the smoother NonlinearFactorGraph newFactors1; - newFactors1.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors1.addPrior<>(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -216,7 +216,7 @@ TEST( ConcurrentBatchSmoother, calculateEstimate ) // Add some factors to the smoother NonlinearFactorGraph newFactors2; - newFactors2.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors2.addPrior<>(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -302,7 +302,7 @@ TEST( ConcurrentBatchSmoother, update_multiple ) // Add some factors to the smoother NonlinearFactorGraph newFactors2; - newFactors2.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors2.addPrior<>(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -527,7 +527,7 @@ TEST( ConcurrentBatchSmoother, synchronize_3 ) filterSumarization.push_back(LinearContainerFactor(BetweenFactor(1, 2, poseOdometry, noiseOdometery).linearize(filterSeparatorValues), filterSeparatorValues)); smootherFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); smootherFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); - smootherFactors.push_back(PriorFactor(4, poseInitial, noisePrior)); + smootherFactors.addPrior<>(4, poseInitial, noisePrior); smootherValues.insert(3, filterSeparatorValues.at(2).compose(poseOdometry).compose(poseError)); smootherValues.insert(4, smootherValues.at(3).compose(poseOdometry).compose(poseError)); @@ -588,7 +588,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_topology_1 ) // Add some factors to the smoother NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -617,7 +617,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_topology_1 ) NonlinearFactorGraph actualGraph = smoother.getFactors(); NonlinearFactorGraph expectedGraph; - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); // we removed this one: expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); @@ -642,7 +642,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_topology_2 ) // Add some factors to the smoother NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -670,7 +670,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_topology_2 ) NonlinearFactorGraph actualGraph = smoother.getFactors(); NonlinearFactorGraph expectedGraph; - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -694,8 +694,8 @@ TEST( ConcurrentBatchSmoother, removeFactors_topology_3 ) // Add some factors to the Smoother NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -724,7 +724,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_topology_3 ) NonlinearFactorGraph expectedGraph; // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -744,7 +744,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_values ) // Add some factors to the Smoother NonlinearFactorGraph newFactors; - newFactors.emplace_shared >(1, poseInitial, noisePrior); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.emplace_shared >(1, 2, poseOdometry, noiseOdometery); newFactors.emplace_shared >(2, 3, poseOdometry, noiseOdometery); newFactors.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -774,7 +774,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_values ) // note: factors are removed before the optimization NonlinearFactorGraph expectedGraph; - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp index ef40d9c61..759e180f2 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp @@ -153,7 +153,7 @@ TEST( ConcurrentIncrementalFilter, getFactors ) // Add some factors to the filter NonlinearFactorGraph newFactors1; - newFactors1.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors1.addPrior<>(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -203,7 +203,7 @@ TEST( ConcurrentIncrementalFilter, getLinearizationPoint ) // Add some factors to the filter NonlinearFactorGraph newFactors1; - newFactors1.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors1.addPrior<>(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -259,7 +259,7 @@ TEST( ConcurrentIncrementalFilter, calculateEstimate ) // Add some factors to the filter NonlinearFactorGraph newFactors2; - newFactors2.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors2.addPrior<>(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -343,7 +343,7 @@ TEST( ConcurrentIncrementalFilter, update_multiple ) // Add some factors to the filter NonlinearFactorGraph newFactors2; - newFactors2.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors2.addPrior<>(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -393,7 +393,7 @@ TEST( ConcurrentIncrementalFilter, update_and_marginalize_1 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -423,7 +423,7 @@ TEST( ConcurrentIncrementalFilter, update_and_marginalize_1 ) // ---------------------------------------------------------------------------------------------- NonlinearFactorGraph partialGraph; - partialGraph.emplace_shared >(1, poseInitial, noisePrior); + partialGraph.addPrior<>(1, poseInitial, noisePrior); partialGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); partialGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); @@ -476,7 +476,7 @@ TEST( ConcurrentIncrementalFilter, update_and_marginalize_2 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -507,7 +507,7 @@ TEST( ConcurrentIncrementalFilter, update_and_marginalize_2 ) // ---------------------------------------------------------------------------------------------- NonlinearFactorGraph partialGraph; - partialGraph.emplace_shared >(1, poseInitial, noisePrior); + partialGraph.addPrior<>(1, poseInitial, noisePrior); partialGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); partialGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); @@ -605,7 +605,7 @@ TEST( ConcurrentIncrementalFilter, synchronize_1 ) // Insert factors into the filter, but do not marginalize out any variables. // The synchronization should still be empty NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues; newValues.insert(1, Pose3().compose(poseError)); @@ -1192,7 +1192,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_topology_1 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1224,7 +1224,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_topology_1 ) NonlinearFactorGraph actualGraph = filter.getFactors(); NonlinearFactorGraph expectedGraph; - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); // we removed this one: expectedGraph.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)) // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); @@ -1251,7 +1251,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_topology_2 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1282,7 +1282,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_topology_2 ) NonlinearFactorGraph actualGraph = filter.getFactors(); NonlinearFactorGraph expectedGraph; - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -1310,8 +1310,8 @@ TEST( ConcurrentIncrementalFilter, removeFactors_topology_3 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1343,7 +1343,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_topology_3 ) NonlinearFactorGraph expectedGraph; // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -1367,7 +1367,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_values ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1399,7 +1399,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_values ) Values actualValues = filter.getLinearizationPoint(); NonlinearFactorGraph expectedGraph; - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp index adb7c8e39..f32a654b2 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp @@ -115,7 +115,7 @@ TEST( ConcurrentIncrementalSmootherDL, getFactors ) // Add some factors to the smoother NonlinearFactorGraph newFactors1; - newFactors1.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors1.addPrior<>(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -166,7 +166,7 @@ TEST( ConcurrentIncrementalSmootherDL, getLinearizationPoint ) // Add some factors to the smoother NonlinearFactorGraph newFactors1; - newFactors1.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors1.addPrior<>(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -223,7 +223,7 @@ TEST( ConcurrentIncrementalSmootherDL, calculateEstimate ) // Add some factors to the smoother NonlinearFactorGraph newFactors2; - newFactors2.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors2.addPrior<>(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -310,7 +310,7 @@ TEST( ConcurrentIncrementalSmootherDL, update_multiple ) // Add some factors to the smoother NonlinearFactorGraph newFactors2; - newFactors2.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors2.addPrior<>(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -545,7 +545,7 @@ TEST( ConcurrentIncrementalSmootherDL, synchronize_3 ) filterSumarization.push_back(LinearContainerFactor(BetweenFactor(1, 2, poseOdometry, noiseOdometery).linearize(filterSeparatorValues), filterSeparatorValues)); smootherFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); smootherFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); - smootherFactors.push_back(PriorFactor(4, poseInitial, noisePrior)); + smootherFactors.addPrior(4, poseInitial, noisePrior); smootherValues.insert(3, filterSeparatorValues.at(2).compose(poseOdometry).compose(poseError)); smootherValues.insert(4, smootherValues.at(3).compose(poseOdometry).compose(poseError)); diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp index 3cba22c78..459da8547 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp @@ -114,7 +114,7 @@ TEST( ConcurrentIncrementalSmootherGN, getFactors ) // Add some factors to the smoother NonlinearFactorGraph newFactors1; - newFactors1.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors1.addPrior<>(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -165,7 +165,7 @@ TEST( ConcurrentIncrementalSmootherGN, getLinearizationPoint ) // Add some factors to the smoother NonlinearFactorGraph newFactors1; - newFactors1.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors1.addPrior<>(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -222,7 +222,7 @@ TEST( ConcurrentIncrementalSmootherGN, calculateEstimate ) // Add some factors to the smoother NonlinearFactorGraph newFactors2; - newFactors2.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors2.addPrior<>(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -309,7 +309,7 @@ TEST( ConcurrentIncrementalSmootherGN, update_multiple ) // Add some factors to the smoother NonlinearFactorGraph newFactors2; - newFactors2.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors2.addPrior<>(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -546,7 +546,7 @@ TEST( ConcurrentIncrementalSmootherGN, synchronize_3 ) filterSumarization.push_back(LinearContainerFactor(BetweenFactor(1, 2, poseOdometry, noiseOdometery).linearize(filterSeparatorValues), filterSeparatorValues)); smootherFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); smootherFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); - smootherFactors.push_back(PriorFactor(4, poseInitial, noisePrior)); + smootherFactors.addPrior<>(4, poseInitial, noisePrior); smootherValues.insert(3, filterSeparatorValues.at(2).compose(poseOdometry).compose(poseError)); smootherValues.insert(4, smootherValues.at(3).compose(poseOdometry).compose(poseError)); @@ -609,7 +609,7 @@ TEST( ConcurrentIncrementalSmoother, removeFactors_topology_1 ) // Add some factors to the smoother NonlinearFactorGraph newFactors; - newFactors.push_back(PriorFactor(1, poseInitial, noisePrior)); + newFactors.addPrior<>(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -639,7 +639,7 @@ TEST( ConcurrentIncrementalSmoother, removeFactors_topology_1 ) actualGraph.print("actual graph: \n"); NonlinearFactorGraph expectedGraph; - expectedGraph.emplace_shared >(1, poseInitial, noisePrior); + expectedGraph.addPrior<>(1, poseInitial, noisePrior); // we removed this one: expectedGraph.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); diff --git a/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp index 60a805e1e..c995a89a5 100644 --- a/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp +++ b/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp @@ -18,7 +18,6 @@ #include -#include #include #include #include @@ -82,7 +81,7 @@ TEST( IncrementalFixedLagSmoother, Example ) Values newValues; Timestamps newTimestamps; - newFactors.push_back(PriorFactor(key0, Point2(0.0, 0.0), odometerNoise)); + newFactors.addPrior<>(key0, Point2(0.0, 0.0), odometerNoise); newValues.insert(key0, Point2(0.01, 0.01)); newTimestamps[key0] = 0.0; diff --git a/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp b/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp index 10e983fd5..7e05c3283 100644 --- a/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp +++ b/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp @@ -6,7 +6,6 @@ #include #include -#include #include #include #include @@ -27,7 +26,7 @@ NonlinearFactorGraph planarSLAMGraph() { // Prior on pose x1 at the origin. Pose2 prior(0.0, 0.0, 0.0); auto priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.emplace_shared >(x1, prior, priorNoise); + graph.addPrior<>(x1, prior, priorNoise); // Two odometry factors Pose2 odometry(2.0, 0.0, 0.0); diff --git a/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp b/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp index 9ae20eb11..efd358207 100644 --- a/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp +++ b/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp @@ -13,7 +13,6 @@ #include #include -#include using namespace std; @@ -280,8 +279,8 @@ TEST (BetweenFactorEM, updateNoiseModel ) { SharedGaussian model = SharedGaussian(noiseModel::Isotropic::Sigma(3, 1e2)); NonlinearFactorGraph graph; - graph.push_back(gtsam::PriorFactor(key1, p1, model)); - graph.push_back(gtsam::PriorFactor(key2, p2, model)); + graph.addPrior<>(key1, p1, model); + graph.addPrior<>(key2, p2, model); f.updateNoiseModels(values, graph); diff --git a/gtsam_unstable/slam/tests/testSerialization.cpp b/gtsam_unstable/slam/tests/testSerialization.cpp index e1bcfe062..63911c5c7 100644 --- a/gtsam_unstable/slam/tests/testSerialization.cpp +++ b/gtsam_unstable/slam/tests/testSerialization.cpp @@ -15,7 +15,6 @@ #include #include -#include #include #include @@ -48,7 +47,7 @@ Values exampleValues() { NonlinearFactorGraph exampleGraph() { NonlinearFactorGraph graph; - graph.add(PriorFactor(234, Pose2(1.0, 2.0, 0.3), noiseModel::Diagonal::Sigmas(Vector::Ones(3)))); + graph.addPrior<>(234, Pose2(1.0, 2.0, 0.3), noiseModel::Diagonal::Sigmas(Vector::Ones(3))); graph.add(BetweenFactor(234, 567, Pose2(1.0, 2.0, 0.3), noiseModel::Diagonal::Sigmas(Vector::Ones(3)))); graph.add(BearingRangeFactor(234, 567, Rot2::fromAngle(0.3), 2.0, noiseModel::Diagonal::Sigmas(Vector::Ones(2)))); return graph; diff --git a/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp b/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp index 202365dc6..f578bbcd3 100644 --- a/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp @@ -19,7 +19,6 @@ #include #include #include -#include #include using namespace std; @@ -116,8 +115,8 @@ TEST( SmartRangeFactor, optimization ) { graph.push_back(f); const noiseModel::Base::shared_ptr // priorNoise = noiseModel::Diagonal::Sigmas(Vector3(1, 1, M_PI)); - graph.emplace_shared >(1, pose1, priorNoise); - graph.emplace_shared >(2, pose2, priorNoise); + graph.addPrior<>(1, pose1, priorNoise); + graph.addPrior<>(2, pose2, priorNoise); // Try optimizing LevenbergMarquardtParams params; diff --git a/gtsam_unstable/slam/tests/testSmartStereoFactor_iSAM2.cpp b/gtsam_unstable/slam/tests/testSmartStereoFactor_iSAM2.cpp index 432bcb7d4..c3bc911fc 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoFactor_iSAM2.