diff --git a/.cproject b/.cproject deleted file mode 100644 index 10b16f91c..000000000 --- a/.cproject +++ /dev/null @@ -1,3563 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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true - true - true - - - make - -j2 - Pose2SLAMwSPCG_easy.run - true - true - true - - - make - -j5 - UGM_small.run - true - true - true - - - make - -j5 - LocalizationExample.run - true - true - true - - - make - -j5 - OdometryExample.run - true - true - true - - - make - -j5 - RangeISAMExample_plaza2.run - true - true - true - - - make - -j5 - SelfCalibrationExample.run - true - true - true - - - make - -j5 - SFMExample.run - true - true - true - - - make - -j5 - VisualISAMExample.run - true - true - true - - - make - -j5 - VisualISAM2Example.run - true - true - true - - - make - -j5 - Pose2SLAMExample_graphviz.run - true - true - true - - - make - -j5 - Pose2SLAMExample_graph.run - true - true - true - - - make - -j5 - SFMExample_bal.run - true - true - true - - - make - -j5 - Pose2SLAMExample_lago.run - true - true - true - - - make - -j5 - Pose2SLAMExample_g2o.run - true - true - true - - - make - -j5 - SFMExample_SmartFactor.run - true - true - true - - - make - -j4 - Pose2SLAMExampleExpressions.run - true - true - true - - - make - -j4 - SFMExampleExpressions.run - true - true - true - - - make - -j4 - SFMExampleExpressions_bal.run - true - true - true - - - make - -j5 - testLago.run - true - true - true - - - make - -j5 - testLinearContainerFactor.run - true - true - true - - - make - -j5 - testOrdering.run - true - true - true - - - make - -j5 - testValues.run - true - true - true - - - make - -j5 - testWhiteNoiseFactor.run - true - true - true - - - make - -j4 - testExpression.run - true - true - true - - - make - -j4 - testAdaptAutoDiff.run - true - true - true - - - make - -j4 - testCallRecord.run - true - true - true - - - make - -j4 - testExpressionFactor.run - true - true - true - - - make - -j4 - testExecutionTrace.run - true - true - true - - - make - -j4 - testSerializationNonlinear.run - true - true - true - - - make - -j4 - testImuFactor.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - tests/testGaussianISAM2 - true - false - true - - - make - -j5 - timeCalibratedCamera.run - true - true - true - - - make - -j5 - timePinholeCamera.run - true - true - true - - - make - -j5 - timeStereoCamera.run - true - true - true - - - make - -j5 - timeLago.run - true - true - true - - - make - -j5 - timePose3.run - true - true - true - - - make - -j4 - timeAdaptAutoDiff.run - true - true - true - - - make - -j4 - timeCameraExpression.run - true - true - true - - - make - -j4 - timeOneCameraExpression.run - true - true - true - - - make - -j4 - timeSFMExpressions.run - true - true - true - - - make - -j4 - timeIncremental.run - true - true - true - - - make - -j4 - timeSchurFactors.run - true - true - true - - - make - -j4 - timeRot2.run - true - true - true - - - make - -j2 - testRot3.run - true - true - true - - - make - -j2 - testRot2.run - true - true - true - - - make - -j2 - testPose3.run - true - true - true - - - make - -j2 - timeRot3.run - true - true - true - - - make - -j2 - testPose2.run - true - true - true - - - make - -j2 - testCal3_S2.run - true - true - true - - - make - -j2 - testSimpleCamera.run - true - true - true - - - make - -j2 - testHomography2.run - true - true - true - - - make - -j2 - testCalibratedCamera.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testPoint2.run - true - true - true - - - make - -j4 - testBearingFactor.run - true - true - true - - - make - -j4 - testRangeFactor.run - true - true - true - - - make - -j4 - testBearingRangeFactor.run - true - true - true - - - make - -j5 - wrap - true - true - true - - - - diff --git a/.github/scripts/boost.sh b/.github/scripts/boost.sh new file mode 100644 index 000000000..3c7e01274 --- /dev/null +++ b/.github/scripts/boost.sh @@ -0,0 +1,18 @@ +### Script to install Boost +BOOST_FOLDER=boost_${BOOST_VERSION//./_} + +# Download Boost +wget https://boostorg.jfrog.io/artifactory/main/release/${BOOST_VERSION}/source/${BOOST_FOLDER}.tar.gz + +# Unzip +tar -zxf ${BOOST_FOLDER}.tar.gz + +# Bootstrap +cd ${BOOST_FOLDER}/ +./bootstrap.sh --with-libraries=serialization,filesystem,thread,system,atomic,date_time,timer,chrono,program_options,regex + +# Build and install +sudo ./b2 -j$(nproc) install + +# Rebuild ld cache +sudo ldconfig diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh index a71e14c97..22098ec08 100644 --- a/.github/scripts/python.sh +++ b/.github/scripts/python.sh @@ -58,28 +58,29 @@ PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin BUILD_PYBIND="ON" -TYPEDEF_POINTS_TO_VECTORS="ON" sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt mkdir $GITHUB_WORKSPACE/build cd $GITHUB_WORKSPACE/build -cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=Release \ - -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \ +cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \ + -DGTSAM_BUILD_TESTS=OFF \ + -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \ -DGTSAM_USE_QUATERNIONS=OFF \ -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \ - -DGTSAM_TYPEDEF_POINTS_TO_VECTORS=${TYPEDEF_POINTS_TO_VECTORS} \ + -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \ -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \ -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \ -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \ -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install -make -j$(nproc) install +# Set to 2 cores so that Actions does not error out during resource provisioning. +make -j2 install cd $GITHUB_WORKSPACE/build/python $PYTHON setup.py install --user --prefix= diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh index 55a8ac372..6abbb5596 100644 --- a/.github/scripts/unix.sh +++ b/.github/scripts/unix.sh @@ -92,7 +92,11 @@ function build () configure - make -j2 + if [ "$(uname)" == "Linux" ]; then + make -j$(nproc) + elif [ "$(uname)" == "Darwin" ]; then + make -j$(sysctl -n hw.physicalcpu) + fi finish } @@ -105,8 +109,12 @@ function test () configure - # Actual build: - make -j2 check + # Actual testing + if [ "$(uname)" == "Linux" ]; then + make -j$(nproc) + elif [ "$(uname)" == "Darwin" ]; then + make -j$(sysctl -n hw.physicalcpu) + fi finish } diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml index d80a7f4ba..f52e5eec3 100644 --- a/.github/workflows/build-linux.yml +++ b/.github/workflows/build-linux.yml @@ -12,6 +12,7 @@ jobs: CTEST_PARALLEL_LEVEL: 2 CMAKE_BUILD_TYPE: ${{ matrix.build_type }} GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }} + BOOST_VERSION: 1.67.0 strategy: fail-fast: false @@ -44,9 +45,9 @@ jobs: steps: - name: Checkout - uses: actions/checkout@master - - name: Install (Linux) - if: runner.os == 'Linux' + uses: actions/checkout@v2 + + - name: Install Dependencies run: | # LLVM (clang) 9 is not in Bionic's repositories so we add the official LLVM repository. if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then @@ -55,17 +56,14 @@ jobs: # 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository # This key is not in the keystore by default for Ubuntu so we need to add it. LLVM_KEY=15CF4D18AF4F7421 - gpg --keyserver ipv4.pool.sks-keyservers.net --recv-key $LLVM_KEY || gpg --keyserver ha.pool.sks-keyservers.net --recv-key $LLVM_KEY + gpg --keyserver keyserver.ubuntu.com --recv-key $LLVM_KEY || gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-key $LLVM_KEY gpg -a --export $LLVM_KEY | sudo apt-key add - sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main" fi sudo apt-get -y update - sudo apt install cmake build-essential pkg-config libpython-dev python-numpy - - echo "BOOST_ROOT=$(echo $BOOST_ROOT_1_72_0)" >> $GITHUB_ENV - echo "LD_LIBRARY_PATH=$(echo $BOOST_ROOT_1_72_0/lib)" >> $GITHUB_ENV - + sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev + if [ "${{ matrix.compiler }}" = "gcc" ]; then sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV @@ -75,11 +73,10 @@ jobs: echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV fi - - name: Check Boost version - if: runner.os == 'Linux' + + - name: Install Boost run: | - echo "BOOST_ROOT = $BOOST_ROOT" - - name: Build and Test (Linux) - if: runner.os == 'Linux' - run: | - bash .github/scripts/unix.sh -t \ No newline at end of file + bash .github/scripts/boost.sh + + - name: Build and Test + run: bash .github/scripts/unix.sh -t diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml index 69873980a..462723222 100644 --- a/.github/workflows/build-macos.yml +++ b/.github/workflows/build-macos.yml @@ -12,6 +12,7 @@ jobs: CTEST_PARALLEL_LEVEL: 2 CMAKE_BUILD_TYPE: ${{ matrix.build_type }} GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }} + strategy: fail-fast: false matrix: @@ -31,13 +32,12 @@ jobs: steps: - name: Checkout - uses: actions/checkout@master - - name: Install (macOS) - if: runner.os == 'macOS' + uses: actions/checkout@v2 + + - name: Install Dependencies run: | - brew tap ProfFan/robotics brew install cmake ninja - brew install ProfFan/robotics/boost + brew install boost if [ "${{ matrix.compiler }}" = "gcc" ]; then brew install gcc@${{ matrix.version }} echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV @@ -47,7 +47,5 @@ jobs: echo "CC=clang" >> $GITHUB_ENV echo "CXX=clang++" >> $GITHUB_ENV fi - - name: Build and Test (macOS) - if: runner.os == 'macOS' - run: | - bash .github/scripts/unix.sh -t + - name: Build and Test + run: bash .github/scripts/unix.sh -t diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml index 3f9a2e98a..3fc2d662f 100644 --- a/.github/workflows/build-python.yml +++ b/.github/workflows/build-python.yml @@ -12,6 +12,7 @@ jobs: CTEST_PARALLEL_LEVEL: 2 CMAKE_BUILD_TYPE: ${{ matrix.build_type }} PYTHON_VERSION: ${{ matrix.python_version }} + strategy: fail-fast: false matrix: @@ -43,6 +44,14 @@ jobs: compiler: clang version: "9" + # NOTE temporarily added this as it is a required check. + - name: ubuntu-18.04-clang-9 + os: ubuntu-18.04 + compiler: clang + version: "9" + build_type: Debug + python_version: "3" + - name: macOS-10.15-xcode-11.3.1 os: macOS-10.15 compiler: xcode @@ -56,7 +65,7 @@ jobs: steps: - name: Checkout - uses: actions/checkout@master + uses: actions/checkout@v2 - name: Install (Linux) if: runner.os == 'Linux' run: | @@ -66,13 +75,13 @@ jobs: # 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository # This key is not in the keystore by default for Ubuntu so we need to add it. LLVM_KEY=15CF4D18AF4F7421 - gpg --keyserver ipv4.pool.sks-keyservers.net --recv-key $LLVM_KEY || gpg --keyserver ha.pool.sks-keyservers.net --recv-key $LLVM_KEY + gpg --keyserver keyserver.ubuntu.com --recv-key $LLVM_KEY || gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-key $LLVM_KEY gpg -a --export $LLVM_KEY | sudo apt-key add - sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main" fi sudo apt-get -y update - sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev + sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev if [ "${{ matrix.compiler }}" = "gcc" ]; then sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib @@ -88,7 +97,7 @@ jobs: run: | brew tap ProfFan/robotics brew install cmake ninja - brew install ProfFan/robotics/boost + brew install boost if [ "${{ matrix.compiler }}" = "gcc" ]; then brew install gcc@${{ matrix.version }} echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml index 532f917c1..3bb3fa298 100644 --- a/.github/workflows/build-special.yml +++ b/.github/workflows/build-special.yml @@ -12,6 +12,7 @@ jobs: CTEST_PARALLEL_LEVEL: 2 CMAKE_BUILD_TYPE: ${{ matrix.build_type }} GTSAM_BUILD_UNSTABLE: ON + BOOST_VERSION: 1.67.0 strategy: fail-fast: false @@ -56,23 +57,20 @@ jobs: steps: - name: Checkout - uses: actions/checkout@master + uses: actions/checkout@v2 - name: Install (Linux) if: runner.os == 'Linux' run: | # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository. if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then - gpg --keyserver pool.sks-keyservers.net --recv-key 15CF4D18AF4F7421 + gpg --keyserver keyserver.ubuntu.com --recv-key $LLVM_KEY || gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-key $LLVM_KEY gpg -a --export 15CF4D18AF4F7421 | sudo apt-key add - sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main" fi sudo apt-get -y update - sudo apt install cmake build-essential pkg-config libpython-dev python-numpy - - echo "BOOST_ROOT=$(echo $BOOST_ROOT_1_72_0)" >> $GITHUB_ENV - echo "LD_LIBRARY_PATH=$(echo $BOOST_ROOT_1_72_0/lib)" >> $GITHUB_ENV + sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev if [ "${{ matrix.compiler }}" = "gcc" ]; then sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib @@ -84,6 +82,11 @@ jobs: echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV fi + - name: Install Boost + if: runner.os == 'Linux' + run: | + bash .github/scripts/boost.sh + - name: Install (macOS) if: runner.os == 'macOS' run: | diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml index 0a55de880..5dfdcd013 100644 --- a/.github/workflows/build-windows.yml +++ b/.github/workflows/build-windows.yml @@ -12,42 +12,46 @@ jobs: CTEST_PARALLEL_LEVEL: 2 CMAKE_BUILD_TYPE: ${{ matrix.build_type }} GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }} + BOOST_VERSION: 1.72.0 + BOOST_EXE: boost_1_72_0-msvc-14.2 + strategy: fail-fast: false matrix: # Github Actions requires a single row to be added to the build matrix. # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. name: [ - #TODO This build keeps timing out, need to understand why. - # windows-2016-cl, - windows-2019-cl, - ] + #TODO This build fails, need to understand why. + # windows-2016-cl, + windows-2019-cl, + ] build_type: [Debug, Release] build_unstable: [ON] include: - - #TODO This build keeps timing out, need to understand why. + #TODO This build fails, need to understand why. # - name: windows-2016-cl # os: windows-2016 # compiler: cl + # platform: 32 - name: windows-2019-cl os: windows-2019 compiler: cl + platform: 64 steps: - - name: Checkout - uses: actions/checkout@master - - name: Install (Windows) - if: runner.os == 'Windows' + - name: Install Dependencies shell: powershell run: | Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh') + scoop install cmake --global # So we don't get issues with CMP0074 policy scoop install ninja --global + if ("${{ matrix.compiler }}".StartsWith("clang")) { scoop install llvm --global } + if ("${{ matrix.compiler }}" -eq "gcc") { # Chocolatey GCC is broken on the windows-2019 image. # See: https://github.com/DaanDeMeyer/doctest/runs/231595515 @@ -55,24 +59,44 @@ jobs: scoop install gcc --global echo "CC=gcc" >> $GITHUB_ENV echo "CXX=g++" >> $GITHUB_ENV + } elseif ("${{ matrix.compiler }}" -eq "clang") { echo "CC=clang" >> $GITHUB_ENV echo "CXX=clang++" >> $GITHUB_ENV + } else { - echo "CC=${{ matrix.compiler }}" >> $GITHUB_ENV - echo "CXX=${{ matrix.compiler }}" >> $GITHUB_ENV + echo "CC=${{ matrix.compiler }}" >> $env:GITHUB_ENV + echo "CXX=${{ matrix.compiler }}" >> $env:GITHUB_ENV + } + # Scoop modifies the PATH so we make the modified PATH global. - echo "$env:PATH" >> $GITHUB_PATH - - name: Build (Windows) - if: runner.os == 'Windows' + echo "$env:PATH" >> $env:GITHUB_PATH + + - name: Install Boost + shell: powershell + run: | + # Snippet from: https://github.com/actions/virtual-environments/issues/2667 + $BOOST_PATH = "C:\hostedtoolcache\windows\Boost\$env:BOOST_VERSION\x86_64" + + # Use the prebuilt binary for Windows + $Url = "https://sourceforge.net/projects/boost/files/boost-binaries/$env:BOOST_VERSION/$env:BOOST_EXE-${{matrix.platform}}.exe" + (New-Object System.Net.WebClient).DownloadFile($Url, "$env:TEMP\boost.exe") + Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=$BOOST_PATH" + + # Set the BOOST_ROOT variable + echo "BOOST_ROOT=$BOOST_PATH" >> $env:GITHUB_ENV + + - name: Checkout + uses: actions/checkout@v2 + + - name: Build run: | cmake -E remove_directory build - echo "BOOST_ROOT_1_72_0: ${env:BOOST_ROOT_1_72_0}" - cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT_1_72_0}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT_1_72_0}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT_1_72_0}\lib" + cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib" cmake --build build --config ${{ matrix.build_type }} --target gtsam cmake --build build --config ${{ matrix.build_type }} --target gtsam_unstable cmake --build build --config ${{ matrix.build_type }} --target wrap cmake --build build --config ${{ matrix.build_type }} --target check.base cmake --build build --config ${{ matrix.build_type }} --target check.base_unstable - cmake --build build --config ${{ matrix.build_type }} --target check.linear \ No newline at end of file + cmake --build build --config ${{ matrix.build_type }} --target check.linear diff --git a/CMakeLists.txt b/CMakeLists.txt index fa9e7d507..d2559705d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -34,7 +34,7 @@ include(GtsamTesting) include(GtsamPrinting) # guard against in-source builds -if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR}) +if(${GTSAM_SOURCE_DIR} STREQUAL ${GTSAM_BINARY_DIR}) message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ") endif() @@ -63,12 +63,6 @@ include(cmake/HandleGlobalBuildFlags.cmake) # Build flags # Build CppUnitLite add_subdirectory(CppUnitLite) -# This is the new wrapper -if(GTSAM_BUILD_PYTHON) - list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake") - add_subdirectory(python) -endif() - # Build GTSAM library add_subdirectory(gtsam) @@ -86,8 +80,24 @@ if (GTSAM_BUILD_UNSTABLE) add_subdirectory(gtsam_unstable) endif() +# This is the new wrapper +if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX) + # Need to set this for the wrap package so we don't use the default value. + set(WRAP_PYTHON_VERSION ${GTSAM_PYTHON_VERSION} + CACHE STRING "The Python version to use for wrapping") + # Set the include directory for matlab.h + set(GTWRAP_INCLUDE_NAME "wrap") + add_subdirectory(wrap) + list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake") +endif() + +# Python toolbox +if(GTSAM_BUILD_PYTHON) + add_subdirectory(python) +endif() + # Matlab toolbox -if (GTSAM_INSTALL_MATLAB_TOOLBOX) +if(GTSAM_INSTALL_MATLAB_TOOLBOX) add_subdirectory(matlab) endif() diff --git a/DEVELOP.md b/DEVELOP.md index 133f3ea11..8604afe0f 100644 --- a/DEVELOP.md +++ b/DEVELOP.md @@ -17,3 +17,5 @@ class GTSAM_EXPORT MyClass { ... }; GTSAM_EXPORT myFunction(); ``` + +More details [here](Using-GTSAM-EXPORT.md). diff --git a/INSTALL.md b/INSTALL.md index 3dbc3a850..3a0f2896a 100644 --- a/INSTALL.md +++ b/INSTALL.md @@ -13,16 +13,17 @@ $ make install ## Important Installation Notes 1. GTSAM requires the following libraries to be installed on your system: - - BOOST version 1.58 or greater (install through Linux repositories or MacPorts) + - BOOST version 1.65 or greater (install through Linux repositories or MacPorts) - Cmake version 3.0 or higher - Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher Optional dependent libraries: - If TBB is installed and detectable by CMake GTSAM will use it automatically. Ensure that CMake prints "Use Intel TBB : Yes". To disable the use of TBB, - disable the CMake flag GTSAM_WITH_TBB (enabled by default). On Ubuntu, TBB - may be installed from the Ubuntu repositories, and for other platforms it - may be downloaded from https://www.threadingbuildingblocks.org/ + disable the CMake flag `GTSAM_WITH_TBB` (enabled by default) by providing + the argument `-DGTSAM_WITH_TBB=OFF` to `cmake`. On Ubuntu, TBB may be + installed from the Ubuntu repositories, and for other platforms it may be + downloaded from https://www.threadingbuildingblocks.org/ - GTSAM may be configured to use MKL by toggling `GTSAM_WITH_EIGEN_MKL` and `GTSAM_WITH_EIGEN_MKL_OPENMP` to `ON`; however, best performance is usually achieved with MKL disabled. We therefore advise you to benchmark your problem @@ -41,11 +42,6 @@ $ make install - MacOS 10.6 - 10.14 - Windows 7, 8, 8.1, 10 - Known issues: - - - MSVC 2013 is not yet supported because it cannot build the serialization module - of Boost 1.55 (or earlier). - 2. GTSAM makes extensive use of debug assertions, and we highly recommend you work in Debug mode while developing (enabled by default). Likewise, it is imperative that you switch to release mode when running finished code and for timing. GTSAM @@ -70,7 +66,41 @@ execute commands as follows for an out-of-source build: This will build the library and unit tests, run all of the unit tests, and then install the library itself. -## CMake Configuration Options and Details +## Known Issues + +- When using `GTSAM_BUILD_WITH_MARCH_NATIVE=ON`, you may encounter issues in running tests which we are still investigating: + - Use of a version of GCC < 7.5 results in an "Indeterminant Linear System" error for `testSmartProjectionFactor`. + - Use of Boost version < 1.65 with clang will give a segfault for mulitple test cases. +- MSVC 2013 is not yet supported because it cannot build the serialization module of Boost 1.55 (or earlier). + +# Windows Installation + +This section details how to build a GTSAM `.sln` file using Visual Studio. + +### Prerequisites + +- Visual Studio with C++ CMake tools for Windows +- All the other pre-requisites listed above. + +### Steps + +1. Open Visual Studio. +2. Select `Open a local folder` and select the GTSAM source directory. +3. Go to `Project -> CMake Settings`. + - (Optional) Set `Configuration name`. + - (Optional) Set `Configuration type`. + - Set the `Toolset` to `msvc_x64_x64`. If you know what toolset you require, then skip this step. + - Update the `Build root` to `${projectDir}\build\${name}`. + - You can optionally create a new configuration for a `Release` build. + - Set the necessary CMake variables for your use case. + - Click on `Show advanced settings`. + - For `CMake generator`, select a version which matches `Visual Studio Win64`, e.g. `Visual Studio 16 2019 Win64`. + - Save the settings (Ctrl + S). +4. Click on `Project -> Generate Cache`. This will generate the CMake build files (as seen in the Output window). +5. The last step will generate a `GTSAM.sln` file in the `build` directory. At this point, GTSAM can be used as a regular Visual Studio project. + + +# CMake Configuration Options and Details GTSAM has a number of options that can be configured, which is best done with one of the following: @@ -78,7 +108,7 @@ one of the following: - ccmake the curses GUI for cmake - cmake-gui a real GUI for cmake -### Important Options: +## Important Options: #### CMAKE_BUILD_TYPE We support several build configurations for GTSAM (case insensitive) diff --git a/README.md b/README.md index 60eff197a..046132301 100644 --- a/README.md +++ b/README.md @@ -40,7 +40,7 @@ $ make install Prerequisites: -- [Boost](http://www.boost.org/users/download/) >= 1.58 (Ubuntu: `sudo apt-get install libboost-all-dev`) +- [Boost](http://www.boost.org/users/download/) >= 1.65 (Ubuntu: `sudo apt-get install libboost-all-dev`) - [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`) - A modern compiler, i.e., at least gcc 4.7.3 on Linux. @@ -55,9 +55,9 @@ Optional prerequisites - used automatically if findable by CMake: GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also 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. -GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 to use the deprecated methods. +GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4` to use the deprecated methods. -GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag GTSAM_ALLOW_DEPRECATED_SINCE_V41 for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile. +GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag `GTSAM_ALLOW_DEPRECATED_SINCE_V41` for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile. ## Wrappers @@ -68,16 +68,16 @@ We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md) GTSAM includes a state of the art IMU handling scheme based on -- Todd Lupton and Salah Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions", TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505) +- Todd Lupton and Salah Sukkarieh, _"Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions"_, TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505) Our implementation improves on this using integration on the manifold, as detailed in -- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483) +- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, _"Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors"_, Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483) - Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf) 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 [this document](doc/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 diff --git a/Using-GTSAM-EXPORT.md b/Using-GTSAM-EXPORT.md index 41eccc178..cae1d499c 100644 --- a/Using-GTSAM-EXPORT.md +++ b/Using-GTSAM-EXPORT.md @@ -10,7 +10,7 @@ To create a DLL in windows, the `GTSAM_EXPORT` keyword has been created and need 3. If you have defined a class using `GTSAM_EXPORT`, do not use `GTSAM_EXPORT` in any of its individual function declarations. (Note that you _can_ put `GTSAM_EXPORT` in the definition of individual functions within a class as long as you don't put `GTSAM_EXPORT` in the class definition.) ## When is GTSAM_EXPORT being used incorrectly -Unfortunately, using `GTSAM_EXPORT` incorrectly often does not cause a compiler or linker error in the library that is being compiled, but only when you try to use that DLL in a different library. For example, an error in gtsam/base will often show up when compiling the check_base_program or the MATLAB wrapper, but not when compiling/linking gtsam itself. The most common errors will say something like: +Unfortunately, using `GTSAM_EXPORT` incorrectly often does not cause a compiler or linker error in the library that is being compiled, but only when you try to use that DLL in a different library. For example, an error in `gtsam/base` will often show up when compiling the `check_base_program` or the MATLAB wrapper, but not when compiling/linking gtsam itself. The most common errors will say something like: ``` Error LNK2019 unresolved external symbol "public: void __cdecl gtsam::SO3::print(class std::basic_string,class std::allocator > const &)const " (?print@SO3@gtsam@@QEBAXAEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Z) referenced in function "public: static void __cdecl gtsam::Testable::Print(class gtsam::SO3 const &,class std::basic_string,class std::allocator > const &)" (?Print@?