From 201539680f6e2e1db00b6d2b49ceb1a8c9b8db4f Mon Sep 17 00:00:00 2001 From: yetongumich Date: Wed, 1 Apr 2020 20:07:49 -0400 Subject: [PATCH 01/20] 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 02/20] 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 227bff6aeeddb4b85d6c05ce75f18df22c099447 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:04:31 -0400 Subject: [PATCH 03/20] 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 04/20] 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 d86bab0e7dc8f9a16cda03cf69f0869cbbb37372 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:04:31 -0400 Subject: [PATCH 05/20] 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 06/20] 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 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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 08/20] 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 efc264d8ee3c4704471488c982b768c1dccd57c4 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 5 Apr 2020 14:20:44 -0400 Subject: [PATCH 09/20] 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 10/20] 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 11/20] 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 14/20] 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 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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 eb1a2b8fb3a6b3656da0acd1efc982f5fe6cc3c3 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 12 Jul 2020 14:31:29 -0400 Subject: [PATCH 16/20] modified test --- tests/testNonlinearOptimizer.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 5d4c3f844..a549dc726 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -459,11 +459,12 @@ TEST(NonlinearOptimizer, RobustMeanCalculation) { init.insert(0, 100.0); expected.insert(0, 3.33333333); - LevenbergMarquardtParams params; + DoglegParams params_dl; + params_dl.setRelativeErrorTol(1e-10); auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); - auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize(); - auto dl_result = DoglegOptimizer(fg, init).optimize(); + auto lm_result = LevenbergMarquardtOptimizer(fg, init).optimize(); + auto dl_result = DoglegOptimizer(fg, init, params_dl).optimize(); EXPECT(assert_equal(expected, gn_result, tol)); EXPECT(assert_equal(expected, lm_result, tol)); From 7db7455c12fb9b1c06e9ffc3bc47e27ed489eff1 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 12 Jul 2020 23:05:24 -0400 Subject: [PATCH 17/20] deprecate error in noisemodel, use loss instead; revise virtual with override --- gtsam/linear/NoiseModel.cpp | 36 +++--- gtsam/linear/NoiseModel.h | 172 +++++++++++++++------------- gtsam/nonlinear/NonlinearFactor.cpp | 2 +- 3 files changed, 113 insertions(+), 97 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index ec4fd08fd..f5ec95696 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -74,6 +74,13 @@ Vector Base::sigmas() const { throw("Base::sigmas: sigmas() not implemented for this noise model"); } +/* ************************************************************************* */ +double Base::squaredMahalanobisDistance(const Vector& v) const { + // Note: for Diagonal, which does ediv_, will be correct for constraints + Vector w = whiten(v); + return w.dot(w); +} + /* ************************************************************************* */ Gaussian::shared_ptr Gaussian::SqrtInformation(const Matrix& R, bool smart) { size_t m = R.rows(), n = R.cols(); @@ -164,13 +171,6 @@ Vector Gaussian::unwhiten(const Vector& v) const { return backSubstituteUpper(thisR(), v); } -/* ************************************************************************* */ -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); -} - /* ************************************************************************* */ Matrix Gaussian::Whiten(const Matrix& H) const { return thisR() * H; @@ -376,6 +376,7 @@ Vector Constrained::whiten(const Vector& v) const { return c; } +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /* ************************************************************************* */ double Constrained::error(const Vector& v) const { Vector w = Diagonal::whiten(v); // get noisemodel for constrained elements @@ -384,6 +385,16 @@ double Constrained::error(const Vector& v) const { w[i] = v[i] * sqrt(mu_[i]); // TODO: may want to store sqrt rather than rebuild return 0.5 * w.dot(w); } +#endif + +/* ************************************************************************* */ +double Constrained::squaredMahalanobisDistance(const Vector& v) const { + Vector w = Diagonal::whiten(v); // get noisemodel for constrained elements + for (size_t i=0; ireweight(A1,A2,A3,b); } -Robust::shared_ptr Robust::Create(const RobustModel::shared_ptr& robust, - const noiseModel::Base::shared_ptr noise) { - SharedGaussian gaussian; - if (!