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoFactor_iSAM2.cpp @@ -198,9 +198,7 @@ TEST(testISAM2SmartFactor, Stereo_Batch) { // prior, for the first keyframe: if (kf_id == 0) { - const auto prior = boost::make_shared>( - X(kf_id), Pose3::identity(), priorPoseNoise); - batch_graph.push_back(prior); + batch_graph.addPrior<>(X(kf_id), Pose3::identity(), priorPoseNoise); } batch_values.insert(X(kf_id), Pose3::identity()); @@ -309,9 +307,7 @@ TEST(testISAM2SmartFactor, Stereo_iSAM2) { // prior, for the first keyframe: if (kf_id == 0) { - const auto prior = boost::make_shared>( - X(kf_id), Pose3::identity(), priorPoseNoise); - newFactors.push_back(prior); + newFactors.addPrior<>(X(kf_id), Pose3::identity(), priorPoseNoise); } // 2) Run iSAM2: diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 14ac52c45..8d8665649 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -335,8 +335,8 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(x1, pose1, noisePrior); - graph.emplace_shared >(x2, pose2, noisePrior); + graph.addPrior<>(x1, pose1, noisePrior); + graph.addPrior<>(x2, pose2, noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -396,8 +396,8 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { // add factors NonlinearFactorGraph graph2; - graph2.push_back(PriorFactor(x1, pose1, noisePrior)); - graph2.push_back(PriorFactor(x2, pose2, noisePrior)); + graph2.addPrior<>(x1, pose1, noisePrior); + graph2.addPrior<>(x2, pose2, noisePrior); typedef GenericStereoFactor ProjectionFactor; @@ -477,8 +477,8 @@ TEST( SmartStereoProjectionPoseFactor, body_P_sensor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); - graph.push_back(PriorFactor(x2, pose2, noisePrior)); + graph.addPrior<>(x1, pose1, noisePrior); + graph.addPrior<>(x2, pose2, noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -586,8 +586,8 @@ TEST( SmartStereoProjectionPoseFactor, body_P_sensor_monocular ){ graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, bodyPose1, noisePrior)); - graph.push_back(PriorFactor(x2, bodyPose2, noisePrior)); + graph.addPrior<>(x1, bodyPose1, noisePrior); + graph.addPrior<>(x2, bodyPose2, noisePrior); // Check errors at ground truth poses Values gtValues; @@ -660,8 +660,8 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(x1, pose1, noisePrior); - graph.emplace_shared >(x2, pose2, noisePrior); + graph.addPrior<>(x1, pose1, noisePrior); + graph.addPrior<>(x2, pose2, noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -732,8 +732,8 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVDwithMissingValues ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); - graph.push_back(PriorFactor(x2, pose2, noisePrior)); + graph.addPrior<>(x1, pose1, noisePrior); + graph.addPrior<>(x2, pose2, noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -801,8 +801,8 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.emplace_shared >(x1, pose1, noisePrior); - graph.emplace_shared >(x2, pose2, noisePrior); + graph.addPrior<>(x1, pose1, noisePrior); + graph.addPrior<>(x2, pose2, noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -883,8 +883,8 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { graph.push_back(smartFactor2); graph.push_back(smartFactor3); graph.push_back(smartFactor4); - graph.emplace_shared >(x1, pose1, noisePrior); - graph.emplace_shared >(x2, pose2, noisePrior); + graph.addPrior<>(x1, pose1, noisePrior); + graph.addPrior<>(x2, pose2, noisePrior); Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 2d0ab2970..4882cb80f 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -401,7 +401,6 @@ TEST(GaussianFactorGraph, hasConstraints) #include #include -#include #include /* ************************************************************************* */ @@ -438,7 +437,7 @@ TEST( GaussianFactorGraph, conditional_sigma_failure) { initValues.insert(l41, Point3(1.61051523, 6.7373052, -0.231582751) ); NonlinearFactorGraph factors; - factors += PriorFactor(xC1, + factors.addPrior<>(xC1, Pose3(Rot3( -1., 0.0, 1.2246468e-16, 0.0, 1., 0.0, diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index bec266bcc..b7352dc3c 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -7,7 +7,6 @@ #include #include -#include #include #include #include @@ -63,7 +62,7 @@ ISAM2 createSlamlikeISAM2( // Add a prior at time 0 and update isam { NonlinearFactorGraph newfactors; - newfactors += PriorFactor(0, Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors.addPrior<>(0, Pose2(0.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -499,7 +498,7 @@ TEST(ISAM2, constrained_ordering) // Add a prior at time 0 and update isam { NonlinearFactorGraph newfactors; - newfactors += PriorFactor(0, Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors.addPrior<>(0, Pose2(0.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -669,7 +668,7 @@ namespace { TEST(ISAM2, marginalizeLeaves1) { ISAM2 isam; NonlinearFactorGraph factors; - factors += PriorFactor(0, 0.0, model); + factors.addPrior<>(0, 0.0, model); factors += BetweenFactor(0, 1, 0.0, model); factors += BetweenFactor(1, 2, 0.0, model); @@ -696,7 +695,7 @@ TEST(ISAM2, marginalizeLeaves2) { ISAM2 isam; NonlinearFactorGraph factors; - factors += PriorFactor(0, 0.0, model); + factors.addPrior<>(0, 0.0, model); factors += BetweenFactor(0, 1, 0.0, model); factors += BetweenFactor(1, 2, 0.0, model); @@ -726,7 +725,7 @@ TEST(ISAM2, marginalizeLeaves3) { ISAM2 isam; NonlinearFactorGraph factors; - factors += PriorFactor(0, 0.0, model); + factors.addPrior<>(0, 0.0, model); factors += BetweenFactor(0, 1, 0.0, model); factors += BetweenFactor(1, 2, 0.0, model); @@ -765,7 +764,7 @@ TEST(ISAM2, marginalizeLeaves4) { ISAM2 isam; NonlinearFactorGraph factors; - factors += PriorFactor(0, 0.0, model); + factors.addPrior<>(0, 0.0, model); factors += BetweenFactor(0, 2, 0.0, model); factors += BetweenFactor(1, 2, 0.0, model); diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp index 14767c5db..1ff21e9c5 100644 --- a/tests/testGradientDescentOptimizer.cpp +++ b/tests/testGradientDescentOptimizer.cpp @@ -12,7 +12,6 @@ * @date Jun 11, 2012 */ -#include #include #include #include @@ -38,7 +37,7 @@ boost::tuple generateProblem() { Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas( Vector3(0.3, 0.3, 0.1)); - graph += PriorFactor(1, priorMean, priorNoise); + graph.addPrior<>(1, priorMean, priorNoise); // 2b. Add odometry factors SharedDiagonal odometryNoise = noiseModel::Diagonal::Sigmas( diff --git a/tests/testIterative.cpp b/tests/testIterative.cpp index e08880191..883e1c8b3 100644 --- a/tests/testIterative.cpp +++ b/tests/testIterative.cpp @@ -16,7 +16,6 @@ **/ #include -#include #include #include #include @@ -117,7 +116,7 @@ TEST( Iterative, conjugateGradientDescent_soft_constraint ) config.insert(X(2), Pose2(1.5,0.,0.)); NonlinearFactorGraph graph; - graph += PriorFactor(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); + graph.addPrior<>(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); graph += BetweenFactor(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); boost::shared_ptr fg = graph.linearize(config); diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp index 1b2c8052c..6ab7e088f 100644 --- a/tests/testMarginals.cpp +++ b/tests/testMarginals.cpp @@ -29,7 +29,6 @@ #include // add in headers for specific factors -#include #include #include @@ -53,7 +52,7 @@ TEST(Marginals, planarSLAMmarginals) { // gaussian for prior SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin - graph += PriorFactor(x1, priorMean, priorNoise); // add the factor to the graph + graph.addPrior<>(x1, priorMean, priorNoise); // add the factor to the graph /* add odometry */ // general noisemodel for odometry @@ -195,7 +194,7 @@ TEST(Marginals, planarSLAMmarginals) { /* ************************************************************************* */ TEST(Marginals, order) { NonlinearFactorGraph fg; - fg += PriorFactor(0, Pose2(), noiseModel::Unit::Create(3)); + fg.addPrior<>(0, Pose2(), noiseModel::Unit::Create(3)); fg += BetweenFactor(0, 1, Pose2(1,0,0), noiseModel::Unit::Create(3)); fg += BetweenFactor(1, 2, Pose2(1,0,0), noiseModel::Unit::Create(3)); fg += BetweenFactor(2, 3, Pose2(1,0,0), noiseModel::Unit::Create(3)); diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index 978438402..ddbdc9cca 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -27,7 +27,6 @@ #include #include #include -#include #include #include @@ -217,8 +216,8 @@ TEST(testNonlinearFactorGraph, eliminate) { // Priors auto prior = noiseModel::Isotropic::Sigma(3, 1); - graph.add(PriorFactor(11, T11, prior)); - graph.add(PriorFactor(21, T21, prior)); + graph.addPrior<>(11, T11, prior); + graph.addPrior<>(21, T21, prior); // Odometry auto model = noiseModel::Diagonal::Sigmas(Vector3(0.01, 0.01, 0.3)); @@ -273,7 +272,7 @@ TEST(testNonlinearFactorGraph, addPrior) { Eigen::DiagonalMatrix covariance_pose3; covariance_pose3.setIdentity(); Pose3 pose{Rot3(), Point3(0, 0, 0)}; - graph.addPrior(k, pose, covariance_pose3); + graph.addPrior<>(k, pose, covariance_pose3); // Assert the graph has 0 error with the correct values. values.insert(k, pose); diff --git a/tests/testNonlinearISAM.cpp b/tests/testNonlinearISAM.cpp index 9291511a0..0d1f4ce13 100644 --- a/tests/testNonlinearISAM.cpp +++ b/tests/testNonlinearISAM.cpp @@ -8,7 +8,6 @@ #include #include #include -#include #include #include #include @@ -116,9 +115,9 @@ TEST(testNonlinearISAM, markov_chain_with_disconnects ) { // Add a floating landmark constellation if (i == 7) { - new_factors += PriorFactor(lm1, landmark1, model2); - new_factors += PriorFactor(lm2, landmark2, model2); - new_factors += PriorFactor(lm3, landmark3, model2); + new_factors.addPrior<>(lm1, landmark1, model2); + new_factors.addPrior<>(lm2, landmark2, model2); + new_factors.addPrior<>(lm3, landmark3, model2); // Initialize to origin new_init.insert(lm1, Point2(0,0)); @@ -193,9 +192,9 @@ TEST(testNonlinearISAM, markov_chain_with_reconnect ) { // Add a floating landmark constellation if (i == 7) { - new_factors += PriorFactor(lm1, landmark1, model2); - new_factors += PriorFactor(lm2, landmark2, model2); - new_factors += PriorFactor(lm3, landmark3, model2); + new_factors.addPrior<>(lm1, landmark1, model2); + new_factors.addPrior<>(lm2, landmark2, model2); + new_factors.addPrior<>(lm3, landmark3, model2); // Initialize to origin new_init.insert(lm1, Point2(0,0)); @@ -296,8 +295,7 @@ TEST(testNonlinearISAM, loop_closures ) { if (id == 0) { noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.001, 0.001, 0.001)); - graph.emplace_shared >(Symbol('x', id), - Pose2(0, 0, 0), priorNoise); + graph.addPrior<>(Symbol('x', id), Pose2(0, 0, 0), priorNoise); } else { isam.update(graph, initialEstimate); diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 6758cf102..0264d5a4b 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -16,7 +16,6 @@ */ #include -#include #include #include #include @@ -182,7 +181,7 @@ TEST( NonlinearOptimizer, Factorization ) config.insert(X(2), Pose2(1.5,0.,0.)); NonlinearFactorGraph graph; - graph += PriorFactor(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); + graph.addPrior<>(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); graph += BetweenFactor(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); Ordering ordering; @@ -241,8 +240,7 @@ TEST(NonlinearOptimizer, NullFactor) { TEST_UNSAFE(NonlinearOptimizer, MoreOptimization) { NonlinearFactorGraph fg; - fg += PriorFactor(0, Pose2(0, 0, 0), - noiseModel::Isotropic::Sigma(3, 1)); + fg.addPrior<>(0, Pose2(0, 0, 0), noiseModel::Isotropic::Sigma(3, 1)); fg += BetweenFactor(0, 1, Pose2(1, 0, M_PI / 2), noiseModel::Isotropic::Sigma(3, 1)); fg += BetweenFactor(1, 2, Pose2(1, 0, M_PI / 2), @@ -343,7 +341,7 @@ TEST_UNSAFE(NonlinearOptimizer, MoreOptimization) { TEST(NonlinearOptimizer, Pose2OptimizationWithHuberNoOutlier) { NonlinearFactorGraph fg; - fg += PriorFactor(0, Pose2(0,0,0), noiseModel::Isotropic::Sigma(3,1)); + fg.addPrior<>(0, Pose2(0,0,0), noiseModel::Isotropic::Sigma(3,1)); fg += BetweenFactor(0, 1, Pose2(1,1.1,M_PI/4), noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(2.0), noiseModel::Isotropic::Sigma(3,1))); @@ -374,7 +372,7 @@ TEST(NonlinearOptimizer, Pose2OptimizationWithHuberNoOutlier) { TEST(NonlinearOptimizer, Point2LinearOptimizationWithHuber) { NonlinearFactorGraph fg; - fg += PriorFactor(0, Point2(0,0), noiseModel::Isotropic::Sigma(2,0.01)); + fg.addPrior<>(0, Point2(0,0), noiseModel::Isotropic::Sigma(2,0.01)); fg += BetweenFactor(0, 1, Point2(1,1.8), noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(1.0), noiseModel::Isotropic::Sigma(2,1))); @@ -408,7 +406,7 @@ TEST(NonlinearOptimizer, Point2LinearOptimizationWithHuber) { TEST(NonlinearOptimizer, Pose2OptimizationWithHuber) { NonlinearFactorGraph fg; - fg += PriorFactor(0, Pose2(0,0, 0), noiseModel::Isotropic::Sigma(3,0.1)); + fg.addPrior<>(0, Pose2(0,0, 0), noiseModel::Isotropic::Sigma(3,0.1)); fg += BetweenFactor(0, 1, Pose2(0,9, M_PI/2), noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(0.2), noiseModel::Isotropic::Sigma(3,1))); @@ -455,7 +453,7 @@ TEST(NonlinearOptimizer, RobustMeanCalculation) { vector pts{-10,-3,-1,1,3,10,1000}; for(auto pt : pts) { - fg += PriorFactor(0, pt, huber); + fg.addPrior<>(0, pt, huber); } init.insert(0, 100.0); @@ -485,9 +483,9 @@ TEST(NonlinearOptimizer, disconnected_graph) { init.insert(X(3), Pose2(0.,0.,0.)); NonlinearFactorGraph graph; - graph += PriorFactor(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); + graph.addPrior<>(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); graph += BetweenFactor(X(1),X(2), Pose2(1.5,0.,0.), noiseModel::Isotropic::Sigma(3,1)); - graph += PriorFactor(X(3), Pose2(3.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); + graph.addPrior<>(X(3), Pose2(3.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); EXPECT(assert_equal(expected, LevenbergMarquardtOptimizer(graph, init).optimize())); } @@ -530,9 +528,9 @@ TEST(NonlinearOptimizer, subclass_solver) { init.insert(X(3), Pose2(0.,0.,0.)); NonlinearFactorGraph graph; - graph += PriorFactor(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); + graph.addPrior<>(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); graph += BetweenFactor(X(1),X(2), Pose2(1.5,0.,0.), noiseModel::Isotropic::Sigma(3,1)); - graph += PriorFactor(X(3), Pose2(3.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); + graph.addPrior<>(X(3), Pose2(3.