$Testable@VSO3@gtsam@@@gtsam@@SAXAEBVSO3@2@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Z) check_geometry_program C:\AFIT\lib\gtsam\build\gtsam\geometry\tests\testSO3.obj diff --git a/cmake/CMakeLists.txt b/cmake/CMakeLists.txt index 451ca38a4..2c32049a0 100644 --- a/cmake/CMakeLists.txt +++ b/cmake/CMakeLists.txt @@ -16,11 +16,8 @@ install(FILES dllexport.h.in GtsamBuildTypes.cmake GtsamMakeConfigFile.cmake - GtsamMatlabWrap.cmake GtsamTesting.cmake GtsamPrinting.cmake FindNumPy.cmake README.html DESTINATION "${SCRIPT_INSTALL_DIR}/GTSAMCMakeTools") - - diff --git a/cmake/Config.cmake.in b/cmake/Config.cmake.in index 9bd188037..89627a172 100644 --- a/cmake/Config.cmake.in +++ b/cmake/Config.cmake.in @@ -6,7 +6,7 @@ get_filename_component(OUR_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) if(EXISTS "${OUR_CMAKE_DIR}/CMakeCache.txt") # In build tree - set(@PACKAGE_NAME@_INCLUDE_DIR @CMAKE_SOURCE_DIR@ CACHE PATH "@PACKAGE_NAME@ include directory") + set(@PACKAGE_NAME@_INCLUDE_DIR @GTSAM_SOURCE_DIR@ CACHE PATH "@PACKAGE_NAME@ include directory") else() # Find installed library set(@PACKAGE_NAME@_INCLUDE_DIR "${OUR_CMAKE_DIR}/@CONF_REL_INCLUDE_DIR@" CACHE PATH "@PACKAGE_NAME@ include directory") @@ -15,7 +15,7 @@ endif() # Find dependencies, required by cmake exported targets: include(CMakeFindDependencyMacro) # Allow using cmake < 3.8 -if(${CMAKE_VERSION} VERSION_LESS "3.8.0") +if(${CMAKE_VERSION} VERSION_LESS "3.8.0") find_package(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@) else() find_dependency(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@) diff --git a/cmake/FindTBB.cmake b/cmake/FindTBB.cmake index 76fe944f5..e2b1df6e3 100644 --- a/cmake/FindTBB.cmake +++ b/cmake/FindTBB.cmake @@ -99,11 +99,8 @@ if(NOT TBB_FOUND) ################################## if(NOT DEFINED TBB_USE_DEBUG_BUILD) - if(CMAKE_BUILD_TYPE MATCHES "(Debug|DEBUG|debug|RelWithDebInfo|RELWITHDEBINFO|relwithdebinfo)") - set(TBB_BUILD_TYPE DEBUG) - else() - set(TBB_BUILD_TYPE RELEASE) - endif() + # Set build type to RELEASE by default for optimization. + set(TBB_BUILD_TYPE RELEASE) elseif(TBB_USE_DEBUG_BUILD) set(TBB_BUILD_TYPE DEBUG) else() diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake index 3155161be..4b179d128 100644 --- a/cmake/GtsamBuildTypes.cmake +++ b/cmake/GtsamBuildTypes.cmake @@ -59,10 +59,10 @@ endif() option(GTSAM_BUILD_TYPE_POSTFIXES "Enable/Disable appending the build type to the name of compiled libraries" ON) # Define all cache variables, to be populated below depending on the OS/compiler: -set(GTSAM_COMPILE_OPTIONS_PRIVATE "" CACHE STRING "(Do not edit) Private compiler flags for all build configurations." FORCE) -set(GTSAM_COMPILE_OPTIONS_PUBLIC "" CACHE STRING "(Do not edit) Public compiler flags (exported to user projects) for all build configurations." FORCE) -set(GTSAM_COMPILE_DEFINITIONS_PRIVATE "" CACHE STRING "(Do not edit) Private preprocessor macros for all build configurations." FORCE) -set(GTSAM_COMPILE_DEFINITIONS_PUBLIC "" CACHE STRING "(Do not edit) Public preprocessor macros for all build configurations." FORCE) +set(GTSAM_COMPILE_OPTIONS_PRIVATE "" CACHE INTERNAL "(Do not edit) Private compiler flags for all build configurations." FORCE) +set(GTSAM_COMPILE_OPTIONS_PUBLIC "" CACHE INTERNAL "(Do not edit) Public compiler flags (exported to user projects) for all build configurations." FORCE) +set(GTSAM_COMPILE_DEFINITIONS_PRIVATE "" CACHE INTERNAL "(Do not edit) Private preprocessor macros for all build configurations." FORCE) +set(GTSAM_COMPILE_DEFINITIONS_PUBLIC "" CACHE INTERNAL "(Do not edit) Public preprocessor macros for all build configurations." FORCE) mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE) mark_as_advanced(GTSAM_COMPILE_OPTIONS_PUBLIC) mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE) @@ -71,7 +71,7 @@ mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PUBLIC) foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES}) string(TOUPPER "${build_type}" build_type_toupper) - # Define empty cache variables for "public". "private" are creaed below. + # Define empty cache variables for "public". "private" are created below. set(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper} "" CACHE STRING "(User editable) Public compiler flags (exported to user projects) for `${build_type_toupper}` configuration.") set(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper} "" CACHE STRING "(User editable) Public preprocessor macros for `${build_type_toupper}` configuration.") endforeach() @@ -204,9 +204,9 @@ endif() # Make common binary output directory when on Windows if(WIN32) - set(RUNTIME_OUTPUT_PATH "${CMAKE_BINARY_DIR}/bin") - set(EXECUTABLE_OUTPUT_PATH "${CMAKE_BINARY_DIR}/bin") - set(LIBRARY_OUTPUT_PATH "${CMAKE_BINARY_DIR}/lib") + set(RUNTIME_OUTPUT_PATH "${GTSAM_BINARY_DIR}/bin") + set(EXECUTABLE_OUTPUT_PATH "${GTSAM_BINARY_DIR}/bin") + set(LIBRARY_OUTPUT_PATH "${GTSAM_BINARY_DIR}/lib") endif() # Set up build type list for cmake-gui diff --git a/cmake/GtsamMatlabWrap.cmake b/cmake/GtsamMatlabWrap.cmake deleted file mode 100644 index 4c44d2cb3..000000000 --- a/cmake/GtsamMatlabWrap.cmake +++ /dev/null @@ -1,421 +0,0 @@ -# Set up cache options -option(GTSAM_MEX_BUILD_STATIC_MODULE "Build MATLAB wrapper statically (increases build time)" OFF) -set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation") -set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE PATH "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/gtsam_toolbox") -if(NOT GTSAM_TOOLBOX_INSTALL_PATH) - set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gtsam_toolbox") -endif() - -# GTSAM_MEX_BUILD_STATIC_MODULE is not for Windows - on Windows any static -# are already compiled into the library by the linker -if(GTSAM_MEX_BUILD_STATIC_MODULE AND WIN32) - message(FATAL_ERROR "GTSAM_MEX_BUILD_STATIC_MODULE should not be set on Windows - the linker already automatically compiles in any dependent static libraries. To create a standalone toolbox pacakge, simply ensure that CMake finds the static versions of all dependent libraries (Boost, etc).") -endif() - -# Try to automatically configure mex path -if(APPLE) - file(GLOB matlab_bin_directories "/Applications/MATLAB*/bin") - set(mex_program_name "mex") -elseif(WIN32) - file(GLOB matlab_bin_directories "C:/Program Files*/MATLAB/*/bin") - set(mex_program_name "mex.bat") -else() - file(GLOB matlab_bin_directories "/usr/local/MATLAB/*/bin") - set(mex_program_name "mex") -endif() - -if(GTSAM_CUSTOM_MATLAB_PATH) - set(matlab_bin_directories ${GTSAM_CUSTOM_MATLAB_PATH}) -endif() - -# Run find_program explicitly putting $PATH after our predefined program -# directories using 'ENV PATH' and 'NO_SYSTEM_ENVIRONMENT_PATH' - this prevents -# finding the LaTeX mex program (totally unrelated to MATLAB Mex) when LaTeX is -# on the system path. -list(REVERSE matlab_bin_directories) # Reverse list so the highest version (sorted alphabetically) is preferred -find_program(MEX_COMMAND ${mex_program_name} - PATHS ${matlab_bin_directories} ENV PATH - NO_DEFAULT_PATH) -mark_as_advanced(FORCE MEX_COMMAND) -# Now that we have mex, trace back to find the Matlab installation root -get_filename_component(MEX_COMMAND "${MEX_COMMAND}" REALPATH) -get_filename_component(mex_path "${MEX_COMMAND}" PATH) -if(mex_path MATCHES ".*/win64$") - get_filename_component(MATLAB_ROOT "${mex_path}/../.." ABSOLUTE) -else() - get_filename_component(MATLAB_ROOT "${mex_path}/.." ABSOLUTE) -endif() -set(MATLAB_ROOT "${MATLAB_ROOT}" CACHE PATH "Path to MATLAB installation root (e.g. /usr/local/MATLAB/R2012a)") - - -# User-friendly wrapping function. Builds a mex module from the provided -# interfaceHeader. For example, for the interface header gtsam.h, -# this will build the wrap module 'gtsam'. -# -# Arguments: -# -# interfaceHeader: The relative path to the wrapper interface definition file. -# linkLibraries: Any *additional* libraries to link. Your project library -# (e.g. `lba`), libraries it depends on, and any necessary -# MATLAB libraries will be linked automatically. So normally, -# leave this empty. -# extraIncludeDirs: Any *additional* include paths required by dependent -# libraries that have not already been added by -# include_directories. Again, normally, leave this empty. -# extraMexFlags: Any *additional* flags to pass to the compiler when building -# the wrap code. Normally, leave this empty. -function(wrap_and_install_library interfaceHeader linkLibraries extraIncludeDirs extraMexFlags) - wrap_library_internal("${interfaceHeader}" "${linkLibraries}" "${extraIncludeDirs}" "${mexFlags}") - install_wrapped_library_internal("${interfaceHeader}") -endfunction() - - -# Internal function that wraps a library and compiles the wrapper -function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs extraMexFlags) - if(UNIX AND NOT APPLE) - if(CMAKE_SIZEOF_VOID_P EQUAL 8) - set(mexModuleExt mexa64) - else() - set(mexModuleExt mexglx) - endif() - elseif(APPLE) - set(mexModuleExt mexmaci64) - elseif(MSVC) - if(CMAKE_CL_64) - set(mexModuleExt mexw64) - else() - set(mexModuleExt mexw32) - endif() - endif() - - # Wrap codegen interface - #usage: wrap interfacePath moduleName toolboxPath headerPath - # interfacePath : *absolute* path to directory of module interface file - # moduleName : the name of the module, interface file must be called moduleName.h - # toolboxPath : the directory in which to generate the wrappers - # headerPath : path to matlab.h - - # Extract module name from interface header file name - get_filename_component(interfaceHeader "${interfaceHeader}" ABSOLUTE) - get_filename_component(modulePath "${interfaceHeader}" PATH) - get_filename_component(moduleName "${interfaceHeader}" NAME_WE) - - # Paths for generated files - set(generated_files_path "${PROJECT_BINARY_DIR}/wrap/${moduleName}") - set(generated_cpp_file "${generated_files_path}/${moduleName}_wrapper.cpp") - set(compiled_mex_modules_root "${PROJECT_BINARY_DIR}/wrap/${moduleName}_mex") - - message(STATUS "Building wrap module ${moduleName}") - - # Find matlab.h in GTSAM - if(("${PROJECT_NAME}" STREQUAL "gtsam") OR - ("${PROJECT_NAME}" STREQUAL "gtsam_unstable")) - set(matlab_h_path "${PROJECT_SOURCE_DIR}") - else() - if(NOT GTSAM_INCLUDE_DIR) - message(FATAL_ERROR "You must call find_package(GTSAM) before using wrap") - endif() - list(GET GTSAM_INCLUDE_DIR 0 installed_includes_path) - set(matlab_h_path "${installed_includes_path}/wrap") - endif() - - # If building a static mex module, add all cmake-linked libraries to the - # explicit link libraries list so that the next block of code can unpack - # any static libraries - set(automaticDependencies "") - foreach(lib ${moduleName} ${linkLibraries}) - #message("MODULE NAME: ${moduleName}") - if(TARGET "${lib}") - get_target_property(dependentLibraries ${lib} INTERFACE_LINK_LIBRARIES) - # message("DEPENDENT LIBRARIES: ${dependentLibraries}") - if(dependentLibraries) - list(APPEND automaticDependencies ${dependentLibraries}) - endif() - endif() - endforeach() - - ## CHRIS: Temporary fix. On my system the get_target_property above returned Not-found for gtsam module - ## This needs to be fixed!! - if(UNIX AND NOT APPLE) - list(APPEND automaticDependencies ${Boost_SERIALIZATION_LIBRARY_RELEASE} ${Boost_FILESYSTEM_LIBRARY_RELEASE} - ${Boost_SYSTEM_LIBRARY_RELEASE} ${Boost_THREAD_LIBRARY_RELEASE} ${Boost_DATE_TIME_LIBRARY_RELEASE}) - if(Boost_TIMER_LIBRARY_RELEASE AND NOT GTSAM_DISABLE_NEW_TIMERS) # Only present in Boost >= 1.48.0 - list(APPEND automaticDependencies ${Boost_TIMER_LIBRARY_RELEASE} ${Boost_CHRONO_LIBRARY_RELEASE}) - if(GTSAM_MEX_BUILD_STATIC_MODULE) - #list(APPEND automaticDependencies -Wl,--no-as-needed -lrt) - endif() - endif() - endif() - - #message("AUTOMATIC DEPENDENCIES: ${automaticDependencies}") - ## CHRIS: End temporary fix - - # Separate dependencies - set(correctedOtherLibraries "") - set(otherLibraryTargets "") - set(otherLibraryNontargets "") - set(otherSourcesAndObjects "") - foreach(lib ${moduleName} ${linkLibraries} ${automaticDependencies}) - if(TARGET "${lib}") - if(GTSAM_MEX_BUILD_STATIC_MODULE) - get_target_property(target_sources ${lib} SOURCES) - list(APPEND otherSourcesAndObjects ${target_sources}) - else() - list(APPEND correctedOtherLibraries ${lib}) - list(APPEND otherLibraryTargets ${lib}) - endif() - else() - get_filename_component(file_extension "${lib}" EXT) - get_filename_component(lib_name "${lib}" NAME_WE) - if(file_extension STREQUAL ".a" AND GTSAM_MEX_BUILD_STATIC_MODULE) - # For building a static MEX module, unpack the static library - # and compile its object files into our module - file(MAKE_DIRECTORY "${generated_files_path}/${lib_name}_objects") - execute_process(COMMAND ar -x "${lib}" - WORKING_DIRECTORY "${generated_files_path}/${lib_name}_objects" - RESULT_VARIABLE ar_result) - if(NOT ar_result EQUAL 0) - message(FATAL_ERROR "Failed extracting ${lib}") - endif() - - # Get list of object files - execute_process(COMMAND ar -t "${lib}" - OUTPUT_VARIABLE object_files - RESULT_VARIABLE ar_result) - if(NOT ar_result EQUAL 0) - message(FATAL_ERROR "Failed listing ${lib}") - endif() - - # Add directory to object files - string(REPLACE "\n" ";" object_files_list "${object_files}") - foreach(object_file ${object_files_list}) - get_filename_component(file_extension "${object_file}" EXT) - if(file_extension STREQUAL ".o") - list(APPEND otherSourcesAndObjects "${generated_files_path}/${lib_name}_objects/${object_file}") - endif() - endforeach() - else() - list(APPEND correctedOtherLibraries ${lib}) - list(APPEND otherLibraryNontargets ${lib}) - endif() - endif() - endforeach() - - # Check libraries for conflicting versions built-in to MATLAB - set(dependentLibraries "") - if(NOT "${otherLibraryTargets}" STREQUAL "") - foreach(target ${otherLibraryTargets}) - get_target_property(dependentLibrariesOne ${target} INTERFACE_LINK_LIBRARIES) - list(APPEND dependentLibraries ${dependentLibrariesOne}) - endforeach() - endif() - list(APPEND dependentLibraries ${otherLibraryNontargets}) - check_conflicting_libraries_internal("${dependentLibraries}") - - # Set up generation of module source file - file(MAKE_DIRECTORY "${generated_files_path}") - - find_package(PythonInterp - ${GTSAM_PYTHON_VERSION} - EXACT - REQUIRED) - find_package(PythonLibs - ${GTSAM_PYTHON_VERSION} - EXACT - REQUIRED) - - - set(_ignore gtsam::Point2 - gtsam::Point3) - add_custom_command( - OUTPUT ${generated_cpp_file} - DEPENDS ${interfaceHeader} ${module_library_target} ${otherLibraryTargets} ${otherSourcesAndObjects} - COMMAND - ${PYTHON_EXECUTABLE} - ${CMAKE_SOURCE_DIR}/wrap/matlab_wrapper.py - --src ${interfaceHeader} - --module_name ${moduleName} - --out ${generated_files_path} - --top_module_namespaces ${moduleName} - --ignore ${_ignore} - VERBATIM - WORKING_DIRECTORY ${generated_files_path}) - - # Set up building of mex module - string(REPLACE ";" " " extraMexFlagsSpaced "${extraMexFlags}") - string(REPLACE ";" " " mexFlagsSpaced "${GTSAM_BUILD_MEX_BINARY_FLAGS}") - add_library(${moduleName}_matlab_wrapper MODULE ${generated_cpp_file} ${interfaceHeader} ${otherSourcesAndObjects}) - target_link_libraries(${moduleName}_matlab_wrapper ${correctedOtherLibraries}) - target_link_libraries(${moduleName}_matlab_wrapper ${moduleName}) - set_target_properties(${moduleName}_matlab_wrapper PROPERTIES - OUTPUT_NAME "${moduleName}_wrapper" - PREFIX "" - SUFFIX ".${mexModuleExt}" - LIBRARY_OUTPUT_DIRECTORY "${compiled_mex_modules_root}" - ARCHIVE_OUTPUT_DIRECTORY "${compiled_mex_modules_root}" - RUNTIME_OUTPUT_DIRECTORY "${compiled_mex_modules_root}" - CLEAN_DIRECT_OUTPUT 1) - set_property(TARGET ${moduleName}_matlab_wrapper APPEND_STRING PROPERTY COMPILE_FLAGS " ${extraMexFlagsSpaced} ${mexFlagsSpaced} \"-I${MATLAB_ROOT}/extern/include\" -DMATLAB_MEX_FILE -DMX_COMPAT_32") - set_property(TARGET ${moduleName}_matlab_wrapper APPEND PROPERTY INCLUDE_DIRECTORIES ${extraIncludeDirs}) - # Disable build type postfixes for the mex module - we install in different directories for each build type instead - foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) - string(TOUPPER "${build_type}" build_type_upper) - set_target_properties(${moduleName}_matlab_wrapper PROPERTIES ${build_type_upper}_POSTFIX "") - endforeach() - # Set up platform-specific flags - if(MSVC) - if(CMAKE_CL_64) - set(mxLibPath "${MATLAB_ROOT}/extern/lib/win64/microsoft") - else() - set(mxLibPath "${MATLAB_ROOT}/extern/lib/win32/microsoft") - endif() - target_link_libraries(${moduleName}_matlab_wrapper "${mxLibPath}/libmex.lib" "${mxLibPath}/libmx.lib" "${mxLibPath}/libmat.lib") - set_target_properties(${moduleName}_matlab_wrapper PROPERTIES LINK_FLAGS "/export:mexFunction") - set_property(SOURCE "${generated_cpp_file}" APPEND PROPERTY COMPILE_FLAGS "/bigobj") - elseif(APPLE) - set(mxLibPath "${MATLAB_ROOT}/bin/maci64") - target_link_libraries(${moduleName}_matlab_wrapper "${mxLibPath}/libmex.dylib" "${mxLibPath}/libmx.dylib" "${mxLibPath}/libmat.dylib") - endif() - - # Hacking around output issue with custom command - # Deletes generated build folder - add_custom_target(wrap_${moduleName}_matlab_distclean - COMMAND cmake -E remove_directory ${generated_files_path} - COMMAND cmake -E remove_directory ${compiled_mex_modules_root}) -endfunction() - -# Internal function that installs a wrap toolbox -function(install_wrapped_library_internal interfaceHeader) - get_filename_component(moduleName "${interfaceHeader}" NAME_WE) - set(generated_files_path "${PROJECT_BINARY_DIR}/wrap/${moduleName}") - - # NOTE: only installs .m and mex binary files (not .cpp) - the trailing slash on the directory name - # here prevents creating the top-level module name directory in the destination. - message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}") - if(GTSAM_BUILD_TYPE_POSTFIXES) - foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) - string(TOUPPER "${build_type}" build_type_upper) - if(${build_type_upper} STREQUAL "RELEASE") - set(build_type_tag "") # Don't create release mode tag on installed directory - else() - set(build_type_tag "${build_type}") - endif() - # Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if there is one - get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH) - get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME) - install(DIRECTORY "${generated_files_path}/" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}" FILES_MATCHING PATTERN "*.m") - install(TARGETS ${moduleName}_matlab_wrapper - LIBRARY DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}" - RUNTIME DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}") - endforeach() - else() - install(DIRECTORY "${generated_files_path}/" DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH} FILES_MATCHING PATTERN "*.m") - install(TARGETS ${moduleName}_matlab_wrapper - LIBRARY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH} - RUNTIME DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) - endif() -endfunction() - -# Internal function to check for libraries installed with MATLAB that may conflict -# and prints a warning to move them if problems occur. -function(check_conflicting_libraries_internal libraries) - if(UNIX) - # Set path for matlab's built-in libraries - if(APPLE) - set(mxLibPath "${MATLAB_ROOT}/bin/maci64") - else() - if(CMAKE_CL_64) - set(mxLibPath "${MATLAB_ROOT}/bin/glnxa64") - else() - set(mxLibPath "${MATLAB_ROOT}/bin/glnx86") - endif() - endif() - - # List matlab's built-in libraries - file(GLOB matlabLibs RELATIVE "${mxLibPath}" "${mxLibPath}/lib*") - - # Convert to base names - set(matlabLibNames "") - foreach(lib ${matlabLibs}) - get_filename_component(libName "${lib}" NAME_WE) - list(APPEND matlabLibNames "${libName}") - endforeach() - - # Get names of link libraries - set(linkLibNames "") - foreach(lib ${libraries}) - string(FIND "${lib}" "/" slashPos) - if(NOT slashPos EQUAL -1) - # If the name is a path, just get the library name - get_filename_component(libName "${lib}" NAME_WE) - list(APPEND linkLibNames "${libName}") - else() - # It's not a path, so see if it looks like a filename - get_filename_component(ext "${lib}" EXT) - if(NOT "${ext}" STREQUAL "") - # It's a filename, so get the base name - get_filename_component(libName "${lib}" NAME_WE) - list(APPEND linkLibNames "${libName}") - else() - # It's not a filename so it must be a short name, add the "lib" prefix - list(APPEND linkLibNames "lib${lib}") - endif() - endif() - endforeach() - - # Remove duplicates - list(REMOVE_DUPLICATES linkLibNames) - - set(conflictingLibs "") - foreach(lib ${linkLibNames}) - list(FIND matlabLibNames "${lib}" libPos) - if(NOT libPos EQUAL -1) - if(NOT conflictingLibs STREQUAL "") - set(conflictingLibs "${conflictingLibs}, ") - endif() - set(conflictingLibs "${conflictingLibs}${lib}") - endif() - endforeach() - - if(NOT "${conflictingLibs}" STREQUAL "") - message(WARNING "GTSAM links to the libraries [ ${conflictingLibs} ] on your system, but " - "MATLAB is distributed with its own versions of these libraries which may conflict. " - "If you get strange errors or crashes with the GTSAM MATLAB wrapper, move these " - "libraries out of MATLAB's built-in library directory, which is ${mxLibPath} on " - "your system. MATLAB will usually still work with these libraries moved away, but " - "if not, you'll have to compile the static GTSAM MATLAB wrapper module.") - endif() - endif() -endfunction() - -# Helper function to install MATLAB scripts and handle multiple build types where the scripts -# should be installed to all build type toolboxes -function(install_matlab_scripts source_directory patterns) - set(patterns_args "") - set(exclude_patterns "") - if(NOT GTSAM_WRAP_SERIALIZATION) - set(exclude_patterns "testSerialization.m") - endif() - - foreach(pattern ${patterns}) - list(APPEND patterns_args PATTERN "${pattern}") - endforeach() - if(GTSAM_BUILD_TYPE_POSTFIXES) - foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) - string(TOUPPER "${build_type}" build_type_upper) - if(${build_type_upper} STREQUAL "RELEASE") - set(build_type_tag "") # Don't create release mode tag on installed directory - else() - set(build_type_tag "${build_type}") - endif() - # Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if there is one - get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH) - get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME) - install(DIRECTORY "${source_directory}" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}" FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE) - endforeach() - else() - install(DIRECTORY "${source_directory}" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE) - endif() - -endfunction() - diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake index 3b42ffa21..573fb696a 100644 --- a/cmake/GtsamTesting.cmake +++ b/cmake/GtsamTesting.cmake @@ -88,36 +88,36 @@ enable_testing() option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) option(GTSAM_BUILD_EXAMPLES_ALWAYS "Build examples with 'make all' (build with 'make examples' if not)" ON) - option(GTSAM_BUILD_TIMING_ALWAYS "Build timing scripts with 'make all' (build with 'make timing' if not" OFF) +option(GTSAM_BUILD_TIMING_ALWAYS "Build timing scripts with 'make all' (build with 'make timing' if not" OFF) - # Add option for combining unit tests - if(MSVC OR XCODE_VERSION) - option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON) - else() - option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF) - endif() - mark_as_advanced(GTSAM_SINGLE_TEST_EXE) +# Add option for combining unit tests +if(MSVC OR XCODE_VERSION) + option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON) +else() + option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF) +endif() +mark_as_advanced(GTSAM_SINGLE_TEST_EXE) - # Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck) - if(GTSAM_BUILD_TESTS) - add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} -C $ --output-on-failure) - # Also add alternative checks using valgrind. - # We don't look for valgrind being installed in the system, since these - # targets are not invoked unless directly instructed by the user. - if (UNIX) - # Run all tests using valgrind: - add_custom_target(check_valgrind) - endif() +# Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck) +if(GTSAM_BUILD_TESTS) + add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} -C $ --output-on-failure) + # Also add alternative checks using valgrind. + # We don't look for valgrind being installed in the system, since these + # targets are not invoked unless directly instructed by the user. + if (UNIX) + # Run all tests using valgrind: + add_custom_target(check_valgrind) + endif() - # Add target to build tests without running - add_custom_target(all.tests) - endif() + # Add target to build tests without running + add_custom_target(all.tests) +endif() - # Add examples target - add_custom_target(examples) +# Add examples target +add_custom_target(examples) - # Add timing target - add_custom_target(timing) +# Add timing target +add_custom_target(timing) # Implementations of this file's macros: diff --git a/cmake/HandleBoost.cmake b/cmake/HandleBoost.cmake index e73c2237d..6c742cfe5 100644 --- a/cmake/HandleBoost.cmake +++ b/cmake/HandleBoost.cmake @@ -22,7 +22,7 @@ endif() # Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such. -set(BOOST_FIND_MINIMUM_VERSION 1.58) +set(BOOST_FIND_MINIMUM_VERSION 1.65) set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex) find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS}) @@ -30,7 +30,7 @@ find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM # Required components if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY) - message(FATAL_ERROR "Missing required Boost components >= v1.58, please install/upgrade Boost or configure your search paths.") + message(FATAL_ERROR "Missing required Boost components >= v1.65, please install/upgrade Boost or configure your search paths.") endif() option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF) diff --git a/cmake/HandleCPack.cmake b/cmake/HandleCPack.cmake index 1c32433a4..0f8d1680c 100644 --- a/cmake/HandleCPack.cmake +++ b/cmake/HandleCPack.cmake @@ -25,4 +25,4 @@ set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION # Deb-package specific cpack set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev") -set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)") +set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.65)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)") diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake index fda441907..b21d16885 100644 --- a/cmake/HandleEigen.cmake +++ b/cmake/HandleEigen.cmake @@ -42,7 +42,7 @@ else() set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/") # The actual include directory (for BUILD cmake target interface): - set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/") + set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen/") endif() # Detect Eigen version: diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake index 85a529e49..ee86066a2 100644 --- a/cmake/HandleGeneralOptions.cmake +++ b/cmake/HandleGeneralOptions.cmake @@ -24,6 +24,7 @@ option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF) option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON) option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module with pybind11" OFF) +option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF) option(GTSAM_ALLOW_DEPRECATED_SINCE_V41 "Allow use of methods/functions deprecated in GTSAM 4.1" ON) option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON) option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON) @@ -40,16 +41,5 @@ elseif(GTSAM_ROT3_EXPMAP) set(GTSAM_POSE3_EXPMAP 1 CACHE BOOL "" FORCE) endif() -# Options relating to MATLAB wrapper -# TODO: Check for matlab mex binary before handling building of binaries -option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF) +# Set the default Python version. This is later updated in HandlePython.cmake. set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of Python to build the wrappers against.") - -# Check / set dependent variables for MATLAB wrapper -if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_BUILD_TYPE_POSTFIXES) - set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX}) -endif() - -if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS) - message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF. The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries. If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF.") -endif() diff --git a/cmake/HandlePython.cmake b/cmake/HandlePython.cmake index e5d55b451..0c24824bc 100644 --- a/cmake/HandlePython.cmake +++ b/cmake/HandlePython.cmake @@ -1,22 +1,48 @@ # Set Python version if either Python or MATLAB wrapper is requested. if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX) - if(${GTSAM_PYTHON_VERSION} STREQUAL "Default") - # Get info about the Python3 interpreter - # https://cmake.org/cmake/help/latest/module/FindPython3.html#module:FindPython3 - find_package(Python3 COMPONENTS Interpreter Development) + if(${GTSAM_PYTHON_VERSION} STREQUAL "Default") - if(NOT ${Python3_FOUND}) - message(FATAL_ERROR "Cannot find Python3 interpreter. Please install Python >= 3.6.") - endif() + if(${CMAKE_VERSION} VERSION_LESS "3.12.0") + # Use older version of cmake's find_python + find_package(PythonInterp) + + if(NOT ${PYTHONINTERP_FOUND}) + message( + FATAL_ERROR + "Cannot find Python interpreter. Please install Python >= 3.6.") + endif() + + find_package(PythonLibs ${PYTHON_VERSION_STRING}) + + set(Python_VERSION_MAJOR ${PYTHON_VERSION_MAJOR}) + set(Python_VERSION_MINOR ${PYTHON_VERSION_MINOR}) + set(Python_EXECUTABLE ${PYTHON_EXECUTABLE}) + + else() + # Get info about the Python3 interpreter + # https://cmake.org/cmake/help/latest/module/FindPython3.html#module:FindPython3 + find_package(Python3 COMPONENTS Interpreter Development) + + if(NOT ${Python3_FOUND}) + message( + FATAL_ERROR + "Cannot find Python3 interpreter. Please install Python >= 3.6.") + endif() + + set(Python_VERSION_MAJOR ${Python3_VERSION_MAJOR}) + set(Python_VERSION_MINOR ${Python3_VERSION_MINOR}) - set(GTSAM_PYTHON_VERSION "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}" - CACHE - STRING - "The version of Python to build the wrappers against." - FORCE) endif() + + set(GTSAM_PYTHON_VERSION + "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}" + CACHE STRING "The version of Python to build the wrappers against." + FORCE) + + endif() endif() +# Check for build of Unstable modules if(GTSAM_BUILD_PYTHON) if(GTSAM_UNSTABLE_BUILD_PYTHON) if (NOT GTSAM_BUILD_UNSTABLE) diff --git a/cmake/HandleUninstall.cmake b/cmake/HandleUninstall.cmake index 1859b0273..dccb1905e 100644 --- a/cmake/HandleUninstall.cmake +++ b/cmake/HandleUninstall.cmake @@ -6,5 +6,11 @@ configure_file( "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY) -add_custom_target(uninstall - "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake") +if (NOT TARGET uninstall) # avoid duplicating this target + add_custom_target(uninstall + "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake") +else() + add_custom_target(uninstall_gtsam + "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake") + add_dependencies(uninstall uninstall_gtsam) +endif() diff --git a/cmake/README.md b/cmake/README.md index 7f38bbcf2..569a401b1 100644 --- a/cmake/README.md +++ b/cmake/README.md @@ -67,32 +67,6 @@ Defines two useful functions for creating CTest unit tests. Also immediately cr an empty string "" if nothing needs to be excluded. linkLibraries: The list of libraries to link to. -## GtsamMatlabWrap - - include(GtsamMatlabWrap) - -Defines functions for generating MATLAB wrappers. Also immediately creates several CMake options for configuring the wrapper. - -* `wrap_and_install_library(interfaceHeader linkLibraries extraIncludeDirs extraMexFlags)` Generates wrap code and compiles the wrapper. - - Usage example: - - `wrap_and_install_library("lba.h" "" "" "")` - - Arguments: - - interfaceHeader: The relative or absolute path to the wrapper interface - definition file. - linkLibraries: Any *additional* libraries to link. Your project library - (e.g. `lba`), libraries it depends on, and any necessary - MATLAB libraries will be linked automatically. So normally, - leave this empty. - extraIncludeDirs: Any *additional* include paths required by dependent - libraries that have not already been added by - include_directories. Again, normally, leave this empty. - extraMexFlags: Any *additional* flags to pass to the compiler when building - the wrap code. Normally, leave this empty. - ## GtsamMakeConfigFile include(GtsamMakeConfigFile) diff --git a/cmake/example_project/CMakeLists.txt b/cmake/example_project/CMakeLists.txt deleted file mode 100644 index 620ad4811..000000000 --- a/cmake/example_project/CMakeLists.txt +++ /dev/null @@ -1,49 +0,0 @@ -# This file should be used as a template for creating new projects using the CMake tools -# This project has the following features -# - GTSAM linking -# - Unit tests via CppUnitLite -# - Scripts -# - Automatic MATLAB wrapper generation - -################################################################################### -# To create your own project, replace "example" with the actual name of your project -cmake_minimum_required(VERSION 3.0) -project(example CXX C) - -# Include GTSAM CMake tools -find_package(GTSAMCMakeTools) -include(GtsamBuildTypes) # Load build type flags and default to Debug mode -include(GtsamTesting) # Easy functions for creating unit tests and scripts -include(GtsamMatlabWrap) # Automatic MATLAB wrapper generation - -# Ensure that local folder is searched before library folders -include_directories(BEFORE "${PROJECT_SOURCE_DIR}") - -################################################################################### -# Find GTSAM components -find_package(GTSAM REQUIRED) # Uses installed package -# Note: Since Jan-2019, GTSAMConfig.cmake defines exported CMake targets -# that automatically do include the include_directories() without the need -# to call include_directories(), just target_link_libraries(NAME gtsam) -#include_directories(${GTSAM_INCLUDE_DIR}) - -################################################################################### -# Build static library from common sources -set(CONVENIENCE_LIB_NAME ${PROJECT_NAME}) -add_library(${CONVENIENCE_LIB_NAME} SHARED example/PrintExamples.h example/PrintExamples.cpp) -target_link_libraries(${CONVENIENCE_LIB_NAME} gtsam) - -# Install library -install(TARGETS ${CONVENIENCE_LIB_NAME} LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) - -################################################################################### -# Build tests (CMake tracks the dependecy to link with GTSAM through our project's static library) -gtsamAddTestsGlob("example" "tests/test*.cpp" "" "${CONVENIENCE_LIB_NAME}") - -################################################################################### -# Build scripts (CMake tracks the dependecy to link with GTSAM through our project's static library) -gtsamAddExamplesGlob("*.cpp" "" "${CONVENIENCE_LIB_NAME}") - -################################################################################### -# Build MATLAB wrapper (CMake tracks the dependecy to link with GTSAM through our project's static library) -wrap_and_install_library("example.h" "${CONVENIENCE_LIB_NAME}" "" "") diff --git a/cmake/example_project/README.md b/cmake/example_project/README.md deleted file mode 100644 index a1269cf19..000000000 --- a/cmake/example_project/README.md +++ /dev/null @@ -1,32 +0,0 @@ -# MATLAB Wrapper Example Project - -This project serves as a lightweight example for demonstrating how to wrap C++ code in MATLAB using GTSAM. - -## Compiling - -We follow the regular build procedure inside the `example_project` directory: - -```sh -mkdir build && cd build -cmake .. -make -j8 -sudo make install - -sudo ldconfig # ensures the shared object file generated is correctly loaded -``` - -## Usage - -Now you can open MATLAB and add the `gtsam_toolbox` to the MATLAB path - -```matlab -addpath('/usr/local/gtsam_toolbox') -``` - -At this point you are ready to run the example project. Starting from the `example_project` directory inside MATLAB, simply run code like regular MATLAB, e.g. - -```matlab -pe = example.PrintExamples(); -pe.sayHello(); -pe.sayGoodbye(); -``` \ No newline at end of file diff --git a/cmake/example_project/SayGoodbye.cpp b/cmake/example_project/SayGoodbye.cpp deleted file mode 100644 index be1165ef6..000000000 --- a/cmake/example_project/SayGoodbye.cpp +++ /dev/null @@ -1,23 +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 SayGoodbye.cpp - * @brief Example script for example project - * @author Richard Roberts - */ - -#include - -int main(int argc, char *argv[]) { - example::PrintExamples().sayGoodbye(); - return 0; -} diff --git a/cmake/example_project/SayHello.cpp b/cmake/example_project/SayHello.cpp deleted file mode 100644 index 2da06ab32..000000000 --- a/cmake/example_project/SayHello.cpp +++ /dev/null @@ -1,23 +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 SayHello.cpp - * @brief Example script for example project - * @author Richard Roberts - */ - -#include - -int main(int argc, char *argv[]) { - example::PrintExamples().sayHello(); - return 0; -} diff --git a/cmake/example_project/example.h b/cmake/example_project/example.h deleted file mode 100644 index b0d732e14..000000000 --- a/cmake/example_project/example.h +++ /dev/null @@ -1,31 +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 example.h - * @brief Example wrapper interface file - * @author Richard Roberts - */ - -// This is an interface file for automatic MATLAB wrapper generation. See -// gtsam.h for full documentation and more examples. - -#include - -namespace example { - -class PrintExamples { - PrintExamples(); - void sayHello() const; - void sayGoodbye() const; -}; - -} diff --git a/cmake/example_project/example/PrintExamples.cpp b/cmake/example_project/example/PrintExamples.cpp deleted file mode 100644 index 1e9f10713..000000000 --- a/cmake/example_project/example/PrintExamples.cpp +++ /dev/null @@ -1,44 +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 print_examples.cpp - * @brief Example library file - * @author Richard Roberts - */ - -#include - -#include - -namespace example { - -void PrintExamples::sayHello() const { - std::cout << internal::getHelloString() << std::endl; -} - -void PrintExamples::sayGoodbye() const { - std::cout << internal::getGoodbyeString() << std::endl; -} - -namespace internal { - -std::string getHelloString() { - return "Hello!"; -} - -std::string getGoodbyeString() { - return "See you soon!"; -} - -} // namespace internal - -} // namespace example diff --git a/cmake/example_project/example/PrintExamples.h b/cmake/example_project/example/PrintExamples.h deleted file mode 100644 index 25d4dd8cb..000000000 --- a/cmake/example_project/example/PrintExamples.h +++ /dev/null @@ -1,42 +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 print_examples.h - * @brief Example library file - * @author Richard Roberts - */ - -#pragma once - -#include -#include - -namespace example { - -class PrintExamples { -public: - /// Print a greeting - void sayHello() const; - - /// Print a farewell - void sayGoodbye() const; -}; - -namespace internal { - -std::string getHelloString(); - -std::string getGoodbyeString(); - -} // namespace internal - -} // namespace example diff --git a/cmake/example_project/tests/testExample.cpp b/cmake/example_project/tests/testExample.cpp deleted file mode 100644 index c2a5a173b..000000000 --- a/cmake/example_project/tests/testExample.cpp +++ /dev/null @@ -1,43 +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 testExample.cpp - * @brief Unit tests for example - * @author Richard Roberts - */ - -#include - -#include - -#include - -using namespace gtsam; - -TEST(Example, HelloString) { - const std::string expectedString = "Hello!"; - EXPECT(assert_equal(expectedString, example::internal::getHelloString())); -} - -TEST(Example, GoodbyeString) { - const std::string expectedString = "See you soon!"; - EXPECT(assert_equal(expectedString, example::internal::getGoodbyeString())); -} - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ - - diff --git a/doc/Code/LocalizationFactor.cpp b/doc/Code/LocalizationFactor.cpp index 79a54903e..d298091dc 100644 --- a/doc/Code/LocalizationFactor.cpp +++ b/doc/Code/LocalizationFactor.cpp @@ -8,7 +8,10 @@ public: Vector evaluateError(const Pose2& q, boost::optional H = boost::none) const { - if (H) (*H) = (Matrix(2,3)<< 1.0,0.0,0.0, 0.0,1.0,0.0).finished(); + const Rot2& R = q.rotation(); + if (H) (*H) = (gtsam::Matrix(2, 3) << + R.c(), -R.s(), 0.0, + R.s(), R.c(), 0.0).finished(); return (Vector(2) << q.x() - mx_, q.y() - my_).finished(); } }; diff --git a/doc/LieGroups.lyx b/doc/LieGroups.lyx index bc3fb9780..01bc1932f 100644 --- a/doc/LieGroups.lyx +++ b/doc/LieGroups.lyx @@ -2452,7 +2452,7 @@ First transform , and then rotate back: \begin_inset Formula \[ -q=Re^{\Skew{\omega}}R^{T} +q=Re^{\Skew{\omega}}R^{T}p \] \end_inset diff --git a/doc/LieGroups.pdf b/doc/LieGroups.pdf index 24f87019c..f49da7029 100644 Binary files a/doc/LieGroups.pdf and b/doc/LieGroups.pdf differ diff --git a/doc/gtsam.lyx b/doc/gtsam.lyx index 29be8dbe4..a5adc2b60 100644 --- a/doc/gtsam.lyx +++ b/doc/gtsam.lyx @@ -1,7 +1,9 @@ -#LyX 2.1 created this file. For more info see http://www.lyx.org/ -\lyxformat 474 +#LyX 2.2 created this file. For more info see http://www.lyx.org/ +\lyxformat 508 \begin_document \begin_header +\save_transient_properties true +\origin unavailable \textclass article \begin_preamble \usepackage{times} @@ -50,16 +52,16 @@ \language_package default \inputencoding auto \fontencoding T1 -\font_roman ae -\font_sans default -\font_typewriter default -\font_math auto +\font_roman "ae" "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 \graphics default \default_output_format default \output_sync 0 @@ -1061,7 +1063,7 @@ noindent \begin_layout Subsection \begin_inset CommandInset label LatexCommand label -name "sub:Full-Posterior-Inference" +name "subsec:Full-Posterior-Inference" \end_inset @@ -1272,7 +1274,7 @@ ing to odometry measurements. (see Section \begin_inset CommandInset ref LatexCommand ref -reference "sub:Full-Posterior-Inference" +reference "subsec:Full-Posterior-Inference" \end_inset @@ -1469,7 +1471,7 @@ GPS-like \begin_inset CommandInset include LatexCommand lstinputlisting filename "Code/LocalizationFactor.cpp" -lstparams "aboveskip=10pt,basicstyle={\\ttfamily\\small},caption={Excerpt from examples/LocalizationExample.cpp},captionpos=b,frame=single,identifierstyle={\\bfseries},label={listing:LocalizationFactor},language={C++},numbers=left" +lstparams "aboveskip=10pt,basicstyle={\\ttfamily\\small},captionpos=b,frame=single,identifierstyle={\\bfseries},language={C++},numbers=left,caption={Excerpt from examples/LocalizationExample.cpp},label={listing:LocalizationFactor}" \end_inset @@ -1590,15 +1592,15 @@ q_{y} \begin_inset Formula $2\times3$ \end_inset - matrix: + matrix in tangent space which is the same the as the rotation matrix: \end_layout \begin_layout Standard \begin_inset Formula \[ H=\left[\begin{array}{ccc} -1 & 0 & 0\\ -0 & 1 & 0 +\cos(q_{\theta}) & -\sin(q_{\theta}) & 0\\ +\sin(q_{\theta}) & \cos(q_{\theta}) & 0 \end{array}\right] \] @@ -1750,7 +1752,7 @@ global The marginals can be recovered exactly as in Section \begin_inset CommandInset ref LatexCommand ref -reference "sub:Full-Posterior-Inference" +reference "subsec:Full-Posterior-Inference" \end_inset @@ -1770,7 +1772,7 @@ filename "Code/LocalizationOutput5.txt" Comparing this with the covariance matrices in Section \begin_inset CommandInset ref LatexCommand ref -reference "sub:Full-Posterior-Inference" +reference "subsec:Full-Posterior-Inference" \end_inset diff --git a/doc/gtsam.pdf b/doc/gtsam.pdf index 240528179..c6a39a79c 100644 Binary files a/doc/gtsam.pdf and b/doc/gtsam.pdf differ diff --git a/examples/CombinedImuFactorsExample.cpp b/examples/CombinedImuFactorsExample.cpp index c9646e64d..9211a4d5f 100644 --- a/examples/CombinedImuFactorsExample.cpp +++ b/examples/CombinedImuFactorsExample.cpp @@ -23,7 +23,8 @@ * A row starting with "i" is the first initial position formatted with * N, E, D, qx, qY, qZ, qW, velN, velE, velD * A row starting with "0" is an imu measurement - * linAccN, linAccE, linAccD, angVelN, angVelE, angVelD + * (body frame - Forward, Right, Down) + * linAccX, linAccY, linAccZ, angVelX, angVelY, angVelX * A row starting with "1" is a gps correction formatted with * N, E, D, qX, qY, qZ, qW * Note that for GPS correction, we're only using the position not the diff --git a/examples/CreateSFMExampleData.cpp b/examples/CreateSFMExampleData.cpp index aa0bde8f6..97f4c84dc 100644 --- a/examples/CreateSFMExampleData.cpp +++ b/examples/CreateSFMExampleData.cpp @@ -15,8 +15,8 @@ * @author Frank Dellaert */ -#include #include +#include #include @@ -26,22 +26,16 @@ using namespace gtsam; /* ************************************************************************* */ -void createExampleBALFile(const string& filename, const vector& P, - const Pose3& pose1, const Pose3& pose2, const Cal3Bundler& K = - Cal3Bundler()) { - +void createExampleBALFile(const string& filename, const vector& points, + const Pose3& pose1, const Pose3& pose2, + const Cal3Bundler& K = Cal3Bundler()) { // Class that will gather all data SfmData data; - - // Create two cameras - Rot3 aRb = Rot3::Yaw(M_PI_2); - Point3 aTb(0.1, 0, 0); - Pose3 identity, aPb(aRb, aTb); + // Create two cameras and add them to data data.cameras.push_back(SfmCamera(pose1, K)); data.cameras.push_back(SfmCamera(pose2, K)); - for(const Point3& p: P) { - + for (const Point3& p : points) { // Create the track SfmTrack track; track.p = p; @@ -51,7 +45,7 @@ void createExampleBALFile(const string& filename, const vector& P, // Project points in both cameras for (size_t i = 0; i < 2; i++) - track.measurements.push_back(make_pair(i, data.cameras[i].project(p))); + track.measurements.push_back(make_pair(i, data.cameras[i].project(p))); // Add track to data data.tracks.push_back(track); @@ -63,49 +57,66 @@ void createExampleBALFile(const string& filename, const vector& P, /* ************************************************************************* */ void create5PointExample1() { - // Create two cameras poses Rot3 aRb = Rot3::Yaw(M_PI_2); Point3 aTb(0.1, 0, 0); Pose3 pose1, pose2(aRb, aTb); // Create test data, we need at least 5 points - vector P; - P += Point3(0, 0, 1), Point3(-0.1, 0, 1), Point3(0.1, 0, 1), // - Point3(0, 0.5, 0.5), Point3(0, -0.5, 0.5); + vector points = { + {0, 0, 1}, {-0.1, 0, 1}, {0.1, 0, 1}, {0, 0.5, 0.5}, {0, -0.5, 0.5}}; // Assumes example is run in ${GTSAM_TOP}/build/examples - const string filename = "../../examples/data/5pointExample1.txt"; - createExampleBALFile(filename, P, pose1, pose2); + const string filename = "../../examples/Data/5pointExample1.txt"; + createExampleBALFile(filename, points, pose1, pose2); } /* ************************************************************************* */ void create5PointExample2() { - // Create two cameras poses Rot3 aRb = Rot3::Yaw(M_PI_2); Point3 aTb(10, 0, 0); Pose3 pose1, pose2(aRb, aTb); // Create test data, we need at least 5 points - vector P; - P += Point3(0, 0, 100), Point3(-10, 0, 100), Point3(10, 0, 100), // - Point3(0, 50, 50), Point3(0, -50, 50), Point3(-20, 0, 80), Point3(20, -50, 80); + vector points = {{0, 0, 100}, {-10, 0, 100}, {10, 0, 100}, // + {0, 50, 50}, {0, -50, 50}, {-20, 0, 80}, // + {20, -50, 80}}; // Assumes example is run in ${GTSAM_TOP}/build/examples - const string filename = "../../examples/data/5pointExample2.txt"; + const string filename = "../../examples/Data/5pointExample2.txt"; Cal3Bundler K(500, 0, 0); - createExampleBALFile(filename, P, pose1, pose2,K); + createExampleBALFile(filename, points, pose1, pose2, K); } /* ************************************************************************* */ +void create18PointExample1() { + // Create two cameras poses + Rot3 aRb = Rot3::Yaw(M_PI_2); + Point3 aTb(0.1, 0, 0); + Pose3 pose1, pose2(aRb, aTb); + + // Create test data, we need 15 points + vector points = { + {0, 0, 1}, {-0.1, 0, 1}, {0.1, 0, 1}, // + {0, 0.5, 0.5}, {0, -0.5, 0.5}, {-1, -0.5, 2}, // + {-1, 0.5, 2}, {0.25, -0.5, 1.5}, {0.25, 0.5, 1.5}, // + {-0.1, -0.5, 0.5}, {0.1, -0.5, 1}, {0.1, 0.5, 1}, // + {-0.1, 0, 0.5}, {-0.1, 0.5, 0.5}, {0, 0, 0.5}, // + {0.1, -0.5, 0.5}, {0.1, 0, 0.5}, {0.1, 0.5, 0.5}}; + + // Assumes example is run in ${GTSAM_TOP}/build/examples + const string filename = "../../examples/Data/18pointExample1.txt"; + createExampleBALFile(filename, points, pose1, pose2); +} + int main(int argc, char* argv[]) { create5PointExample1(); create5PointExample2(); + create18PointExample1(); return 0; } /* ************************************************************************* */ - diff --git a/examples/Data/18pointExample1.txt b/examples/Data/18pointExample1.txt new file mode 100644 index 000000000..484a7944b --- /dev/null +++ b/examples/Data/18pointExample1.txt @@ -0,0 +1,131 @@ +2 18 36 + +0 0 0 -0 +1 0 -6.123233995736766344e-18 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+0 15 0.2000000000000000111 1 +1 15 -1 6.1232339957367660359e-17 +0 16 0.2000000000000000111 -0 +1 16 0 -0 +0 17 0.2000000000000000111 -1 +1 17 1 -6.1232339957367660359e-17 + +3.141592653589793116 + 0 + 0 +-0 +0 +0 +1 +0 +0 + +2.2214414690791830509 +2.2214414690791826068 + 0 +-6.123233995736766344e-18 +-0.10000000000000000555 +0 +1 +0 +0 + +0 +0 +1 + +-0.10000000000000000555 +0 +1 + +0.10000000000000000555 +0 +1 + +0 +0.5 +0.5 + +0 +-0.5 +0.5 + +-1 +-0.5 +2 + +-1 +0.5 +2 + +0.25 +-0.5 +1.5 + +0.25 +0.5 +1.5 + +-0.10000000000000000555 +-0.5 +0.5 + +0.10000000000000000555 +-0.5 +1 + +0.10000000000000000555 +0.5 +1 + +-0.10000000000000000555 +0 +0.5 + +-0.10000000000000000555 +0.5 +0.5 + +0 +0 +0.5 + +0.10000000000000000555 +-0.5 +0.5 + +0.10000000000000000555 +0 +0.5 + +0.10000000000000000555 +0.5 +0.5 + diff --git a/examples/Data/quadraped_imu_data.csv b/examples/Data/quadraped_imu_data.csv new file mode 100644 index 000000000..d324066d8 --- /dev/null +++ b/examples/Data/quadraped_imu_data.csv @@ -0,0 +1,2636 @@ 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+124320250000,13682,124320250000,RH_EXTIMU,1.54441756041e-05,3.33331097357e-05,-0.702979677557,0.711209934964,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.00398784999429,0.00900697382457,-7.46660532534e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.154699949727,0.0598659055842,9.97228429688,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0 diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp index a8a9715e0..38ee4c7c7 100644 --- a/examples/ImuFactorsExample.cpp +++ b/examples/ImuFactorsExample.cpp @@ -25,7 +25,8 @@ * A row starting with "i" is the first initial position formatted with * N, E, D, qx, qY, qZ, qW, velN, velE, velD * A row starting with "0" is an imu measurement - * linAccN, linAccE, linAccD, angVelN, angVelE, angVelD + * (body frame - Forward, Right, Down) + * linAccX, linAccY, linAccZ, angVelX, angVelY, angVelX * A row starting with "1" is a gps correction formatted with * N, E, D, qX, qY, qZ, qW * Note that for GPS correction, we're only using the position not the @@ -125,7 +126,7 @@ int main(int argc, char* argv[]) { output_filename = var_map["output_filename"].as(); use_isam = var_map["use_isam"].as(); - ISAM2* isam2; + ISAM2* isam2 = 0; if (use_isam) { printf("Using ISAM2\n"); ISAM2Params parameters; diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp index e6a0f6622..d9b205359 100644 --- a/examples/LocalizationExample.cpp +++ b/examples/LocalizationExample.cpp @@ -78,21 +78,22 @@ class UnaryFactor: public NoiseModelFactor1 { UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model): NoiseModelFactor1(model, j), mx_(x), my_(y) {} - virtual ~UnaryFactor() {} + ~UnaryFactor() override {} // Using the NoiseModelFactor1 base class there are two functions that must be overridden. // The first is the 'evaluateError' function. This function implements the desired measurement // function, returning a vector of errors when evaluated at the provided variable value. It // must also calculate the Jacobians for this measurement function, if requested. - Vector evaluateError(const Pose2& q, - boost::optional H = boost::none) const override { - // The measurement function for a GPS-like measurement is simple: - // error_x = pose.x - measurement.x - // error_y = pose.y - measurement.y - // Consequently, the Jacobians are: - // [ derror_x/dx derror_x/dy derror_x/dtheta ] = [1 0 0] - // [ derror_y/dx derror_y/dy derror_y/dtheta ] = [0 1 0] - if (H) (*H) = (Matrix(2, 3) << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0).finished(); + Vector evaluateError(const Pose2& q, boost::optional H = boost::none) const override { + // The measurement function for a GPS-like measurement h(q) which predicts the measurement (m) is h(q) = q, q = [qx qy qtheta] + // The error is then simply calculated as E(q) = h(q) - m: + // error_x = q.x - mx + // error_y = q.y - my + // Node's orientation reflects in the Jacobian, in tangent space this is equal to the right-hand rule rotation matrix + // H = [ cos(q.theta) -sin(q.theta) 0 ] + // [ sin(q.theta) cos(q.theta) 0 ] + const Rot2& R = q.rotation(); + if (H) (*H) = (gtsam::Matrix(2, 3) << R.c(), -R.s(), 0.0, R.s(), R.c(), 0.0).finished(); return (Vector(2) << q.x() - mx_, q.y() - my_).finished(); } diff --git a/examples/Pose3Localization.cpp b/examples/Pose3Localization.cpp index 1667b43d9..c18a9e9ce 100644 --- a/examples/Pose3Localization.cpp +++ b/examples/Pose3Localization.cpp @@ -43,7 +43,7 @@ int main(const int argc, const char* argv[]) { auto 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) { + for (const auto key_value : *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; graph->addPrior(firstKey, Pose3(), priorModel); @@ -74,7 +74,7 @@ int main(const int argc, const char* argv[]) { // Calculate and print marginal covariances for all variables Marginals marginals(*graph, result); - for (const auto& key_value : 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; diff --git a/examples/Pose3SLAMExample_changeKeys.cpp b/examples/Pose3SLAMExample_changeKeys.cpp index abadce975..5d4ed6657 100644 --- a/examples/Pose3SLAMExample_changeKeys.cpp +++ b/examples/Pose3SLAMExample_changeKeys.cpp @@ -55,7 +55,7 @@ int main(const int argc, const char *argv[]) { std::cout << "Rewriting input to file: " << inputFileRewritten << std::endl; // Additional: rewrite input with simplified keys 0,1,... Values simpleInitial; - for(const Values::ConstKeyValuePair& key_value: *initial) { + for(const auto key_value: *initial) { Key key; if(add) key = key_value.key + firstKey; diff --git a/examples/Pose3SLAMExample_g2o.cpp b/examples/Pose3SLAMExample_g2o.cpp index 1cca92f59..367964307 100644 --- a/examples/Pose3SLAMExample_g2o.cpp +++ b/examples/Pose3SLAMExample_g2o.cpp @@ -42,7 +42,7 @@ int main(const int argc, const char* argv[]) { auto 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) { + for (const auto key_value : *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; graph->addPrior(firstKey, Pose3(), priorModel); diff --git a/examples/Pose3SLAMExample_initializePose3Chordal.cpp b/examples/Pose3SLAMExample_initializePose3Chordal.cpp index 00a546bb2..992750fed 100644 --- a/examples/Pose3SLAMExample_initializePose3Chordal.cpp +++ b/examples/Pose3SLAMExample_initializePose3Chordal.cpp @@ -42,7 +42,7 @@ int main(const int argc, const char* argv[]) { auto 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) { + for (const auto key_value : *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; graph->addPrior(firstKey, Pose3(), priorModel); diff --git a/examples/Pose3SLAMExample_initializePose3Gradient.cpp b/examples/Pose3SLAMExample_initializePose3Gradient.cpp index 2f92afb9e..384f290a1 100644 --- a/examples/Pose3SLAMExample_initializePose3Gradient.cpp +++ b/examples/Pose3SLAMExample_initializePose3Gradient.cpp @@ -42,7 +42,7 @@ int main(const int argc, const char* argv[]) { auto 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) { + for (const auto key_value : *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; graph->addPrior(firstKey, Pose3(), priorModel); diff --git a/examples/README.md b/examples/README.md index 9d58b5200..5a72736e0 100644 --- a/examples/README.md +++ b/examples/README.md @@ -51,13 +51,13 @@ The directory **vSLAMexample** includes 2 simple examples using GTSAM: See the separate README file there. -##Undirected Graphical Models (UGM) +## Undirected Graphical Models (UGM) The best representation for a Markov Random Field is a factor graph :-) This is illustrated with some discrete examples from the UGM MATLAB toolbox, which can be found at -##Building and Running -To build, cd into the directory and do: +## Building and Running +To build, cd into the top-level gtsam directory and do: ``` mkdir build diff --git a/examples/ShonanAveragingCLI.cpp b/examples/ShonanAveragingCLI.cpp index 09221fda2..c72a32017 100644 --- a/examples/ShonanAveragingCLI.cpp +++ b/examples/ShonanAveragingCLI.cpp @@ -25,6 +25,9 @@ * Read 3D dataset sphere25000.txt and output to shonan.g2o (default) * ./ShonanAveragingCLI -i spere2500.txt * + * If you prefer using a robust Huber loss, you can add the option "-h true", + * for instance + * ./ShonanAveragingCLI -i spere2500.txt -h true */ #include @@ -43,7 +46,8 @@ int main(int argc, char* argv[]) { string datasetName; string inputFile; string outputFile; - int d, seed; + int d, seed, pMin; + bool useHuberLoss; po::options_description desc( "Shonan Rotation Averaging CLI reads a *pose* graph, extracts the " "rotation constraints, and runs the Shonan algorithm."); @@ -58,6 +62,10 @@ int main(int argc, char* argv[]) { "Write solution to the specified file")( "dimension,d", po::value(&d)->default_value(3), "Optimize over 2D or 3D rotations")( + "useHuberLoss,h", po::value(&useHuberLoss)->default_value(false), + "set True to use Huber loss")("pMin,p", + po::value(&pMin)->default_value(3), + "set to use desired rank pMin")( "seed,s", po::value(&seed)->default_value(42), "Random seed for initial estimate"); po::variables_map vm; @@ -85,11 +93,14 @@ int main(int argc, char* argv[]) { NonlinearFactorGraph::shared_ptr inputGraph; Values::shared_ptr posesInFile; Values poses; + auto lmParams = LevenbergMarquardtParams::CeresDefaults(); if (d == 2) { cout << "Running Shonan averaging for SO(2) on " << inputFile << endl; - ShonanAveraging2 shonan(inputFile); + ShonanAveraging2::Parameters parameters(lmParams); + parameters.setUseHuber(useHuberLoss); + ShonanAveraging2 shonan(inputFile, parameters); auto initial = shonan.initializeRandomly(rng); - auto result = shonan.run(initial); + auto result = shonan.run(initial, pMin); // Parse file again to set up translation problem, adding a prior boost::tie(inputGraph, posesInFile) = load2D(inputFile); @@ -101,9 +112,11 @@ int main(int argc, char* argv[]) { poses = initialize::computePoses(result.first, &poseGraph); } else if (d == 3) { cout << "Running Shonan averaging for SO(3) on " << inputFile << endl; - ShonanAveraging3 shonan(inputFile); + ShonanAveraging3::Parameters parameters(lmParams); + parameters.setUseHuber(useHuberLoss); + ShonanAveraging3 shonan(inputFile, parameters); auto initial = shonan.initializeRandomly(rng); - auto result = shonan.run(initial); + auto result = shonan.run(initial, pMin); // Parse file again to set up translation problem, adding a prior boost::tie(inputGraph, posesInFile) = load3D(inputFile); @@ -118,7 +131,7 @@ int main(int argc, char* argv[]) { return 1; } cout << "Writing result to " << outputFile << endl; - writeG2o(NonlinearFactorGraph(), poses, outputFile); + writeG2o(*inputGraph, poses, outputFile); return 0; } diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp index 718ae6286..7bae41403 100644 --- a/examples/SolverComparer.cpp +++ b/examples/SolverComparer.cpp @@ -559,7 +559,7 @@ void runPerturb() // Perturb values VectorValues noise; - for(const Values::KeyValuePair& key_val: initial) + for(const Values::KeyValuePair key_val: initial) { Vector noisev(key_val.value.dim()); for(Vector::Index i = 0; i < noisev.size(); ++i) diff --git a/gtsam/3rdparty/metis/CMakeLists.txt b/gtsam/3rdparty/metis/CMakeLists.txt index de46165ff..dc26aecb2 100644 --- a/gtsam/3rdparty/metis/CMakeLists.txt +++ b/gtsam/3rdparty/metis/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8) +cmake_minimum_required(VERSION 3.0) project(METIS) # Add flags for currect directory and below diff --git a/gtsam/3rdparty/metis/libmetis/CMakeLists.txt b/gtsam/3rdparty/metis/libmetis/CMakeLists.txt index 330e989fa..92f931b98 100644 --- a/gtsam/3rdparty/metis/libmetis/CMakeLists.txt +++ b/gtsam/3rdparty/metis/libmetis/CMakeLists.txt @@ -12,6 +12,7 @@ endif() if(WIN32) set_target_properties(metis-gtsam PROPERTIES PREFIX "" + COMPILE_FLAGS /w RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/../../../bin") endif() diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 91253b932..5d376fdc5 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -135,12 +135,12 @@ endif() # of any previously installed GTSAM headers. target_include_directories(gtsam BEFORE PUBLIC # main gtsam includes: - $ + $ $ # config.h - $ + $ # unit tests: - $ + $ ) # 3rdparty libraries: use the "system" flag so they are included via "-isystem" # and warnings (and warnings-considered-errors) in those headers are not @@ -190,23 +190,8 @@ if(WIN32) else() if("${CMAKE_BUILD_TYPE}" STREQUAL "Release") # Suppress all warnings from 3rd party sources. - set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-w") + set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-w -Wno-everything") else() set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-Wno-error") endif() endif() - -# Create the matlab toolbox for the gtsam library -if (GTSAM_INSTALL_MATLAB_TOOLBOX) - # Set up codegen - include(GtsamMatlabWrap) - - # Generate, build and install toolbox - set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}") - if(NOT BUILD_SHARED_LIBS) - list(APPEND mexFlags -DGTSAM_IMPORT_STATIC) - endif() - - # Wrap - wrap_and_install_library(gtsam.i "${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}") -endif () diff --git a/gtsam/base/FastList.h b/gtsam/base/FastList.h index 380836d1d..752b0b571 100644 --- a/gtsam/base/FastList.h +++ b/gtsam/base/FastList.h @@ -22,6 +22,8 @@ #include #include #include +#include +#include #include namespace gtsam { diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h index 0e928765f..e3d6ae39c 100644 --- a/gtsam/base/GenericValue.h +++ b/gtsam/base/GenericValue.h @@ -74,7 +74,7 @@ public: } /// Destructor - virtual ~GenericValue() { + ~GenericValue() override { } /// equals implementing generic Value interface diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp index 551bdac10..41a80629b 100644 --- a/gtsam/base/Matrix.cpp +++ b/gtsam/base/Matrix.cpp @@ -153,7 +153,7 @@ const Eigen::IOFormat& matlabFormat() { /* ************************************************************************* */ //3 argument call void print(const Matrix& A, const string &s, ostream& stream) { - cout << s << A.format(matlabFormat()) << endl; + stream << s << A.format(matlabFormat()) << endl; } /* ************************************************************************* */ diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index 071c33fca..013947bbd 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -29,7 +29,7 @@ #include #include -#include +#include #include #include @@ -90,7 +90,7 @@ bool equal_with_abs_tol(const Eigen::DenseBase& A, const Eigen::DenseBas for(size_t i=0; i, OptionalJacobian)> Operator; diff --git a/gtsam/base/ProductLieGroup.h b/gtsam/base/ProductLieGroup.h index 458538003..a2dcf738e 100644 --- a/gtsam/base/ProductLieGroup.h +++ b/gtsam/base/ProductLieGroup.h @@ -161,6 +161,9 @@ public: } return v; } + static TangentVector LocalCoordinates(const ProductLieGroup& p, ChartJacobian Hp = boost::none) { + return Logmap(p, Hp); + } ProductLieGroup expmap(const TangentVector& v) const { return compose(ProductLieGroup::Expmap(v)); } diff --git a/gtsam/base/Testable.h b/gtsam/base/Testable.h index 92c464940..6062c7ae1 100644 --- a/gtsam/base/Testable.h +++ b/gtsam/base/Testable.h @@ -33,9 +33,10 @@ #pragma once -#include #include -#include +#include +#include +#include #include #define GTSAM_PRINT(x)((x).print(#x)) @@ -72,10 +73,10 @@ namespace gtsam { }; // \ Testable inline void print(float v, const std::string& s = "") { - printf("%s%f\n",s.c_str(),v); + std::cout << (s.empty() ? s : s + " ") << v << std::endl; } inline void print(double v, const std::string& s = "") { - printf("%s%lf\n",s.c_str(),v); + std::cout << (s.empty() ? s : s + " ") << v << std::endl; } /** Call equal on the object */ @@ -119,10 +120,10 @@ namespace gtsam { * Binary predicate on shared pointers */ template - struct equals_star : public std::function&, const boost::shared_ptr&)> { + struct equals_star : public std::function&, const std::shared_ptr&)> { double tol_; equals_star(double tol = 1e-9) : tol_(tol) {} - bool operator()(const boost::shared_ptr& expected, const boost::shared_ptr& actual) { + bool operator()(const std::shared_ptr& expected, const std::shared_ptr& actual) { if (!actual && !expected) return true; return actual && expected && traits::Equals(*actual,*expected, tol_); } diff --git a/gtsam/base/TestableAssertions.h b/gtsam/base/TestableAssertions.h index 88dd619e5..0e6e1c276 100644 --- a/gtsam/base/TestableAssertions.h +++ b/gtsam/base/TestableAssertions.h @@ -372,16 +372,19 @@ bool assert_stdout_equal(const std::string& expected, const V& actual) { /** * Capture print function output and compare against string. + * + * @param s: Optional string to pass to the print() method. */ -template -bool assert_print_equal(const std::string& expected, const V& actual) { +template +bool assert_print_equal(const std::string& expected, const V& actual, + const std::string& s = "") { // Redirect output to buffer so we can compare std::stringstream buffer; // Save the original output stream so we can reset later std::streambuf* old = std::cout.rdbuf(buffer.rdbuf()); // We test against actual std::cout for faithful reproduction - actual.print(); + actual.print(s); // Get output string and reset stdout std::string actual_ = buffer.str(); diff --git a/gtsam/base/ThreadsafeException.h b/gtsam/base/ThreadsafeException.h index 744759f5b..8d5115a19 100644 --- a/gtsam/base/ThreadsafeException.h +++ b/gtsam/base/ThreadsafeException.h @@ -72,7 +72,7 @@ protected: } /// Default destructor doesn't have the noexcept - virtual ~ThreadsafeException() noexcept { + ~ThreadsafeException() noexcept override { } public: @@ -114,7 +114,7 @@ class CholeskyFailed : public gtsam::ThreadsafeException { public: CholeskyFailed() noexcept {} - virtual ~CholeskyFailed() noexcept {} + ~CholeskyFailed() noexcept override {} }; } // namespace gtsam diff --git a/gtsam/base/Vector.cpp b/gtsam/base/Vector.cpp index beec030ba..658ab9a0d 100644 --- a/gtsam/base/Vector.cpp +++ b/gtsam/base/Vector.cpp @@ -39,7 +39,7 @@ namespace gtsam { * 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) { +bool fpEqual(double a, double b, double tol, bool check_relative_also) { using std::abs; using std::isnan; using std::isinf; @@ -48,7 +48,7 @@ bool fpEqual(double a, double b, double tol) { double larger = (abs(b) > abs(a)) ? abs(b) : abs(a); // handle NaNs - if(std::isnan(a) || isnan(b)) { + if(isnan(a) || isnan(b)) { return isnan(a) && isnan(b); } // handle inf @@ -60,13 +60,15 @@ bool fpEqual(double a, double b, double tol) { 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) { + // 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 if(abs(a-b) <= tol * min(larger, std::numeric_limits::max())) { + // Check for relative error + else if (abs(a - b) <= + tol * min(larger, std::numeric_limits::max()) && + check_relative_also) { return true; } diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h index 319ad6ee6..ed90a7126 100644 --- a/gtsam/base/Vector.h +++ b/gtsam/base/Vector.h @@ -85,9 +85,15 @@ static_assert( * respectively for the comparison to be true. * If one is NaN/Inf and the other is not, returns false. * + * @param check_relative_also is a flag which toggles additional checking for + * relative error. This means that if either the absolute error or the relative + * error is within the tolerance, the result will be true. + * By default, the flag is true. + * * Return true if two numbers are close wrt tol. */ -GTSAM_EXPORT bool fpEqual(double a, double b, double tol); +GTSAM_EXPORT bool fpEqual(double a, double b, double tol, + bool check_relative_also = true); /** * print without optional string, must specify cout yourself diff --git a/gtsam/base/base.i b/gtsam/base/base.i new file mode 100644 index 000000000..d9c51fbe8 --- /dev/null +++ b/gtsam/base/base.i @@ -0,0 +1,108 @@ +//************************************************************************* +// base +//************************************************************************* + +namespace gtsam { + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// ##### + +#include +bool isDebugVersion(); + +#include +class IndexPair { + IndexPair(); + IndexPair(size_t i, size_t j); + size_t i() const; + size_t j() const; +}; + +template +class DSFMap { + DSFMap(); + KEY find(const KEY& key) const; + void merge(const KEY& x, const KEY& y); + std::map sets(); +}; + +class IndexPairSet { + IndexPairSet(); + // common STL methods + size_t size() const; + bool empty() const; + void clear(); + + // structure specific methods + void insert(gtsam::IndexPair key); + bool erase(gtsam::IndexPair key); // returns true if value was removed + bool count(gtsam::IndexPair key) const; // returns true if value exists +}; + +class IndexPairVector { + IndexPairVector(); + IndexPairVector(const gtsam::IndexPairVector& other); + + // common STL methods + size_t size() const; + bool empty() const; + void clear(); + + // structure specific methods + gtsam::IndexPair at(size_t i) const; + void push_back(gtsam::IndexPair key) const; +}; + +gtsam::IndexPairVector IndexPairSetAsArray(gtsam::IndexPairSet& set); + +class IndexPairSetMap { + IndexPairSetMap(); + // common STL methods + size_t size() const; + bool empty() const; + void clear(); + + // structure specific methods + gtsam::IndexPairSet at(gtsam::IndexPair& key); +}; + +#include +bool linear_independent(Matrix A, Matrix B, double tol); + +#include +virtual class Value { + // No constructors because this is an abstract class + + // Testable + void print(string s = "") const; + + // Manifold + size_t dim() const; +}; + +#include +template +virtual class GenericValue : gtsam::Value { + void serializable() const; +}; + +} // namespace gtsam \ No newline at end of file diff --git a/gtsam/base/lieProxies.h b/gtsam/base/lieProxies.h index 820fc7333..c811eb58a 100644 --- a/gtsam/base/lieProxies.h +++ b/gtsam/base/lieProxies.h @@ -24,7 +24,7 @@ * * These should not be used outside of tests, as they are just remappings * of the original functions. We use these to avoid needing to do - * too much boost::bind magic or writing a bunch of separate proxy functions. + * too much std::bind magic or writing a bunch of separate proxy functions. * * Don't expect all classes to work for all of these functions. */ diff --git a/gtsam/base/numericalDerivative.h b/gtsam/base/numericalDerivative.h index fc5531cdc..05b60033f 100644 --- a/gtsam/base/numericalDerivative.h +++ b/gtsam/base/numericalDerivative.h @@ -18,15 +18,7 @@ // \callgraph #pragma once -#include -#ifdef __GNUC__ -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wunused-variable" -#endif -#include -#ifdef __GNUC__ -#pragma GCC diagnostic pop -#endif +#include #include #include @@ -45,13 +37,13 @@ namespace gtsam { * for a function with one relevant param and an optional derivative: * Foo bar(const Obj& a, boost::optional H1) * Use boost.bind to restructure: - * boost::bind(bar, _1, boost::none) + * std::bind(bar, std::placeholders::_1, boost::none) * This syntax will fix the optional argument to boost::none, while using the first argument provided * * For member functions, such as below, with an instantiated copy instanceOfSomeClass * Foo SomeClass::bar(const Obj& a) * Use boost bind as follows to create a function pointer that uses the member function: - * boost::bind(&SomeClass::bar, ref(instanceOfSomeClass), _1) + * std::bind(&SomeClass::bar, ref(instanceOfSomeClass), std::placeholders::_1) * * For additional details, see the documentation: * http://www.boost.org/doc/libs/release/libs/bind/bind.html @@ -76,7 +68,7 @@ struct FixedSizeMatrix { template ::dimension> typename Eigen::Matrix numericalGradient( - boost::function h, const X& x, double delta = 1e-5) { + std::function h, const X& x, double delta = 1e-5) { double factor = 1.0 / (2.0 * delta); BOOST_STATIC_ASSERT_MSG( @@ -116,7 +108,7 @@ typename Eigen::Matrix numericalGradient( template ::dimension> // TODO Should compute fixed-size matrix typename internal::FixedSizeMatrix::type numericalDerivative11( - boost::function h, const X& x, double delta = 1e-5) { + std::function h, const X& x, double delta = 1e-5) { typedef typename internal::FixedSizeMatrix::type Matrix; BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), @@ -157,7 +149,8 @@ typename internal::FixedSizeMatrix::type numericalDerivative11( template typename internal::FixedSizeMatrix::type numericalDerivative11(Y (*h)(const X&), const X& x, double delta = 1e-5) { - return numericalDerivative11(boost::bind(h, _1), x, delta); + return numericalDerivative11(std::bind(h, std::placeholders::_1), x, + delta); } /** @@ -170,20 +163,23 @@ typename internal::FixedSizeMatrix::type numericalDerivative11(Y (*h)(const * @tparam int N is the dimension of the X1 input value if variable dimension type but known at test time */ template::dimension> -typename internal::FixedSizeMatrix::type numericalDerivative21(const boost::function& h, +typename internal::FixedSizeMatrix::type numericalDerivative21(const std::function& h, const X1& x1, const X2& x2, 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)), x1, delta); + return numericalDerivative11( + std::bind(h, std::placeholders::_1, std::cref(x2)), x1, delta); } /** use a raw C++ function pointer */ template typename internal::FixedSizeMatrix::type numericalDerivative21(Y (*h)(const X1&, const X2&), const X1& x1, const X2& x2, double delta = 1e-5) { - return numericalDerivative21(boost::bind(h, _1, _2), x1, x2, delta); + return numericalDerivative21( + std::bind(h, std::placeholders::_1, std::placeholders::_2), x1, x2, + delta); } /** @@ -196,20 +192,23 @@ typename internal::FixedSizeMatrix::type numericalDerivative21(Y (*h)(cons * @tparam int N is the dimension of the X2 input value if variable dimension type but known at test time */ template::dimension> -typename internal::FixedSizeMatrix::type numericalDerivative22(boost::function h, +typename internal::FixedSizeMatrix::type numericalDerivative22(std::function h, const X1& x1, const X2& x2, double delta = 1e-5) { // BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), // "Template argument X1 must be a manifold type."); BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), "Template argument X2 must be a manifold type."); - return numericalDerivative11(boost::bind(h, boost::cref(x1), _1), x2, delta); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::placeholders::_1), x2, delta); } /** use a raw C++ function pointer */ template typename internal::FixedSizeMatrix::type numericalDerivative22(Y (*h)(const X1&, const X2&), const X1& x1, const X2& x2, double delta = 1e-5) { - return numericalDerivative22(boost::bind(h, _1, _2), x1, x2, delta); + return numericalDerivative22( + std::bind(h, std::placeholders::_1, std::placeholders::_2), x1, x2, + delta); } /** @@ -225,20 +224,24 @@ typename internal::FixedSizeMatrix::type numericalDerivative22(Y (*h)(cons */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative31( - boost::function h, const X1& x1, + std::function h, const X1& x1, const X2& x2, const X3& x3, 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)), x1, delta); + return numericalDerivative11( + std::bind(h, std::placeholders::_1, std::cref(x2), std::cref(x3)), + x1, delta); } template typename internal::FixedSizeMatrix::type numericalDerivative31(Y (*h)(const X1&, const X2&, const X3&), const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { - return numericalDerivative31(boost::bind(h, _1, _2, _3), x1, - x2, x3, delta); + return numericalDerivative31( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3), + x1, x2, x3, delta); } /** @@ -254,20 +257,24 @@ typename internal::FixedSizeMatrix::type numericalDerivative31(Y (*h)(cons */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative32( - boost::function h, const X1& x1, + std::function h, const X1& x1, const X2& x2, const X3& x3, 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 X2 must be a manifold type."); - return numericalDerivative11(boost::bind(h, boost::cref(x1), _1, boost::cref(x3)), x2, delta); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::placeholders::_1, std::cref(x3)), + x2, delta); } template inline typename internal::FixedSizeMatrix::type numericalDerivative32(Y (*h)(const X1&, const X2&, const X3&), const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { - return numericalDerivative32(boost::bind(h, _1, _2, _3), x1, - x2, x3, delta); + return numericalDerivative32( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3), + x1, x2, x3, delta); } /** @@ -283,20 +290,24 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative32(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative33( - boost::function h, const X1& x1, + std::function h, const X1& x1, const X2& x2, const X3& x3, 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 X3 must be a manifold type."); - return numericalDerivative11(boost::bind(h, boost::cref(x1), boost::cref(x2), _1), x3, delta); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::cref(x2), std::placeholders::_1), + x3, delta); } template inline typename internal::FixedSizeMatrix::type numericalDerivative33(Y (*h)(const X1&, const X2&, const X3&), const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { - return numericalDerivative33(boost::bind(h, _1, _2, _3), x1, - x2, x3, delta); + return numericalDerivative33( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3), + x1, x2, x3, delta); } /** @@ -312,19 +323,25 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative33(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative41( - boost::function h, const X1& x1, + std::function h, const X1& x1, const X2& x2, const X3& x3, const X4& x4, 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)), x1, delta); + return numericalDerivative11( + std::bind(h, std::placeholders::_1, std::cref(x2), std::cref(x3), + std::cref(x4)), + x1, delta); } template inline typename internal::FixedSizeMatrix::type numericalDerivative41(Y (*h)(const X1&, const X2&, const X3&, const X4&), const X1& x1, const X2& x2, const X3& x3, const X4& x4, double delta = 1e-5) { - return numericalDerivative41(boost::bind(h, _1, _2, _3, _4), x1, x2, x3, x4); + return numericalDerivative41( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4), + x1, x2, x3, x4); } /** @@ -340,19 +357,25 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative41(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative42( - boost::function h, const X1& x1, + std::function h, const X1& x1, const X2& x2, const X3& x3, const X4& x4, 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 X2 must be a manifold type."); - return numericalDerivative11(boost::bind(h, boost::cref(x1), _1, boost::cref(x3), boost::cref(x4)), x2, delta); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::placeholders::_1, std::cref(x3), + std::cref(x4)), + x2, delta); } template inline typename internal::FixedSizeMatrix::type numericalDerivative42(Y (*h)(const X1&, const X2&, const X3&, const X4&), const X1& x1, const X2& x2, const X3& x3, const X4& x4, double delta = 1e-5) { - return numericalDerivative42(boost::bind(h, _1, _2, _3, _4), x1, x2, x3, x4); + return numericalDerivative42( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4), + x1, x2, x3, x4); } /** @@ -368,19 +391,25 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative42(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative43( - boost::function h, const X1& x1, + std::function h, const X1& x1, const X2& x2, const X3& x3, const X4& x4, 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 X3 must be a manifold type."); - return numericalDerivative11(boost::bind(h, boost::cref(x1), boost::cref(x2), _1, boost::cref(x4)), x3, delta); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::cref(x2), std::placeholders::_1, + std::cref(x4)), + x3, delta); } template inline typename internal::FixedSizeMatrix::type numericalDerivative43(Y (*h)(const X1&, const X2&, const X3&, const X4&), const X1& x1, const X2& x2, const X3& x3, const X4& x4, double delta = 1e-5) { - return numericalDerivative43(boost::bind(h, _1, _2, _3, _4), x1, x2, x3, x4); + return numericalDerivative43( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4), + x1, x2, x3, x4); } /** @@ -396,19 +425,25 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative43(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative44( - boost::function h, const X1& x1, + std::function h, const X1& x1, const X2& x2, const X3& x3, const X4& x4, 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 X4 must be a manifold type."); - return numericalDerivative11(boost::bind(h, boost::cref(x1), boost::cref(x2), boost::cref(x3), _1), x4, delta); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::cref(x2), std::cref(x3), + std::placeholders::_1), + x4, delta); } template inline typename internal::FixedSizeMatrix::type numericalDerivative44(Y (*h)(const X1&, const X2&, const X3&, const X4&), const X1& x1, const X2& x2, const X3& x3, const X4& x4, double delta = 1e-5) { - return numericalDerivative44(boost::bind(h, _1, _2, _3, _4), x1, x2, x3, x4); + return numericalDerivative44( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4), + x1, x2, x3, x4); } /** @@ -425,19 +460,26 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative44(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative51( - boost::function h, const X1& x1, + std::function h, const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, 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)), x1, delta); + return numericalDerivative11( + std::bind(h, std::placeholders::_1, std::cref(x2), std::cref(x3), + std::cref(x4), std::cref(x5)), + x1, delta); } template inline typename internal::FixedSizeMatrix::type numericalDerivative51(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 numericalDerivative51(boost::bind(h, _1, _2, _3, _4, _5), x1, x2, x3, x4, x5); + return numericalDerivative51( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, + std::placeholders::_5), + x1, x2, x3, x4, x5); } /** @@ -454,19 +496,26 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative51(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative52( - boost::function h, const X1& x1, + std::function h, const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, 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)), x2, delta); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::placeholders::_1, std::cref(x3), + std::cref(x4), std::cref(x5)), + x2, delta); } template 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); + return numericalDerivative52( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, + std::placeholders::_5), + x1, x2, x3, x4, x5); } /** @@ -483,19 +532,26 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative52(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative53( - boost::function h, const X1& x1, + std::function h, const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, 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)), x3, delta); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::cref(x2), std::placeholders::_1, + std::cref(x4), std::cref(x5)), + x3, delta); } template inline typename internal::FixedSizeMatrix::type numericalDerivative53(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 numericalDerivative53(boost::bind(h, _1, _2, _3, _4, _5), x1, x2, x3, x4, x5); + return numericalDerivative53( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, + std::placeholders::_5), + x1, x2, x3, x4, x5); } /** @@ -512,19 +568,26 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative53(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative54( - boost::function h, const X1& x1, + std::function h, const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, 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)), x4, delta); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::cref(x2), std::cref(x3), + std::placeholders::_1, std::cref(x5)), + x4, delta); } template 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); + return numericalDerivative54( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, + std::placeholders::_5), + x1, x2, x3, x4, x5); } /** @@ -541,19 +604,26 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative54(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative55( - boost::function h, const X1& x1, + std::function h, const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, 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), x5, delta); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::cref(x2), std::cref(x3), + std::cref(x4), std::placeholders::_1), + x5, delta); } template 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); + return numericalDerivative55( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, + std::placeholders::_5), + x1, x2, x3, x4, x5); } /** @@ -571,19 +641,26 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative55(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative61( - boost::function h, const X1& x1, + std::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); + return numericalDerivative11( + std::bind(h, std::placeholders::_1, std::cref(x2), std::cref(x3), + std::cref(x4), std::cref(x5), std::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); + return numericalDerivative61( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, + std::placeholders::_5, std::placeholders::_6), + x1, x2, x3, x4, x5, x6); } /** @@ -601,19 +678,26 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative61(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative62( - boost::function h, const X1& x1, + std::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); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::placeholders::_1, std::cref(x3), + std::cref(x4), std::cref(x5), std::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); + return numericalDerivative62( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, + std::placeholders::_5, std::placeholders::_6), + x1, x2, x3, x4, x5, x6); } /** @@ -631,19 +715,26 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative62(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative63( - boost::function h, const X1& x1, + std::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); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::cref(x2), std::placeholders::_1, + std::cref(x4), std::cref(x5), std::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); + return numericalDerivative63( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, + std::placeholders::_5, std::placeholders::_6), + x1, x2, x3, x4, x5, x6); } /** @@ -661,19 +752,26 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative63(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative64( - boost::function h, const X1& x1, + std::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); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::cref(x2), std::cref(x3), + std::placeholders::_1, std::cref(x5), std::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); + return numericalDerivative64( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, + std::placeholders::_5, std::placeholders::_6), + x1, x2, x3, x4, x5, x6); } /** @@ -691,19 +789,26 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative64(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative65( - boost::function h, const X1& x1, + std::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); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::cref(x2), std::cref(x3), + std::cref(x4), std::placeholders::_1, std::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); + return