(gaussian = boost::dynamic_pointer_cast(noise))) - { - throw std::invalid_argument("The noise model inside robust must be Gaussian"); - }; - 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 449a70cf3..7494e0501 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -90,13 +90,26 @@ namespace gtsam { /// Unwhiten an error vector. virtual Vector unwhiten(const Vector& v) const = 0; + /// 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)); + } + + /// loss function, input is Mahalanobis distance + virtual double loss(const double squared_distance) const { + return 0.5 * squared_distance; + } + +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// calculate the error value given measurement error vector virtual double error(const Vector& v) const = 0; -#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 virtual double distance(const Vector& v) { return error(v) * 2; - } + } #endif virtual void WhitenSystem(std::vector& A, Vector& b) const = 0; @@ -207,42 +220,30 @@ namespace gtsam { */ static shared_ptr Covariance(const Matrix& covariance, bool smart = true); - virtual void print(const std::string& name) const; - virtual bool equals(const Base& expected, double tol=1e-9) const; - virtual Vector sigmas() const; - virtual Vector whiten(const Vector& v) const; - virtual Vector unwhiten(const Vector& v) const; - - /** - * 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)); - } + void print(const std::string& name) const override; + bool equals(const Base& expected, double tol=1e-9) const override; + Vector sigmas() const override; + Vector whiten(const Vector& v) const override; + Vector unwhiten(const Vector& v) const override; #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 virtual double Mahalanobis(const Vector& v) const { return squaredMahalanobisDistance(v); } -#endif /** * error value 0.5 * v'*R'*R*v */ - inline virtual double error(const Vector& v) const { + inline double error(const Vector& v) const override { return 0.5 * squaredMahalanobisDistance(v); } +#endif /** * Multiply a derivative with R (derivative of whiten) * Equivalent to whitening each column of the input matrix. */ - virtual Matrix Whiten(const Matrix& H) const; + Matrix Whiten(const Matrix& H) const override; /** * In-place version @@ -257,10 +258,10 @@ namespace gtsam { /** * Whiten a system, in place as well */ - virtual void WhitenSystem(std::vector& A, Vector& b) const; - virtual void WhitenSystem(Matrix& A, Vector& b) const; - virtual void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const; - virtual void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const; + void WhitenSystem(std::vector& A, Vector& b) const override; + void WhitenSystem(Matrix& A, Vector& b) const override; + void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const override; + void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const override; /** * Apply appropriately weighted QR factorization to the system [A b] @@ -345,13 +346,13 @@ namespace gtsam { return Variances(precisions.array().inverse(), smart); } - virtual void print(const std::string& name) const; - virtual Vector sigmas() const { return sigmas_; } - virtual Vector whiten(const Vector& v) const; - virtual Vector unwhiten(const Vector& v) const; - virtual Matrix Whiten(const Matrix& H) const; - virtual void WhitenInPlace(Matrix& H) const; - virtual void WhitenInPlace(Eigen::Block H) const; + void print(const std::string& name) const override; + Vector sigmas() const override { return sigmas_; } + Vector whiten(const Vector& v) const override; + Vector unwhiten(const Vector& v) const override; + Matrix Whiten(const Matrix& H) const override; + void WhitenInPlace(Matrix& H) const override; + void WhitenInPlace(Eigen::Block H) const override; /** * Return standard deviations (sqrt of diagonal) @@ -373,7 +374,7 @@ namespace gtsam { /** * Return R itself, but note that Whiten(H) is cheaper than R*H */ - virtual Matrix R() const { + Matrix R() const override { return invsigmas().asDiagonal(); } @@ -427,10 +428,10 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; - virtual ~Constrained() {} + ~Constrained() {} /// true if a constrained noise mode, saves slow/clumsy dynamic casting - virtual bool isConstrained() const { return true; } + bool isConstrained() const override { return true; } /// Return true if a particular dimension is free or constrained bool constrained(size_t i) const; @@ -482,12 +483,16 @@ namespace gtsam { return MixedVariances(precisions.array().inverse()); } +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /** * The error function for a constrained noisemodel, * for non-constrained versions, uses sigmas, otherwise * uses the penalty function with mu */ - virtual double error(const Vector& v) const; + double error(const Vector& v) const override; +#endif + + double squaredMahalanobisDistance(const Vector& v) const override; /** Fully