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); ConjugateGradientParameters p; Values actual = IterativeLM(graph, init, p).optimize(); @@ -587,7 +585,7 @@ struct traits { TEST(NonlinearOptimizer, Traits) { NonlinearFactorGraph fg; - fg += PriorFactor(0, MyType(0, 0, 0), noiseModel::Isotropic::Sigma(3, 1)); + fg.addPrior<>(0, MyType(0, 0, 0), noiseModel::Isotropic::Sigma(3, 1)); Values init; init.insert(0, MyType(0,0,0)); diff --git a/tests/testRot3Optimization.cpp b/tests/testRot3Optimization.cpp index 794559763..c0f2804cc 100644 --- a/tests/testRot3Optimization.cpp +++ b/tests/testRot3Optimization.cpp @@ -26,11 +26,9 @@ #include #include #include -#include using namespace gtsam; -typedef PriorFactor Prior; typedef BetweenFactor Between; typedef NonlinearFactorGraph Graph; @@ -41,7 +39,7 @@ TEST(Rot3, optimize) { Values truth; Values initial; Graph fg; - fg += Prior(Symbol('r',0), Rot3(), noiseModel::Isotropic::Sigma(3, 0.01)); + fg.addPrior<>(Symbol('r',0), Rot3(), noiseModel::Isotropic::Sigma(3, 0.01)); for(int j=0; j<6; ++j) { truth.insert(Symbol('r',j), Rot3::Rz(M_PI/3.0 * double(j))); initial.insert(Symbol('r',j), Rot3::Rz(M_PI/3.0 * double(j) + 0.1 * double(j%2))); @@ -59,4 +57,3 @@ int main() { return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ - diff --git a/tests/testVisualISAM2.cpp b/tests/testVisualISAM2.cpp index 2caed695a..955cd9708 100644 --- a/tests/testVisualISAM2.cpp +++ b/tests/testVisualISAM2.cpp @@ -24,7 +24,6 @@ #include #include #include -#include #include #include @@ -78,13 +77,11 @@ TEST(testVisualISAM2, all) static auto kPosePrior = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)) .finished()); - graph.emplace_shared>(Symbol('x', 0), poses[0], - kPosePrior); + graph.addPrior<>(Symbol('x', 0), poses[0], kPosePrior); // Add a prior on landmark l0 static auto kPointPrior = noiseModel::Isotropic::Sigma(3, 0.1); - graph.emplace_shared>(Symbol('l', 0), points[0], - kPointPrior); + graph.addPrior<>(Symbol('l', 0), points[0], kPointPrior); // Add initial guesses to all observed landmarks // Intentionally initialize the variables off from the ground truth diff --git a/timing/timeIncremental.cpp b/timing/timeIncremental.cpp index 8928c9b3f..e7f751fce 100644 --- a/timing/timeIncremental.cpp +++ b/timing/timeIncremental.cpp @@ -15,7 +15,6 @@ */ #include -#include #include #include #include @@ -98,7 +97,7 @@ int main(int argc, char *argv[]) { // cout << "Initializing " << 0 << endl; newVariables.insert(0, Pose()); // Add prior - newFactors.add(PriorFactor(0, Pose(), noiseModel::Unit::Create(3))); + newFactors.addPrior<>(0, Pose(), noiseModel::Unit::Create(3)); } while(nextMeasurement < measurements.size()) { diff --git a/timing/timeLago.cpp b/timing/timeLago.cpp index 929a67876..1e4cb49e1 100644 --- a/timing/timeLago.cpp +++ b/timing/timeLago.cpp @@ -17,7 +17,6 @@ */ #include -#include #include #include #include @@ -51,7 +50,7 @@ int main(int argc, char *argv[]) { // Add prior on the pose having index (key) = 0 noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Sigmas(Vector3(1e-6, 1e-6, 1e-8)); - g->add(PriorFactor(0, Pose2(), priorModel)); + g->addPrior<>(0, Pose2(), priorModel); // LAGO for (size_t i = 0; i < trials; i++) { diff --git a/timing/timeiSAM2Chain.cpp b/timing/timeiSAM2Chain.cpp index e61764e22..0a381e92a 100644 --- a/timing/timeiSAM2Chain.cpp +++ b/timing/timeiSAM2Chain.cpp @@ -17,7 +17,6 @@ #include #include #include -#include #include #include #include @@ -61,7 +60,7 @@ int main(int argc, char *argv[]) { gttic_(Create_measurements); if(step == 0) { // Add prior - newFactors.add(PriorFactor(0, Pose(), noiseModel::Unit::Create(3))); + newFactors.addPrior<>(0, Pose(), noiseModel::Unit::Create(3)); newVariables.insert(0, Pose()); } else { Vector eta = Vector::Random(3) * 0.1; From b4b487695d6fe64a983097c921cda88b6d2f77bb Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Sun, 12 Apr 2020 12:48:25 -0400 Subject: [PATCH 0331/1152] replace task_scheduler_init with task arena/group --- examples/TimeTBB.cpp | 40 ++++++++++++++++++++++++++++++++-------- 1 file changed, 32 insertions(+), 8 deletions(-) diff --git a/examples/TimeTBB.cpp b/examples/TimeTBB.cpp index 09a02faaa..c25a19107 100644 --- a/examples/TimeTBB.cpp +++ b/examples/TimeTBB.cpp @@ -32,7 +32,8 @@ using boost::assign::list_of; #include // tbb::tick_count #include // tbb::parallel_for #include // tbb::cache_aligned_allocator -#include // tbb::task_scheduler_init +#include // tbb::task_arena +#include // tbb::task_group static const DenseIndex numberOfProblems = 1000000; static const DenseIndex problemSize = 4; @@ -69,10 +70,14 @@ struct WorkerWithoutAllocation }; /* ************************************************************************* */ -map testWithoutMemoryAllocation() +map testWithoutMemoryAllocation(int num_threads) { // A function to do some matrix operations without allocating any memory + // Create task_arena and task_group + tbb::task_arena arena(num_threads); + tbb::task_group tg; + // Now call it vector results(numberOfProblems); @@ -81,7 +86,15 @@ map testWithoutMemoryAllocation() for(size_t grainSize: grainSizes) { tbb::tick_count t0 = tbb::tick_count::now(); - tbb::parallel_for(tbb::blocked_range(0, numberOfProblems), WorkerWithoutAllocation(results)); + + // Run parallel code (as a task group) inside of task arena + arena.execute([&]{ + tg.run([&]{ + tbb::parallel_for(tbb::blocked_range(0, numberOfProblems), WorkerWithoutAllocation(results)); + }); + tg.wait(); + }); + tbb::tick_count t1 = tbb::tick_count::now(); cout << "Without memory allocation, grain size = " << grainSize << ", time = " << (t1 - t0).seconds() << endl; timingResults[(int)grainSize] = (t1 - t0).seconds(); @@ -122,10 +135,14 @@ struct WorkerWithAllocation }; /* ************************************************************************* */ -map testWithMemoryAllocation() +map testWithMemoryAllocation(int num_threads) { // A function to do some matrix operations with allocating memory + // Create task_arena and task_group + tbb::task_arena arena(num_threads); + tbb::task_group tg; + // Now call it vector results(numberOfProblems); @@ -134,7 +151,15 @@ map testWithMemoryAllocation() for(size_t grainSize: grainSizes) { tbb::tick_count t0 = tbb::tick_count::now(); - tbb::parallel_for(tbb::blocked_range(0, numberOfProblems), WorkerWithAllocation(results)); + + // Run parallel code (as a task group) inside of task arena + arena.execute([&]{ + tg.run([&]{ + tbb::parallel_for(tbb::blocked_range(0, numberOfProblems), WorkerWithAllocation(results)); + }); + tg.wait(); + }); + tbb::tick_count t1 = tbb::tick_count::now(); cout << "With memory allocation, grain size = " << grainSize << ", time = " << (t1 - t0).seconds() << endl; timingResults[(int)grainSize] = (t1 - t0).seconds(); @@ -155,9 +180,8 @@ int main(int argc, char* argv[]) for(size_t n: numThreads) { cout << "With " << n << " threads:" << endl; - tbb::task_scheduler_init init((int)n); - results[(int)n].grainSizesWithoutAllocation = testWithoutMemoryAllocation(); - results[(int)n].grainSizesWithAllocation = testWithMemoryAllocation(); + results[(int)n].grainSizesWithoutAllocation = testWithoutMemoryAllocation((int)n); + results[(int)n].grainSizesWithAllocation = testWithMemoryAllocation((int)n); cout << endl; } From 211119b00ed142c8d07c255a2b043cabcd2ba6b6 Mon Sep 17 00:00:00 2001 From: alescontrela Date: Sun, 12 Apr 2020 13:10:09 -0400 Subject: [PATCH 0332/1152] Replace addPrior<> with addPrior --- cmake/example_cmake_find_gtsam/main.cpp | 2 +- doc/Code/OdometryExample.cpp | 2 +- doc/Code/Pose2SLAMExample.cpp | 2 +- examples/ISAM2Example_SmartFactor.cpp | 4 +- examples/ISAM2_SmartFactorStereo_IMU.cpp | 6 +-- examples/ImuFactorExample2.cpp | 6 +-- examples/ImuFactorsExample.cpp | 6 +-- examples/METISOrderingExample.cpp | 2 +- examples/OdometryExample.cpp | 2 +- examples/PlanarSLAMExample.cpp | 2 +- examples/Pose2SLAMExample.cpp | 2 +- examples/Pose2SLAMExample_g2o.cpp | 2 +- examples/Pose2SLAMExample_graph.cpp | 2 +- examples/Pose2SLAMExample_graphviz.cpp | 2 +- examples/Pose2SLAMExample_lago.cpp | 2 +- examples/Pose2SLAMStressTest.cpp | 2 +- examples/Pose2SLAMwSPCG.cpp | 2 +- examples/Pose3Localization.cpp | 2 +- examples/Pose3SLAMExample_g2o.cpp | 2 +- ...ose3SLAMExample_initializePose3Chordal.cpp | 2 +- ...se3SLAMExample_initializePose3Gradient.cpp | 2 +- examples/RangeISAMExample_plaza2.cpp | 2 +- examples/SFMExample.cpp | 4 +- examples/SFMExample_SmartFactor.cpp | 4 +- examples/SFMExample_SmartFactorPCG.cpp | 4 +- examples/SFMExample_bal.cpp | 4 +- examples/SFMExample_bal_COLAMD_METIS.cpp | 4 +- examples/SelfCalibrationExample.cpp | 6 +-- examples/SolverComparer.cpp | 4 +- examples/VisualISAM2Example.cpp | 4 +- examples/VisualISAMExample.cpp | 4 +- gtsam/geometry/tests/testTriangulation.cpp | 4 +- gtsam/geometry/tests/testUnit3.cpp | 2 +- gtsam/navigation/tests/testImuFactor.cpp | 6 +-- gtsam/slam/tests/testAntiFactor.cpp | 2 +- gtsam/slam/tests/testGeneralSFMFactor.cpp | 6 +-- gtsam/slam/tests/testInitializePose3.cpp | 6 +-- gtsam/slam/tests/testLago.cpp | 14 +++---- .../slam/tests/testSmartProjectionFactor.cpp | 20 ++++----- .../tests/testSmartProjectionPoseFactor.cpp | 42 +++++++++---------- .../examples/ConcurrentCalibration.cpp | 4 +- ...ConcurrentFilteringAndSmoothingExample.cpp | 2 +- .../examples/FixedLagSmootherExample.cpp | 2 +- .../examples/SmartRangeExample_plaza1.cpp | 2 +- .../examples/SmartRangeExample_plaza2.cpp | 2 +- .../geometry/tests/testSimilarity3.cpp | 4 +- .../tests/testBatchFixedLagSmoother.cpp | 2 +- .../tests/testConcurrentBatchFilter.cpp | 32 +++++++------- .../tests/testConcurrentBatchSmoother.cpp | 28 ++++++------- .../tests/testConcurrentIncrementalFilter.cpp | 36 ++++++++-------- .../testConcurrentIncrementalSmootherDL.cpp | 8 ++-- .../testConcurrentIncrementalSmootherGN.cpp | 14 +++---- .../tests/testIncrementalFixedLagSmoother.cpp | 2 +- .../tests/testNonlinearClusterTree.cpp | 2 +- .../slam/tests/testBetweenFactorEM.cpp | 4 +- .../slam/tests/testSerialization.cpp | 2 +- .../slam/tests/testSmartRangeFactor.cpp | 4 +- .../tests/testSmartStereoFactor_iSAM2.cpp | 4 +- .../testSmartStereoProjectionPoseFactor.cpp | 32 +++++++------- tests/testGaussianFactorGraphB.cpp | 2 +- tests/testGaussianISAM2.cpp | 12 +++--- tests/testGradientDescentOptimizer.cpp | 2 +- tests/testIterative.cpp | 2 +- tests/testMarginals.cpp | 4 +- tests/testNonlinearFactorGraph.cpp | 6 +-- tests/testNonlinearISAM.cpp | 14 +++---- tests/testNonlinearOptimizer.cpp | 22 +++++----- tests/testRot3Optimization.cpp | 2 +- tests/testVisualISAM2.cpp | 4 +- timing/timeIncremental.cpp | 2 +- timing/timeLago.cpp | 2 +- timing/timeiSAM2Chain.cpp | 2 +- 72 files changed, 230 insertions(+), 230 deletions(-) diff --git a/cmake/example_cmake_find_gtsam/main.cpp b/cmake/example_cmake_find_gtsam/main.cpp index 12026178d..2904e00dd 100644 --- a/cmake/example_cmake_find_gtsam/main.cpp +++ b/cmake/example_cmake_find_gtsam/main.cpp @@ -68,7 +68,7 @@ int main(int argc, char** argv) { // 2a. Add a prior on the first pose, setting it to the origin // A prior factor consists of a mean and a noise model (covariance matrix) noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.addPrior<>(1, Pose2(0, 0, 0), priorNoise); + graph.addPrior(1, Pose2(0, 0, 0), priorNoise); // For simplicity, we will use the same noise model for odometry and loop closures noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1)); diff --git a/doc/Code/OdometryExample.cpp b/doc/Code/OdometryExample.cpp index 0e7d38b76..2befa9dc2 100644 --- a/doc/Code/OdometryExample.cpp +++ b/doc/Code/OdometryExample.cpp @@ -5,7 +5,7 @@ NonlinearFactorGraph graph; Pose2 priorMean(0.0, 0.0, 0.0); noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); -graph.addPrior<>(1, priorMean, priorNoise); +graph.addPrior(1, priorMean, priorNoise); // Add two odometry factors Pose2 odometry(2.0, 0.0, 0.0); diff --git a/doc/Code/Pose2SLAMExample.cpp b/doc/Code/Pose2SLAMExample.cpp index be7c5d732..192ec11a4 100644 --- a/doc/Code/Pose2SLAMExample.cpp +++ b/doc/Code/Pose2SLAMExample.cpp @@ -1,7 +1,7 @@ NonlinearFactorGraph graph; noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); -graph.addPrior<>(1, Pose2(0, 0, 0), priorNoise); +graph.addPrior(1, Pose2(0, 0, 0), priorNoise); // Add odometry factors noiseModel::Diagonal::shared_ptr model = diff --git a/examples/ISAM2Example_SmartFactor.cpp b/examples/ISAM2Example_SmartFactor.cpp index d0a7b7278..7dbd8323b 100644 --- a/examples/ISAM2Example_SmartFactor.cpp +++ b/examples/ISAM2Example_SmartFactor.cpp @@ -57,7 +57,7 @@ int main(int argc, char* argv[]) { vector poses = {pose1, pose2, pose3, pose4, pose5}; // Add first pose - graph.addPrior<>(X(0), poses[0], noise); + graph.addPrior(X(0), poses[0], noise); initialEstimate.insert(X(0), poses[0].compose(delta)); // Create smart factor with measurement from first pose only @@ -71,7 +71,7 @@ int main(int argc, char* argv[]) { cout << "i = " << i << endl; // Add prior on new pose - graph.addPrior<>(X(i), poses[i], noise); + graph.addPrior(X(i), poses[i], noise); initialEstimate.insert(X(i), poses[i].compose(delta)); // "Simulate" measurement from this pose diff --git a/examples/ISAM2_SmartFactorStereo_IMU.cpp b/examples/ISAM2_SmartFactorStereo_IMU.cpp index f7615635c..c0a102d11 100644 --- a/examples/ISAM2_SmartFactorStereo_IMU.cpp +++ b/examples/ISAM2_SmartFactorStereo_IMU.cpp @@ -129,16 +129,16 @@ int main(int argc, char* argv[]) { // Pose prior - at identity auto priorPoseNoise = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.1)).finished()); - graph.addPrior<>(X(1), Pose3::identity(), priorPoseNoise); + graph.addPrior(X(1), Pose3::identity(), priorPoseNoise); initialEstimate.insert(X(0), Pose3::identity()); // Bias prior - graph.addPrior<>(B(1), imu.priorImuBias, + graph.addPrior(B(1), imu.priorImuBias, imu.biasNoiseModel); initialEstimate.insert(B(0), imu.priorImuBias); // Velocity prior - assume stationary - graph.addPrior<>(V(1), Vector3(0, 0, 0), imu.velocityNoiseModel); + graph.addPrior(V(1), Vector3(0, 0, 0), imu.velocityNoiseModel); initialEstimate.insert(V(0), Vector3(0, 0, 0)); int lastFrame = 1; diff --git a/examples/ImuFactorExample2.cpp b/examples/ImuFactorExample2.cpp index 7e444e29e..cb3650421 100644 --- a/examples/ImuFactorExample2.cpp +++ b/examples/ImuFactorExample2.cpp @@ -60,18 +60,18 @@ int main(int argc, char* argv[]) { // 0.1 rad std on roll, pitch, yaw, 30cm std on x,y,z. auto noise = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); - newgraph.addPrior<>(X(0), pose_0, noise); + newgraph.addPrior(X(0), pose_0, noise); // Add imu priors Key biasKey = Symbol('b', 0); auto biasnoise = noiseModel::Diagonal::Sigmas(Vector6::Constant(0.1)); - newgraph.addPrior<>(biasKey, imuBias::ConstantBias(), biasnoise); + newgraph.addPrior(biasKey, imuBias::ConstantBias(), biasnoise); initialEstimate.insert(biasKey, imuBias::ConstantBias()); auto velnoise = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)); Vector n_velocity(3); n_velocity << 0, angular_velocity * radius, 0; - newgraph.addPrior<>(V(0), n_velocity, velnoise); + newgraph.addPrior(V(0), n_velocity, velnoise); initialEstimate.insert(V(0), n_velocity); diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp index 25099fc39..f9ac31bed 100644 --- a/examples/ImuFactorsExample.cpp +++ b/examples/ImuFactorsExample.cpp @@ -128,9 +128,9 @@ int main(int argc, char* argv[]) // Add all prior factors (pose, velocity, bias) to the graph. NonlinearFactorGraph *graph = new NonlinearFactorGraph(); - graph->addPrior<>(X(correction_count), prior_pose, pose_noise_model); - graph->addPrior<>(V(correction_count), prior_velocity,velocity_noise_model); - graph->addPrior<>(B(correction_count), prior_imu_bias,bias_noise_model); + graph->addPrior(X(correction_count), prior_pose, pose_noise_model); + graph->addPrior(V(correction_count), prior_velocity,velocity_noise_model); + graph->addPrior(B(correction_count), prior_imu_bias,bias_noise_model); // We use the sensor specs to build the noise model for the IMU factor. double accel_noise_sigma = 0.0003924; diff --git a/examples/METISOrderingExample.cpp b/examples/METISOrderingExample.cpp index fc39d7aee..bd25fdfdf 100644 --- a/examples/METISOrderingExample.cpp +++ b/examples/METISOrderingExample.cpp @@ -36,7 +36,7 @@ int main(int argc, char** argv) { Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.addPrior<>(1, priorMean, priorNoise); + graph.addPrior(1, priorMean, priorNoise); Pose2 odometry(2.0, 0.0, 0.0); noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1)); diff --git a/examples/OdometryExample.cpp b/examples/OdometryExample.cpp index