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Working CustomFactor

release/4.3a0
Fan Jiang 2021-05-14 16:24:31 -04:00
parent ab92779b25
commit 866d6b1fa1
7 changed files with 222 additions and 1 deletions
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6
gtsam/gtsam.i
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@ -2166,6 +2166,12 @@ virtual class NoiseModelFactor: gtsam::NonlinearFactor {
Vector whitenedError(const gtsam::Values& x) const;
};
#include <gtsam/nonlinear/CustomFactor.h>
virtual class CustomFactor: gtsam::NoiseModelFactor {
CustomFactor();
CustomFactor(const gtsam::SharedNoiseModel& noiseModel, const gtsam::KeyVector& keys, const gtsam::CustomErrorFunction& errorFunction);
};
#include <gtsam/nonlinear/Values.h>
class Values {
Values();

35
gtsam/nonlinear/CustomFactor.cpp Normal file
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@ -0,0 +1,35 @@
/* ----------------------------------------------------------------------------
* 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 CustomFactor.cpp
* @brief Class to enable arbitrary factors with runtime swappable error function.
* @author Fan Jiang
*/
#include <gtsam/nonlinear/CustomFactor.h>
namespace gtsam {
Vector CustomFactor::unwhitenedError(const Values& x, boost::optional<std::vector<Matrix>&> H) const {
if(this->active(x)) {
if(H) {
return this->errorFunction(*this, x, H.get_ptr());
} else {
JacobianVector dummy;
return this->errorFunction(*this, x, &dummy);
}
} else {
return Vector::Zero(this->dim());
}
}
}

84
gtsam/nonlinear/CustomFactor.h Normal file
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@ -0,0 +1,84 @@
/* ----------------------------------------------------------------------------
* 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 CustomFactor.h
* @brief Class to enable arbitrary factors with runtime swappable error function.
* @author Fan Jiang
*/
#pragma once
#include <gtsam/nonlinear/NonlinearFactor.h>
using namespace gtsam;
namespace gtsam {
typedef std::vector<Matrix> JacobianVector;
class CustomFactor;
typedef std::function<Vector(const CustomFactor&, const Values&, const JacobianVector*)> CustomErrorFunction;
/**
* @brief Custom factor that takes a std::function as the error
* @addtogroup nonlinear
* \nosubgrouping
*
* This factor is mainly for creating a custom factor in Python.
*/
class CustomFactor: public NoiseModelFactor {
public:
CustomErrorFunction errorFunction;
protected:
typedef NoiseModelFactor Base;
typedef CustomFactor This;
public:
/**
* Default Constructor for I/O
*/
CustomFactor() = default;
/**
* Constructor
* @param noiseModel shared pointer to noise model
* @param keys keys of the variables
* @param errorFunction the error functional
*/
CustomFactor(const SharedNoiseModel& noiseModel, const KeyVector& keys, const CustomErrorFunction& errorFunction) :
Base(noiseModel, keys) {
this->errorFunction = errorFunction;
}
~CustomFactor() override = default;
/** Calls the errorFunction closure, which is a std::function object
* One can check if a derivative is needed in the errorFunction by checking the length of Jacobian array
*/
Vector unwhitenedError(const Values& x, boost::optional<std::vector<Matrix>&> H = boost::none) const override;
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & boost::serialization::make_nvp("CustomFactor",
boost::serialization::base_object<Base>(*this));
}
};
};

3
matlab/CMakeLists.txt
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@ -61,7 +61,8 @@ endif()
# ignoring the non-concrete types (type aliases)
set(ignore
gtsam::Point2
gtsam::Point3)
gtsam::Point3
gtsam::CustomFactor)
# Wrap
matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam/gtsam.i "${GTSAM_ADDITIONAL_LIBRARIES}"

8
python/gtsam/preamble.h
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@ -6,9 +6,17 @@ PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key>>);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key>);
#endif
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2> >);
PYBIND11_MAKE_OPAQUE(gtsam::Point3Pairs);
PYBIND11_MAKE_OPAQUE(gtsam::Pose3Pairs);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >);
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler> >);
PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> >);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Matrix>); // JacobianVector
// TODO(fan): This is to fix the Argument-dependent lookup (ADL) of std::pair. We should find a way to NOT do this.
namespace std {
using gtsam::operator<<;
}

1
python/gtsam/specializations.h
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@ -17,3 +17,4 @@ py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector");
py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> > >(m_, "CameraSetCal3_S2");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler> > >(m_, "CameraSetCal3Bundler");
py::bind_vector<std::vector<gtsam::Matrix> >(m_, "JacobianVector");

86
python/gtsam/tests/test_custom_factor.py Normal file
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@ -0,0 +1,86 @@
"""
GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
CustomFactor unit tests.
Author: Fan Jiang
"""
from typing import List
import unittest
from gtsam import Values, Pose2, CustomFactor
import numpy as np
import gtsam
from gtsam.utils.test_case import GtsamTestCase
class TestCustomFactor(GtsamTestCase):
def test_new(self):
def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]):
return np.array([1, 0, 0])
noise_model = gtsam.noiseModel.Unit.Create(3)
cf = CustomFactor(noise_model, gtsam.KeyVector([0]), error_func)
def test_call(self):
expected_pose = Pose2(1, 1, 0)
def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]) -> np.ndarray:
key0 = this.keys()[0]
error = -v.atPose2(key0).localCoordinates(expected_pose)
return error
noise_model = gtsam.noiseModel.Unit.Create(3)
cf = CustomFactor(noise_model, gtsam.KeyVector([0]), error_func)
v = Values()
v.insert(0, Pose2(1, 0, 0))
e = cf.error(v)
self.assertEqual(e, 0.5)
def test_jacobian(self):
"""Tests if the factor result matches the GTSAM Pose2 unit test"""
gT1 = Pose2(1, 2, np.pi/2)
gT2 = Pose2(-1, 4, np.pi)
expected = Pose2(2, 2, np.pi/2)
def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]):
# print(f"{this = },\n{v = },\n{len(H) = }")
key0 = this.keys()[0]
key1 = this.keys()[1]
gT1, gT2 = v.atPose2(key0), v.atPose2(key1)
error = Pose2(0, 0, 0).localCoordinates(gT1.between(gT2))
if len(H) > 0:
result = gT1.between(gT2)
H[0] = -result.inverse().AdjointMap()
H[1] = np.eye(3)
return error
noise_model = gtsam.noiseModel.Unit.Create(3)
cf = CustomFactor(noise_model, gtsam.KeyVector([0, 1]), error_func)
v = Values()
v.insert(0, gT1)
v.insert(1, gT2)
bf = gtsam.BetweenFactorPose2(0, 1, Pose2(0, 0, 0), noise_model)
gf = cf.linearize(v)
gf_b = bf.linearize(v)
J_cf, b_cf = gf.jacobian()
J_bf, b_bf = gf_b.jacobian()
np.testing.assert_allclose(J_cf, J_bf)
np.testing.assert_allclose(b_cf, b_bf)
if __name__ == "__main__":
unittest.main()