constrained variations */ static shared_ptr All(size_t dim) { @@ -504,16 +509,16 @@ namespace gtsam { return shared_ptr(new Constrained(Vector::Constant(dim, mu), Vector::Constant(dim,0))); } - virtual void print(const std::string& name) const; + void print(const std::string& name) const override; /// Calculates error vector with weights applied - virtual Vector whiten(const Vector& v) const; + Vector whiten(const Vector& v) const override; /// Whitening functions will perform partial whitening on rows /// with a non-zero sigma. Other rows remain untouched. - virtual Matrix Whiten(const Matrix& H) const; - virtual void WhitenInPlace(Matrix& H) const; - virtual void WhitenInPlace(Eigen::Block H) const; + Matrix Whiten(const Matrix& H) const override; + void WhitenInPlace(Matrix& H) const override; + void WhitenInPlace(Eigen::Block H) const override; /** * Apply QR factorization to the system [A b], taking into account constraints @@ -524,7 +529,7 @@ namespace gtsam { * @param Ab is the m*(n+1) augmented system matrix [A b] * @return diagonal noise model can be all zeros, mixed, or not-constrained */ - virtual Diagonal::shared_ptr QR(Matrix& Ab) const; + Diagonal::shared_ptr QR(Matrix& Ab) const override; /** * Returns a Unit version of a constrained noisemodel in which @@ -586,14 +591,14 @@ namespace gtsam { return Variance(dim, 1.0/precision, smart); } - virtual void print(const std::string& name) 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; - virtual void WhitenInPlace(Matrix& H) const; - virtual void whitenInPlace(Vector& v) const; - virtual void WhitenInPlace(Eigen::Block H) const; + void print(const std::string& name) const override; + double squaredMahalanobisDistance(const Vector& v) const override; + Vector whiten(const Vector& v) const override; + Vector unwhiten(const Vector& v) const override; + Matrix Whiten(const Matrix& H) const override; + void WhitenInPlace(Matrix& H) const override; + void whitenInPlace(Vector& v) const override; + void WhitenInPlace(Eigen::Block H) const override; /** * Return standard deviation @@ -626,7 +631,7 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; - virtual ~Unit() {} + ~Unit() {} /** * Create a unit covariance noise model @@ -636,19 +641,19 @@ namespace gtsam { } /// true if a unit noise model, saves slow/clumsy dynamic casting - virtual bool isUnit() const { return true; } + bool isUnit() const override { return true; } - virtual void print(const std::string& name) const; - 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; } - virtual void WhitenInPlace(Matrix& /*H*/) const {} - virtual void WhitenInPlace(Eigen::Block /*H*/) const {} - virtual void whitenInPlace(Vector& /*v*/) const {} - virtual void unwhitenInPlace(Vector& /*v*/) const {} - virtual void whitenInPlace(Eigen::Block& /*v*/) const {} - virtual void unwhitenInPlace(Eigen::Block& /*v*/) const {} + void print(const std::string& name) const override; + double squaredMahalanobisDistance(const Vector& v) const override {return v.dot(v); } + Vector whiten(const Vector& v) const override { return v; } + Vector unwhiten(const Vector& v) const override { return v; } + Matrix Whiten(const Matrix& H) const override { return H; } + void WhitenInPlace(Matrix& /*H*/) const override {} + void WhitenInPlace(Eigen::Block /*H*/) const override {} + void whitenInPlace(Vector& /*v*/) const override {} + void unwhitenInPlace(Vector& /*v*/) const override {} + void whitenInPlace(Eigen::Block& /*v*/) const override {} + void unwhitenInPlace(Eigen::Block& /*v*/) const override {} private: /** Serialization function */ @@ -682,7 +687,7 @@ namespace gtsam { protected: typedef mEstimator::Base RobustModel; - typedef noiseModel::Gaussian NoiseModel; + typedef noiseModel::Base NoiseModel; const RobustModel::shared_ptr robust_; ///< robust error function used const NoiseModel::shared_ptr noise_; ///< noise model used @@ -697,10 +702,10 @@ namespace gtsam { : Base(noise->dim()), robust_(robust), noise_(noise) {} /// Destructor - virtual ~Robust() {} + ~Robust() {} - virtual void print(const std::string& name) const; - virtual bool equals(const Base& expected, double tol=1e-9) const; + void print(const std::string& name) const override; + bool equals(const Base& expected, double tol=1e-9) const override; /// Return the contained robust error function const RobustModel::shared_ptr& robust() const { return robust_; } @@ -709,37 +714,42 @@ namespace gtsam { const NoiseModel::shared_ptr& noise() const { return noise_; } // TODO: functions below are dummy but necessary for the noiseModel::Base - inline virtual Vector whiten(const Vector& v) const + inline Vector whiten(const Vector& v) const override { Vector r = v; this->WhitenSystem(r); return r; } - inline virtual Matrix Whiten(const Matrix& A) const + inline Matrix Whiten(const Matrix& A) const override { Vector b; Matrix B=A; this->WhitenSystem(B,b); return