cce27231d..2107b3244 100644 --- a/examples/OdometryExample.cpp +++ b/examples/OdometryExample.cpp @@ -64,7 +64,7 @@ int main(int argc, char** argv) { // A prior factor consists of a mean and a noise model (covariance matrix) Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.addPrior<>(1, priorMean, priorNoise); + graph.addPrior(1, priorMean, priorNoise); // Add odometry factors Pose2 odometry(2.0, 0.0, 0.0); diff --git a/examples/PlanarSLAMExample.cpp b/examples/PlanarSLAMExample.cpp index e329c0da0..15b4cd2d1 100644 --- a/examples/PlanarSLAMExample.cpp +++ b/examples/PlanarSLAMExample.cpp @@ -80,7 +80,7 @@ int main(int argc, char** argv) { // Add a prior on pose x1 at the origin. A prior factor consists of a mean and a noise model (covariance matrix) Pose2 prior(0.0, 0.0, 0.0); // prior mean is at origin noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta - graph.addPrior<>(x1, prior, priorNoise); // add directly to graph + graph.addPrior(x1, prior, priorNoise); // add directly to graph // Add two odometry factors Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) diff --git a/examples/Pose2SLAMExample.cpp b/examples/Pose2SLAMExample.cpp index f22b50a13..57cb82c69 100644 --- a/examples/Pose2SLAMExample.cpp +++ b/examples/Pose2SLAMExample.cpp @@ -71,7 +71,7 @@ int main(int argc, char** argv) { // 2a. Add a prior on the first pose, setting it to the origin // A prior factor consists of a mean and a noise model (covariance matrix) noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.addPrior<>(1, Pose2(0, 0, 0), priorNoise); + graph.addPrior(1, Pose2(0, 0, 0), priorNoise); // For simplicity, we will use the same noise model for odometry and loop closures noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1)); diff --git a/examples/Pose2SLAMExample_g2o.cpp b/examples/Pose2SLAMExample_g2o.cpp index 68bd4cbbf..b36a22f25 100644 --- a/examples/Pose2SLAMExample_g2o.cpp +++ b/examples/Pose2SLAMExample_g2o.cpp @@ -64,7 +64,7 @@ int main(const int argc, const char *argv[]) { // Add prior on the pose having index (key) = 0 noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances(Vector3(1e-6, 1e-6, 1e-8)); - graph.addPrior<>(0, Pose2(), priorModel); + graph.addPrior(0, Pose2(), priorModel); std::cout << "Adding prior on pose 0 " << std::endl; GaussNewtonParams params; diff --git a/examples/Pose2SLAMExample_graph.cpp b/examples/Pose2SLAMExample_graph.cpp index 97a16e72d..c4301d28d 100644 --- a/examples/Pose2SLAMExample_graph.cpp +++ b/examples/Pose2SLAMExample_graph.cpp @@ -42,7 +42,7 @@ int main (int argc, char** argv) { // Add a Gaussian prior on first poses Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.01, 0.01, 0.01)); - graph -> addPrior<>(0, priorMean, priorNoise); + graph -> addPrior(0, priorMean, priorNoise); // Single Step Optimization using Levenberg-Marquardt Values result = LevenbergMarquardtOptimizer(*graph, *initial).optimize(); diff --git a/examples/Pose2SLAMExample_graphviz.cpp b/examples/Pose2SLAMExample_graphviz.cpp index c3301812a..0a33f51aa 100644 --- a/examples/Pose2SLAMExample_graphviz.cpp +++ b/examples/Pose2SLAMExample_graphviz.cpp @@ -32,7 +32,7 @@ int main (int argc, char** argv) { // 2a. Add a prior on the first pose, setting it to the origin noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.addPrior<>(1, Pose2(0, 0, 0), priorNoise); + graph.addPrior(1, Pose2(0, 0, 0), priorNoise); // For simplicity, we will use the same noise model for odometry and loop closures noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1)); diff --git a/examples/Pose2SLAMExample_lago.cpp b/examples/Pose2SLAMExample_lago.cpp index a379ddd6b..6bdc93e6f 100644 --- a/examples/Pose2SLAMExample_lago.cpp +++ b/examples/Pose2SLAMExample_lago.cpp @@ -43,7 +43,7 @@ int main(const int argc, const char *argv[]) { // Add prior on the pose having index (key) = 0 noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances(Vector3(1e-6, 1e-6, 1e-8)); - graph->addPrior<>(0, Pose2(), priorModel); + graph->addPrior(0, Pose2(), priorModel); graph->print(); std::cout << "Computing LAGO estimate" << std::endl; diff --git a/examples/Pose2SLAMStressTest.cpp b/examples/Pose2SLAMStressTest.cpp index 5c667a1e9..d7ab55aaa 100644 --- a/examples/Pose2SLAMStressTest.cpp +++ b/examples/Pose2SLAMStressTest.cpp @@ -47,7 +47,7 @@ void testGtsam(int numberNodes) { Pose3 first = Pose3(first_M); NonlinearFactorGraph graph; - graph.addPrior<>(0, first, priorModel); + graph.addPrior(0, first, priorModel); // vo noise model auto VOCovarianceModel = noiseModel::Isotropic::Variance(6, 1e-3); diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index 0be18e827..37559740b 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -35,7 +35,7 @@ int main(int argc, char** argv) { // 2a. Add a prior on the first pose, setting it to the origin Pose2 prior(0.0, 0.0, 0.0); // prior at origin noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.addPrior<>(1, prior, priorNoise); + graph.addPrior(1, prior, priorNoise); // 2b. Add odometry factors noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1)); diff --git a/examples/Pose3Localization.cpp b/examples/Pose3Localization.cpp index 7b89ed86a..512415221 100644 --- a/examples/Pose3Localization.cpp +++ b/examples/Pose3Localization.cpp @@ -47,7 +47,7 @@ int main(const int argc, const char *argv[]) { for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; - graph->addPrior<>(firstKey, Pose3(), priorModel); + graph->addPrior(firstKey, Pose3(), priorModel); break; } diff --git a/examples/Pose3SLAMExample_g2o.cpp b/examples/Pose3SLAMExample_g2o.cpp index 8e37d6950..06bf27850 100644 --- a/examples/Pose3SLAMExample_g2o.cpp +++ b/examples/Pose3SLAMExample_g2o.cpp @@ -46,7 +46,7 @@ int main(const int argc, const char *argv[]) { for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; - graph->addPrior<>(firstKey, Pose3(), priorModel); + graph->addPrior(firstKey, Pose3(), priorModel); break; } diff --git a/examples/Pose3SLAMExample_initializePose3Chordal.cpp b/examples/Pose3SLAMExample_initializePose3Chordal.cpp index 4b34db252..f93be8659 100644 --- a/examples/Pose3SLAMExample_initializePose3Chordal.cpp +++ b/examples/Pose3SLAMExample_initializePose3Chordal.cpp @@ -46,7 +46,7 @@ int main(const int argc, const char *argv[]) { for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; - graph->addPrior<>(firstKey, Pose3(), priorModel); + graph->addPrior(firstKey, Pose3(), priorModel); break; } diff --git a/examples/Pose3SLAMExample_initializePose3Gradient.cpp b/examples/Pose3SLAMExample_initializePose3Gradient.cpp index f059e4ae2..3b60cca39 100644 --- a/examples/Pose3SLAMExample_initializePose3Gradient.cpp +++ b/examples/Pose3SLAMExample_initializePose3Gradient.cpp @@ -46,7 +46,7 @@ int main(const int argc, const char *argv[]) { for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; - graph->addPrior<>(firstKey, Pose3(), priorModel); + graph->addPrior(firstKey, Pose3(), priorModel); break; } diff --git a/examples/RangeISAMExample_plaza2.cpp b/examples/RangeISAMExample_plaza2.cpp index 50ade34e3..c8e31e1c5 100644 --- a/examples/RangeISAMExample_plaza2.cpp +++ b/examples/RangeISAMExample_plaza2.cpp @@ -123,7 +123,7 @@ int main (int argc, char** argv) { Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120, M_PI - 2.02108900000000); NonlinearFactorGraph newFactors; - newFactors.addPrior<>(0, pose0, priorNoise); + newFactors.addPrior(0, pose0, priorNoise); Values initial; initial.insert(0, pose0); diff --git a/examples/SFMExample.cpp b/examples/SFMExample.cpp index 8912dfd9c..784893ed9 100644 --- a/examples/SFMExample.cpp +++ b/examples/SFMExample.cpp @@ -74,7 +74,7 @@ int main(int argc, char* argv[]) { // Add a prior on pose x1. This indirectly specifies where the origin is. noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw - graph.addPrior<>(Symbol('x', 0), poses[0], poseNoise); // add directly to graph + graph.addPrior(Symbol('x', 0), poses[0], poseNoise); // add directly to graph // Simulated measurements from each camera pose, adding them to the factor graph for (size_t i = 0; i < poses.size(); ++i) { @@ -89,7 +89,7 @@ int main(int argc, char* argv[]) { // Here we add a prior on the position of the first landmark. This fixes the scale by indicating the distance // between the first camera and the first landmark. All other landmark positions are interpreted using this scale. noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1); - graph.addPrior<>(Symbol('l', 0), points[0], pointNoise); // add directly to graph + graph.addPrior(Symbol('l', 0), points[0], pointNoise); // add directly to graph graph.print("Factor Graph:\n"); // Create the data structure to hold the initial estimate to the solution diff --git a/examples/SFMExample_SmartFactor.cpp b/examples/SFMExample_SmartFactor.cpp index 23f0dc26e..4fcc1b297 100644 --- a/examples/SFMExample_SmartFactor.cpp +++ b/examples/SFMExample_SmartFactor.cpp @@ -82,13 +82,13 @@ int main(int argc, char* argv[]) { // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw noiseModel::Diagonal::shared_ptr noise = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); - graph.addPrior<>(0, poses[0], noise); + graph.addPrior(0, poses[0], noise); // Because the structure-from-motion problem has a scale ambiguity, the problem is // still under-constrained. Here we add a prior on the second pose x1, so this will // fix the scale by indicating the distance between x0 and x1. // Because these two are fixed, the rest of the poses will be also be fixed. - graph.addPrior<>(1, poses[1], noise); // add directly to graph + graph.addPrior(1, poses[1], noise); // add directly to graph graph.print("Factor Graph:\n"); diff --git a/examples/SFMExample_SmartFactorPCG.cpp b/examples/SFMExample_SmartFactorPCG.cpp index 079877a3a..d29910da6 100644 --- a/examples/SFMExample_SmartFactorPCG.cpp +++ b/examples/SFMExample_SmartFactorPCG.cpp @@ -74,10 +74,10 @@ int main(int argc, char* argv[]) { // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw noiseModel::Diagonal::shared_ptr noise = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); - graph.addPrior<>(0, poses[0], noise); + graph.addPrior(0, poses[0], noise); // Fix the scale ambiguity by adding a prior - graph.addPrior<>(1, poses[0], noise); + graph.addPrior(1, poses[0], noise); // Create the initial estimate to the solution Values initialEstimate; diff --git a/examples/SFMExample_bal.cpp b/examples/SFMExample_bal.cpp index 97f830a05..187a150de 100644 --- a/examples/SFMExample_bal.cpp +++ b/examples/SFMExample_bal.cpp @@ -65,8 +65,8 @@ int main (int argc, char* argv[]) { // Add a prior on pose x1. This indirectly specifies where the origin is. // and a prior on the position of the first landmark to fix the scale - graph.addPrior<>(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)); - graph.addPrior<>(P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)); + graph.addPrior(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)); + graph.addPrior(P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)); // Create initial estimate Values initial; diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp index 7c7a9a9af..d6b25c23f 100644 --- a/examples/SFMExample_bal_COLAMD_METIS.cpp +++ b/examples/SFMExample_bal_COLAMD_METIS.cpp @@ -70,8 +70,8 @@ int main (int argc, char* argv[]) { // Add a prior on pose x1. This indirectly specifies where the origin is. // and a prior on the position of the first landmark to fix the scale - graph.addPrior<>(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)); - graph.addPrior<>(P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)); + graph.addPrior(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)); + graph.addPrior(P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)); // Create initial estimate Values initial; diff --git a/examples/SelfCalibrationExample.cpp b/examples/SelfCalibrationExample.cpp index a2c709f9c..4c88b7b4e 100644 --- a/examples/SelfCalibrationExample.cpp +++ b/examples/SelfCalibrationExample.cpp @@ -53,7 +53,7 @@ int main(int argc, char* argv[]) { // Add a prior on pose x1. noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw - graph.addPrior<>(Symbol('x', 0), poses[0], poseNoise); + graph.addPrior(Symbol('x', 0), poses[0], poseNoise); // Simulated measurements from each camera pose, adding them to the factor graph Cal3_S2 K(50.0, 50.0, 0.0, 50.0, 50.0); @@ -70,11 +70,11 @@ int main(int argc, char* argv[]) { // Add a prior on the position of the first landmark. noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1); - graph.addPrior<>(Symbol('l', 0), points[0], pointNoise); // add directly to graph + graph.addPrior(Symbol('l', 0), points[0], pointNoise); // add directly to graph // Add a prior on the calibration. noiseModel::Diagonal::shared_ptr calNoise = noiseModel::Diagonal::Sigmas((Vector(5) << 500, 500, 0.1, 100, 100).finished()); - graph.addPrior<>(Symbol('K', 0), K, calNoise); + graph.addPrior(Symbol('K', 0), K, calNoise); // Create the initial estimate to the solution // now including an estimate on the camera calibration parameters diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp index 37399b963..991be348c 100644 --- a/examples/SolverComparer.cpp +++ b/examples/SolverComparer.cpp @@ -280,7 +280,7 @@ void runIncremental() NonlinearFactorGraph newFactors; Values newVariables; - newFactors.addPrior<>(firstPose, Pose(), noiseModel::Unit::Create(3)); + newFactors.addPrior(firstPose, Pose(), noiseModel::Unit::Create(3)); newVariables.insert(firstPose, Pose()); isam2.update(newFactors, newVariables); @@ -463,7 +463,7 @@ void runBatch() cout << "Creating batch optimizer..." << endl; NonlinearFactorGraph measurements = datasetMeasurements; - measurements.addPrior<>(0, Pose(), noiseModel::Unit::Create(3)); + measurements.addPrior(0, Pose(), noiseModel::Unit::Create(3)); gttic_(Create_optimizer); GaussNewtonParams params; diff --git a/examples/VisualISAM2Example.cpp b/examples/VisualISAM2Example.cpp index 0c4bf04d0..b05fd9e6f 100644 --- a/examples/VisualISAM2Example.cpp +++ b/examples/VisualISAM2Example.cpp @@ -109,11 +109,11 @@ int main(int argc, char* argv[]) { static auto kPosePrior = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)) .finished()); - graph.addPrior<>(Symbol('x', 0), poses[0], kPosePrior); + graph.addPrior(Symbol('x', 0), poses[0], kPosePrior); // Add a prior on landmark l0 static auto kPointPrior = noiseModel::Isotropic::Sigma(3, 0.1); - graph.addPrior<>(Symbol('l', 0), points[0], kPointPrior); + graph.addPrior(Symbol('l', 0), points[0], kPointPrior); // Add initial guesses to all observed landmarks // Intentionally initialize the variables off from the ground truth diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp index 5169c5bd4..b09ad0f17 100644 --- a/examples/VisualISAMExample.cpp +++ b/examples/VisualISAMExample.cpp @@ -107,12 +107,12 @@ int main(int argc, char* argv[]) { // Add a prior on pose x0, with 30cm std on x,y,z 0.1 rad on roll,pitch,yaw noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished()); - graph.addPrior<>(Symbol('x', 0), poses[0], poseNoise); + graph.addPrior(Symbol('x', 0), poses[0], poseNoise); // Add a prior on landmark l0 noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1); - graph.addPrior<>(Symbol('l', 0), points[0], pointNoise); + graph.addPrior(Symbol('l', 0), points[0], pointNoise); // Add initial guesses to all observed landmarks Point3 noise(-0.25, 0.20, 0.15); diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp index 8f47b0d37..4f71a48da 100644 --- a/gtsam/geometry/tests/testTriangulation.cpp +++ b/gtsam/geometry/tests/testTriangulation.cpp @@ -382,8 +382,8 @@ TEST( triangulation, StereotriangulateNonlinear ) { graph.emplace_shared(measurements[1], unit, Symbol('x',2), Symbol('l',1), stereoK); const SharedDiagonal posePrior = noiseModel::Isotropic::Sigma(6, 1e-9); - graph.addPrior<>(Symbol('x',1), Pose3(m1), posePrior); - graph.addPrior<>(Symbol('x',2), Pose3(m2), posePrior); + graph.addPrior(Symbol('x',1), Pose3(m1), posePrior); + graph.addPrior(Symbol('x',2), Pose3(m2), posePrior); LevenbergMarquardtOptimizer optimizer(graph, values); Values result = optimizer.optimize(); diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index f9494d7ab..60f491a1c 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -455,7 +455,7 @@ TEST(Unit3, ErrorBetweenFactor) { // Add prior factors. SharedNoiseModel R_prior = noiseModel::Unit::Create(2); for (size_t i = 0; i < data.size(); i++) { - graph.addPrior<>(U(i), data[i], R_prior); + graph.addPrior(U(i), data[i], R_prior); } // Add process factors using the dot product error function. diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index be5295487..474b00add 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -762,17 +762,17 @@ TEST(ImuFactor, bodyPSensorWithBias) { NonlinearFactorGraph graph; Values values; - graph.addPrior<>(X(0), Pose3(), priorNoisePose); + graph.addPrior(X(0), Pose3(), priorNoisePose); values.insert(X(0), Pose3()); - graph.addPrior<>(V(0), zeroVel, priorNoiseVel); + graph.addPrior(V(0), zeroVel, priorNoiseVel); values.insert(V(0), zeroVel); // The key to this test is that we specify the bias, in the sensor frame, as known a priori // We also create factors below that encode our assumption that this bias is constant over time // In theory, after optimization, we should recover that same bias estimate Bias priorBias(Vector3(0, 0, 0), Vector3(0, 0.01, 0)); // Biases (acc, rot) - graph.addPrior<>(B(0), priorBias, priorNoiseBias); + graph.addPrior(B(0), priorBias, priorNoiseBias); values.insert(B(0), priorBias); // Now add IMU factors and bias noise models diff --git a/gtsam/slam/tests/testAntiFactor.cpp b/gtsam/slam/tests/testAntiFactor.cpp index bc5d4f240..4188f5639 100644 --- a/gtsam/slam/tests/testAntiFactor.cpp +++ b/gtsam/slam/tests/testAntiFactor.cpp @@ -89,7 +89,7 @@ TEST( AntiFactor, EquivalentBayesNet) SharedNoiseModel sigma(noiseModel::Unit::Create(6)); NonlinearFactorGraph graph; - graph.addPrior<>(1, pose1, sigma); + graph.addPrior(1, pose1, sigma); graph.emplace_shared >(1, 2, pose1.between(pose2), sigma); // Create a configuration corresponding to the ground truth diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index 7b2f73780..e19a41b8d 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -387,7 +387,7 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) { graph.emplace_shared< RangeFactor >(X(0), X(1), 2., noiseModel::Isotropic::Sigma(1, 1.)); - graph.addPrior<>(X(1), Pose3(Rot3(), Point3(1., 0., 0.)), + graph.addPrior(X(1), Pose3(Rot3(), Point3(1., 0., 0.)), noiseModel::Isotropic::Sigma(6, 1.)); Values init; @@ -411,12 +411,12 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) { TEST(GeneralSFMFactor, CalibratedCameraPoseRange) { // Tests range factor between a CalibratedCamera and a Pose3 NonlinearFactorGraph graph; - graph.addPrior<>(X(0), CalibratedCamera(), + graph.addPrior(X(0), CalibratedCamera(), noiseModel::Isotropic::Sigma(6, 1.)); graph.emplace_shared< RangeFactor >(X(0), X(1), 2., noiseModel::Isotropic::Sigma(1, 1.)); - graph.addPrior<>(X(1), Pose3(Rot3(), Point3(1., 0., 0.)), + graph.addPrior(X(1), Pose3(Rot3(), Point3(1., 0., 0.)), noiseModel::Isotropic::Sigma(6, 1.)); Values init; diff --git a/gtsam/slam/tests/testInitializePose3.cpp b/gtsam/slam/tests/testInitializePose3.cpp index 8559b06ce..ba41cdc9b 100644 --- a/gtsam/slam/tests/testInitializePose3.cpp +++ b/gtsam/slam/tests/testInitializePose3.cpp @@ -66,7 +66,7 @@ NonlinearFactorGraph graph() { g.add(BetweenFactor(x2, x3, pose2.between(pose3), model)); g.add(BetweenFactor(x2, x0, pose2.between(pose0), model)); g.add(BetweenFactor(x0, x3, pose0.between(pose3), model)); - g.addPrior<>(x0, pose0, model); + g.addPrior(x0, pose0, model); return g; } @@ -77,7 +77,7 @@ NonlinearFactorGraph graph2() { g.add(BetweenFactor(x2, x3, pose2.between(pose3), noiseModel::Isotropic::Precision(6, 1.0))); g.add(BetweenFactor(x2, x0, Pose3(Rot3::Ypr(0.1,0,0.1), Point3()), noiseModel::Isotropic::Precision(6, 0.0))); // random pose, but zero information g.add(BetweenFactor(x0, x3, Pose3(Rot3::Ypr(0.5,-0.2,0.2), Point3(10,20,30)), noiseModel::Isotropic::Precision(6, 0.0))); // random pose, but zero informatoin - g.addPrior<>(x0, pose0, model); + g.addPrior(x0, pose0, model); return g; } } @@ -266,7 +266,7 @@ TEST( InitializePose3, initializePoses ) bool is3D = true; boost::tie(inputGraph, expectedValues) = readG2o(g2oFile, is3D); noiseModel::Unit::shared_ptr priorModel = noiseModel::Unit::Create(6); - inputGraph->addPrior<>(0, Pose3(), priorModel); + inputGraph->addPrior(0, Pose3(), priorModel); Values initial = InitializePose3::initialize(*inputGraph); EXPECT(assert_equal(*expectedValues,initial,0.1)); // TODO(frank): very loose !! diff --git a/gtsam/slam/tests/testLago.cpp b/gtsam/slam/tests/testLago.cpp index 02f8b6454..55449d86e 100644 --- a/gtsam/slam/tests/testLago.cpp +++ b/gtsam/slam/tests/testLago.cpp @@ -60,7 +60,7 @@ NonlinearFactorGraph graph() { g.add(BetweenFactor(x2, x3, pose2.between(pose3), model)); g.add(BetweenFactor(x2, x0, pose2.between(pose0), model)); g.add(BetweenFactor(x0, x3, pose0.between(pose3), model)); - g.addPrior<>(x0, pose0, model); + g.addPrior(x0, pose0, model); return g; } } @@ -166,7 +166,7 @@ TEST( Lago, smallGraphVectorValuesSP ) { TEST( Lago, multiplePosePriors ) { bool useOdometricPath = false; NonlinearFactorGraph g = simpleLago::graph(); - g.addPrior<>(x1, simpleLago::pose1, model); + g.addPrior(x1, simpleLago::pose1, model); VectorValues initial = lago::initializeOrientations(g, useOdometricPath); // comparison is up to M_PI, that's why we add some multiples of 2*M_PI @@ -179,7 +179,7 @@ TEST( Lago, multiplePosePriors ) { /* *************************************************************************** */ TEST( Lago, multiplePosePriorsSP ) { NonlinearFactorGraph g = simpleLago::graph(); - g.addPrior<>(x1, simpleLago::pose1, model); + g.addPrior(x1, simpleLago::pose1, model); VectorValues initial = lago::initializeOrientations(g); // comparison is up to M_PI, that's why we add some multiples of 2*M_PI @@ -193,7 +193,7 @@ TEST( Lago, multiplePosePriorsSP ) { TEST( Lago, multiplePoseAndRotPriors ) { bool useOdometricPath = false; NonlinearFactorGraph g = simpleLago::graph(); - g.addPrior<>(x1, simpleLago::pose1.theta(), model); + g.addPrior(x1, simpleLago::pose1.theta(), model); VectorValues initial = lago::initializeOrientations(g, useOdometricPath); // comparison is up to M_PI, that's why we add some multiples of 2*M_PI @@ -206,7 +206,7 @@ TEST( Lago, multiplePoseAndRotPriors ) { /* *************************************************************************** */ TEST( Lago, multiplePoseAndRotPriorsSP ) { NonlinearFactorGraph g = simpleLago::graph(); - g.addPrior<>(x1, simpleLago::pose1.theta(), model); + g.addPrior(x1, simpleLago::pose1.theta(), model); VectorValues initial = lago::initializeOrientations(g); // comparison is up to M_PI, that's why we add some multiples of 2*M_PI @@ -266,7 +266,7 @@ TEST( Lago, largeGraphNoisy_orientations ) { // Add prior on the pose having index (key) = 0 NonlinearFactorGraph graphWithPrior = *g; noiseModel::Diagonal::shared_ptr priorModel = noiseModel::Diagonal::Variances(Vector3(1e-2, 1e-2, 1e-4)); - graphWithPrior.addPrior<>(0, Pose2(), priorModel); + graphWithPrior.addPrior(0, Pose2(), priorModel); VectorValues actualVV = lago::initializeOrientations(graphWithPrior); Values actual; @@ -301,7 +301,7 @@ TEST( Lago, largeGraphNoisy ) { // Add prior on the pose having index (key) = 0 NonlinearFactorGraph graphWithPrior = *g; noiseModel::Diagonal::shared_ptr priorModel = noiseModel::Diagonal::Variances(Vector3(1e-2, 1e-2, 1e-4)); - graphWithPrior.addPrior<>(0, Pose2(), priorModel); + graphWithPrior.addPrior(0, Pose2(), priorModel); Values actual = lago::initialize(graphWithPrior); diff --git a/gtsam/slam/tests/testSmartProjectionFactor.cpp b/gtsam/slam/tests/testSmartProjectionFactor.cpp index 0368fbd94..1fd06cc9f 100644 --- a/gtsam/slam/tests/testSmartProjectionFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionFactor.cpp @@ -195,8 +195,8 @@ TEST(SmartProjectionFactor, perturbPoseAndOptimize ) { graph.push_back(smartFactor2); graph.push_back(smartFactor3); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6 + 5, 1e-5); - graph.addPrior<>(c1, cam1, noisePrior); - graph.addPrior<>(c2, cam2, noisePrior); + graph.addPrior(c1, cam1, noisePrior); + graph.addPrior(c2, cam2, noisePrior); // Create initial estimate Values initial; @@ -304,8 +304,8 @@ TEST(SmartProjectionFactor, perturbPoseAndOptimizeFromSfM_tracks ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(c1, cam1, noisePrior); - graph.addPrior<>(c2, cam2, noisePrior); + graph.addPrior(c1, cam1, noisePrior); + graph.addPrior(c2, cam2, noisePrior); Values values; values.insert(c1, cam1); @@ -378,8 +378,8 @@ TEST(SmartProjectionFactor, perturbCamerasAndOptimize ) { graph.push_back(smartFactor3); graph.push_back(smartFactor4); graph.push_back(smartFactor5); - graph.addPrior<>(c1, cam1, noisePrior); - graph.addPrior<>(c2, cam2, noisePrior); + graph.addPrior(c1, cam1, noisePrior); + graph.addPrior(c2, cam2, noisePrior); Values values; values.insert(c1, cam1); @@ -453,8 +453,8 @@ TEST(SmartProjectionFactor, Cal3Bundler ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(c1, cam1, noisePrior); - graph.addPrior<>(c2, cam2, noisePrior); + graph.addPrior(c1, cam1, noisePrior); + graph.addPrior(c2, cam2, noisePrior); Values values; values.insert(c1, cam1); @@ -526,8 +526,8 @@ TEST(SmartProjectionFactor, Cal3Bundler2 ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(c1, cam1, noisePrior); - graph.addPrior<>(c2, cam2, noisePrior); + graph.addPrior(c1, cam1, noisePrior); + graph.addPrior(c2, cam2, noisePrior); Values values; values.insert(c1, cam1); diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 53692e57f..ab32258ee 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -243,8 +243,8 @@ TEST(SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, wTb1, noisePrior); - graph.addPrior<>(x2, wTb2, noisePrior); + graph.addPrior(x1, wTb1, noisePrior); + graph.addPrior(x2, wTb2, noisePrior); // Check errors at ground truth poses Values gtValues; @@ -302,8 +302,8 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, cam1.pose(), noisePrior); - graph.addPrior<>(x2, cam2.pose(), noisePrior); + graph.addPrior(x1, cam1.pose(), noisePrior); + graph.addPrior(x2, cam2.pose(), noisePrior); Values groundTruth; groundTruth.insert(x1, cam1.pose()); @@ -525,8 +525,8 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, cam1.pose(), noisePrior); - graph.addPrior<>(x2, cam2.pose(), noisePrior); + graph.addPrior(x1, cam1.pose(), noisePrior); + graph.addPrior(x2, cam2.pose(), noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -589,8 +589,8 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, cam1.pose(), noisePrior); - graph.addPrior<>(x2, cam2.pose(), noisePrior); + graph.addPrior(x1, cam1.pose(), noisePrior); + graph.addPrior(x2, cam2.pose(), noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -647,8 +647,8 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, cam1.pose(), noisePrior); - graph.addPrior<>(x2, cam2.pose(), noisePrior); + graph.addPrior(x1, cam1.pose(), noisePrior); + graph.addPrior(x2, cam2.pose(), noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -716,8 +716,8 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { graph.push_back(smartFactor2); graph.push_back(smartFactor3); graph.push_back(smartFactor4); - graph.addPrior<>(x1, cam1.pose(), noisePrior); - graph.addPrior<>(x2, cam2.pose(), noisePrior); + graph.addPrior(x1, cam1.pose(), noisePrior); + graph.addPrior(x2, cam2.pose(), noisePrior); Values values; values.insert(x1, cam1.pose()); @@ -766,8 +766,8 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, cam1.pose(), noisePrior); - graph.addPrior<>(x2, cam2.pose(), noisePrior); + graph.addPrior(x1, cam1.pose(), noisePrior); + graph.addPrior(x2, cam2.pose(), noisePrior); Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise @@ -806,8 +806,8 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { graph.emplace_shared(cam3.project(landmark3), model, x3, L(3), sharedK2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); - graph.addPrior<>(x1, level_pose, noisePrior); - graph.addPrior<>(x2, pose_right, noisePrior); + graph.addPrior(x1, level_pose, noisePrior); + graph.addPrior(x2, pose_right, noisePrior); Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); @@ -948,7 +948,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac NonlinearFactorGraph graph; graph.push_back(smartFactor1); graph.push_back(smartFactor2); - graph.addPrior<>(x1, cam1.pose(), noisePrior); + graph.addPrior(x1, cam1.pose(), noisePrior); graph.emplace_shared >(x2, positionPrior, noisePriorTranslation); graph.emplace_shared >(x3, positionPrior, noisePriorTranslation); @@ -1012,7 +1012,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, cam1.pose(), noisePrior); + graph.addPrior(x1, cam1.pose(), noisePrior); graph.emplace_shared >(x2, positionPrior, noisePriorTranslation); graph.emplace_shared >(x3, positionPrior, noisePriorTranslation); @@ -1223,8 +1223,8 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, cam1.pose(), noisePrior); - graph.addPrior<>(x2, cam2.pose(), noisePrior); + graph.addPrior(x1, cam1.pose(), noisePrior); + graph.addPrior(x2, cam2.pose(), noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -1296,7 +1296,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, cam1.pose(), noisePrior); + graph.addPrior(x1, cam1.pose(), noisePrior); graph.emplace_shared >(x2, positionPrior, noisePriorTranslation); graph.emplace_shared >(x3, positionPrior, noisePriorTranslation); diff --git a/gtsam_unstable/examples/ConcurrentCalibration.cpp b/gtsam_unstable/examples/ConcurrentCalibration.cpp index 9ff3c8fcd..95629fb43 100644 --- a/gtsam_unstable/examples/ConcurrentCalibration.cpp +++ b/gtsam_unstable/examples/ConcurrentCalibration.cpp @@ -60,7 +60,7 @@ int main(int argc, char** argv){ initial_estimate.insert(Symbol('K', 0), *noisy_K); noiseModel::Diagonal::shared_ptr calNoise = noiseModel::Diagonal::Sigmas((Vector(5) << 500, 500, 1e-5, 100, 100).finished()); - graph.addPrior<>(Symbol('K', 0), *noisy_K, calNoise); + graph.addPrior(Symbol('K', 0), *noisy_K, calNoise); ifstream pose_file(pose_loc.c_str()); @@ -76,7 +76,7 @@ int main(int argc, char** argv){ } noiseModel::Isotropic::shared_ptr poseNoise = noiseModel::Isotropic::Sigma(6, 0.01); - graph.addPrior<>(Symbol('x', pose_id), Pose3(m), poseNoise); + graph.addPrior(Symbol('x', pose_id), Pose3(m), poseNoise); // camera and landmark keys size_t x, l; diff --git a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp index b19ee499f..939d3a5c8 100644 --- a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp +++ b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp @@ -85,7 +85,7 @@ int main(int argc, char** argv) { Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin auto priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); Key priorKey = 0; - newFactors.addPrior<>(priorKey, priorMean, priorNoise); + newFactors.addPrior(priorKey, priorMean, priorNoise); newValues.insert(priorKey, priorMean); // Initialize the