numericalDerivative65( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, + std::placeholders::_5, std::placeholders::_6), + x1, x2, x3, x4, x5, x6); } /** @@ -721,20 +826,27 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative65(Y (* */ template::dimension> typename internal::FixedSizeMatrix::type numericalDerivative66( - boost::function h, + std::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); + return numericalDerivative11( + std::bind(h, std::cref(x1), std::cref(x2), std::cref(x3), + std::cref(x4), std::cref(x5), std::placeholders::_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); + return numericalDerivative66( + std::bind(h, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, + std::placeholders::_5, std::placeholders::_6), + x1, x2, x3, x4, x5, x6); } /** @@ -746,22 +858,22 @@ inline typename internal::FixedSizeMatrix::type numericalDerivative66(Y (* * @return n*n Hessian matrix computed via central differencing */ template -inline typename internal::FixedSizeMatrix::type numericalHessian(boost::function f, const X& x, +inline typename internal::FixedSizeMatrix::type numericalHessian(std::function f, const X& x, double delta = 1e-5) { BOOST_STATIC_ASSERT_MSG( (boost::is_base_of::structure_category>::value), "Template argument X must be a manifold type."); typedef Eigen::Matrix::dimension, 1> VectorD; - typedef boost::function F; - typedef boost::function G; + typedef std::function F; + typedef std::function G; G ng = static_cast(numericalGradient ); - return numericalDerivative11(boost::bind(ng, f, _1, delta), x, - delta); + return numericalDerivative11( + std::bind(ng, f, std::placeholders::_1, delta), x, delta); } template inline typename internal::FixedSizeMatrix::type numericalHessian(double (*f)(const X&), const X& x, double delta = 1e-5) { - return numericalHessian(boost::function(f), x, delta); + return numericalHessian(std::function(f), x, delta); } /** Helper class that computes the derivative of f w.r.t. x1, centered about @@ -769,80 +881,86 @@ inline typename internal::FixedSizeMatrix::type numericalHessian(double (*f */ template class G_x1 { - const boost::function& f_; + const std::function& f_; X1 x1_; double delta_; public: typedef typename internal::FixedSizeMatrix::type Vector; - G_x1(const boost::function& f, const X1& x1, + G_x1(const std::function& f, const X1& x1, double delta) : f_(f), x1_(x1), delta_(delta) { } Vector operator()(const X2& x2) { - return numericalGradient(boost::bind(f_, _1, boost::cref(x2)), x1_, delta_); + return numericalGradient( + std::bind(f_, std::placeholders::_1, std::cref(x2)), x1_, delta_); } }; template inline typename internal::FixedSizeMatrix::type numericalHessian212( - boost::function f, const X1& x1, const X2& x2, + std::function f, const X1& x1, const X2& x2, double delta = 1e-5) { typedef typename internal::FixedSizeMatrix::type Vector; G_x1 g_x1(f, x1, delta); return numericalDerivative11( - boost::function( - boost::bind(boost::ref(g_x1), _1)), x2, delta); + std::function( + std::bind(std::ref(g_x1), std::placeholders::_1)), + x2, delta); } template inline typename internal::FixedSizeMatrix::type numericalHessian212(double (*f)(const X1&, const X2&), const X1& x1, const X2& x2, double delta = 1e-5) { - return numericalHessian212(boost::function(f), + return numericalHessian212(std::function(f), x1, x2, delta); } template inline typename internal::FixedSizeMatrix::type numericalHessian211( - boost::function f, const X1& x1, const X2& x2, + std::function f, const X1& x1, const X2& x2, double delta = 1e-5) { typedef typename internal::FixedSizeMatrix::type Vector; - Vector (*numGrad)(boost::function, const X1&, + Vector (*numGrad)(std::function, const X1&, double) = &numericalGradient; - boost::function f2(boost::bind(f, _1, boost::cref(x2))); + std::function f2( + std::bind(f, std::placeholders::_1, std::cref(x2))); return numericalDerivative11( - boost::function(boost::bind(numGrad, f2, _1, delta)), + std::function( + std::bind(numGrad, f2, std::placeholders::_1, delta)), x1, delta); } template inline typename internal::FixedSizeMatrix::type numericalHessian211(double (*f)(const X1&, const X2&), const X1& x1, const X2& x2, double delta = 1e-5) { - return numericalHessian211(boost::function(f), + return numericalHessian211(std::function(f), x1, x2, delta); } template inline typename internal::FixedSizeMatrix::type numericalHessian222( - boost::function f, const X1& x1, const X2& x2, + std::function f, const X1& x1, const X2& x2, double delta = 1e-5) { typedef typename internal::FixedSizeMatrix::type Vector; - Vector (*numGrad)(boost::function, const X2&, + Vector (*numGrad)(std::function, const X2&, double) = &numericalGradient; - boost::function f2(boost::bind(f, boost::cref(x1), _1)); + std::function f2( + std::bind(f, std::cref(x1), std::placeholders::_1)); return numericalDerivative11( - boost::function(boost::bind(numGrad, f2, _1, delta)), + std::function( + std::bind(numGrad, f2, std::placeholders::_1, delta)), x2, delta); } template inline typename internal::FixedSizeMatrix::type numericalHessian222(double (*f)(const X1&, const X2&), const X1& x1, const X2& x2, double delta = 1e-5) { - return numericalHessian222(boost::function(f), + return numericalHessian222(std::function(f), x1, x2, delta); } @@ -852,15 +970,17 @@ inline typename internal::FixedSizeMatrix::type numericalHessian222(doubl /* **************************************************************** */ template inline typename internal::FixedSizeMatrix::type numericalHessian311( - boost::function f, const X1& x1, + std::function f, const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { typedef typename internal::FixedSizeMatrix::type Vector; - Vector (*numGrad)(boost::function, const X1&, + Vector (*numGrad)(std::function, const X1&, double) = &numericalGradient; - boost::function f2(boost::bind(f, _1, boost::cref(x2), boost::cref(x3))); + std::function f2(std::bind( + f, std::placeholders::_1, std::cref(x2), std::cref(x3))); return numericalDerivative11( - boost::function(boost::bind(numGrad, f2, _1, delta)), + std::function( + std::bind(numGrad, f2, std::placeholders::_1, delta)), x1, delta); } @@ -868,22 +988,24 @@ template inline typename internal::FixedSizeMatrix::type numericalHessian311(double (*f)(const X1&, const X2&, const X3&), const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { return numericalHessian311( - boost::function(f), x1, x2, x3, + std::function(f), x1, x2, x3, delta); } /* **************************************************************** */ template inline typename internal::FixedSizeMatrix::type numericalHessian322( - boost::function f, const X1& x1, + std::function f, const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { typedef typename internal::FixedSizeMatrix::type Vector; - Vector (*numGrad)(boost::function, const X2&, + Vector (*numGrad)(std::function, const X2&, double) = &numericalGradient; - boost::function f2(boost::bind(f, boost::cref(x1), _1, boost::cref(x3))); + std::function f2(std::bind( + f, std::cref(x1), std::placeholders::_1, std::cref(x3))); return numericalDerivative11( - boost::function(boost::bind(numGrad, f2, _1, delta)), + std::function( + std::bind(numGrad, f2, std::placeholders::_1, delta)), x2, delta); } @@ -891,22 +1013,24 @@ template inline typename internal::FixedSizeMatrix::type numericalHessian322(double (*f)(const X1&, const X2&, const X3&), const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { return numericalHessian322( - boost::function(f), x1, x2, x3, + std::function(f), x1, x2, x3, delta); } /* **************************************************************** */ template inline typename internal::FixedSizeMatrix::type numericalHessian333( - boost::function f, const X1& x1, + std::function f, const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { typedef typename internal::FixedSizeMatrix::type Vector; - Vector (*numGrad)(boost::function, const X3&, + Vector (*numGrad)(std::function, const X3&, double) = &numericalGradient; - boost::function f2(boost::bind(f, boost::cref(x1), boost::cref(x2), _1)); + std::function f2(std::bind( + f, std::cref(x1), std::cref(x2), std::placeholders::_1)); return numericalDerivative11( - boost::function(boost::bind(numGrad, f2, _1, delta)), + std::function( + std::bind(numGrad, f2, std::placeholders::_1, delta)), x3, delta); } @@ -914,35 +1038,41 @@ template inline typename internal::FixedSizeMatrix::type numericalHessian333(double (*f)(const X1&, const X2&, const X3&), const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { return numericalHessian333( - boost::function(f), x1, x2, x3, + std::function(f), x1, x2, x3, delta); } /* **************************************************************** */ template inline typename internal::FixedSizeMatrix::type numericalHessian312( - boost::function f, const X1& x1, + std::function f, const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { return numericalHessian212( - boost::function(boost::bind(f, _1, _2, boost::cref(x3))), + std::function( + std::bind(f, std::placeholders::_1, std::placeholders::_2, + std::cref(x3))), x1, x2, delta); } template inline typename internal::FixedSizeMatrix::type numericalHessian313( - boost::function f, const X1& x1, + std::function f, const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { return numericalHessian212( - boost::function(boost::bind(f, _1, boost::cref(x2), _2)), + std::function( + std::bind(f, std::placeholders::_1, std::cref(x2), + std::placeholders::_2)), x1, x3, delta); } template inline typename internal::FixedSizeMatrix::type numericalHessian323( - boost::function f, const X1& x1, + std::function f, const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { return numericalHessian212( - boost::function(boost::bind(f, boost::cref(x1), _1, _2)), + std::function( + std::bind(f, std::cref(x1), std::placeholders::_1, + std::placeholders::_2)), x2, x3, delta); } @@ -951,7 +1081,7 @@ template inline typename internal::FixedSizeMatrix::type numericalHessian312(double (*f)(const X1&, const X2&, const X3&), const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { return numericalHessian312( - boost::function(f), x1, x2, x3, + std::function(f), x1, x2, x3, delta); } @@ -959,7 +1089,7 @@ template inline typename internal::FixedSizeMatrix::type numericalHessian313(double (*f)(const X1&, const X2&, const X3&), const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { return numericalHessian313( - boost::function(f), x1, x2, x3, + std::function(f), x1, x2, x3, delta); } @@ -967,7 +1097,7 @@ template inline typename internal::FixedSizeMatrix::type numericalHessian323(double (*f)(const X1&, const X2&, const X3&), const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) { return numericalHessian323( - boost::function(f), x1, x2, x3, + std::function(f), x1, x2, x3, delta); } diff --git a/gtsam/base/tests/testMatrix.cpp b/gtsam/base/tests/testMatrix.cpp index 468e842f2..a7c218705 100644 --- a/gtsam/base/tests/testMatrix.cpp +++ b/gtsam/base/tests/testMatrix.cpp @@ -1163,6 +1163,19 @@ TEST(Matrix , IsVectorSpace) { BOOST_CONCEPT_ASSERT((IsVectorSpace)); } +TEST(Matrix, AbsoluteError) { + double a = 2000, b = 1997, tol = 1e-1; + bool isEqual; + + // Test only absolute error + isEqual = fpEqual(a, b, tol, false); + EXPECT(!isEqual); + + // Test relative error as well + isEqual = fpEqual(a, b, tol); + EXPECT(isEqual); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/base/tests/testNumericalDerivative.cpp b/gtsam/base/tests/testNumericalDerivative.cpp index 6d6f41fdd..e8838a476 100644 --- a/gtsam/base/tests/testNumericalDerivative.cpp +++ b/gtsam/base/tests/testNumericalDerivative.cpp @@ -30,10 +30,10 @@ double f(const Vector2& x) { /* ************************************************************************* */ // TEST(testNumericalDerivative, numericalGradient) { - Vector2 x(1, 1); + Vector2 x(1, 1.1); Vector expected(2); - expected << cos(x(1)), -sin(x(0)); + expected << cos(x(0)), -sin(x(1)); Vector actual = numericalGradient(f, x); @@ -42,7 +42,7 @@ TEST(testNumericalDerivative, numericalGradient) { /* ************************************************************************* */ TEST(testNumericalDerivative, numericalHessian) { - Vector2 x(1, 1); + Vector2 x(1, 1.1); Matrix expected(2, 2); expected << -sin(x(0)), 0.0, 0.0, -cos(x(1)); diff --git a/gtsam/base/utilities.h b/gtsam/base/utilities.h new file mode 100644 index 000000000..8eb5617a8 --- /dev/null +++ b/gtsam/base/utilities.h @@ -0,0 +1,29 @@ +#pragma once + +namespace gtsam { +/** + * For Python __str__(). + * Redirect std cout to a string stream so we can return a string representation + * of an object when it prints to cout. + * https://stackoverflow.com/questions/5419356/redirect-stdout-stderr-to-a-string + */ +struct RedirectCout { + /// constructor -- redirect stdout buffer to a stringstream buffer + RedirectCout() : ssBuffer_(), coutBuffer_(std::cout.rdbuf(ssBuffer_.rdbuf())) {} + + /// return the string + std::string str() const { + return ssBuffer_.str(); + } + + /// destructor -- redirect stdout buffer to its original buffer + ~RedirectCout() { + std::cout.rdbuf(coutBuffer_); + } + +private: + std::stringstream ssBuffer_; + std::streambuf* coutBuffer_; +}; + +} diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h index dd10500e6..439889ebf 100644 --- a/gtsam/discrete/DecisionTree-inl.h +++ b/gtsam/discrete/DecisionTree-inl.h @@ -155,7 +155,7 @@ namespace gtsam { public: - virtual ~Choice() { + ~Choice() override { #ifdef DT_DEBUG_MEMORY std::std::cout << Node::nrNodes << " destructing (Choice) " << this->id() << std::std::endl; #endif @@ -450,7 +450,7 @@ namespace gtsam { template template DecisionTree::DecisionTree(const DecisionTree& other, - const std::map& map, boost::function op) { + const std::map& map, std::function op) { root_ = convert(other.root_, map, op); } @@ -568,7 +568,7 @@ namespace gtsam { template typename DecisionTree::NodePtr DecisionTree::convert( const typename DecisionTree::NodePtr& f, const std::map& map, - boost::function op) { + std::function op) { typedef DecisionTree MX; typedef typename MX::Leaf MXLeaf; diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h index ecf03ad5d..0ee0b8be0 100644 --- a/gtsam/discrete/DecisionTree.h +++ b/gtsam/discrete/DecisionTree.h @@ -20,10 +20,12 @@ #pragma once #include + #include +#include #include -#include #include +#include namespace gtsam { @@ -38,8 +40,8 @@ namespace gtsam { public: /** Handy typedefs for unary and binary function types */ - typedef boost::function Unary; - typedef boost::function Binary; + typedef std::function Unary; + typedef std::function Binary; /** A label annotated with cardinality */ typedef std::pair LabelC; @@ -107,7 +109,7 @@ namespace gtsam { /** Convert to a different type */ template NodePtr convert(const typename DecisionTree::NodePtr& f, const std::map& map, boost::function op); + L>& map, std::function op); /** Default constructor */ DecisionTree(); @@ -143,7 +145,7 @@ namespace gtsam { /** Convert from a different type */ template DecisionTree(const DecisionTree& other, - const std::map& map, boost::function op); + const std::map& map, std::function op); /// @} /// @name Testable diff --git a/gtsam/discrete/DiscreteBayesNet.h b/gtsam/discrete/DiscreteBayesNet.h index 237caf745..d5ba30584 100644 --- a/gtsam/discrete/DiscreteBayesNet.h +++ b/gtsam/discrete/DiscreteBayesNet.h @@ -55,6 +55,9 @@ namespace gtsam { template DiscreteBayesNet(const FactorGraph& graph) : Base(graph) {} + /// Destructor + virtual ~DiscreteBayesNet() {} + /// @} /// @name Testable diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h index e24dfdf2a..6b0919507 100644 --- a/gtsam/discrete/DiscreteFactor.h +++ b/gtsam/discrete/DiscreteFactor.h @@ -74,13 +74,14 @@ public: /// @name Testable /// @{ - // equals + /// equals virtual bool equals(const DiscreteFactor& lf, double tol = 1e-9) const = 0; - // print - virtual void print(const std::string& s = "DiscreteFactor\n", - const KeyFormatter& formatter = DefaultKeyFormatter) const { - Factor::print(s, formatter); + /// print + void print( + const std::string& s = "DiscreteFactor\n", + const KeyFormatter& formatter = DefaultKeyFormatter) const override { + Base::print(s, formatter); } /** Test whether the factor is empty */ diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h index 4c2607f1f..f39adc9a8 100644 --- a/gtsam/discrete/DiscreteFactorGraph.h +++ b/gtsam/discrete/DiscreteFactorGraph.h @@ -91,6 +91,9 @@ public: template DiscreteFactorGraph(const FactorGraph& graph) : Base(graph) {} + /// Destructor + virtual ~DiscreteFactorGraph() {} + /// @name Testable /// @{ @@ -129,8 +132,9 @@ public: double operator()(const DiscreteFactor::Values & values) const; /// print - void print(const std::string& s = "DiscreteFactorGraph", - const KeyFormatter& formatter =DefaultKeyFormatter) const; + void print( + const std::string& s = "DiscreteFactorGraph", + const KeyFormatter& formatter = DefaultKeyFormatter) const override; /** Solve the factor graph by performing variable elimination in COLAMD order using * the dense elimination function specified in \c function, diff --git a/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp b/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp index 0261ef833..be720dbca 100644 --- a/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp +++ b/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp @@ -54,7 +54,7 @@ void dot(const T&f, const string& filename) { } /** I can't get this to work ! - class Mul: boost::function { + class Mul: std::function { inline double operator()(const double& a, const double& b) { return a * b; } diff --git a/gtsam/discrete/tests/testDecisionTree.cpp b/gtsam/discrete/tests/testDecisionTree.cpp index 71cb4abe3..96f503abc 100644 --- a/gtsam/discrete/tests/testDecisionTree.cpp +++ b/gtsam/discrete/tests/testDecisionTree.cpp @@ -196,7 +196,7 @@ TEST(DT, conversion) map ordering; ordering[A] = X; ordering[B] = Y; - boost::function op = convert; + std::function op = convert; BDT f2(f1, ordering, op); // f1.print("f1"); // f2.print("f2"); diff --git a/gtsam/geometry/Cal3.cpp b/gtsam/geometry/Cal3.cpp new file mode 100644 index 000000000..41de47f46 --- /dev/null +++ b/gtsam/geometry/Cal3.cpp @@ -0,0 +1,75 @@ +/* ---------------------------------------------------------------------------- + + * 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 Cal3.cpp + * @brief Common code for all calibration models. + * @author Frank Dellaert + */ + +#include + +#include +#include +#include + +namespace gtsam { + +/* ************************************************************************* */ +Cal3::Cal3(double fov, int w, int h) + : s_(0), u0_((double)w / 2.0), v0_((double)h / 2.0) { + double a = fov * M_PI / 360.0; // fov/2 in radians + fx_ = double(w) / (2.0 * tan(a)); + fy_ = fx_; +} + +/* ************************************************************************* */ +Cal3::Cal3(const std::string& path) { + const auto buffer = path + std::string("/calibration_info.txt"); + std::ifstream infile(buffer, std::ios::in); + + if (infile && !infile.eof()) { + infile >> fx_ >> fy_ >> s_ >> u0_ >> v0_; + } else { + throw std::runtime_error("Cal3: Unable to load the calibration"); + } + + infile.close(); +} + +/* ************************************************************************* */ +std::ostream& operator<<(std::ostream& os, const Cal3& cal) { + os << "fx: " << cal.fx() << ", fy: " << cal.fy() << ", s: " << cal.skew() + << ", px: " << cal.px() << ", py: " << cal.py(); + return os; +} + +/* ************************************************************************* */ +void Cal3::print(const std::string& s) const { gtsam::print((Matrix)K(), s); } + +/* ************************************************************************* */ +bool Cal3::equals(const Cal3& K, double tol) const { + return (std::fabs(fx_ - K.fx_) < tol && std::fabs(fy_ - K.fy_) < tol && + std::fabs(s_ - K.s_) < tol && std::fabs(u0_ - K.u0_) < tol && + std::fabs(v0_ - K.v0_) < tol); +} + +Matrix3 Cal3::inverse() const { + const double fxy = fx_ * fy_, sv0 = s_ * v0_, fyu0 = fy_ * u0_; + Matrix3 K_inverse; + K_inverse << 1.0 / fx_, -s_ / fxy, (sv0 - fyu0) / fxy, 0.0, 1.0 / fy_, + -v0_ / fy_, 0.0, 0.0, 1.0; + return K_inverse; +} + +/* ************************************************************************* */ + +} // \ namespace gtsam diff --git a/gtsam/geometry/Cal3.h b/gtsam/geometry/Cal3.h new file mode 100644 index 000000000..08ce4c1e6 --- /dev/null +++ b/gtsam/geometry/Cal3.h @@ -0,0 +1,206 @@ +/* ---------------------------------------------------------------------------- + + * 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 Cal3.h + * @brief Common code for all Calibration models. + * @author Varun Agrawal + */ + +/** + * @addtogroup geometry + */ + +#pragma once + +#include + +namespace gtsam { + +/** + * Function which makes use of the Implicit Function Theorem to compute the + * Jacobians of `calibrate` using `uncalibrate`. + * This is useful when there are iterative operations in the `calibrate` + * function which make computing jacobians difficult. + * + * Given f(pi, pn) = uncalibrate(pn) - pi, and g(pi) = calibrate, we can + * easily compute the Jacobians: + * df/pi = -I (pn and pi are independent args) + * Dp = -inv(H_uncal_pn) * df/pi = -inv(H_uncal_pn) * (-I) = inv(H_uncal_pn) + * Dcal = -inv(H_uncal_pn) * df/K = -inv(H_uncal_pn) * H_uncal_K + * + * @tparam Cal Calibration model. + * @tparam Dim The number of parameters in the calibration model. + * @param p Calibrated point. + * @param Dcal optional 2*p Jacobian wrpt `p` Cal3DS2 parameters. + * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates. + */ +template +void calibrateJacobians(const Cal& calibration, const Point2& pn, + OptionalJacobian<2, Dim> Dcal = boost::none, + OptionalJacobian<2, 2> Dp = boost::none) { + if (Dcal || Dp) { + Eigen::Matrix H_uncal_K; + Matrix22 H_uncal_pn, H_uncal_pn_inv; + + // Compute uncalibrate Jacobians + calibration.uncalibrate(pn, Dcal ? &H_uncal_K : nullptr, H_uncal_pn); + + H_uncal_pn_inv = H_uncal_pn.inverse(); + + if (Dp) *Dp = H_uncal_pn_inv; + if (Dcal) *Dcal = -H_uncal_pn_inv * H_uncal_K; + } +} + +/** + * @brief Common base class for all calibration models. + * @addtogroup geometry + * \nosubgrouping + */ +class GTSAM_EXPORT Cal3 { + protected: + double fx_ = 1.0f, fy_ = 1.0f; ///< focal length + double s_ = 0.0f; ///< skew + double u0_ = 0.0f, v0_ = 0.0f; ///< principal point + + public: + enum { dimension = 5 }; + ///< shared pointer to calibration object + using shared_ptr = boost::shared_ptr; + + /// @name Standard Constructors + /// @{ + + /// Create a default calibration that leaves coordinates unchanged + Cal3() = default; + + /// constructor from doubles + Cal3(double fx, double fy, double s, double u0, double v0) + : fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0) {} + + /// constructor from vector + Cal3(const Vector5& d) + : fx_(d(0)), fy_(d(1)), s_(d(2)), u0_(d(3)), v0_(d(4)) {} + + /** + * Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect + * @param fov field of view in degrees + * @param w image width + * @param h image height + */ + Cal3(double fov, int w, int h); + + /// Virtual destructor + virtual ~Cal3() {} + + /// @} + /// @name Advanced Constructors + /// @{ + + /** + * Load calibration parameters from `calibration_info.txt` file located in + * `path` directory. + * + * The contents of calibration file should be the 5 parameters in order: + * `fx, fy, s, u0, v0` + * + * @param path path to directory containing `calibration_info.txt`. + */ + Cal3(const std::string& path); + + /// @} + /// @name Testable + /// @{ + + /// Output stream operator + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, + const Cal3& cal); + + /// print with optional string + virtual void print(const std::string& s = "") const; + + /// Check if equal up to specified tolerance + bool equals(const Cal3& K, double tol = 10e-9) const; + + /// @} + /// @name Standard Interface + /// @{ + + /// focal length x + inline double fx() const { return fx_; } + + /// focal length y + inline double fy() const { return fy_; } + + /// aspect ratio + inline double aspectRatio() const { return fx_ / 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_; } + + /// return the principal point + Point2 principalPoint() const { return Point2(u0_, v0_); } + + /// vectorized form (column-wise) + Vector5 vector() const { + Vector5 v; + v << fx_, fy_, s_, u0_, v0_; + return v; + } + + /// return calibration matrix K + virtual Matrix3 K() const { + Matrix3 K; + K << fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0; + return K; + } + +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41 + /** @deprecated The following function has been deprecated, use K above */ + Matrix3 matrix() const { return K(); } +#endif + + /// Return inverted calibration matrix inv(K) + Matrix3 inverse() const; + + /// return DOF, dimensionality of tangent space + inline virtual size_t dim() const { return Dim(); } + + /// return DOF, dimensionality of tangent space + inline static size_t Dim() { return dimension; } + + /// @} + /// @name Advanced Interface + /// @{ + + private: + /// 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_); + } + + /// @} +}; + +} // \ namespace gtsam diff --git a/gtsam/geometry/Cal3Bundler.cpp b/gtsam/geometry/Cal3Bundler.cpp index b198643b0..3ae624bbc 100644 --- a/gtsam/geometry/Cal3Bundler.cpp +++ b/gtsam/geometry/Cal3Bundler.cpp @@ -15,28 +15,19 @@ * @author ydjian */ -#include #include +#include +#include #include #include -#include namespace gtsam { -/* ************************************************************************* */ -Cal3Bundler::Cal3Bundler() : - f_(1), k1_(0), k2_(0), u0_(0), v0_(0), tol_(1e-5) { -} - -/* ************************************************************************* */ -Cal3Bundler::Cal3Bundler(double f, double k1, double k2, double u0, double v0, - double tol) - : f_(f), k1_(k1), k2_(k2), u0_(u0), v0_(v0), tol_(tol) {} - /* ************************************************************************* */ Matrix3 Cal3Bundler::K() const { + // This function is needed to ensure skew = 0; Matrix3 K; - K << f_, 0, u0_, 0, f_, v0_, 0, 0, 1; + K << fx_, 0, u0_, 0, fy_, v0_, 0, 0, 1.0; return K; } @@ -48,35 +39,42 @@ Vector4 Cal3Bundler::k() const { } /* ************************************************************************* */ -Vector3 Cal3Bundler::vector() const { - return Vector3(f_, k1_, k2_); +Vector3 Cal3Bundler::vector() const { return Vector3(fx_, k1_, k2_); } + +/* ************************************************************************* */ +std::ostream& operator<<(std::ostream& os, const Cal3Bundler& cal) { + os << "f: " << cal.fx() << ", k1: " << cal.k1() << ", k2: " << cal.k2() + << ", px: " << cal.px() << ", py: " << cal.py(); + return os; } /* ************************************************************************* */ void Cal3Bundler::print(const std::string& s) const { - gtsam::print((Vector)(Vector(5) << f_, k1_, k2_, u0_, v0_).finished(), s + ".K"); + gtsam::print((Vector)(Vector(5) << fx_, k1_, k2_, u0_, v0_).finished(), + s + ".K"); } /* ************************************************************************* */ bool Cal3Bundler::equals(const Cal3Bundler& K, double tol) const { - if (std::abs(f_ - K.f_) > tol || std::abs(k1_ - K.k1_) > tol - || std::abs(k2_ - K.k2_) > tol || std::abs(u0_ - K.u0_) > tol - || std::abs(v0_ - K.v0_) > tol) - return false; - return true; + const Cal3* base = dynamic_cast(&K); + return (Cal3::equals(*base, tol) && std::fabs(k1_ - K.k1_) < tol && + std::fabs(k2_ - K.k2_) < tol && std::fabs(u0_ - K.u0_) < tol && + std::fabs(v0_ - K.v0_) < tol); } /* ************************************************************************* */ -Point2 Cal3Bundler::uncalibrate(const Point2& p, // - OptionalJacobian<2, 3> Dcal, OptionalJacobian<2, 2> Dp) const { - // r = x^2 + y^2; - // g = (1 + k(1)*r + k(2)*r^2); +Point2 Cal3Bundler::uncalibrate(const Point2& p, OptionalJacobian<2, 3> Dcal, + OptionalJacobian<2, 2> Dp) const { + // r = x² + y²; + // g = (1 + k(1)*r + k(2)*r²); // pi(:,i) = g * pn(:,i) const double x = p.x(), y = p.y(); const double r = x * x + y * y; const double g = 1. + (k1_ + k2_ * r) * r; const double u = g * x, v = g * y; + const double f_ = fx_; + // Derivatives make use of intermediate variables above if (Dcal) { double rx = r * x, ry = r * y; @@ -94,51 +92,38 @@ Point2 Cal3Bundler::uncalibrate(const Point2& p, // } /* ************************************************************************* */ -Point2 Cal3Bundler::calibrate(const Point2& pi, - OptionalJacobian<2, 3> Dcal, +Point2 Cal3Bundler::calibrate(const Point2& pi, OptionalJacobian<2, 3> Dcal, OptionalJacobian<2, 2> Dp) const { - // Copied from Cal3DS2 :-( - // but specialized with k1,k2 non-zero only and fx=fy and s=0 - double x = (pi.x() - u0_)/f_, y = (pi.y() - v0_)/f_; - const Point2 invKPi(x, y); - - // initialize by ignoring the distortion at all, might be problematic for pixels around boundary - Point2 pn(x, y); + // Copied from Cal3DS2 + // but specialized with k1, k2 non-zero only and fx=fy and s=0 + double px = (pi.x() - u0_) / fx_, py = (pi.y() - v0_) / fx_; + const Point2 invKPi(px, py); + Point2 pn; // iterate until the uncalibrate is close to the actual pixel coordinate const int maxIterations = 10; - int iteration; - for (iteration = 0; iteration < maxIterations; ++iteration) { - if (distance2(uncalibrate(pn), pi) <= tol_) - break; - const double px = pn.x(), py = pn.y(), xx = px * px, yy = py * py; - const double rr = xx + yy; + int iteration = 0; + do { + // initialize pn with distortion included + const double rr = (px * px) + (py * py); const double g = (1 + k1_ * rr + k2_ * rr * rr); pn = invKPi / g; - } + + if (distance2(uncalibrate(pn), pi) <= tol_) break; + + // Set px and py using intrinsic coordinates since that is where radial + // distortion correction is done. + px = pn.x(), py = pn.y(); + iteration++; + + } while (iteration < maxIterations); if (iteration >= maxIterations) throw std::runtime_error( - "Cal3Bundler::calibrate fails to converge. need a better initialization"); + "Cal3Bundler::calibrate fails to converge. need a better " + "initialization"); - // We make use of the Implicit Function Theorem to compute the Jacobians from uncalibrate - // Given f(pi, pn) = uncalibrate(pn) - pi, and g(pi) = calibrate, we can easily compute the Jacobians - // df/pi = -I (pn and pi are independent args) - // Dcal = -inv(H_uncal_pn) * df/pi = -inv(H_uncal_pn) * (-I) = inv(H_uncal_pn) - // Dp = -inv(H_uncal_pn) * df/K = -inv(H_uncal_pn) * H_uncal_K - Matrix23 H_uncal_K; - Matrix22 H_uncal_pn, H_uncal_pn_inv; - - if (Dcal || Dp) { - // Compute uncalibrate Jacobians - uncalibrate(pn, Dcal ? &H_uncal_K : nullptr, H_uncal_pn); - - H_uncal_pn_inv = H_uncal_pn.inverse(); - - if (Dp) *Dp = H_uncal_pn_inv; - if (Dcal) *Dcal = -H_uncal_pn_inv * H_uncal_K; - - } + calibrateJacobians(*this, pn, Dcal, Dp); return pn; } @@ -167,14 +152,4 @@ Matrix25 Cal3Bundler::D2d_intrinsic_calibration(const Point2& p) const { return H; } -/* ************************************************************************* */ -Cal3Bundler Cal3Bundler::retract(const Vector& d) const { - return Cal3Bundler(f_ + d(0), k1_ + d(1), k2_ + d(2), u0_, v0_); -} - -/* ************************************************************************* */ -Vector3 Cal3Bundler::localCoordinates(const Cal3Bundler& T2) const { - return T2.vector() - vector(); -} - -} +} // namespace gtsam diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h index 2e3fab002..0d7c1be9d 100644 --- a/gtsam/geometry/Cal3Bundler.h +++ b/gtsam/geometry/Cal3Bundler.h @@ -14,10 +14,12 @@ * @brief Calibration used by Bundler * @date Sep 25, 2010 * @author Yong Dian Jian + * @author Varun Agrawal */ #pragma once +#include #include namespace gtsam { @@ -27,23 +29,23 @@ namespace gtsam { * @addtogroup geometry * \nosubgrouping */ -class GTSAM_EXPORT Cal3Bundler { +class GTSAM_EXPORT Cal3Bundler : public Cal3 { + private: + double k1_ = 0.0f, k2_ = 0.0f; ///< radial distortion + double tol_ = 1e-5; ///< tolerance value when calibrating -private: - double f_; ///< focal length - double k1_, k2_; ///< radial distortion - double u0_, v0_; ///< image center, not a parameter to be optimized but a constant - double tol_; ///< tolerance value when calibrating - -public: + // NOTE: We use the base class fx to represent the common focal length. + // Also, image center parameters (u0, v0) are not optimized + // but are treated as constants. + public: enum { dimension = 3 }; /// @name Standard Constructors /// @{ /// Default constructor - Cal3Bundler(); + Cal3Bundler() = default; /** * Constructor @@ -55,16 +57,21 @@ public: * @param tol optional calibration tolerance value */ Cal3Bundler(double f, double k1, double k2, double u0 = 0, double v0 = 0, - double tol = 1e-5); + double tol = 1e-5) + : Cal3(f, f, 0, u0, v0), k1_(k1), k2_(k2), tol_(tol) {} - virtual ~Cal3Bundler() {} + ~Cal3Bundler() override {} /// @} /// @name Testable /// @{ + /// Output stream operator + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, + const Cal3Bundler& cal); + /// print with optional string - void print(const std::string& s = "") const; + void print(const std::string& s = "") const override; /// assert equality up to a tolerance bool equals(const Cal3Bundler& K, double tol = 10e-9) const; @@ -73,64 +80,41 @@ public: /// @name Standard Interface /// @{ - Matrix3 K() const; ///< Standard 3*3 calibration matrix - Vector4 k() const; ///< Radial distortion parameters (4 of them, 2 0) + /// distorsion parameter k1 + inline double k1() const { return k1_; } + + /// distorsion parameter k2 + inline double k2() const { return k2_; } + + /// image center in x + inline double px() const { return u0_; } + + /// image center in y + inline double py() const { return v0_; } + + Matrix3 K() const override; ///< Standard 3*3 calibration matrix + Vector4 k() const; ///< Radial distortion parameters (4 of them, 2 0) Vector3 vector() const; - /// focal length x - inline double fx() const { - return f_; - } - - /// focal length y - inline double fy() const { - return f_; - } - - /// distorsion parameter k1 - inline double k1() const { - return k1_; - } - - /// distorsion parameter k2 - inline double k2() const { - return k2_; - } - - /// image center in x - inline double px() const { - return u0_; - } - - /// image center in y - inline double py() const { - return v0_; - } - #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41 /// get parameter u0 - inline double u0() const { - return u0_; - } + inline double u0() const { return u0_; } /// get parameter v0 - inline double v0() const { - return v0_; - } + inline double v0() const { return v0_; } #endif - /** * @brief: convert intrinsic coordinates xy to image coordinates uv * Version of uncalibrate with derivatives * @param p point in intrinsic coordinates - * @param Dcal optional 2*3 Jacobian wrpt CalBundler parameters + * @param Dcal optional 2*3 Jacobian wrpt Cal3Bundler parameters * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates * @return point in image coordinates */ Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 3> Dcal = boost::none, - OptionalJacobian<2, 2> Dp = boost::none) const; + OptionalJacobian<2, 2> Dp = boost::none) const; /** * Convert a pixel coordinate to ideal coordinate xy @@ -140,8 +124,7 @@ public: * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates * @return point in intrinsic coordinates */ - Point2 calibrate(const Point2& pi, - OptionalJacobian<2, 3> Dcal = boost::none, + Point2 calibrate(const Point2& pi, OptionalJacobian<2, 3> Dcal = boost::none, OptionalJacobian<2, 2> Dp = boost::none) const; /// @deprecated might be removed in next release, use uncalibrate @@ -157,48 +140,45 @@ public: /// @name Manifold /// @{ + /// return DOF, dimensionality of tangent space + size_t dim() const override { return Dim(); } + + /// return DOF, dimensionality of tangent space + inline static size_t Dim() { return dimension; } + /// Update calibration with tangent space delta - Cal3Bundler retract(const Vector& d) const; + inline Cal3Bundler retract(const Vector& d) const { + return Cal3Bundler(fx_ + d(0), k1_ + d(1), k2_ + d(2), u0_, v0_); + } /// Calculate local coordinates to another calibration - Vector3 localCoordinates(const Cal3Bundler& T2) const; - - /// dimensionality - virtual size_t dim() const { - return 3; + Vector3 localCoordinates(const Cal3Bundler& T2) const { + return T2.vector() - vector(); } - /// dimensionality - static size_t Dim() { - return 3; - } - -private: - + private: /// @} /// @name Advanced Interface /// @{ /** Serialization function */ friend class boost::serialization::access; - template - void serialize(Archive & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_NVP(f_); - ar & BOOST_SERIALIZATION_NVP(k1_); - ar & BOOST_SERIALIZATION_NVP(k2_); - ar & BOOST_SERIALIZATION_NVP(u0_); - ar & BOOST_SERIALIZATION_NVP(v0_); - ar & BOOST_SERIALIZATION_NVP(tol_); + template + void serialize(Archive& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp( + "Cal3Bundler", boost::serialization::base_object(*this)); + ar& BOOST_SERIALIZATION_NVP(k1_); + ar& BOOST_SERIALIZATION_NVP(k2_); + ar& BOOST_SERIALIZATION_NVP(tol_); } /// @} - }; -template<> +template <> struct traits : public internal::Manifold {}; -template<> +template <> struct traits : public internal::Manifold {}; -} // namespace gtsam +} // namespace gtsam diff --git a/gtsam/geometry/Cal3DS2.cpp b/gtsam/geometry/Cal3DS2.cpp index 070d16c6c..f93386ea7 100644 --- a/gtsam/geometry/Cal3DS2.cpp +++ b/gtsam/geometry/Cal3DS2.cpp @@ -13,28 +13,30 @@ * @file Cal3DS2.cpp * @date Feb 28, 2010 * @author ydjian + * @author Varun Agrawal */ -#include #include +#include +#include #include #include -#include namespace gtsam { /* ************************************************************************* */ -void Cal3DS2::print(const std::string& s_) const { - Base::print(s_); +std::ostream& operator<<(std::ostream& os, const Cal3DS2& cal) { + os << (Cal3DS2_Base&)cal; + return os; } +/* ************************************************************************* */ +void Cal3DS2::print(const std::string& s_) const { Base::print(s_); } + /* ************************************************************************* */ bool Cal3DS2::equals(const Cal3DS2& 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(p1_ - K.p1_) > tol || std::abs(p2_ - K.p2_) > tol) - return false; - return true; + const Cal3DS2_Base* base = dynamic_cast(&K); + return Cal3DS2_Base::equals(*base, tol); } /* ************************************************************************* */ @@ -46,8 +48,5 @@ Cal3DS2 Cal3DS2::retract(const Vector& d) const { Vector Cal3DS2::localCoordinates(const Cal3DS2& T2) const { return T2.vector() - vector(); } - } /* ************************************************************************* */ - - diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h index 7fd453d45..f756cba5e 100644 --- a/gtsam/geometry/Cal3DS2.h +++ b/gtsam/geometry/Cal3DS2.h @@ -11,9 +11,11 @@ /** * @file Cal3DS2.h - * @brief Calibration of a camera with radial distortion, calculations in base class Cal3DS2_Base + * @brief Calibration of a camera with radial distortion, calculations in base + * class Cal3DS2_Base * @date Feb 28, 2010 * @author ydjian + * @autho Varun Agrawal */ #pragma once @@ -30,35 +32,37 @@ namespace gtsam { * \nosubgrouping */ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base { + using Base = Cal3DS2_Base; - typedef Cal3DS2_Base Base; - -public: - + public: enum { dimension = 9 }; /// @name Standard Constructors /// @{ /// Default Constructor with only unit focal length - Cal3DS2() : Base() {} + Cal3DS2() = default; - Cal3DS2(double fx, double fy, double s, double u0, double v0, - double k1, double k2, double p1 = 0.0, double p2 = 0.0) : - Base(fx, fy, s, u0, v0, k1, k2, p1, p2) {} + Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, + double k2, double p1 = 0.0, double p2 = 0.0, double tol = 1e-5) + : Base(fx, fy, s, u0, v0, k1, k2, p1, p2, tol) {} - virtual ~Cal3DS2() {} + ~Cal3DS2() override {} /// @} /// @name Advanced Constructors /// @{ - Cal3DS2(const Vector &v) : Base(v) {} + Cal3DS2(const Vector9& v) : Base(v) {} /// @} /// @name Testable /// @{ + /// Output stream operator + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, + const Cal3DS2& cal); + /// print with optional string void print(const std::string& s = "") const override; @@ -70,16 +74,16 @@ public: /// @{ /// Given delta vector, update calibration - Cal3DS2 retract(const Vector& d) const ; + Cal3DS2 retract(const Vector& d) const; /// Given a different calibration, calculate update to obtain it - Vector localCoordinates(const Cal3DS2& T2) const ; + Vector localCoordinates(const Cal3DS2& T2) const; /// Return dimensions of calibration manifold object - virtual size_t dim() const { return dimension ; } + size_t dim() const override { return Dim(); } /// Return dimensions of calibration manifold object - static size_t Dim() { return dimension; } + inline static size_t Dim() { return dimension; } /// @} /// @name Clone @@ -92,30 +96,24 @@ public: /// @} - -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("Cal3DS2", - boost::serialization::base_object(*this)); + template + void serialize(Archive& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp( + "Cal3DS2", boost::serialization::base_object(*this)); } /// @} - }; -template<> +template <> struct traits : public internal::Manifold {}; -template<> +template <> struct traits : public internal::Manifold {}; - } - diff --git a/gtsam/geometry/Cal3DS2_Base.cpp b/gtsam/geometry/Cal3DS2_Base.cpp index 6c03883ce..a3f7026b9 100644 --- a/gtsam/geometry/Cal3DS2_Base.cpp +++ b/gtsam/geometry/Cal3DS2_Base.cpp @@ -13,27 +13,17 @@ * @file Cal3DS2_Base.cpp * @date Feb 28, 2010 * @author ydjian + * @author Varun Agrawal */ -#include #include +#include +#include #include #include -#include namespace gtsam { -/* ************************************************************************* */ -Cal3DS2_Base::Cal3DS2_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]), p1_(v[7]), p2_(v[8]){} - -/* ************************************************************************* */ -Matrix3 Cal3DS2_Base::K() const { - Matrix3 K; - K << fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0; - return K; -} - /* ************************************************************************* */ Vector9 Cal3DS2_Base::vector() const { Vector9 v; @@ -41,6 +31,14 @@ Vector9 Cal3DS2_Base::vector() const { return v; } +/* ************************************************************************* */ +std::ostream& operator<<(std::ostream& os, const Cal3DS2_Base& cal) { + os << (Cal3&)cal; + os << ", k1: " << cal.k1() << ", k2: " << cal.k2() << ", p1: " << cal.p1() + << ", p2: " << cal.p2(); + return os; +} + /* ************************************************************************* */ void Cal3DS2_Base::print(const std::string& s_) const { gtsam::print((Matrix)K(), s_ + ".K"); @@ -49,31 +47,30 @@ void Cal3DS2_Base::print(const std::string& s_) const { /* ************************************************************************* */ bool Cal3DS2_Base::equals(const Cal3DS2_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(p1_ - K.p1_) > tol || std::abs(p2_ - K.p2_) > tol) - return false; - return true; + const Cal3* base = dynamic_cast(&K); + return Cal3::equals(*base, tol) && std::fabs(k1_ - K.k1_) < tol && + std::fabs(k2_ - K.k2_) < tol && std::fabs(p1_ - K.p1_) < tol && + std::fabs(p2_ - K.p2_) < tol; } /* ************************************************************************* */ -static Matrix29 D2dcalibration(double x, double y, double xx, - double yy, double xy, double rr, double r4, double pnx, double pny, - const Matrix2& DK) { +static Matrix29 D2dcalibration(double x, double y, double xx, double yy, + double xy, double rr, double r4, double pnx, + double pny, const Matrix2& DK) { Matrix25 DR1; DR1 << pnx, 0.0, pny, 1.0, 0.0, 0.0, pny, 0.0, 0.0, 1.0; Matrix24 DR2; - DR2 << x * rr, x * r4, 2 * xy, rr + 2 * xx, // - y * rr, y * r4, rr + 2 * yy, 2 * xy; + DR2 << x * rr, x * r4, 2 * xy, rr + 2 * xx, // + y * rr, y * r4, rr + 2 * yy, 2 * xy; Matrix29 D; D << DR1, DK * DR2; return D; } /* ************************************************************************* */ -static Matrix2 D2dintrinsic(double x, double y, double rr, - double g, double k1, double k2, double p1, double p2, - const Matrix2& DK) { +static Matrix2 D2dintrinsic(double x, double y, double rr, double g, double k1, + double k2, double p1, double p2, + const Matrix2& DK) { const double drdx = 2. * x; const double drdy = 2. * y; const double dgdx = k1 * drdx + k2 * 2. * rr * drdx; @@ -87,24 +84,23 @@ static Matrix2 D2dintrinsic(double x, double y, double rr, const double dDydy = 2. * p2 * x + p1 * (drdy + 4. * y); Matrix2 DR; - DR << g + x * dgdx + dDxdx, x * dgdy + dDxdy, // - y * dgdx + dDydx, g + y * dgdy + dDydy; + DR << g + x * dgdx + dDxdx, x * dgdy + dDxdy, // + y * dgdx + dDydx, g + y * dgdy + dDydy; return DK * DR; } /* ************************************************************************* */ -Point2 Cal3DS2_Base::uncalibrate(const Point2& p, - OptionalJacobian<2,9> H1, OptionalJacobian<2,2> H2) const { - - // rr = x^2 + y^2; - // g = (1 + k(1)*rr + k(2)*rr^2); - // dp = [2*k(3)*x*y + k(4)*(rr + 2*x^2); 2*k(4)*x*y + k(3)*(rr + 2*y^2)]; +Point2 Cal3DS2_Base::uncalibrate(const Point2& p, OptionalJacobian<2, 9> Dcal, + OptionalJacobian<2, 2> Dp) const { + // r² = x² + y²; + // g = (1 + k(1)*r² + k(2)*r⁴); + // dp = [2*k(3)*x*y + k(4)*(r² + 2*x²); 2*k(4)*x*y + k(3)*(r² + 2*y²)]; // pi(:,i) = g * pn(:,i) + dp; const double x = p.x(), y = p.y(), xy = x * y, xx = x * x, yy = y * y; const double rr = xx + yy; const double r4 = rr * rr; - const double g = 1. + k1_ * rr + k2_ * r4; // scaling factor + const double g = 1. + k1_ * rr + k2_ * r4; // scaling factor // tangential component const double dx = 2. * p1_ * xy + p2_ * (rr + 2. * xx); @@ -115,37 +111,44 @@ Point2 Cal3DS2_Base::uncalibrate(const Point2& p, const double pny = g * y + dy; Matrix2 DK; - if (H1 || H2) DK << fx_, s_, 0.0, fy_; + if (Dcal || Dp) { + DK << fx_, s_, 0.0, fy_; + } // Derivative for calibration - if (H1) - *H1 = D2dcalibration(x, y, xx, yy, xy, rr, r4, pnx, pny, DK); + if (Dcal) { + *Dcal = D2dcalibration(x, y, xx, yy, xy, rr, r4, pnx, pny, DK); + } // Derivative for points - if (H2) - *H2 = D2dintrinsic(x, y, rr, g, k1_, k2_, p1_, p2_, DK); + if (Dp) { + *Dp = D2dintrinsic(x, y, rr, g, k1_, k2_, p1_, p2_, DK); + } // Regular uncalibrate after distortion return Point2(fx_ * pnx + s_ * pny + u0_, fy_ * pny + v0_); } /* ************************************************************************* */ -Point2 Cal3DS2_Base::calibrate(const Point2& pi, const double tol) const { +Point2 Cal3DS2_Base::calibrate(const Point2& pi, OptionalJacobian<2, 9> Dcal, + OptionalJacobian<2, 2> Dp) const { // Use the following fixed point iteration to invert the radial distortion. // pn_{t+1} = (inv(K)*pi - dp(pn_{t})) / g(pn_{t}) - const Point2 invKPi ((1 / fx_) * (pi.x() - u0_ - (s_ / fy_) * (pi.y() - v0_)), - (1 / fy_) * (pi.y() - v0_)); + const Point2 invKPi((1 / fx_) * (pi.x() - u0_ - (s_ / fy_) * (pi.y() - v0_)), + (1 / fy_) * (pi.y() - v0_)); - // initialize by ignoring the distortion at all, might be problematic for pixels around boundary + // initialize by ignoring the distortion at all, might be problematic for + // pixels around boundary Point2 pn = invKPi; // iterate until the uncalibrate is close to the actual pixel coordinate const int maxIterations = 10; int iteration; for (iteration = 0; iteration < maxIterations; ++iteration) { - if (distance2(uncalibrate(pn), pi) <= tol) break; - const double x = pn.x(), y = pn.y(), xy = x * y, xx = x * x, yy = y * y; + if (distance2(uncalibrate(pn), pi) <= tol_) break; + const double px = pn.x(), py = pn.y(), xy = px * py, xx = px * px, + yy = py * py; const double rr = xx + yy; const double g = (1 + k1_ * rr + k2_ * rr * rr); const double dx = 2 * p1_ * xy + p2_ * (rr + 2 * xx); @@ -153,8 +156,11 @@ Point2 Cal3DS2_Base::calibrate(const Point2& pi, const double tol) const { pn = (invKPi - Point2(dx, dy)) / g; } - if ( iteration >= maxIterations ) - throw std::runtime_error("Cal3DS2::calibrate fails to converge. need a better initialization"); + if (iteration >= maxIterations) + throw std::runtime_error( + "Cal3DS2::calibrate fails to converge. need a better initialization"); + + calibrateJacobians(*this, pn, Dcal, Dp); return pn; } @@ -184,8 +190,5 @@ Matrix29 Cal3DS2_Base::D2d_calibration(const Point2& p) const { DK << fx_, s_, 0.0, fy_; return D2dcalibration(x, y, xx, yy, xy, rr, r4, pnx, pny, DK); } - } /* ************************************************************************* */ - - diff --git a/gtsam/geometry/Cal3DS2_Base.h b/gtsam/geometry/Cal3DS2_Base.h index a0ece8bdb..a9b09cf46 100644 --- a/gtsam/geometry/Cal3DS2_Base.h +++ b/gtsam/geometry/Cal3DS2_Base.h @@ -14,10 +14,12 @@ * @brief Calibration of a camera with radial distortion * @date Feb 28, 2010 * @author ydjian + * @author Varun Agrawal */ #pragma once +#include #include namespace gtsam { @@ -31,82 +33,77 @@ namespace gtsam { * http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html * but using only k1,k2,p1, and p2 coefficients. * K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ] - * rr = Pn.x^2 + Pn.y^2 - * \hat{Pn} = (1 + k1*rr + k2*rr^2 ) Pn + [ 2*p1 Pn.x Pn.y + p2 (rr + 2 Pn.x^2) ; - * p1 (rr + 2 Pn.y^2) + 2*p2 Pn.x Pn.y ] - * pi = K*Pn + * r² = P.x² + P.y² + * P̂ = (1 + k1*r² + k2*r⁴) P + [ (2*p1 P.x P.y) + p2 (r² + 2 Pn.x²) + * p1 (r² + 2 Pn.y²) + (2*p2 Pn.x Pn.y) ] + * pi = K*P̂ */ -class GTSAM_EXPORT Cal3DS2_Base { +class GTSAM_EXPORT Cal3DS2_Base : public Cal3 { + protected: + double k1_ = 0.0f, k2_ = 0.0f; ///< radial 2nd-order and 4th-order + double p1_ = 0.0f, p2_ = 0.0f; ///< tangential distortion + double tol_ = 1e-5; ///< tolerance value when calibrating -protected: - - double fx_, fy_, s_, u0_, v0_ ; // focal length, skew and principal point - double k1_, k2_ ; // radial 2nd-order and 4th-order - double p1_, p2_ ; // tangential distortion - -public: + public: + enum { dimension = 9 }; /// @name Standard Constructors /// @{ /// Default Constructor with only unit focal length - Cal3DS2_Base() : fx_(1), fy_(1), s_(0), u0_(0), v0_(0), k1_(0), k2_(0), p1_(0), p2_(0) {} + Cal3DS2_Base() = default; - Cal3DS2_Base(double fx, double fy, double s, double u0, double v0, - double k1, double k2, double p1 = 0.0, double p2 = 0.0) : - fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0), k1_(k1), k2_(k2), p1_(p1), p2_(p2) {} + Cal3DS2_Base(double fx, double fy, double s, double u0, double v0, double k1, + double k2, double p1 = 0.0, double p2 = 0.0, double tol = 1e-5) + : Cal3(fx, fy, s, u0, v0), + k1_(k1), + k2_(k2), + p1_(p1), + p2_(p2), + tol_(tol) {} - virtual ~Cal3DS2_Base() {} + ~Cal3DS2_Base() override {} /// @} /// @name Advanced Constructors /// @{ - Cal3DS2_Base(const Vector &v) ; + Cal3DS2_Base(const Vector9& v) + : Cal3(v(0), v(1), v(2), v(3), v(4)), + k1_(v(5)), + k2_(v(6)), + p1_(v(7)), + p2_(v(8)) {} /// @} /// @name Testable /// @{ + /// Output stream operator + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, + const Cal3DS2_Base& cal); + /// print with optional string - virtual void print(const std::string& s = "") const; + void print(const std::string& s = "") const override; /// assert equality up to a tolerance - bool equals(const Cal3DS2_Base& K, double tol = 10e-9) const; + bool equals(const Cal3DS2_Base& K, double tol = 1e-8) 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_;} + inline double k1() const { return k1_; } /// Second distortion coefficient - inline double k2() const { return k2_;} + inline double k2() const { return k2_; } /// First tangential distortion coefficient - inline double p1() const { return p1_;} + inline double p1() const { return p1_; } /// Second tangential distortion coefficient - inline double p2() const { return p2_;} - - /// return calibration matrix -- not really applicable - Matrix3 K() const; + inline double p2() const { return p2_; } /// return distortion parameter vector Vector4 k() const { return Vector4(k1_, k2_, p1_, p2_); } @@ -121,18 +118,24 @@ public: * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates * @return point in (distorted) image coordinates */ - Point2 uncalibrate(const Point2& p, - OptionalJacobian<2,9> Dcal = boost::none, - OptionalJacobian<2,2> Dp = boost::none) const ; + Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 9> Dcal = boost::none, + OptionalJacobian<2, 2> Dp = boost::none) const; /// Convert (distorted) image coordinates uv to intrinsic coordinates xy - Point2 calibrate(const Point2& p, const double tol=1e-5) const; + Point2 calibrate(const Point2& p, OptionalJacobian<2, 9> Dcal = boost::none, + OptionalJacobian<2, 2> Dp = boost::none) const; /// Derivative of uncalibrate wrpt intrinsic coordinates - Matrix2 D2d_intrinsic(const Point2& p) const ; + Matrix2 D2d_intrinsic(const Point2& p) const; /// Derivative of uncalibrate wrpt the calibration parameters - Matrix29 D2d_calibration(const Point2& p) const ; + Matrix29 D2d_calibration(const Point2& p) const; + + /// return DOF, dimensionality of tangent space + size_t dim() const override { return Dim(); } + + /// return DOF, dimensionality of tangent space + inline static size_t Dim() { return dimension; } /// @} /// @name Clone @@ -145,30 +148,23 @@ public: /// @} -private: - + 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(p1_); - ar & BOOST_SERIALIZATION_NVP(p2_); + template + void serialize(Archive& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp( + "Cal3DS2_Base", boost::serialization::base_object(*this)); + ar& BOOST_SERIALIZATION_NVP(k1_); + ar& BOOST_SERIALIZATION_NVP(k2_); + ar& BOOST_SERIALIZATION_NVP(p1_); + ar& BOOST_SERIALIZATION_NVP(p2_); + ar& BOOST_SERIALIZATION_NVP(tol_); } /// @} - }; - } - diff --git a/gtsam/geometry/Cal3Fisheye.cpp b/gtsam/geometry/Cal3Fisheye.cpp index f7794fafb..52d475d5d 100644 --- a/gtsam/geometry/Cal3Fisheye.cpp +++ b/gtsam/geometry/Cal3Fisheye.cpp @@ -13,6 +13,7 @@ * @file Cal3Fisheye.cpp * @date Apr 8, 2020 * @author ghaggin + * @author Varun Agrawal */ #include @@ -23,18 +24,6 @@ namespace gtsam { -/* ************************************************************************* */ -Cal3Fisheye::Cal3Fisheye(const Vector9& 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; @@ -42,13 +31,6 @@ Vector9 Cal3Fisheye::vector() const { return v; } -/* ************************************************************************* */ -Matrix3 Cal3Fisheye::K() const { - Matrix3 K; - K << fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0; - return K; -} - /* ************************************************************************* */ double Cal3Fisheye::Scaling(double r) { static constexpr double threshold = 1e-8; @@ -122,14 +104,25 @@ Point2 Cal3Fisheye::uncalibrate(const Point2& p, OptionalJacobian<2, 9> H1, } /* ************************************************************************* */ -Point2 Cal3Fisheye::calibrate(const Point2& uv, const double tol) const { - // initial gues just inverts the pinhole model +Point2 Cal3Fisheye::calibrate(const Point2& uv, OptionalJacobian<2, 9> Dcal, + OptionalJacobian<2, 2> Dp) const { + // Apply inverse camera matrix to map the pixel coordinate (u, v) + // of the equidistant fisheye image to angular coordinate space (xd, yd) + // with radius theta given in radians. 