B; } - inline virtual Vector unwhiten(const Vector& /*v*/) const + inline Vector unwhiten(const Vector& /*v*/) const override { throw std::invalid_argument("unwhiten is not currently supported for robust noise models."); } #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 - inline virtual double distance(const Vector& v) { + inline double distance(const Vector& v) override { return robust_->loss(this->unweightedWhiten(v).norm()); } -#endif // Fold the use of the m-estimator loss(...) function into error(...) - inline virtual double error(const Vector& v) const + inline double error(const Vector& v) const override { return robust_->loss(noise_->mahalanobisDistance(v)); } +#endif + + double loss(const double squared_distance) const override { + return robust_->loss(std::sqrt(squared_distance)); + } + // 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; - virtual void WhitenSystem(Matrix& A, Vector& b) const; - virtual void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const; - virtual void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const; + void WhitenSystem(std::vector& A, Vector& b) const override; + void WhitenSystem(Matrix& A, Vector& b) const override; + void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const override; + void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const override; - virtual Vector unweightedWhiten(const Vector& v) const { + Vector unweightedWhiten(const Vector& v) const override { return noise_->unweightedWhiten(v); } - virtual double weight(const Vector& v) const { + double weight(const Vector& v) const override { // 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); + const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise); private: /** Serialization function */ diff --git a/gtsam/nonlinear/NonlinearFactor.cpp b/gtsam/nonlinear/NonlinearFactor.cpp index 40fc1c427..1cfcba274 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 noiseModel_->error(b); + return noiseModel_->loss(noiseModel_->squaredMahalanobisDistance(b)); else return 0.5 * b.squaredNorm(); } else { From ec993497f322df8b8c3dbbbfeef80d59c397405c Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 12 Jul 2020 23:09:13 -0400 Subject: [PATCH 18/20] deprecate error in noisemodel, use loss instead; revise virtual with override --- gtsam/linear/JacobianFactor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index be9b17052..b8a08be9e 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 model_->error(e); + if (model_) return 0.5 * model_->squaredMahalanobisDistance(e); return 0.5 * e.dot(e); } From 52927c1c5b8a5b3e71ce8184fb6fcb4ca4c7b83b Mon Sep 17 00:00:00 2001 From: yetongumich Date: Mon, 13 Jul 2020 01:45:22 -0400 Subject: [PATCH 19/20] modify testNoiseModel to use loss instead of error --- gtsam/linear/tests/testNoiseModel.cpp | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index dd1d46b42..42d68a603 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -182,8 +182,9 @@ 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(0.5 * (1000.0 + 0.25 + 0.25),d->error(infeasible),1e-9); - DOUBLES_EQUAL(0.5 * 0.5,d->error(feasible),1e-9); + DOUBLES_EQUAL(0.5 * (1000.0 + 0.25 + 0.25),d->loss(d->squaredMahalanobisDistance(infeasible)),1e-9); + DOUBLES_EQUAL(0.5, d->squaredMahalanobisDistance(feasible),1e-9); + DOUBLES_EQUAL(0.5 * 0.5, d->loss(0.5),1e-9); } /* ************************************************************************* */ @@ -197,8 +198,9 @@ 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(0.5 * 1000.0 * 3.0,i->error(infeasible),1e-9); - DOUBLES_EQUAL(0.0,i->error(feasible),1e-9); + DOUBLES_EQUAL(0.5 * 1000.0 * 3.0,i->loss(i->squaredMahalanobisDistance(infeasible)),1e-9); + DOUBLES_EQUAL(0.0, i->squaredMahalanobisDistance(feasible), 1e-9); + DOUBLES_EQUAL(0.0, i->loss(0.0),1e-9); } /* ************************************************************************* */ @@ -717,7 +719,8 @@ TEST(NoiseModel, lossFunctionAtZero) EQUALITY(cov, gaussian->covariance());\ EXPECT(assert_equal(white, gaussian->whiten(e)));\ EXPECT(assert_equal(e, gaussian->unwhiten(white)));\ - EXPECT_DOUBLES_EQUAL(0.5 * 251, gaussian->error(e), 1e-9);\ + EXPECT_DOUBLES_EQUAL(251.0, gaussian->squaredMahalanobisDistance(e), 1e-9);\ + EXPECT_DOUBLES_EQUAL(0.5 * 251.0, gaussian->loss(251.0), 1e-9);\ Matrix A = R.inverse(); Vector b = e;\ gaussian->WhitenSystem(A, b);\ EXPECT(assert_equal(I, A));\ From 529f6091d30eddc76119a28f674e41a104df45d5 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Mon, 13 Jul 2020 02:01:40 -0400 Subject: [PATCH 20/20] change doc --- doc/robust.pdf | Bin 205572 -> 205563 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/doc/robust.pdf b/doc/robust.pdf index 45c023384c723a506f5bb48b2bfcab5aa5b338c3..67b853f44eefdf176e8b73bad1a6fd3da83f93d8 100644 GIT binary patch delta 3753 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