first pose at the mean of the prior newTimestamps[priorKey] = 0.0; // Set the timestamp associated with this key to 0.0 seconds; diff --git a/gtsam_unstable/examples/FixedLagSmootherExample.cpp b/gtsam_unstable/examples/FixedLagSmootherExample.cpp index a673d2b64..16ede58e0 100644 --- a/gtsam_unstable/examples/FixedLagSmootherExample.cpp +++ b/gtsam_unstable/examples/FixedLagSmootherExample.cpp @@ -79,7 +79,7 @@ int main(int argc, char** argv) { Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); Key priorKey = 0; - newFactors.addPrior<>(priorKey, priorMean, priorNoise); + newFactors.addPrior(priorKey, priorMean, priorNoise); newValues.insert(priorKey, priorMean); // Initialize the first pose at the mean of the prior newTimestamps[priorKey] = 0.0; // Set the timestamp associated with this key to 0.0 seconds; diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp index 30dfd2498..5fdc7a743 100644 --- a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp +++ b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp @@ -126,7 +126,7 @@ int main(int argc, char** argv) { Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120, M_PI - 2.02108900000000); NonlinearFactorGraph newFactors; - newFactors.addPrior<>(0, pose0, priorNoise); + newFactors.addPrior(0, pose0, priorNoise); ofstream os2("rangeResultLM.txt"); ofstream os3("rangeResultSR.txt"); diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp index dde187723..90b2a30ff 100644 --- a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp +++ b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp @@ -123,7 +123,7 @@ int main(int argc, char** argv) { // Add prior on first pose Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120, -2.02108900000000); NonlinearFactorGraph newFactors; - newFactors.addPrior<>(0, pose0, priorNoise); + newFactors.addPrior(0, pose0, priorNoise); // initialize points (Gaussian) Values initial; diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp index 095da8fd5..b07b5acd6 100644 --- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp +++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp @@ -265,7 +265,7 @@ TEST(Similarity3, Optimization) { // Create graph NonlinearFactorGraph graph; - graph.addPrior<>(key, prior, model); + graph.addPrior(key, prior, model); // Create initial estimate with identity transform Values initial; @@ -310,7 +310,7 @@ TEST(Similarity3, Optimization2) { // Create graph NonlinearFactorGraph graph; - graph.addPrior<>(X(1), prior, model); // Prior ! + graph.addPrior(X(1), prior, model); // Prior ! graph.push_back(b1); graph.push_back(b2); graph.push_back(b3); diff --git a/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp index 7d8611d19..a708c57cc 100644 --- a/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp +++ b/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp @@ -83,7 +83,7 @@ TEST( BatchFixedLagSmoother, Example ) Values newValues; Timestamps newTimestamps; - newFactors.addPrior<>(key0, Point2(0.0, 0.0), odometerNoise); + newFactors.addPrior(key0, Point2(0.0, 0.0), odometerNoise); newValues.insert(key0, Point2(0.01, 0.01)); newTimestamps[key0] = 0.0; diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp index 540e61072..1f19c0e8a 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp @@ -134,7 +134,7 @@ TEST( ConcurrentBatchFilter, getFactors ) // Add some factors to the filter NonlinearFactorGraph newFactors1; - newFactors1.addPrior<>(1, poseInitial, noisePrior); + newFactors1.addPrior(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -184,7 +184,7 @@ TEST( ConcurrentBatchFilter, getLinearizationPoint ) // Add some factors to the filter NonlinearFactorGraph newFactors1; - newFactors1.addPrior<>(1, poseInitial, noisePrior); + newFactors1.addPrior(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -246,7 +246,7 @@ TEST( ConcurrentBatchFilter, calculateEstimate ) // Add some factors to the filter NonlinearFactorGraph newFactors2; - newFactors2.addPrior<>(1, poseInitial, noisePrior); + newFactors2.addPrior(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -330,7 +330,7 @@ TEST( ConcurrentBatchFilter, update_multiple ) // Add some factors to the filter NonlinearFactorGraph newFactors2; - newFactors2.addPrior<>(1, poseInitial, noisePrior); + newFactors2.addPrior(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -380,7 +380,7 @@ TEST( ConcurrentBatchFilter, update_and_marginalize ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -403,7 +403,7 @@ TEST( ConcurrentBatchFilter, update_and_marginalize ) NonlinearFactorGraph partialGraph; - partialGraph.addPrior<>(1, poseInitial, noisePrior); + partialGraph.addPrior(1, poseInitial, noisePrior); partialGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); partialGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); @@ -504,7 +504,7 @@ TEST( ConcurrentBatchFilter, synchronize_1 ) // Insert factors into the filter, but do not marginalize out any variables. // The synchronization should still be empty NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues; newValues.insert(1, Pose3().compose(poseError)); @@ -1090,7 +1090,7 @@ TEST( ConcurrentBatchFilter, removeFactors_topology_1 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1121,7 +1121,7 @@ TEST( ConcurrentBatchFilter, removeFactors_topology_1 ) NonlinearFactorGraph actualGraph = filter.getFactors(); NonlinearFactorGraph expectedGraph; - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); // we removed this one: expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); @@ -1145,7 +1145,7 @@ TEST( ConcurrentBatchFilter, removeFactors_topology_2 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1176,7 +1176,7 @@ TEST( ConcurrentBatchFilter, removeFactors_topology_2 ) NonlinearFactorGraph actualGraph = filter.getFactors(); NonlinearFactorGraph expectedGraph; - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -1200,8 +1200,8 @@ TEST( ConcurrentBatchFilter, removeFactors_topology_3 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1233,7 +1233,7 @@ TEST( ConcurrentBatchFilter, removeFactors_topology_3 ) NonlinearFactorGraph expectedGraph; // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -1253,7 +1253,7 @@ TEST( ConcurrentBatchFilter, removeFactors_values ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.emplace_shared >(1, 2, poseOdometry, noiseOdometery); newFactors.emplace_shared >(2, 3, poseOdometry, noiseOdometery); newFactors.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -1286,7 +1286,7 @@ TEST( ConcurrentBatchFilter, removeFactors_values ) // note: factors are removed before the optimization NonlinearFactorGraph expectedGraph; - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp index abf6b750c..ae9a3f827 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp @@ -104,7 +104,7 @@ TEST( ConcurrentBatchSmoother, getFactors ) // Add some factors to the smoother NonlinearFactorGraph newFactors1; - newFactors1.addPrior<>(1, poseInitial, noisePrior); + newFactors1.addPrior(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -154,7 +154,7 @@ TEST( ConcurrentBatchSmoother, getLinearizationPoint ) // Add some factors to the smoother NonlinearFactorGraph newFactors1; - newFactors1.addPrior<>(1, poseInitial, noisePrior); + newFactors1.addPrior(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -216,7 +216,7 @@ TEST( ConcurrentBatchSmoother, calculateEstimate ) // Add some factors to the smoother NonlinearFactorGraph newFactors2; - newFactors2.addPrior<>(1, poseInitial, noisePrior); + newFactors2.addPrior(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -302,7 +302,7 @@ TEST( ConcurrentBatchSmoother, update_multiple ) // Add some factors to the smoother NonlinearFactorGraph newFactors2; - newFactors2.addPrior<>(1, poseInitial, noisePrior); + newFactors2.addPrior(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -527,7 +527,7 @@ TEST( ConcurrentBatchSmoother, synchronize_3 ) filterSumarization.push_back(LinearContainerFactor(BetweenFactor(1, 2, poseOdometry, noiseOdometery).linearize(filterSeparatorValues), filterSeparatorValues)); smootherFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); smootherFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); - smootherFactors.addPrior<>(4, poseInitial, noisePrior); + smootherFactors.addPrior(4, poseInitial, noisePrior); smootherValues.insert(3, filterSeparatorValues.at(2).compose(poseOdometry).compose(poseError)); smootherValues.insert(4, smootherValues.at(3).compose(poseOdometry).compose(poseError)); @@ -588,7 +588,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_topology_1 ) // Add some factors to the smoother NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -617,7 +617,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_topology_1 ) NonlinearFactorGraph actualGraph = smoother.getFactors(); NonlinearFactorGraph expectedGraph; - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); // we removed this one: expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); @@ -642,7 +642,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_topology_2 ) // Add some factors to the smoother NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -670,7 +670,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_topology_2 ) NonlinearFactorGraph actualGraph = smoother.getFactors(); NonlinearFactorGraph expectedGraph; - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -694,8 +694,8 @@ TEST( ConcurrentBatchSmoother, removeFactors_topology_3 ) // Add some factors to the Smoother NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -724,7 +724,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_topology_3 ) NonlinearFactorGraph expectedGraph; // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -744,7 +744,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_values ) // Add some factors to the Smoother NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.emplace_shared >(1, 2, poseOdometry, noiseOdometery); newFactors.emplace_shared >(2, 3, poseOdometry, noiseOdometery); newFactors.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -774,7 +774,7 @@ TEST( ConcurrentBatchSmoother, removeFactors_values ) // note: factors are removed before the optimization NonlinearFactorGraph expectedGraph; - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp index 759e180f2..c5dba1a69 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp @@ -153,7 +153,7 @@ TEST( ConcurrentIncrementalFilter, getFactors ) // Add some factors to the filter NonlinearFactorGraph newFactors1; - newFactors1.addPrior<>(1, poseInitial, noisePrior); + newFactors1.addPrior(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -203,7 +203,7 @@ TEST( ConcurrentIncrementalFilter, getLinearizationPoint ) // Add some factors to the filter NonlinearFactorGraph newFactors1; - newFactors1.addPrior<>(1, poseInitial, noisePrior); + newFactors1.addPrior(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -259,7 +259,7 @@ TEST( ConcurrentIncrementalFilter, calculateEstimate ) // Add some factors to the filter NonlinearFactorGraph newFactors2; - newFactors2.addPrior<>(1, poseInitial, noisePrior); + newFactors2.addPrior(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -343,7 +343,7 @@ TEST( ConcurrentIncrementalFilter, update_multiple ) // Add some factors to the filter NonlinearFactorGraph newFactors2; - newFactors2.addPrior<>(1, poseInitial, noisePrior); + newFactors2.addPrior(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -393,7 +393,7 @@ TEST( ConcurrentIncrementalFilter, update_and_marginalize_1 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -423,7 +423,7 @@ TEST( ConcurrentIncrementalFilter, update_and_marginalize_1 ) // ---------------------------------------------------------------------------------------------- NonlinearFactorGraph partialGraph; - partialGraph.addPrior<>(1, poseInitial, noisePrior); + partialGraph.addPrior(1, poseInitial, noisePrior); partialGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); partialGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); @@ -476,7 +476,7 @@ TEST( ConcurrentIncrementalFilter, update_and_marginalize_2 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -507,7 +507,7 @@ TEST( ConcurrentIncrementalFilter, update_and_marginalize_2 ) // ---------------------------------------------------------------------------------------------- NonlinearFactorGraph partialGraph; - partialGraph.addPrior<>(1, poseInitial, noisePrior); + partialGraph.addPrior(1, poseInitial, noisePrior); partialGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); partialGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); @@ -605,7 +605,7 @@ TEST( ConcurrentIncrementalFilter, synchronize_1 ) // Insert factors into the filter, but do not marginalize out any variables. // The synchronization should still be empty NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues; newValues.insert(1, Pose3().compose(poseError)); @@ -1192,7 +1192,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_topology_1 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1224,7 +1224,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_topology_1 ) NonlinearFactorGraph actualGraph = filter.getFactors(); NonlinearFactorGraph expectedGraph; - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); // we removed this one: expectedGraph.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)) // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); @@ -1251,7 +1251,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_topology_2 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1282,7 +1282,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_topology_2 ) NonlinearFactorGraph actualGraph = filter.getFactors(); NonlinearFactorGraph expectedGraph; - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -1310,8 +1310,8 @@ TEST( ConcurrentIncrementalFilter, removeFactors_topology_3 ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1343,7 +1343,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_topology_3 ) NonlinearFactorGraph expectedGraph; // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); @@ -1367,7 +1367,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_values ) // Add some factors to the filter NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -1399,7 +1399,7 @@ TEST( ConcurrentIncrementalFilter, removeFactors_values ) Values actualValues = filter.getLinearizationPoint(); NonlinearFactorGraph expectedGraph; - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); expectedGraph.emplace_shared >(1, 2, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(2, 3, poseOdometry, noiseOdometery); expectedGraph.emplace_shared >(3, 4, poseOdometry, noiseOdometery); diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp index f32a654b2..5de115013 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp @@ -115,7 +115,7 @@ TEST( ConcurrentIncrementalSmootherDL, getFactors ) // Add some factors to the smoother NonlinearFactorGraph newFactors1; - newFactors1.addPrior<>(1, poseInitial, noisePrior); + newFactors1.addPrior(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -166,7 +166,7 @@ TEST( ConcurrentIncrementalSmootherDL, getLinearizationPoint ) // Add some factors to the smoother NonlinearFactorGraph newFactors1; - newFactors1.addPrior<>(1, poseInitial, noisePrior); + newFactors1.addPrior(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -223,7 +223,7 @@ TEST( ConcurrentIncrementalSmootherDL, calculateEstimate ) // Add some factors to the smoother NonlinearFactorGraph newFactors2; - newFactors2.addPrior<>(1, poseInitial, noisePrior); + newFactors2.addPrior(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -310,7 +310,7 @@ TEST( ConcurrentIncrementalSmootherDL, update_multiple ) // Add some factors to the smoother NonlinearFactorGraph newFactors2; - newFactors2.addPrior<>(1, poseInitial, noisePrior); + newFactors2.addPrior(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp index 459da8547..ec78ee6e2 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp @@ -114,7 +114,7 @@ TEST( ConcurrentIncrementalSmootherGN, getFactors ) // Add some factors to the smoother NonlinearFactorGraph newFactors1; - newFactors1.addPrior<>(1, poseInitial, noisePrior); + newFactors1.addPrior(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -165,7 +165,7 @@ TEST( ConcurrentIncrementalSmootherGN, getLinearizationPoint ) // Add some factors to the smoother NonlinearFactorGraph newFactors1; - newFactors1.addPrior<>(1, poseInitial, noisePrior); + newFactors1.addPrior(1, poseInitial, noisePrior); newFactors1.