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); + const double theta = sqrt(xd * xd + yd * yd); + + // Provide initial guess for the Gauss-Newton search. + // The angular coordinates given by (xd, yd) are mapped back to + // the focal plane of the perspective undistorted projection pi. + // See Cal3Unified.calibrate() using the same pattern for the + // undistortion of omnidirectional fisheye projection. + const double scale = (theta > 0) ? tan(theta) / theta : 1.0; + Point2 pi(scale * xd, scale * yd); - // Perform newtons method, break when solution converges past tol, + // Perform newtons method, break when solution converges past tol_, // throw exception if max iterations are reached const int maxIterations = 10; int iteration; @@ -140,7 +133,7 @@ Point2 Cal3Fisheye::calibrate(const Point2& uv, const double tol) const { const Point2 uv_hat = uncalibrate(pi, boost::none, jac); // Test convergence - if ((uv_hat - uv).norm() < tol) break; + if ((uv_hat - uv).norm() < tol_) break; // Newton's method update step pi = pi - jac.inverse() * (uv_hat - uv); @@ -151,9 +144,19 @@ Point2 Cal3Fisheye::calibrate(const Point2& uv, const double tol) const { "Cal3Fisheye::calibrate fails to converge. need a better " "initialization"); + calibrateJacobians(*this, pi, Dcal, Dp); + return pi; } +/* ************************************************************************* */ +std::ostream& operator<<(std::ostream& os, const Cal3Fisheye& cal) { + os << (Cal3&)cal; + os << ", k1: " << cal.k1() << ", k2: " << cal.k2() << ", k3: " << cal.k3() + << ", k4: " << cal.k4(); + return os; +} + /* ************************************************************************* */ void Cal3Fisheye::print(const std::string& s_) const { gtsam::print((Matrix)K(), s_ + ".K"); @@ -162,24 +165,12 @@ void Cal3Fisheye::print(const std::string& s_) const { /* ************************************************************************* */ 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; + const Cal3* base = dynamic_cast(&K); + return Cal3::equals(*base, tol) && std::fabs(k1_ - K.k1_) < tol && + std::fabs(k2_ - K.k2_) < tol && std::fabs(k3_ - K.k3_) < tol && + std::fabs(k4_ - K.k4_) < tol; } /* ************************************************************************* */ -Cal3Fisheye Cal3Fisheye::retract(const Vector& d) const { - return Cal3Fisheye(vector() + d); -} -/* ************************************************************************* */ -Vector Cal3Fisheye::localCoordinates(const Cal3Fisheye& T2) const { - return T2.vector() - vector(); -} - -} // namespace gtsam -/* ************************************************************************* */ +} // \ namespace gtsam diff --git a/gtsam/geometry/Cal3Fisheye.h b/gtsam/geometry/Cal3Fisheye.h index e24fe074f..a8c9fa182 100644 --- a/gtsam/geometry/Cal3Fisheye.h +++ b/gtsam/geometry/Cal3Fisheye.h @@ -14,10 +14,12 @@ * @brief Calibration of a fisheye camera * @date Apr 8, 2020 * @author ghaggin + * @author Varun Agrawal */ #pragma once +#include #include #include @@ -36,71 +38,58 @@ namespace gtsam { * Intrinsic coordinates: * [x_i;y_i] = [x/z; y/z] * Distorted coordinates: - * r^2 = (x_i)^2 + (y_i)^2 + * r² = (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) + * th_d = th(1 + k1*th² + k2*th⁴ + k3*th⁶ + k4*th⁸) * [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 { +class GTSAM_EXPORT Cal3Fisheye : public Cal3 { private: - double fx_, fy_, s_, u0_, v0_; // focal length, skew and principal point - double k1_, k2_, k3_, k4_; // fisheye distortion coefficients + double k1_ = 0.0f, k2_ = 0.0f; ///< fisheye distortion coefficients + double k3_ = 0.0f, k4_ = 0.0f; ///< fisheye distortion coefficients + double tol_ = 1e-5; ///< tolerance value when calibrating public: enum { dimension = 9 }; - typedef boost::shared_ptr - shared_ptr; ///< shared pointer to fisheye calibration object + ///< shared pointer to fisheye calibration object + using shared_ptr = boost::shared_ptr; /// @name Standard Constructors /// @{ /// Default Constructor with only unit focal length - Cal3Fisheye() - : fx_(1), fy_(1), s_(0), u0_(0), v0_(0), k1_(0), k2_(0), k3_(0), k4_(0) {} + Cal3Fisheye() = default; 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), + const double k3, const double k4, double tol = 1e-5) + : Cal3(fx, fy, s, u0, v0), k1_(k1), k2_(k2), k3_(k3), - k4_(k4) {} + k4_(k4), + tol_(tol) {} - virtual ~Cal3Fisheye() {} + ~Cal3Fisheye() override {} /// @} /// @name Advanced Constructors /// @{ - explicit Cal3Fisheye(const Vector9& v); + explicit Cal3Fisheye(const Vector9& v) + : Cal3(v(0), v(1), v(2), v(3), v(4)), + k1_(v(5)), + k2_(v(6)), + k3_(v(7)), + k4_(v(8)) {} /// @} /// @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_; } @@ -113,9 +102,6 @@ class GTSAM_EXPORT Cal3Fisheye { /// 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_); } @@ -129,24 +115,34 @@ class GTSAM_EXPORT Cal3Fisheye { * @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 Dcal optional 2*9 Jacobian wrpt intrinsic parameters * @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; + /** + * Convert (distorted) image coordinates [u;v] to intrinsic coordinates [x_i, + * y_i] + * @param p point in image coordinates + * @param Dcal optional 2*9 Jacobian wrpt intrinsic parameters + * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates (xi, yi) + * @return point in intrinsic coordinates + */ + Point2 calibrate(const Point2& p, OptionalJacobian<2, 9> Dcal = boost::none, + OptionalJacobian<2, 2> Dp = boost::none) const; /// @} /// @name Testable /// @{ + /// Output stream operator + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, + const Cal3Fisheye& cal); + /// print with optional string - virtual void print(const std::string& s = "") const; + void print(const std::string& s = "") const override; /// assert equality up to a tolerance bool equals(const Cal3Fisheye& K, double tol = 10e-9) const; @@ -155,17 +151,21 @@ class GTSAM_EXPORT Cal3Fisheye { /// @name Manifold /// @{ + /// Return dimensions of calibration manifold object + size_t dim() const override { return Dim(); } + + /// Return dimensions of calibration manifold object + inline static size_t Dim() { return dimension; } + /// Given delta vector, update calibration - Cal3Fisheye retract(const Vector& d) const; + inline Cal3Fisheye retract(const Vector& d) const { + return Cal3Fisheye(vector() + d); + } /// 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; } - - /// Return dimensions of calibration manifold object - static size_t Dim() { return 9; } + Vector localCoordinates(const Cal3Fisheye& T2) const { + return T2.vector() - vector(); + } /// @} /// @name Clone @@ -186,11 +186,8 @@ class GTSAM_EXPORT Cal3Fisheye { 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::make_nvp( + "Cal3Fisheye", boost::serialization::base_object(*this)); ar& BOOST_SERIALIZATION_NVP(k1_); ar& BOOST_SERIALIZATION_NVP(k2_); ar& BOOST_SERIALIZATION_NVP(k3_); diff --git a/gtsam/geometry/Cal3Unified.cpp b/gtsam/geometry/Cal3Unified.cpp index b1b9c3722..11aabcaa7 100644 --- a/gtsam/geometry/Cal3Unified.cpp +++ b/gtsam/geometry/Cal3Unified.cpp @@ -13,21 +13,18 @@ * @file Cal3Unified.cpp * @date Mar 8, 2014 * @author Jing Dong + * @author Varun Agrawal */ -#include #include -#include +#include #include +#include #include namespace gtsam { -/* ************************************************************************* */ -Cal3Unified::Cal3Unified(const Vector &v): - Base(v[0], v[1], v[2], v[3], v[4], v[5], v[6], v[7], v[8]), xi_(v[9]) {} - /* ************************************************************************* */ Vector10 Cal3Unified::vector() const { Vector10 v; @@ -35,6 +32,13 @@ Vector10 Cal3Unified::vector() const { return v; } +/* ************************************************************************* */ +std::ostream& operator<<(std::ostream& os, const Cal3Unified& cal) { + os << (Cal3DS2_Base&)cal; + os << ", xi: " << cal.xi(); + return os; +} + /* ************************************************************************* */ void Cal3Unified::print(const std::string& s) const { Base::print(s); @@ -43,20 +47,14 @@ void Cal3Unified::print(const std::string& s) const { /* ************************************************************************* */ bool Cal3Unified::equals(const Cal3Unified& 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(p1_ - K.p1_) > tol || std::abs(p2_ - K.p2_) > tol || - std::abs(xi_ - K.xi_) > tol) - return false; - return true; + const Cal3DS2_Base* base = dynamic_cast(&K); + return Cal3DS2_Base::equals(*base, tol) && std::fabs(xi_ - K.xi_) < tol; } /* ************************************************************************* */ // todo: make a fixed sized jacobian version of this -Point2 Cal3Unified::uncalibrate(const Point2& p, - OptionalJacobian<2,10> H1, - OptionalJacobian<2,2> H2) const { - +Point2 Cal3Unified::uncalibrate(const Point2& p, OptionalJacobian<2, 10> Dcal, + OptionalJacobian<2, 2> Dp) const { // this part of code is modified from Cal3DS2, // since the second part of this model (after project to normalized plane) // is same as Cal3DS2 @@ -69,50 +67,53 @@ Point2 Cal3Unified::uncalibrate(const Point2& p, const double sqrt_nx = sqrt(xs * xs + ys * ys + 1.0); const double xi_sqrt_nx = 1.0 / (1 + xi * sqrt_nx); const double xi_sqrt_nx2 = xi_sqrt_nx * xi_sqrt_nx; - const double x = xs * xi_sqrt_nx, y = ys * xi_sqrt_nx; // points on NPlane + const double x = xs * xi_sqrt_nx, y = ys * xi_sqrt_nx; // points on NPlane // Part2: project NPlane point to pixel plane: use Cal3DS2 - Point2 m(x,y); + Point2 m(x, y); Matrix29 H1base; - Matrix2 H2base; // jacobians from Base class + Matrix2 H2base; // jacobians from Base class Point2 puncalib = Base::uncalibrate(m, H1base, H2base); // Inlined derivative for calibration - if (H1) { + if (Dcal) { // part1 Vector2 DU; - DU << -xs * sqrt_nx * xi_sqrt_nx2, // + DU << -xs * sqrt_nx * xi_sqrt_nx2, // -ys * sqrt_nx * xi_sqrt_nx2; - *H1 << H1base, H2base * DU; + *Dcal << H1base, H2base * DU; } // Inlined derivative for points - if (H2) { + if (Dp) { // part1 const double denom = 1.0 * xi_sqrt_nx2 / sqrt_nx; - const double mid = -(xi * xs*ys) * denom; + const double mid = -(xi * xs * ys) * denom; Matrix2 DU; - DU << (sqrt_nx + xi*(ys*ys + 1)) * denom, mid, // - mid, (sqrt_nx + xi*(xs*xs + 1)) * denom; + DU << (sqrt_nx + xi * (ys * ys + 1)) * denom, mid, // + mid, (sqrt_nx + xi * (xs * xs + 1)) * denom; - *H2 << H2base * DU; + *Dp << H2base * DU; } return puncalib; } /* ************************************************************************* */ -Point2 Cal3Unified::calibrate(const Point2& pi, const double tol) const { - +Point2 Cal3Unified::calibrate(const Point2& pi, OptionalJacobian<2, 10> Dcal, + OptionalJacobian<2, 2> Dp) const { // calibrate point to Nplane use base class::calibrate() - Point2 pnplane = Base::calibrate(pi, tol); + Point2 pnplane = Base::calibrate(pi); // call nplane to space - return this->nPlaneToSpace(pnplane); + Point2 pn = this->nPlaneToSpace(pnplane); + + calibrateJacobians(*this, pn, Dcal, Dp); + + return pn; } /* ************************************************************************* */ Point2 Cal3Unified::nPlaneToSpace(const Point2& p) const { - const double x = p.x(), y = p.y(); const double xy2 = x * x + y * y; const double sq_xy = (xi_ + sqrt(1 + (1 - xi_ * xi_) * xy2)) / (xy2 + 1); @@ -122,7 +123,6 @@ Point2 Cal3Unified::nPlaneToSpace(const Point2& p) const { /* ************************************************************************* */ Point2 Cal3Unified::spaceToNPlane(const Point2& p) const { - const double x = p.x(), y = p.y(); const double sq_xy = 1 + xi_ * sqrt(x * x + y * y + 1); @@ -135,11 +135,10 @@ Cal3Unified Cal3Unified::retract(const Vector& d) const { } /* ************************************************************************* */ -Vector10 Cal3Unified::localCoordinates(const Cal3Unified& T2) const { +Vector Cal3Unified::localCoordinates(const Cal3Unified& T2) const { return T2.vector() - vector(); } -} /* ************************************************************************* */ - +} // \ namespace gtsam diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h index 381405d20..f07ca0a54 100644 --- a/gtsam/geometry/Cal3Unified.h +++ b/gtsam/geometry/Cal3Unified.h @@ -14,6 +14,7 @@ * @brief Unified Calibration Model, see Mei07icra for details * @date Mar 8, 2014 * @author Jing Dong + * @author Varun Agrawal */ /** @@ -27,53 +28,57 @@ namespace gtsam { /** - * @brief Calibration of a omni-directional camera with mirror + lens radial distortion + * @brief Calibration of a omni-directional camera with mirror + lens radial + * distortion * @addtogroup geometry * \nosubgrouping * * Similar to Cal3DS2, does distortion but has additional mirror parameter xi * K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ] - * Pn = [ P.x / (1 + xi * \sqrt{P.x^2 + P.y^2 + 1}), P.y / (1 + xi * \sqrt{P.x^2 + P.y^2 + 1})] - * rr = Pn.x^2 + Pn.y^2 - * \hat{pn} = (1 + k1*rr + k2*rr^2 ) pn + [ 2*k3 pn.x pn.y + k4 (rr + 2 Pn.x^2) ; - * k3 (rr + 2 Pn.y^2) + 2*k4 pn.x pn.y ] + * Pn = [ P.x / (1 + xi * \sqrt{P.x² + P.y² + 1}), P.y / (1 + xi * \sqrt{P.x² + + * P.y² + 1})] + * r² = Pn.x² + Pn.y² + * \hat{pn} = (1 + k1*r² + k2*r⁴ ) pn + [ 2*k3 pn.x pn.y + k4 (r² + 2 Pn.x²) ; + * k3 (rr + 2 Pn.y²) + 2*k4 pn.x pn.y ] * pi = K*pn */ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base { + using This = Cal3Unified; + using Base = Cal3DS2_Base; - typedef Cal3Unified This; - typedef Cal3DS2_Base Base; - -private: - - double xi_; // mirror parameter - -public: + private: + double xi_ = 0.0f; ///< mirror parameter + public: enum { dimension = 10 }; /// @name Standard Constructors /// @{ /// Default Constructor with only unit focal length - Cal3Unified() : Base(), xi_(0) {} + Cal3Unified() = default; - Cal3Unified(double fx, double fy, double s, double u0, double v0, - double k1, double k2, double p1 = 0.0, double p2 = 0.0, double xi = 0.0) : - Base(fx, fy, s, u0, v0, k1, k2, p1, p2), xi_(xi) {} + Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1, + double k2, double p1 = 0.0, double p2 = 0.0, double xi = 0.0) + : Base(fx, fy, s, u0, v0, k1, k2, p1, p2), xi_(xi) {} - virtual ~Cal3Unified() {} + ~Cal3Unified() override {} /// @} /// @name Advanced Constructors /// @{ - Cal3Unified(const Vector &v) ; + Cal3Unified(const Vector10& v) + : Base(v(0), v(1), v(2), v(3), v(4), v(5), v(6), v(7), v(8)), xi_(v(9)) {} /// @} /// @name Testable /// @{ + /// Output stream operator + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, + const Cal3Unified& cal); + /// print with optional string void print(const std::string& s = "") const override; @@ -85,7 +90,10 @@ public: /// @{ /// mirror parameter - inline double xi() const { return xi_;} + inline double xi() const { return xi_; } + + /// Return all parameters as a vector + Vector10 vector() const; /** * convert intrinsic coordinates xy to image coordinates uv @@ -95,11 +103,12 @@ public: * @return point in image coordinates */ Point2 uncalibrate(const Point2& p, - OptionalJacobian<2,10> Dcal = boost::none, - OptionalJacobian<2,2> Dp = boost::none) const ; + OptionalJacobian<2, 10> Dcal = boost::none, + OptionalJacobian<2, 2> Dp = boost::none) const; /// Conver a pixel coordinate to ideal coordinate - Point2 calibrate(const Point2& p, const double tol=1e-5) const; + Point2 calibrate(const Point2& p, OptionalJacobian<2, 10> Dcal = boost::none, + OptionalJacobian<2, 2> Dp = boost::none) const; /// Convert a 3D point to normalized unit plane Point2 spaceToNPlane(const Point2& p) const; @@ -112,41 +121,33 @@ public: /// @{ /// Given delta vector, update calibration - Cal3Unified retract(const Vector& d) const ; + Cal3Unified retract(const Vector& d) const; /// Given a different calibration, calculate update to obtain it - Vector10 localCoordinates(const Cal3Unified& T2) const ; + Vector localCoordinates(const Cal3Unified& T2) const; /// Return dimensions of calibration manifold object - virtual size_t dim() const { return dimension ; } + size_t dim() const override { return Dim(); } /// Return dimensions of calibration manifold object - static size_t Dim() { return dimension; } - - /// Return all parameters as a vector - Vector10 vector() const ; + inline static size_t Dim() { return dimension; } /// @} -private: - + private: /** Serialization function */ friend class boost::serialization::access; - template - void serialize(Archive & ar, const unsigned int /*version*/) - { - ar & boost::serialization::make_nvp("Cal3Unified", - boost::serialization::base_object(*this)); - ar & BOOST_SERIALIZATION_NVP(xi_); + template + void serialize(Archive& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp( + "Cal3Unified", boost::serialization::base_object(*this)); + ar& BOOST_SERIALIZATION_NVP(xi_); } - }; -template<> +template <> struct traits : public internal::Manifold {}; -template<> +template <> struct traits : public internal::Manifold {}; - } - diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp index b3d1be4b6..1a76c3f6f 100644 --- a/gtsam/geometry/Cal3_S2.cpp +++ b/gtsam/geometry/Cal3_S2.cpp @@ -22,95 +22,55 @@ #include namespace gtsam { -using namespace std; /* ************************************************************************* */ -Cal3_S2::Cal3_S2(double fov, int w, int h) : - s_(0), u0_((double) w / 2.0), v0_((double) h / 2.0) { - double a = fov * M_PI / 360.0; // fov/2 in radians - fx_ = (double) w / (2.0 * tan(a)); // old formula: fx_ = (double) w * tan(a); - fy_ = fx_; -} - -/* ************************************************************************* */ -Cal3_S2::Cal3_S2(const std::string &path) : - fx_(320), fy_(320), s_(0), u0_(320), v0_(140) { - - char buffer[200]; - buffer[0] = 0; - sprintf(buffer, "%s/calibration_info.txt", path.c_str()); - std::ifstream infile(buffer, std::ios::in); - - if (infile) - infile >> fx_ >> fy_ >> s_ >> u0_ >> v0_; - else { - throw std::runtime_error("Cal3_S2: Unable to load the calibration"); - } - - infile.close(); -} - -/* ************************************************************************* */ -ostream& operator<<(ostream& os, const Cal3_S2& cal) { - os << "{fx: " << cal.fx() << ", fy: " << cal.fy() << ", s:" << cal.skew() << ", px:" << cal.px() - << ", py:" << cal.py() << "}"; +std::ostream& operator<<(std::ostream& os, const Cal3_S2& cal) { + // Use the base class version since it is identical. + os << (Cal3&)cal; return os; } /* ************************************************************************* */ void Cal3_S2::print(const std::string& s) const { - gtsam::print((Matrix)matrix(), s); + gtsam::print((Matrix)K(), s); } /* ************************************************************************* */ bool Cal3_S2::equals(const Cal3_S2& K, double tol) const { - if (std::abs(fx_ - K.fx_) > tol) - return false; - if (std::abs(fy_ - K.fy_) > tol) - return false; - if (std::abs(s_ - K.s_) > tol) - return false; - if (std::abs(u0_ - K.u0_) > tol) - return false; - if (std::abs(v0_ - K.v0_) > tol) - return false; - return true; + return Cal3::equals(K, tol); } /* ************************************************************************* */ Point2 Cal3_S2::uncalibrate(const Point2& p, OptionalJacobian<2, 5> Dcal, - OptionalJacobian<2, 2> Dp) const { + OptionalJacobian<2, 2> Dp) const { const double x = p.x(), y = p.y(); - if (Dcal) - *Dcal << x, 0.0, y, 1.0, 0.0, 0.0, y, 0.0, 0.0, 1.0; - if (Dp) - *Dp << fx_, s_, 0.0, fy_; + if (Dcal) *Dcal << x, 0.0, y, 1.0, 0.0, 0.0, y, 0.0, 0.0, 1.0; + if (Dp) *Dp << fx_, s_, 0.0, fy_; return Point2(fx_ * x + s_ * y + u0_, fy_ * y + v0_); } /* ************************************************************************* */ -Point2 Cal3_S2::calibrate(const Point2& p, OptionalJacobian<2,5> Dcal, - OptionalJacobian<2,2> Dp) const { - const double u = p.x(), v = p.y(); - double delta_u = u - u0_, delta_v = v - v0_; - double inv_fx = 1/ fx_, inv_fy = 1/fy_; - double inv_fy_delta_v = inv_fy * delta_v, inv_fx_s_inv_fy = inv_fx * s_ * inv_fy; - Point2 point(inv_fx * (delta_u - s_ * inv_fy_delta_v), - inv_fy_delta_v); - if(Dcal) - *Dcal << - inv_fx * point.x(), inv_fx * s_ * inv_fy * inv_fy_delta_v, -inv_fx * point.y(), - -inv_fx, inv_fx_s_inv_fy, - 0, -inv_fy * point.y(), 0, 0, -inv_fy; - if(Dp) - *Dp << inv_fx, -inv_fx_s_inv_fy, 0, inv_fy; - return point; +Point2 Cal3_S2::calibrate(const Point2& p, OptionalJacobian<2, 5> Dcal, + OptionalJacobian<2, 2> Dp) const { + const double u = p.x(), v = p.y(); + double delta_u = u - u0_, delta_v = v - v0_; + double inv_fx = 1 / fx_, inv_fy = 1 / fy_; + double inv_fy_delta_v = inv_fy * delta_v; + double inv_fx_s_inv_fy = inv_fx * s_ * inv_fy; + + Point2 point(inv_fx * (delta_u - s_ * inv_fy_delta_v), inv_fy_delta_v); + if (Dcal) { + *Dcal << -inv_fx * point.x(), inv_fx * s_ * inv_fy * inv_fy_delta_v, + -inv_fx * point.y(), -inv_fx, inv_fx_s_inv_fy, 0, -inv_fy * point.y(), + 0, 0, -inv_fy; + } + if (Dp) *Dp << inv_fx, -inv_fx_s_inv_fy, 0, inv_fy; + return point; } /* ************************************************************************* */ -Vector3 Cal3_S2::calibrate(const Vector3& p) const { - return matrix_inverse() * p; -} +Vector3 Cal3_S2::calibrate(const Vector3& p) const { return inverse() * p; } /* ************************************************************************* */ -} // namespace gtsam +} // namespace gtsam diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h index f2848d0a3..93b98a7e1 100644 --- a/gtsam/geometry/Cal3_S2.h +++ b/gtsam/geometry/Cal3_S2.h @@ -21,6 +21,7 @@ #pragma once +#include #include namespace gtsam { @@ -30,31 +31,25 @@ namespace gtsam { * @addtogroup geometry * \nosubgrouping */ -class GTSAM_EXPORT Cal3_S2 { -private: - double fx_, fy_, s_, u0_, v0_; - -public: +class GTSAM_EXPORT Cal3_S2 : public Cal3 { + public: enum { dimension = 5 }; - typedef boost::shared_ptr shared_ptr; ///< shared pointer to calibration object + + ///< shared pointer to calibration object + using shared_ptr = boost::shared_ptr; /// @name Standard Constructors /// @{ /// Create a default calibration that leaves coordinates unchanged - Cal3_S2() : - fx_(1), fy_(1), s_(0), u0_(0), v0_(0) { - } + Cal3_S2() = default; /// constructor from doubles - Cal3_S2(double fx, double fy, double s, double u0, double v0) : - fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0) { - } + Cal3_S2(double fx, double fy, double s, double u0, double v0) + : Cal3(fx, fy, s, u0, v0) {} /// constructor from vector - Cal3_S2(const Vector &d) : - fx_(d(0)), fy_(d(1)), s_(d(2)), u0_(d(3)), v0_(d(4)) { - } + Cal3_S2(const Vector5& d) : Cal3(d) {} /** * Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect @@ -62,141 +57,65 @@ public: * @param w image width * @param h image height */ - Cal3_S2(double fov, int w, int h); + Cal3_S2(double fov, int w, int h) : Cal3(fov, w, h) {} - /// @} - /// @name Advanced Constructors - /// @{ + /** + * Convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves + * @param p point in intrinsic coordinates + * @param Dcal optional 2*5 Jacobian wrpt Cal3 parameters + * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates + * @return point in image coordinates + */ + Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 5> Dcal = boost::none, + OptionalJacobian<2, 2> Dp = boost::none) const; - /// load calibration from location (default name is calibration_info.txt) - Cal3_S2(const std::string &path); + /** + * Convert image coordinates uv to intrinsic coordinates xy + * @param p point in image coordinates + * @param Dcal optional 2*5 Jacobian wrpt Cal3 parameters + * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates + * @return point in intrinsic coordinates + */ + Point2 calibrate(const Point2& p, OptionalJacobian<2, 5> Dcal = boost::none, + OptionalJacobian<2, 2> Dp = boost::none) const; + + /** + * Convert homogeneous image coordinates to intrinsic coordinates + * @param p point in image coordinates + * @return point in intrinsic coordinates + */ + Vector3 calibrate(const Vector3& p) const; /// @} /// @name Testable /// @{ /// Output stream operator - GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Cal3_S2& cal); + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, + const Cal3_S2& cal); /// print with optional string - void print(const std::string& s = "Cal3_S2") const; + void print(const std::string& s = "Cal3_S2") const override; /// Check if equal up to specified tolerance bool equals(const Cal3_S2& K, double tol = 10e-9) const; - /// @} - /// @name Standard Interface - /// @{ - - /// focal length x - inline double fx() const { - return fx_; - } - - /// focal length y - inline double fy() const { - return fy_; - } - - /// aspect ratio - inline double aspectRatio() const { - return fx_/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_; - } - - /// return the principal point - Point2 principalPoint() const { - return Point2(u0_, v0_); - } - - /// vectorized form (column-wise) - Vector5 vector() const { - Vector5 v; - v << fx_, fy_, s_, u0_, v0_; - return v; - } - - /// return calibration matrix K - Matrix3 K() const { - Matrix3 K; - K << fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0; - return K; - } - - /** @deprecated The following function has been deprecated, use K above */ - Matrix3 matrix() const { - return K(); - } - - /// return inverted calibration matrix inv(K) - Matrix3 matrix_inverse() const { - const double fxy = fx_ * fy_, sv0 = s_ * v0_, fyu0 = fy_ * u0_; - Matrix3 K_inverse; - K_inverse << 1.0 / fx_, -s_ / fxy, (sv0 - fyu0) / fxy, 0.0, - 1.0 / fy_, -v0_ / fy_, 0.0, 0.0, 1.0; - return K_inverse; - } - - /** - * convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves - * @param p point in intrinsic coordinates - * @param Dcal optional 2*5 Jacobian wrpt Cal3_S2 parameters - * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates - * @return point in image coordinates - */ - Point2 uncalibrate(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none, - OptionalJacobian<2,2> Dp = boost::none) const; - - /** - * convert image coordinates uv to intrinsic coordinates xy - * @param p point in image coordinates - * @param Dcal optional 2*5 Jacobian wrpt Cal3_S2 parameters - * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates - * @return point in intrinsic coordinates - */ - Point2 calibrate(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none, - OptionalJacobian<2,2> Dp = boost::none) const; - - /** - * convert homogeneous image coordinates to intrinsic coordinates - * @param p point in image coordinates - * @return point in intrinsic coordinates - */ - Vector3 calibrate(const Vector3& p) const; - /// "Between", subtracts calibrations. between(p,q) == compose(inverse(p),q) inline Cal3_S2 between(const Cal3_S2& q, - OptionalJacobian<5,5> H1=boost::none, - OptionalJacobian<5,5> H2=boost::none) const { - if(H1) *H1 = -I_5x5; - if(H2) *H2 = I_5x5; - return Cal3_S2(q.fx_-fx_, q.fy_-fy_, q.s_-s_, q.u0_-u0_, q.v0_-v0_); + OptionalJacobian<5, 5> H1 = boost::none, + OptionalJacobian<5, 5> H2 = boost::none) const { + if (H1) *H1 = -I_5x5; + if (H2) *H2 = I_5x5; + return Cal3_S2(q.fx_ - fx_, q.fy_ - fy_, q.s_ - s_, q.u0_ - u0_, + q.v0_ - v0_); } - /// @} /// @name Manifold /// @{ /// return DOF, dimensionality of tangent space - inline size_t dim() const { return dimension; } - - /// return DOF, dimensionality of tangent space - static size_t Dim() { return dimension; } + inline static size_t Dim() { return dimension; } /// Given 5-dim tangent vector, create new calibration inline Cal3_S2 retract(const Vector& d) const { @@ -212,27 +131,22 @@ public: /// @name Advanced Interface /// @{ -private: - + private: /// 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_); + template + void serialize(Archive& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp( + "Cal3_S2", boost::serialization::base_object(*this)); } /// @} - }; -template<> +template <> struct traits : public internal::Manifold {}; -template<> +template <> struct traits : public internal::Manifold {}; -} // \ namespace gtsam +} // \ namespace gtsam diff --git a/gtsam/geometry/Cal3_S2Stereo.cpp b/gtsam/geometry/Cal3_S2Stereo.cpp index 9b5aea4ed..9ef8c83a3 100644 --- a/gtsam/geometry/Cal3_S2Stereo.cpp +++ b/gtsam/geometry/Cal3_S2Stereo.cpp @@ -20,20 +20,56 @@ #include namespace gtsam { -using namespace std; + +/* ************************************************************************* */ +std::ostream& operator<<(std::ostream& os, const Cal3_S2Stereo& cal) { + os << (Cal3_S2&)cal; + os << ", b: " << cal.baseline(); + return os; +} /* ************************************************************************* */ void Cal3_S2Stereo::print(const std::string& s) const { - K_.print(s+"K: "); - std::cout << s << "Baseline: " << b_ << std::endl; - } + std::cout << s << (s != "" ? " " : ""); + std::cout << "K: " << (Matrix)K() << std::endl; + std::cout << "Baseline: " << b_ << std::endl; +} /* ************************************************************************* */ bool Cal3_S2Stereo::equals(const Cal3_S2Stereo& other, double tol) const { - if (std::abs(b_ - other.b_) > tol) return false; - return K_.equals(other.K_,tol); + const Cal3_S2* base = dynamic_cast(&other); + return (Cal3_S2::equals(*base, tol) && + std::fabs(b_ - other.baseline()) < tol); +} + +/* ************************************************************************* */ +Point2 Cal3_S2Stereo::uncalibrate(const Point2& p, OptionalJacobian<2, 6> Dcal, + OptionalJacobian<2, 2> Dp) const { + const double x = p.x(), y = p.y(); + if (Dcal) *Dcal << x, 0.0, y, 1.0, 0.0, 0.0, 0.0, y, 0.0, 0.0, 1.0, 0.0; + if (Dp) *Dp << fx_, s_, 0.0, fy_; + return Point2(fx_ * x + s_ * y + u0_, fy_ * y + v0_); +} + +/* ************************************************************************* */ +Point2 Cal3_S2Stereo::calibrate(const Point2& p, OptionalJacobian<2, 6> Dcal, + OptionalJacobian<2, 2> Dp) const { + const double u = p.x(), v = p.y(); + double delta_u = u - u0_, delta_v = v - v0_; + double inv_fx = 1 / fx_, inv_fy = 1 / fy_; + double inv_fy_delta_v = inv_fy * delta_v; + double inv_fx_s_inv_fy = inv_fx * s_ * inv_fy; + + Point2 point(inv_fx * (delta_u - s_ * inv_fy_delta_v), inv_fy_delta_v); + if (Dcal) { + *Dcal << -inv_fx * point.x(), inv_fx * s_ * inv_fy * inv_fy_delta_v, + -inv_fx * point.y(), -inv_fx, inv_fx_s_inv_fy, 0, 0, + -inv_fy * point.y(), 0, 0, -inv_fy, 0; + } + if (Dp) *Dp << inv_fx, -inv_fx_s_inv_fy, 0, inv_fy; + return point; } /* ************************************************************************* */ -} // namespace gtsam +} // namespace gtsam diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h index a6eb41b60..ae0052fd5 100644 --- a/gtsam/geometry/Cal3_S2Stereo.h +++ b/gtsam/geometry/Cal3_S2Stereo.h @@ -22,135 +22,143 @@ namespace gtsam { +/** + * @brief The most common 5DOF 3D->2D calibration, stereo version + * @addtogroup geometry + * \nosubgrouping + */ +class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 { + private: + double b_ = 