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues1; newValues1.insert(1, Pose3()); @@ -222,7 +222,7 @@ TEST( ConcurrentIncrementalSmootherGN, calculateEstimate ) // Add some factors to the smoother NonlinearFactorGraph newFactors2; - newFactors2.addPrior<>(1, poseInitial, noisePrior); + newFactors2.addPrior(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -309,7 +309,7 @@ TEST( ConcurrentIncrementalSmootherGN, update_multiple ) // Add some factors to the smoother NonlinearFactorGraph newFactors2; - newFactors2.addPrior<>(1, poseInitial, noisePrior); + newFactors2.addPrior(1, poseInitial, noisePrior); newFactors2.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); Values newValues2; newValues2.insert(1, Pose3().compose(poseError)); @@ -546,7 +546,7 @@ TEST( ConcurrentIncrementalSmootherGN, synchronize_3 ) filterSumarization.push_back(LinearContainerFactor(BetweenFactor(1, 2, poseOdometry, noiseOdometery).linearize(filterSeparatorValues), filterSeparatorValues)); smootherFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); smootherFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); - smootherFactors.addPrior<>(4, poseInitial, noisePrior); + smootherFactors.addPrior(4, poseInitial, noisePrior); smootherValues.insert(3, filterSeparatorValues.at(2).compose(poseOdometry).compose(poseError)); smootherValues.insert(4, smootherValues.at(3).compose(poseOdometry).compose(poseError)); @@ -609,7 +609,7 @@ TEST( ConcurrentIncrementalSmoother, removeFactors_topology_1 ) // Add some factors to the smoother NonlinearFactorGraph newFactors; - newFactors.addPrior<>(1, poseInitial, noisePrior); + newFactors.addPrior(1, poseInitial, noisePrior); newFactors.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(2, 3, poseOdometry, noiseOdometery)); newFactors.push_back(BetweenFactor(3, 4, poseOdometry, noiseOdometery)); @@ -639,7 +639,7 @@ TEST( ConcurrentIncrementalSmoother, removeFactors_topology_1 ) actualGraph.print("actual graph: \n"); NonlinearFactorGraph expectedGraph; - expectedGraph.addPrior<>(1, poseInitial, noisePrior); + expectedGraph.addPrior(1, poseInitial, noisePrior); // we removed this one: expectedGraph.push_back(BetweenFactor(1, 2, poseOdometry, noiseOdometery)); // we should add an empty one, so that the ordering and labeling of the factors is preserved expectedGraph.push_back(NonlinearFactor::shared_ptr()); diff --git a/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp index c995a89a5..3454c352a 100644 --- a/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp +++ b/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp @@ -81,7 +81,7 @@ TEST( IncrementalFixedLagSmoother, Example ) Values newValues; Timestamps newTimestamps; - newFactors.addPrior<>(key0, Point2(0.0, 0.0), odometerNoise); + newFactors.addPrior(key0, Point2(0.0, 0.0), odometerNoise); newValues.insert(key0, Point2(0.01, 0.01)); newTimestamps[key0] = 0.0; diff --git a/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp b/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp index 7e05c3283..e0c234b7b 100644 --- a/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp +++ b/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp @@ -26,7 +26,7 @@ NonlinearFactorGraph planarSLAMGraph() { // Prior on pose x1 at the origin. Pose2 prior(0.0, 0.0, 0.0); auto priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); - graph.addPrior<>(x1, prior, priorNoise); + graph.addPrior(x1, prior, priorNoise); // Two odometry factors Pose2 odometry(2.0, 0.0, 0.0); diff --git a/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp b/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp index efd358207..70368cc0e 100644 --- a/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp +++ b/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp @@ -279,8 +279,8 @@ TEST (BetweenFactorEM, updateNoiseModel ) { SharedGaussian model = SharedGaussian(noiseModel::Isotropic::Sigma(3, 1e2)); NonlinearFactorGraph graph; - graph.addPrior<>(key1, p1, model); - graph.addPrior<>(key2, p2, model); + graph.addPrior(key1, p1, model); + graph.addPrior(key2, p2, model); f.updateNoiseModels(values, graph); diff --git a/gtsam_unstable/slam/tests/testSerialization.cpp b/gtsam_unstable/slam/tests/testSerialization.cpp index 63911c5c7..792fd1133 100644 --- a/gtsam_unstable/slam/tests/testSerialization.cpp +++ b/gtsam_unstable/slam/tests/testSerialization.cpp @@ -47,7 +47,7 @@ Values exampleValues() { NonlinearFactorGraph exampleGraph() { NonlinearFactorGraph graph; - graph.addPrior<>(234, Pose2(1.0, 2.0, 0.3), noiseModel::Diagonal::Sigmas(Vector::Ones(3))); + graph.addPrior(234, Pose2(1.0, 2.0, 0.3), noiseModel::Diagonal::Sigmas(Vector::Ones(3))); graph.add(BetweenFactor(234, 567, Pose2(1.0, 2.0, 0.3), noiseModel::Diagonal::Sigmas(Vector::Ones(3)))); graph.add(BearingRangeFactor(234, 567, Rot2::fromAngle(0.3), 2.0, noiseModel::Diagonal::Sigmas(Vector::Ones(2)))); return graph; diff --git a/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp b/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp index f578bbcd3..f900b2ffa 100644 --- a/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp @@ -115,8 +115,8 @@ TEST( SmartRangeFactor, optimization ) { graph.push_back(f); const noiseModel::Base::shared_ptr // priorNoise = noiseModel::Diagonal::Sigmas(Vector3(1, 1, M_PI)); - graph.addPrior<>(1, pose1, priorNoise); - graph.addPrior<>(2, pose2, priorNoise); + graph.addPrior(1, pose1, priorNoise); + graph.addPrior(2, pose2, priorNoise); // Try optimizing LevenbergMarquardtParams params; diff --git a/gtsam_unstable/slam/tests/testSmartStereoFactor_iSAM2.cpp b/gtsam_unstable/slam/tests/testSmartStereoFactor_iSAM2.cpp index c3bc911fc..107defb4c 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoFactor_iSAM2.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoFactor_iSAM2.cpp @@ -198,7 +198,7 @@ TEST(testISAM2SmartFactor, Stereo_Batch) { // prior, for the first keyframe: if (kf_id == 0) { - batch_graph.addPrior<>(X(kf_id), Pose3::identity(), priorPoseNoise); + batch_graph.addPrior(X(kf_id), Pose3::identity(), priorPoseNoise); } batch_values.insert(X(kf_id), Pose3::identity()); @@ -307,7 +307,7 @@ TEST(testISAM2SmartFactor, Stereo_iSAM2) { // prior, for the first keyframe: if (kf_id == 0) { - newFactors.addPrior<>(X(kf_id), Pose3::identity(), priorPoseNoise); + newFactors.addPrior(X(kf_id), Pose3::identity(), priorPoseNoise); } // 2) Run iSAM2: diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 8d8665649..a0bfc3649 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -335,8 +335,8 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, pose1, noisePrior); - graph.addPrior<>(x2, pose2, noisePrior); + graph.addPrior(x1, pose1, noisePrior); + graph.addPrior(x2, pose2, noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -396,8 +396,8 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { // add factors NonlinearFactorGraph graph2; - graph2.addPrior<>(x1, pose1, noisePrior); - graph2.addPrior<>(x2, pose2, noisePrior); + graph2.addPrior(x1, pose1, noisePrior); + graph2.addPrior(x2, pose2, noisePrior); typedef GenericStereoFactor ProjectionFactor; @@ -477,8 +477,8 @@ TEST( SmartStereoProjectionPoseFactor, body_P_sensor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, pose1, noisePrior); - graph.addPrior<>(x2, pose2, noisePrior); + graph.addPrior(x1, pose1, noisePrior); + graph.addPrior(x2, pose2, noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -586,8 +586,8 @@ TEST( SmartStereoProjectionPoseFactor, body_P_sensor_monocular ){ graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, bodyPose1, noisePrior); - graph.addPrior<>(x2, bodyPose2, noisePrior); + graph.addPrior(x1, bodyPose1, noisePrior); + graph.addPrior(x2, bodyPose2, noisePrior); // Check errors at ground truth poses Values gtValues; @@ -660,8 +660,8 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, pose1, noisePrior); - graph.addPrior<>(x2, pose2, noisePrior); + graph.addPrior(x1, pose1, noisePrior); + graph.addPrior(x2, pose2, noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -732,8 +732,8 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVDwithMissingValues ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, pose1, noisePrior); - graph.addPrior<>(x2, pose2, noisePrior); + graph.addPrior(x1, pose1, noisePrior); + graph.addPrior(x2, pose2, noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -801,8 +801,8 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.addPrior<>(x1, pose1, noisePrior); - graph.addPrior<>(x2, pose2, noisePrior); + graph.addPrior(x1, pose1, noisePrior); + graph.addPrior(x2, pose2, noisePrior); // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), @@ -883,8 +883,8 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { graph.push_back(smartFactor2); graph.push_back(smartFactor3); graph.push_back(smartFactor4); - graph.addPrior<>(x1, pose1, noisePrior); - graph.addPrior<>(x2, pose2, noisePrior); + graph.addPrior(x1, pose1, noisePrior); + graph.addPrior(x2, pose2, noisePrior); Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 4882cb80f..1f5ec6350 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -437,7 +437,7 @@ TEST( GaussianFactorGraph, conditional_sigma_failure) { initValues.insert(l41, Point3(1.61051523, 6.7373052, -0.231582751) ); NonlinearFactorGraph factors; - factors.addPrior<>(xC1, + factors.addPrior(xC1, Pose3(Rot3( -1., 0.0, 1.2246468e-16, 0.0, 1., 0.0, diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index b7352dc3c..e8e916f04 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -62,7 +62,7 @@ ISAM2 createSlamlikeISAM2( // Add a prior at time 0 and update isam { NonlinearFactorGraph newfactors; - newfactors.addPrior<>(0, Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors.addPrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -498,7 +498,7 @@ TEST(ISAM2, constrained_ordering) // Add a prior at time 0 and update isam { NonlinearFactorGraph newfactors; - newfactors.addPrior<>(0, Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors.addPrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -668,7 +668,7 @@ namespace { TEST(ISAM2, marginalizeLeaves1) { ISAM2 isam; NonlinearFactorGraph factors; - factors.addPrior<>(0, 0.0, model); + factors.addPrior(0, 0.0, model); factors += BetweenFactor(0, 1, 0.0, model); factors += BetweenFactor(1, 2, 0.0, model); @@ -695,7 +695,7 @@ TEST(ISAM2, marginalizeLeaves2) { ISAM2 isam; NonlinearFactorGraph factors; - factors.addPrior<>(0, 0.0, model); + factors.addPrior(0, 0.0, model); factors += BetweenFactor(0, 1, 0.0, model); factors += BetweenFactor(1, 2, 0.0, model); @@ -725,7 +725,7 @@ TEST(ISAM2, marginalizeLeaves3) { ISAM2 isam; NonlinearFactorGraph factors; - factors.addPrior<>(0, 0.0, model); + factors.addPrior(0, 0.0, model); factors += BetweenFactor(0, 1, 0.0, model); factors += BetweenFactor(1, 2, 0.0, model); @@ -764,7 +764,7 @@ TEST(ISAM2, marginalizeLeaves4) { ISAM2 isam; NonlinearFactorGraph factors; - factors.addPrior<>(0, 0.0, model); + factors.addPrior(0, 0.0, model); factors += BetweenFactor(0, 2, 0.0, model); factors += BetweenFactor(1, 2, 0.0, model); diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp index 1ff21e9c5..a44a28273 100644 --- a/tests/testGradientDescentOptimizer.cpp +++ b/tests/testGradientDescentOptimizer.cpp @@ -37,7 +37,7 @@ boost::tuple generateProblem() { Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas( Vector3(0.3, 0.3, 0.1)); - graph.addPrior<>(1, priorMean, priorNoise); + graph.addPrior(1, priorMean, priorNoise); // 2b. Add odometry factors SharedDiagonal odometryNoise = noiseModel::Diagonal::Sigmas( diff --git a/tests/testIterative.cpp b/tests/testIterative.cpp index 883e1c8b3..9d6e58ac7 100644 --- a/tests/testIterative.cpp +++ b/tests/testIterative.cpp @@ -116,7 +116,7 @@ TEST( Iterative, conjugateGradientDescent_soft_constraint ) config.insert(X(2), Pose2(1.5,0.,0.)); NonlinearFactorGraph graph; - graph.addPrior<>(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); + graph.addPrior(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); graph += BetweenFactor(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); boost::shared_ptr fg = graph.linearize(config); diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp index 6ab7e088f..d7746e08d 100644 --- a/tests/testMarginals.cpp +++ b/tests/testMarginals.cpp @@ -52,7 +52,7 @@ TEST(Marginals, planarSLAMmarginals) { // gaussian for prior SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1)); Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin - graph.addPrior<>(x1, priorMean, priorNoise); // add the factor to the graph + graph.addPrior(x1, priorMean, priorNoise); // add the factor to the graph /* add odometry */ // general noisemodel for odometry @@ -194,7 +194,7 @@ TEST(Marginals, planarSLAMmarginals) { /* ************************************************************************* */ TEST(Marginals, order) { NonlinearFactorGraph fg; - fg.addPrior<>(0, Pose2(), noiseModel::Unit::Create(3)); + fg.addPrior(0, Pose2(), noiseModel::Unit::Create(3)); fg += BetweenFactor(0, 1, Pose2(1,0,0), noiseModel::Unit::Create(3)); fg += BetweenFactor(1, 2, Pose2(1,0,0), noiseModel::Unit::Create(3)); fg += BetweenFactor(2, 3, Pose2(1,0,0), noiseModel::Unit::Create(3)); diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index ddbdc9cca..a4ddf50f2 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -216,8 +216,8 @@ TEST(testNonlinearFactorGraph, eliminate) { // Priors auto prior = noiseModel::Isotropic::Sigma(3, 1); - graph.addPrior<>(11, T11, prior); - graph.addPrior<>(21, T21, prior); + graph.addPrior(11, T11, prior); + graph.addPrior(21, T21, prior); // Odometry auto model = noiseModel::Diagonal::Sigmas(Vector3(0.01, 0.01, 0.3)); @@ -272,7 +272,7 @@ TEST(testNonlinearFactorGraph, addPrior) { Eigen::DiagonalMatrix covariance_pose3; covariance_pose3.setIdentity(); Pose3 pose{Rot3(), Point3(0, 0, 0)}; - graph.addPrior<>(k, pose, covariance_pose3); + graph.addPrior(k, pose, covariance_pose3); // Assert the graph has 0 error with the correct values. values.insert(k, pose); diff --git a/tests/testNonlinearISAM.cpp b/tests/testNonlinearISAM.cpp index 0d1f4ce13..88ae508b6 100644 --- a/tests/testNonlinearISAM.cpp +++ b/tests/testNonlinearISAM.cpp @@ -115,9 +115,9 @@ TEST(testNonlinearISAM, markov_chain_with_disconnects ) { // Add a floating landmark constellation if (i == 7) { - new_factors.addPrior<>(lm1, landmark1, model2); - new_factors.addPrior<>(lm2, landmark2, model2); - new_factors.addPrior<>(lm3, landmark3, model2); + new_factors.addPrior(lm1, landmark1, model2); + new_factors.addPrior(lm2, landmark2, model2); + new_factors.addPrior(lm3, landmark3, model2); // Initialize to origin new_init.insert(lm1, Point2(0,0)); @@ -192,9 +192,9 @@ TEST(testNonlinearISAM, markov_chain_with_reconnect ) { // Add a floating landmark constellation if (i == 7) { - new_factors.addPrior<>(lm1, landmark1, model2); - new_factors.addPrior<>(lm2, landmark2, model2); - new_factors.addPrior<>(lm3, landmark3, model2); + new_factors.addPrior(lm1, landmark1, model2); + new_factors.addPrior(lm2, landmark2, model2); + new_factors.addPrior(lm3, landmark3, model2); // Initialize to origin new_init.insert(lm1, Point2(0,0)); @@ -295,7 +295,7 @@ TEST(testNonlinearISAM, loop_closures ) { if (id == 0) { noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.001, 0.001, 0.001)); - graph.addPrior<>(Symbol('x', id), Pose2(0, 0, 0), priorNoise); + graph.addPrior(Symbol('x', id), Pose2(0, 0, 0), priorNoise); } else { isam.update(graph, initialEstimate); diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 0264d5a4b..dd708b37a 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -181,7 +181,7 @@ TEST( NonlinearOptimizer, Factorization ) config.insert(X(2), Pose2(1.5,0.,0.)); NonlinearFactorGraph graph; - graph.addPrior<>(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); + graph.addPrior(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); graph += BetweenFactor(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); Ordering ordering; @@ -240,7 +240,7 @@ TEST(NonlinearOptimizer, NullFactor) { TEST_UNSAFE(NonlinearOptimizer, MoreOptimization) { NonlinearFactorGraph fg; - fg.addPrior<>(0, Pose2(0, 0, 0), noiseModel::Isotropic::Sigma(3, 1)); + fg.addPrior(0, Pose2(0, 0, 0), noiseModel::Isotropic::Sigma(3, 1)); fg += BetweenFactor(0, 1, Pose2(1, 0, M_PI / 2), noiseModel::Isotropic::Sigma(3, 1)); fg += BetweenFactor(1, 2, Pose2(1, 0, M_PI / 2), @@ -341,7 +341,7 @@ TEST_UNSAFE(NonlinearOptimizer, MoreOptimization) { TEST(NonlinearOptimizer, Pose2OptimizationWithHuberNoOutlier) { NonlinearFactorGraph fg; - fg.addPrior<>(0, Pose2(0,0,0), noiseModel::Isotropic::Sigma(3,1)); + fg.addPrior(0, Pose2(0,0,0), noiseModel::Isotropic::Sigma(3,1)); fg += BetweenFactor(0, 1, Pose2(1,1.1,M_PI/4), noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(2.0), noiseModel::Isotropic::Sigma(3,1))); @@ -372,7 +372,7 @@ TEST(NonlinearOptimizer, Pose2OptimizationWithHuberNoOutlier) { TEST(NonlinearOptimizer, Point2LinearOptimizationWithHuber) { NonlinearFactorGraph fg; - fg.addPrior<>(0, Point2(0,0), noiseModel::Isotropic::Sigma(2,0.01)); + fg.addPrior(0, Point2(0,0), noiseModel::Isotropic::Sigma(2,0.01)); fg += BetweenFactor(0, 1, Point2(1,1.8), noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(1.0), noiseModel::Isotropic::Sigma(2,1))); @@ -406,7 +406,7 @@ TEST(NonlinearOptimizer, Point2LinearOptimizationWithHuber) { TEST(NonlinearOptimizer, Pose2OptimizationWithHuber) { NonlinearFactorGraph fg; - fg.addPrior<>(0, Pose2(0,0, 0), noiseModel::Isotropic::Sigma(3,0.1)); + fg.addPrior(0, Pose2(0,0, 0), noiseModel::Isotropic::Sigma(3,0.1)); fg += BetweenFactor(0, 1, Pose2(0,9, M_PI/2), noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(0.2), noiseModel::Isotropic::Sigma(3,1))); @@ -453,7 +453,7 @@ TEST(NonlinearOptimizer, RobustMeanCalculation) { vector pts{-10,-3,-1,1,3,10,1000}; for(auto pt : pts) { - fg.addPrior<>(0, pt, huber); + fg.addPrior(0, pt, huber); } init.insert(0, 100.0); @@ -483,9 +483,9 @@ TEST(NonlinearOptimizer, disconnected_graph) { init.insert(X(3), Pose2(0.,0.,0.)); NonlinearFactorGraph graph; - graph.addPrior<>(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); + graph.addPrior(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); graph += BetweenFactor(X(1),X(2), Pose2(1.5,0.,0.), noiseModel::Isotropic::Sigma(3,1)); - graph.addPrior<>(X(3), Pose2(3.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); + graph.addPrior(X(3), Pose2(3.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); EXPECT(assert_equal(expected, LevenbergMarquardtOptimizer(graph, init).optimize())); } @@ -528,9 +528,9 @@ TEST(NonlinearOptimizer, subclass_solver) { init.insert(X(3), Pose2(0.,0.,0.)); NonlinearFactorGraph graph; - graph.addPrior<>(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); + graph.addPrior(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); graph += BetweenFactor(X(1),X(2), Pose2(1.5,0.,0.), noiseModel::Isotropic::Sigma(3,1)); - graph.addPrior<>(X(3), Pose2(3.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); + graph.addPrior(X(3), Pose2(3.,0.,0.), noiseModel::Isotropic::Sigma(3,1)); ConjugateGradientParameters p; Values actual = IterativeLM(graph, init, p).optimize(); @@ -585,7 +585,7 @@ struct traits { TEST(NonlinearOptimizer, Traits) { NonlinearFactorGraph fg; - fg.addPrior<>(0, MyType(0, 0, 0), noiseModel::Isotropic::Sigma(3, 1)); + fg.addPrior(0, MyType(0, 0, 0), noiseModel::Isotropic::Sigma(3, 1)); Values init; init.insert(0, MyType(0,0,0)); diff --git a/tests/testRot3Optimization.cpp b/tests/testRot3Optimization.cpp index c0f2804cc..5746022a3 100644 --- a/tests/testRot3Optimization.cpp +++ b/tests/testRot3Optimization.cpp @@ -39,7 +39,7 @@ TEST(Rot3, optimize) { Values truth; Values initial; Graph fg; - fg.addPrior<>(Symbol('r',0), Rot3(), noiseModel::Isotropic::Sigma(3, 0.01)); + fg.addPrior(Symbol('r',0), Rot3(), noiseModel::Isotropic::Sigma(3, 0.01)); for(int j=0; j<6; ++j) { truth.insert(Symbol('r',j), Rot3::Rz(M_PI/3.0 * double(j))); initial.insert(Symbol('r',j), Rot3::Rz(M_PI/3.0 * double(j) + 0.1 * double(j%2))); diff --git a/tests/testVisualISAM2.cpp b/tests/testVisualISAM2.cpp index 955cd9708..9fedc853b 100644 --- a/tests/testVisualISAM2.cpp +++ b/tests/testVisualISAM2.cpp @@ -77,11 +77,11 @@ TEST(testVisualISAM2, all) static auto kPosePrior = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)) .finished()); - graph.addPrior<>(Symbol('x', 0), poses[0], kPosePrior); + graph.addPrior(Symbol('x', 0), poses[0], kPosePrior); // Add a prior on landmark l0 static auto kPointPrior = noiseModel::Isotropic::Sigma(3, 0.1); - graph.addPrior<>(Symbol('l', 0), points[0], kPointPrior); + graph.addPrior(Symbol('l', 0), points[0], kPointPrior); // Add initial guesses to all observed landmarks // Intentionally initialize the variables off from the ground truth diff --git a/timing/timeIncremental.cpp b/timing/timeIncremental.cpp index e7f751fce..6e0f4ccdf 100644 --- a/timing/timeIncremental.cpp +++ b/timing/timeIncremental.cpp @@ -97,7 +97,7 @@ int main(int argc, char *argv[]) { // cout << "Initializing " << 0 << endl; newVariables.insert(0, Pose()); // Add prior - newFactors.addPrior<>(0, Pose(), noiseModel::Unit::Create(3)); + newFactors.addPrior(0, Pose(), noiseModel::Unit::Create(3)); } while(nextMeasurement < measurements.size()) { diff --git a/timing/timeLago.cpp b/timing/timeLago.cpp index 1e4cb49e1..7aaf37e92 100644 --- a/timing/timeLago.cpp +++ b/timing/timeLago.cpp @@ -50,7 +50,7 @@ int main(int argc, char *argv[]) { // Add prior on the pose having index (key) = 0 noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Sigmas(Vector3(1e-6, 1e-6, 1e-8)); - g->addPrior<>(0, Pose2(), priorModel); + g->addPrior(0, Pose2(), priorModel); // LAGO for (size_t i = 0; i < trials; i++) { diff --git a/timing/timeiSAM2Chain.cpp b/timing/timeiSAM2Chain.cpp index 0a381e92a..a056bde24 100644 --- a/timing/timeiSAM2Chain.cpp +++ b/timing/timeiSAM2Chain.cpp @@ -60,7 +60,7 @@ int main(int argc, char *argv[]) { gttic_(Create_measurements); if(step == 0) { // Add prior - newFactors.addPrior<>(0, Pose(), noiseModel::Unit::Create(3)); + newFactors.addPrior(0, Pose(), noiseModel::Unit::Create(3)); newVariables.insert(0, Pose()); } else { Vector eta = Vector::Random(3) * 0.1; From 93ba522582ca789b9426c3edb4bba820872047f5 Mon Sep 17 00:00:00 2001 From: alescontrela Date: Sun, 12 Apr 2020 13:42:02 -0400 Subject: [PATCH 0333/1152] Remove any unnecessary PriorFactor.h includes --- examples/InverseKinematicsExampleExpressions.cpp | 1 - examples/Pose2SLAMExampleExpressions.cpp | 1 - examples/Pose3SLAMExample_changeKeys.cpp | 1 - examples/SimpleRotation.cpp | 7 +++---- gtsam/geometry/triangulation.h | 1 - gtsam/slam/tests/testOrientedPlane3Factor.cpp | 9 +++------ gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp | 1 - 7 files changed, 6 insertions(+), 15 deletions(-) diff --git a/examples/InverseKinematicsExampleExpressions.cpp b/examples/InverseKinematicsExampleExpressions.cpp index 9da1c62c0..1df83d9a1 100644 --- a/examples/InverseKinematicsExampleExpressions.cpp +++ b/examples/InverseKinematicsExampleExpressions.cpp @@ -22,7 +22,6 @@ #include #include #include -#include #include #include diff --git a/examples/Pose2SLAMExampleExpressions.cpp b/examples/Pose2SLAMExampleExpressions.cpp index 3760d0dd0..c35b9bc45 100644 --- a/examples/Pose2SLAMExampleExpressions.cpp +++ b/examples/Pose2SLAMExampleExpressions.cpp @@ -21,7 +21,6 @@ #include // For an explanation of headers below, please see Pose2SLAMExample.cpp -#include #include #include #include diff --git a/examples/Pose3SLAMExample_changeKeys.cpp b/examples/Pose3SLAMExample_changeKeys.cpp index b72acd30d..abadce975 100644 --- a/examples/Pose3SLAMExample_changeKeys.cpp +++ b/examples/Pose3SLAMExample_changeKeys.cpp @@ -19,7 +19,6 @@ #include #include -#include #include using namespace std; diff --git a/examples/SimpleRotation.cpp b/examples/SimpleRotation.cpp index 916238a28..c444c85aa 100644 --- a/examples/SimpleRotation.cpp +++ b/examples/SimpleRotation.cpp @@ -32,8 +32,8 @@ // In GTSAM, measurement functions are represented as 'factors'. Several common factors // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. -// We will apply a simple prior on the rotation -#include +// We will apply a simple prior on the rotation. We do so via the `addPrior` convenience +// method in NonlinearFactorGraph. // When the factors are created, we will add them to a Factor Graph. As the factors we are using // are nonlinear factors, we will need a Nonlinear Factor Graph. @@ -78,7 +78,6 @@ int main() { prior.print("goal angle"); noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(1, 1 * degree); Symbol key('x',1); - PriorFactor factor(key, prior, model); /** * Step 2: Create a graph container and add the factor to it @@ -90,7 +89,7 @@ int main() { * many more factors would be added. */ NonlinearFactorGraph graph; - graph.push_back(factor); + graph.addPrior(key, prior, model); graph.print("full graph"); /** diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index 087d7c86a..6c0f9c8f4 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -22,7 +22,6 @@ #include #include #include -#include #include #include diff --git a/gtsam/slam/tests/testOrientedPlane3Factor.cpp b/gtsam/slam/tests/testOrientedPlane3Factor.cpp index c903d5232..81f67f1ee 100644 --- a/gtsam/slam/tests/testOrientedPlane3Factor.cpp +++ b/gtsam/slam/tests/testOrientedPlane3Factor.cpp @@ -17,7 +17,6 @@ */ #include -#include #include #include #include @@ -49,10 +48,9 @@ TEST (OrientedPlane3Factor, lm_translation_error) { Pose3 init_pose(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); Vector sigmas(6); sigmas << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001; - PriorFactor pose_prior(init_sym, init_pose, - noiseModel::Diagonal::Sigmas(sigmas)); + new_graph.addPrior( + init_sym, init_pose, noiseModel::Diagonal::Sigmas(sigmas)); new_values.insert(init_sym, init_pose); - new_graph.add(pose_prior); // Add two landmark measurements, differing in range new_values.insert(lm_sym, test_lm0); @@ -94,11 +92,10 @@ TEST (OrientedPlane3Factor, lm_rotation_error) { // Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose Symbol init_sym('x', 0); Pose3 init_pose(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); - PriorFactor pose_prior(init_sym, init_pose, + new_graph.addPrior(init_sym, init_pose, noiseModel::Diagonal::Sigmas( (Vector(6) << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001).finished())); new_values.insert(init_sym, init_pose); - new_graph.add(pose_prior); // // Add two landmark measurements, differing in angle new_values.insert(lm_sym, test_lm0); diff --git a/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp b/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp index 2ae1b1d5b..141a50465 100644 --- a/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp +++ b/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp @@ -16,7 +16,6 @@ * @date Nov 2009 */ -#include #include #include #include From 6c964a5a418f02093509a75391d85ba8a3da47ee Mon Sep 17 00:00:00 2001 From: alescontrela Date: Sun, 12 Apr 2020 19:10:03 -0400 Subject: [PATCH 0334/1152] Fix Pose2SLAMExample_g2o example --- examples/Pose2SLAMExample_g2o.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/Pose2SLAMExample_g2o.cpp b/examples/Pose2SLAMExample_g2o.cpp index b36a22f25..738297230 100644 --- a/examples/Pose2SLAMExample_g2o.cpp +++ b/examples/Pose2SLAMExample_g2o.cpp @@ -64,7 +64,7 @@ int main(const int argc, const char *argv[]) { // Add prior on the pose having index (key) = 0 noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances(Vector3(1e-6, 1e-6, 1e-8)); - graph.addPrior(0, Pose2(), priorModel); + graph->addPrior(0, Pose2(), priorModel); std::cout << "Adding prior on pose 0 " << std::endl; GaussNewtonParams params; From 30a109e38eb68e7f5199c7aac6885a9044f61d39 Mon Sep 17 00:00:00 2001 From: alescontrela Date: Mon, 13 Apr 2020 10:37:35 -0400 Subject: [PATCH 0335/1152] Make small commit to re-trigger travis build. --- gtsam/slam/PriorFactor.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h index d314bfd84..335eb2b5a 100644 --- a/gtsam/slam/PriorFactor.h +++ b/gtsam/slam/PriorFactor.h @@ -15,6 +15,6 @@ **/ #pragma once -// Note: PriorFactor has been moved to gtsam/nonlinear. This file has been -// left here for backwards compatibility. +// Note: PriorFactor has been moved to gtsam/nonlinear/PriorFactor.h. This file +// has been left here for backwards compatibility. #include From df9cf86cb00a8915e8b0c0087b78cf0bf8b4a5fe Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Mon, 13 Apr 2020 11:30:57 -0400 Subject: [PATCH 0336/1152] replace task_scheduler_init with task arena/group --- examples/SolverComparer.cpp | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp index d9dce7181..cc5fdb26d 100644 --- a/examples/SolverComparer.cpp +++ b/examples/SolverComparer.cpp @@ -58,7 +58,8 @@ #include #ifdef GTSAM_USE_TBB -#include // tbb::task_scheduler_init +#include // tbb::task_arena +#include // tbb::task_group #endif using namespace std; @@ -204,10 +205,11 @@ int main(int argc, char *argv[]) { } #ifdef GTSAM_USE_TBB - std::unique_ptr init; + tbb::task_arena arena; + tbb::task_group tg; if(nThreads > 0) { cout << "Using " << nThreads << " threads" << endl; - init.reset(new tbb::task_scheduler_init(nThreads)); + arena.initialize(nThreads); } else cout << "Using threads for all processors" << endl; #else @@ -217,6 +219,10 @@ int main(int argc, char *argv[]) { } #endif +#ifdef GTSAM_USE_TBB + arena.execute([&]{ + tg.run([&]{ +#endif // Run mode if(incremental) runIncremental(); @@ -228,6 +234,10 @@ int main(int argc, char *argv[]) { runPerturb(); else if(stats) runStats(); +#ifdef GTSAM_USE_TBB + }); + }); +#endif return 0; } From c54346cc590a38431e34af954afe6cb311b5c2e3 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Mon, 13 Apr 2020 15:17:36 -0400 Subject: [PATCH 0337/1152] modified document --- doc/robust.pdf | Bin 197679 -> 205572 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/doc/robust.pdf b/doc/robust.pdf index ef8dc6fe624ef0af97973b383042940993273752..45c023384c723a506f5bb48b2bfcab5aa5b338c3 100644 GIT binary patch delta 89002 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