1.0f; ///< Stereo baseline. + + public: + enum { dimension = 6 }; + + ///< shared pointer to stereo calibration object + using shared_ptr = boost::shared_ptr; + + /// @name Standard Constructors + /// @ + + /// default calibration leaves coordinates unchanged + Cal3_S2Stereo() = default; + + /// constructor from doubles + Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b) + : Cal3_S2(fx, fy, s, u0, v0), b_(b) {} + + /// constructor from vector + Cal3_S2Stereo(const Vector6& d) + : Cal3_S2(d(0), d(1), d(2), d(3), d(4)), b_(d(5)) {} + + /// easy constructor; field-of-view in degrees, assumes zero skew + Cal3_S2Stereo(double fov, int w, int h, double b) + : Cal3_S2(fov, w, h), b_(b) {} + /** - * @brief The most common 5DOF 3D->2D calibration, stereo version - * @addtogroup geometry - * \nosubgrouping + * Convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves + * @param p point in intrinsic coordinates + * @param Dcal optional 2*6 Jacobian wrpt Cal3_S2Stereo parameters + * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates + * @return point in image coordinates */ - class GTSAM_EXPORT Cal3_S2Stereo { - private: + Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 6> Dcal = boost::none, + OptionalJacobian<2, 2> Dp = boost::none) const; - Cal3_S2 K_; - double b_; + /** + * Convert image coordinates uv to intrinsic coordinates xy + * @param p point in image coordinates + * @param Dcal optional 2*6 Jacobian wrpt Cal3_S2Stereo parameters + * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates + * @return point in intrinsic coordinates + */ + Point2 calibrate(const Point2& p, OptionalJacobian<2, 6> Dcal = boost::none, + OptionalJacobian<2, 2> Dp = boost::none) const; - public: + /** + * Convert homogeneous image coordinates to intrinsic coordinates + * @param p point in image coordinates + * @return point in intrinsic coordinates + */ + Vector3 calibrate(const Vector3& p) const { return Cal3_S2::calibrate(p); } - enum { dimension = 6 }; - typedef boost::shared_ptr shared_ptr; ///< shared pointer to stereo calibration object + /// @} + /// @name Testable + /// @{ - /// @name Standard Constructors - /// @ + /// Output stream operator + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, + const Cal3_S2Stereo& cal); - /// default calibration leaves coordinates unchanged - Cal3_S2Stereo() : - K_(1, 1, 0, 0, 0), b_(1.0) { - } + /// print with optional string + void print(const std::string& s = "") const override; - /// constructor from doubles - Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b) : - K_(fx, fy, s, u0, v0), b_(b) { - } + /// Check if equal up to specified tolerance + bool equals(const Cal3_S2Stereo& other, double tol = 10e-9) const; - /// constructor from vector - Cal3_S2Stereo(const Vector &d): K_(d(0), d(1), d(2), d(3), d(4)), b_(d(5)){} + /// @} + /// @name Standard Interface + /// @{ - /// easy constructor; field-of-view in degrees, assumes zero skew - Cal3_S2Stereo(double fov, int w, int h, double b) : - K_(fov, w, h), b_(b) { - } + /// return calibration, same for left and right + const Cal3_S2& calibration() const { return *this; } - /// @} - /// @name Testable - /// @{ + /// return calibration matrix K, same for left and right + Matrix3 K() const override { return Cal3_S2::K(); } - void print(const std::string& s = "") const; + /// return baseline + inline double baseline() const { return b_; } - /// Check if equal up to specified tolerance - bool equals(const Cal3_S2Stereo& other, double tol = 10e-9) const; + /// vectorized form (column-wise) + Vector6 vector() const { + Vector6 v; + v << Cal3_S2::vector(), b_; + return v; + } - /// @} - /// @name Standard Interface - /// @{ + /// @} + /// @name Manifold + /// @{ - /// return calibration, same for left and right - const Cal3_S2& calibration() const { return K_;} + /// return DOF, dimensionality of tangent space + inline size_t dim() const override { return Dim(); } - /// return calibration matrix K, same for left and right - Matrix matrix() const { return K_.matrix();} + /// return DOF, dimensionality of tangent space + inline static size_t Dim() { return dimension; } - /// focal length x - inline double fx() const { return K_.fx();} + /// Given 6-dim tangent vector, create new calibration + inline Cal3_S2Stereo retract(const Vector& d) const { + return Cal3_S2Stereo(fx() + d(0), fy() + d(1), skew() + d(2), px() + d(3), + py() + d(4), b_ + d(5)); + } - /// focal length x - inline double fy() const { return K_.fy();} + /// Unretraction for the calibration + Vector6 localCoordinates(const Cal3_S2Stereo& T2) const { + return T2.vector() - vector(); + } - /// skew - inline double skew() const { return K_.skew();} + /// @} + /// @name Advanced Interface + /// @{ - /// image center in x - inline double px() const { return K_.px();} + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(Archive& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp( + "Cal3_S2", boost::serialization::base_object(*this)); + ar& BOOST_SERIALIZATION_NVP(b_); + } + /// @} +}; - /// image center in y - inline double py() const { return K_.py();} +// Define GTSAM traits +template <> +struct traits : public internal::Manifold {}; - /// return the principal point - Point2 principalPoint() const { return K_.principalPoint();} +template <> +struct traits : public internal::Manifold { +}; - /// return baseline - inline double baseline() const { return b_; } - - /// vectorized form (column-wise) - Vector6 vector() const { - Vector6 v; - v << K_.vector(), b_; - return v; - } - - /// @} - /// @name Manifold - /// @{ - - /// return DOF, dimensionality of tangent space - inline size_t dim() const { return dimension; } - - /// return DOF, dimensionality of tangent space - static size_t Dim() { return dimension; } - - /// Given 6-dim tangent vector, create new calibration - inline Cal3_S2Stereo retract(const Vector& d) const { - return Cal3_S2Stereo(K_.fx() + d(0), K_.fy() + d(1), K_.skew() + d(2), K_.px() + d(3), K_.py() + d(4), b_ + d(5)); - } - - /// Unretraction for the calibration - Vector6 localCoordinates(const Cal3_S2Stereo& T2) const { - return T2.vector() - vector(); - } - - - /// @} - /// @name Advanced Interface - /// @{ - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(Archive & ar, const unsigned int /*version*/) - { - ar & BOOST_SERIALIZATION_NVP(K_); - ar & BOOST_SERIALIZATION_NVP(b_); - } - /// @} - - }; - - // Define GTSAM traits - template<> - struct traits : public internal::Manifold { - }; - - template<> - struct traits : public internal::Manifold { - }; - -} // \ namespace gtsam +} // \ namespace gtsam diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index eff747eb5..1d4a379a1 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -119,22 +119,20 @@ public: /// @name Standard Constructors /// @{ - /** default constructor */ - PinholeBase() { - } + /// Default constructor + PinholeBase() {} - /** constructor with pose */ - explicit PinholeBase(const Pose3& pose) : - pose_(pose) { - } + /// Constructor with pose + explicit PinholeBase(const Pose3& pose) : pose_(pose) {} /// @} /// @name Advanced Constructors /// @{ - explicit PinholeBase(const Vector &v) : - pose_(Pose3::Expmap(v)) { - } + explicit PinholeBase(const Vector& v) : pose_(Pose3::Expmap(v)) {} + + /// Default destructor + virtual ~PinholeBase() = default; /// @} /// @name Testable @@ -144,7 +142,7 @@ public: bool equals(const PinholeBase &camera, double tol = 1e-9) const; /// print - void print(const std::string& s = "PinholeBase") const; + virtual void print(const std::string& s = "PinholeBase") const; /// @} /// @name Standard Interface @@ -324,6 +322,11 @@ public: /// Return canonical coordinate Vector localCoordinates(const CalibratedCamera& T2) const; + /// print + void print(const std::string& s = "CalibratedCamera") const override { + PinholeBase::print(s); + } + /// @deprecated inline size_t dim() const { return dimension; diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index feab8e0fa..7d2f818fa 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -69,9 +69,12 @@ protected: public: + /// Destructor + virtual ~CameraSet() = default; + /// Definitions for blocks of F - typedef Eigen::Matrix MatrixZD; - typedef std::vector > FBlocks; + using MatrixZD = Eigen::Matrix; + using FBlocks = std::vector>; /** * print @@ -139,6 +142,57 @@ public: return ErrorVector(project2(point, Fs, E), measured); } + /** + * Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix + * G = F' * F - F' * E * P * E' * F + * g = F' * (b - E * P * E' * b) + * Fixed size version + */ + template // N = 2 or 3, ND is the camera dimension + static SymmetricBlockMatrix SchurComplement( + const std::vector< Eigen::Matrix, Eigen::aligned_allocator< Eigen::Matrix > >& Fs, + const Matrix& E, const Eigen::Matrix& P, const Vector& b) { + + // a single point is observed in m cameras + size_t m = Fs.size(); + + // Create a SymmetricBlockMatrix (augmented hessian, with extra row/column with info vector) + size_t M1 = ND * m + 1; + std::vector dims(m + 1); // this also includes the b term + std::fill(dims.begin(), dims.end() - 1, ND); + dims.back() = 1; + SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1)); + + // Blockwise Schur complement + for (size_t i = 0; i < m; i++) { // for each camera + + const Eigen::Matrix& Fi = Fs[i]; + const auto FiT = Fi.transpose(); + const Eigen::Matrix Ei_P = // + E.block(ZDim * i, 0, ZDim, N) * P; + + // D = (Dx2) * ZDim + augmentedHessian.setOffDiagonalBlock(i, m, FiT * b.segment(ZDim * i) // F' * b + - FiT * (Ei_P * (E.transpose() * b))); // D = (DxZDim) * (ZDimx3) * (N*ZDimm) * (ZDimm x 1) + + // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) + augmentedHessian.setDiagonalBlock(i, FiT + * (Fi - Ei_P * E.block(ZDim * i, 0, ZDim, N).transpose() * Fi)); + + // upper triangular part of the hessian + for (size_t j = i + 1; j < m; j++) { // for each camera + const Eigen::Matrix& Fj = Fs[j]; + + // (DxD) = (Dx2) * ( (2x2) * (2xD) ) + augmentedHessian.setOffDiagonalBlock(i, j, -FiT + * (Ei_P * E.block(ZDim * j, 0, ZDim, N).transpose() * Fj)); + } + } // end of for over cameras + + augmentedHessian.diagonalBlock(m)(0, 0) += b.squaredNorm(); + return augmentedHessian; + } + /** * Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix * G = F' * F - F' * E * P * E' * F @@ -148,45 +202,7 @@ public: template // N = 2 or 3 static SymmetricBlockMatrix SchurComplement(const FBlocks& Fs, const Matrix& E, const Eigen::Matrix& P, const Vector& b) { - - // a single point is observed in m cameras - size_t m = Fs.size(); - - // Create a SymmetricBlockMatrix - size_t M1 = D * m + 1; - std::vector dims(m + 1); // this also includes the b term - std::fill(dims.begin(), dims.end() - 1, D); - dims.back() = 1; - SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1)); - - // Blockwise Schur complement - for (size_t i = 0; i < m; i++) { // for each camera - - const MatrixZD& Fi = Fs[i]; - const auto FiT = Fi.transpose(); - const Eigen::Matrix Ei_P = // - E.block(ZDim * i, 0, ZDim, N) * P; - - // D = (Dx2) * ZDim - augmentedHessian.setOffDiagonalBlock(i, m, FiT * b.segment(ZDim * i) // F' * b - - FiT * (Ei_P * (E.transpose() * b))); // D = (DxZDim) * (ZDimx3) * (N*ZDimm) * (ZDimm x 1) - - // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) - augmentedHessian.setDiagonalBlock(i, FiT - * (Fi - Ei_P * E.block(ZDim * i, 0, ZDim, N).transpose() * Fi)); - - // upper triangular part of the hessian - for (size_t j = i + 1; j < m; j++) { // for each camera - const MatrixZD& Fj = Fs[j]; - - // (DxD) = (Dx2) * ( (2x2) * (2xD) ) - augmentedHessian.setOffDiagonalBlock(i, j, -FiT - * (Ei_P * E.block(ZDim * j, 0, ZDim, N).transpose() * Fj)); - } - } // end of for over cameras - - augmentedHessian.diagonalBlock(m)(0, 0) += b.squaredNorm(); - return augmentedHessian; + return SchurComplement(Fs, E, P, b); } /// Computes Point Covariance P, with lambda parameter diff --git a/gtsam/geometry/Cyclic.h b/gtsam/geometry/Cyclic.h index 0b81ff0f9..35578ffe0 100644 --- a/gtsam/geometry/Cyclic.h +++ b/gtsam/geometry/Cyclic.h @@ -17,7 +17,9 @@ #include #include -#include // for cout :-( + +#include +#include // for cout :-( namespace gtsam { diff --git a/gtsam/geometry/Line3.h b/gtsam/geometry/Line3.h index 1c7ed2f4c..f70e13ca7 100644 --- a/gtsam/geometry/Line3.h +++ b/gtsam/geometry/Line3.h @@ -102,6 +102,27 @@ class Line3 { */ Point3 point(double distance = 0) const; + /** + * Return the rotation of the line. + */ + inline Rot3 R() const { + return R_; + } + + /** + * Return the x-coordinate of the intersection of the line with the xy plane. + */ + inline double a() const { + return a_; + } + + /** + * Return the y-coordinate of the intersection of the line with the xy plane. + */ + inline double b() const { + return b_; + } + /** * Transform a line from world to camera frame * @param wTc - Pose3 of camera in world frame diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp index 5cfa80779..c2da4bd0b 100644 --- a/gtsam/geometry/OrientedPlane3.cpp +++ b/gtsam/geometry/OrientedPlane3.cpp @@ -18,7 +18,7 @@ */ #include -#include + #include using namespace std; @@ -28,12 +28,13 @@ namespace gtsam { /* ************************************************************************* */ void OrientedPlane3::print(const string& s) const { Vector4 coeffs = planeCoefficients(); - cout << s << " : " << coeffs << endl; + cout << s << " : " << coeffs.transpose() << endl; } /* ************************************************************************* */ -OrientedPlane3 OrientedPlane3::transform(const Pose3& xr, OptionalJacobian<3, 3> Hp, - OptionalJacobian<3, 6> Hr) const { +OrientedPlane3 OrientedPlane3::transform(const Pose3& xr, + OptionalJacobian<3, 3> Hp, + OptionalJacobian<3, 6> Hr) const { Matrix23 D_rotated_plane; Matrix22 D_rotated_pose; Unit3 n_rotated = xr.rotation().unrotate(n_, D_rotated_plane, D_rotated_pose); @@ -42,15 +43,14 @@ OrientedPlane3 OrientedPlane3::transform(const Pose3& xr, OptionalJacobian<3, 3> double pred_d = n_.unitVector().dot(xr.translation()) + d_; if (Hr) { - *Hr = Matrix::Zero(3,6); + Hr->setZero(); Hr->block<2, 3>(0, 0) = D_rotated_plane; Hr->block<1, 3>(2, 3) = unit_vec; } if (Hp) { - Vector2 hpp = n_.basis().transpose() * xr.translation(); - *Hp = Z_3x3; + Hp->setZero(); Hp->block<2, 2>(0, 0) = D_rotated_pose; - Hp->block<1, 2>(2, 0) = hpp; + Hp->block<1, 2>(2, 0) = n_.basis().transpose() * xr.translation(); (*Hp)(2, 2) = 1; } @@ -58,25 +58,20 @@ OrientedPlane3 OrientedPlane3::transform(const Pose3& xr, OptionalJacobian<3, 3> } /* ************************************************************************* */ -Vector3 OrientedPlane3::error(const OrientedPlane3& plane) const { - Vector2 n_error = -n_.localCoordinates(plane.n_); - return Vector3(n_error(0), n_error(1), d_ - plane.d_); -} - -/* ************************************************************************* */ -Vector3 OrientedPlane3::errorVector(const OrientedPlane3& other, OptionalJacobian<3, 3> H1, +Vector3 OrientedPlane3::errorVector(const OrientedPlane3& other, + OptionalJacobian<3, 3> H1, OptionalJacobian<3, 3> H2) const { Matrix22 H_n_error_this, H_n_error_other; - Vector2 n_error = n_.errorVector(other.normal(), H1 ? &H_n_error_this : 0, + Vector2 n_error = n_.errorVector(other.n_, H1 ? &H_n_error_this : 0, H2 ? &H_n_error_other : 0); double d_error = d_ - other.d_; if (H1) { - *H1 << H_n_error_this, Vector2::Zero(), 0, 0, 1; + *H1 << H_n_error_this, Z_2x1, 0, 0, 1; } if (H2) { - *H2 << H_n_error_other, Vector2::Zero(), 0, 0, -1; + *H2 << H_n_error_other, Z_2x1, 0, 0, -1; } return Vector3(n_error(0), n_error(1), d_error); @@ -84,11 +79,11 @@ Vector3 OrientedPlane3::errorVector(const OrientedPlane3& other, OptionalJacobia /* ************************************************************************* */ OrientedPlane3 OrientedPlane3::retract(const Vector3& v, - OptionalJacobian<3,3> H) const { + OptionalJacobian<3, 3> H) const { Matrix22 H_n; - Unit3 n_retract (n_.retract(Vector2(v(0), v(1)), H? &H_n : nullptr)); + Unit3 n_retract(n_.retract(Vector2(v(0), v(1)), H? &H_n : nullptr)); if (H) { - *H << H_n, Vector2::Zero(), 0, 0, 1; + *H << H_n, Z_2x1, 0, 0, 1; } return OrientedPlane3(n_retract, d_ + v(2)); } @@ -100,4 +95,4 @@ Vector3 OrientedPlane3::localCoordinates(const OrientedPlane3& y) const { return Vector3(n_local(0), n_local(1), -d_local); } -} +} // namespace gtsam diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h index 61d8a30d2..d2ad4230e 100644 --- a/gtsam/geometry/OrientedPlane3.h +++ b/gtsam/geometry/OrientedPlane3.h @@ -20,22 +20,21 @@ #pragma once -#include #include #include +#include namespace gtsam { /** - * @brief Represents an infinite plane in 3D, which is composed of a planar normal and its - * perpendicular distance to the origin. - * Currently it provides a transform of the plane, and a norm 1 differencing of two planes. + * @brief Represents an infinite plane in 3D, which is composed of a planar + * normal and its perpendicular distance to the origin. + * Currently it provides a transform of the plane, and a norm 1 differencing of + * two planes. * Refer to Trevor12iros for more math details. */ class GTSAM_EXPORT OrientedPlane3 { - private: - Unit3 n_; ///< The direction of the planar normal double d_; ///< The perpendicular distance to this plane @@ -53,19 +52,17 @@ public: } /// Construct from a Unit3 and a distance - OrientedPlane3(const Unit3& s, double d) : - n_(s), d_(d) { + OrientedPlane3(const Unit3& n, double d) : + n_(n), d_(d) { } /// Construct from a vector of plane coefficients - OrientedPlane3(const Vector4& vec) : - n_(vec(0), vec(1), vec(2)), d_(vec(3)) { - } + explicit OrientedPlane3(const Vector4& vec) + : n_(vec(0), vec(1), vec(2)), d_(vec(3)) {} /// Construct from four numbers of plane coeffcients (a, b, c, d) OrientedPlane3(double a, double b, double c, double d) { - Point3 p(a, b, c); - n_ = Unit3(p); + n_ = Unit3(a, b, c); d_ = d; } @@ -90,37 +87,18 @@ public: * @return the transformed plane */ OrientedPlane3 transform(const Pose3& xr, - OptionalJacobian<3, 3> Hp = boost::none, - OptionalJacobian<3, 6> Hr = boost::none) const; - - /** - * @deprecated the static method has wrong Jacobian order, - * please use the member method transform() - * @param The raw plane - * @param xr a transformation in current coordiante - * @param Hr optional jacobian wrpt the pose transformation - * @param Hp optional Jacobian wrpt the destination plane - * @return the transformed plane - */ - static OrientedPlane3 Transform(const OrientedPlane3& plane, - const Pose3& xr, OptionalJacobian<3, 6> Hr = boost::none, - OptionalJacobian<3, 3> Hp = boost::none) { - return plane.transform(xr, Hp, Hr); - } - - /** Computes the error between two planes. - * The error is a norm 1 difference in tangent space. - * @param the other plane - */ - Vector3 error(const OrientedPlane3& plane) const; + OptionalJacobian<3, 3> Hp = boost::none, + OptionalJacobian<3, 6> Hr = boost::none) const; /** Computes the error between the two planes, with derivatives. - * This uses Unit3::errorVector, as opposed to the other .error() in this class, which uses - * Unit3::localCoordinates. This one has correct derivatives. + * This uses Unit3::errorVector, as opposed to the other .error() in this + * class, which uses Unit3::localCoordinates. This one has correct + * derivatives. * NOTE(hayk): The derivatives are zero when normals are exactly orthogonal. - * @param the other plane + * @param other the other plane */ - Vector3 errorVector(const OrientedPlane3& other, OptionalJacobian<3, 3> H1 = boost::none, // + Vector3 errorVector(const OrientedPlane3& other, + OptionalJacobian<3, 3> H1 = boost::none, OptionalJacobian<3, 3> H2 = boost::none) const; /// Dimensionality of tangent space = 3 DOF @@ -134,7 +112,8 @@ public: } /// The retract function - OrientedPlane3 retract(const Vector3& v, OptionalJacobian<3,3> H = boost::none) const; + OrientedPlane3 retract(const Vector3& v, + OptionalJacobian<3, 3> H = boost::none) const; /// The local coordinates function Vector3 localCoordinates(const OrientedPlane3& s) const; @@ -166,5 +145,5 @@ template<> struct traits : public internal::Manifold< OrientedPlane3> { }; -} // namespace gtsam +} // namespace gtsam diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index cf449ce8c..c1f0b6b3f 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -30,7 +30,7 @@ namespace gtsam { * \nosubgrouping */ template -class PinholeCamera: public PinholeBaseK { +class GTSAM_EXPORT PinholeCamera: public PinholeBaseK { public: @@ -148,7 +148,7 @@ public: } /// print - void print(const std::string& s = "PinholeCamera") const { + void print(const std::string& s = "PinholeCamera") const override { Base::print(s); K_.print(s + ".calibration"); } @@ -157,7 +157,7 @@ public: /// @name Standard Interface /// @{ - virtual ~PinholeCamera() { + ~PinholeCamera() override { } /// return pose diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index 3bf96c08b..cc6435a58 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -31,7 +31,7 @@ namespace gtsam { * \nosubgrouping */ template -class PinholeBaseK: public PinholeBase { +class GTSAM_EXPORT PinholeBaseK: public PinholeBase { private: @@ -340,7 +340,7 @@ public: } /// print - void print(const std::string& s = "PinholePose") const { + void print(const std::string& s = "PinholePose") const override { Base::print(s); if (!K_) std::cout << "s No calibration given" << std::endl; @@ -352,7 +352,7 @@ public: /// @name Standard Interface /// @{ - virtual ~PinholePose() { + ~PinholePose() override { } /// return shared pointer to calibration diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h index e6574fe41..17f87f656 100644 --- a/gtsam/geometry/Point2.h +++ b/gtsam/geometry/Point2.h @@ -82,5 +82,18 @@ GTSAM_EXPORT std::list circleCircleIntersection(Point2 c1, Point2 c2, bo GTSAM_EXPORT std::list circleCircleIntersection(Point2 c1, double r1, Point2 c2, double r2, double tol = 1e-9); +template +struct Range; + +template <> +struct Range { + typedef double result_type; + double operator()(const Point2& p, const Point2& q, + OptionalJacobian<1, 2> H1 = boost::none, + OptionalJacobian<1, 2> H2 = boost::none) { + return distance2(p, q, H1, H2); + } +}; + } // \ namespace gtsam diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h index 57188fc5e..835c53d7c 100644 --- a/gtsam/geometry/Point3.h +++ b/gtsam/geometry/Point3.h @@ -35,9 +35,11 @@ namespace gtsam { typedef Vector3 Point3; // Convenience typedef -typedef std::pair Point3Pair; +using Point3Pair = std::pair; GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const gtsam::Point3Pair &p); +using Point3Pairs = std::vector; + /// distance between two points GTSAM_EXPORT double distance3(const Point3& p1, const Point3& q, OptionalJacobian<1, 3> H1 = boost::none, @@ -61,7 +63,7 @@ GTSAM_EXPORT double dot(const Point3& p, const Point3& q, /// mean template -GTSAM_EXPORT Point3 mean(const CONTAINER& points) { +Point3 mean(const CONTAINER& points) { if (points.size() == 0) throw std::invalid_argument("Point3::mean input container is empty"); Point3 sum(0, 0, 0); sum = std::accumulate(points.begin(), points.end(), sum); diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp index 71df0f753..8dafffee8 100644 --- a/gtsam/geometry/Pose2.cpp +++ b/gtsam/geometry/Pose2.cpp @@ -48,7 +48,13 @@ Matrix3 Pose2::matrix() const { /* ************************************************************************* */ void Pose2::print(const string& s) const { - cout << s << "(" << t_.x() << ", " << t_.y() << ", " << r_.theta() << ")" << endl; + std::cout << (s.empty() ? s : s + " ") << *this << std::endl; +} + +/* ************************************************************************* */ +std::ostream &operator<<(std::ostream &os, const Pose2& pose) { + os << "(" << pose.x() << ", " << pose.y() << ", " << pose.theta() << ")"; + return os; } /* ************************************************************************* */ diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h index 6372779c3..a54951728 100644 --- a/gtsam/geometry/Pose2.h +++ b/gtsam/geometry/Pose2.h @@ -287,6 +287,10 @@ public: */ static std::pair rotationInterval() { return std::make_pair(2, 2); } + /// Output stream operator + GTSAM_EXPORT + friend std::ostream &operator<<(std::ostream &os, const Pose2& p); + /// @} private: diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index 22849d4f5..c183e32ed 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -106,8 +106,8 @@ Vector6 Pose3::adjointTranspose(const Vector6& xi, const Vector6& y, } /* ************************************************************************* */ -void Pose3::print(const string& s) const { - cout << (s.empty() ? s : s + " ") << *this << endl; +void Pose3::print(const std::string& s) const { + std::cout << (s.empty() ? s : s + " ") << *this << std::endl; } /* ************************************************************************* */ diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index 990ffdfe2..d76e1b41a 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -112,6 +112,25 @@ public: return Pose3(R_ * T.R_, t_ + R_ * T.t_); } + /** + * Interpolate between two poses via individual rotation and translation + * interpolation. + * + * The default "interpolate" method defined in Lie.h minimizes the geodesic + * distance on the manifold, leading to a screw motion interpolation in + * Cartesian space, which might not be what is expected. + * In contrast, this method executes a straight line interpolation for the + * translation, while still using interpolate (aka "slerp") for the rotational + * component. This might be more intuitive in many applications. + * + * @param T End point of interpolation. + * @param t A value in [0, 1]. + */ + Pose3 interpolateRt(const Pose3& T, double t) const { + return Pose3(interpolate(R_, T.R_, t), + interpolate(t_, T.t_, t)); + } + /// @} /// @name Lie Group /// @{ @@ -123,7 +142,7 @@ public: static Vector6 Logmap(const Pose3& pose, OptionalJacobian<6, 6> Hpose = boost::none); /** - * Calculate Adjoint map, transforming a twist in the this pose's (i.e, body) frame to the world spatial frame + * Calculate Adjoint map, transforming a twist in this pose's (i.e, body) frame to the world spatial frame * Ad_pose is 6*6 matrix that when applied to twist xi \f$ [R_x,R_y,R_z,T_x,T_y,T_z] \f$, returns Ad_pose(xi) */ Matrix6 AdjointMap() const; /// FIXME Not tested - marked as incorrect @@ -370,6 +389,7 @@ inline Matrix wedge(const Vector& xi) { // Convenience typedef using Pose3Pair = std::pair; +using Pose3Pairs = std::vector >; // For MATLAB wrapper typedef std::vector Pose3Vector; diff --git a/gtsam/geometry/Rot2.cpp b/gtsam/geometry/Rot2.cpp index 7502c4ccf..283147e4c 100644 --- a/gtsam/geometry/Rot2.cpp +++ b/gtsam/geometry/Rot2.cpp @@ -25,12 +25,8 @@ namespace gtsam { /* ************************************************************************* */ Rot2 Rot2::fromCosSin(double c, double s) { - if (std::abs(c * c + s * s - 1.0) > 1e-9) { - double norm_cs = sqrt(c*c + s*s); - c = c/norm_cs; - s = s/norm_cs; - } - return Rot2(c, s); + Rot2 R(c, s); + return R.normalize(); } /* ************************************************************************* */ @@ -59,8 +55,8 @@ bool Rot2::equals(const Rot2& R, double tol) const { /* ************************************************************************* */ Rot2& Rot2::normalize() { double scale = c_*c_ + s_*s_; - if(std::abs(scale-1.0)>1e-10) { - scale = pow(scale, -0.5); + if(std::abs(scale-1.0) > 1e-10) { + scale = 1 / sqrt(scale); c_ *= scale; s_ *= scale; } diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h index 8a361f558..ec30c6657 100644 --- a/gtsam/geometry/Rot2.h +++ b/gtsam/geometry/Rot2.h @@ -50,6 +50,9 @@ namespace gtsam { /** default constructor, zero rotation */ Rot2() : c_(1.0), s_(0.0) {} + + /** copy constructor */ + Rot2(const Rot2& r) : Rot2(r.c_, r.s_) {} /// Constructor from angle in radians == exponential map at identity Rot2(double theta) : c_(cos(theta)), s_(sin(theta)) {} diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index c86b9b860..80c0171ad 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -278,7 +278,8 @@ Vector3 SO3::Logmap(const SO3& Q, ChartJacobian H) { } 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; + // see https://github.com/borglab/gtsam/issues/746 for details + magnitude = 0.5 - tr_3 / 12.0; } omega = magnitude * Vector3(R32 - R23, R13 - R31, R21 - R12); } diff --git a/gtsam/geometry/SOn-inl.h b/gtsam/geometry/SOn-inl.h index 6180f4cc7..284ae76de 100644 --- a/gtsam/geometry/SOn-inl.h +++ b/gtsam/geometry/SOn-inl.h @@ -22,8 +22,6 @@ #include -using namespace std; - namespace gtsam { // Implementation for N>=5 just uses dynamic version @@ -108,7 +106,7 @@ typename SO::VectorN2 SO::vec( template void SO::print(const std::string& s) const { - cout << s << matrix_ << endl; + std::cout << s << matrix_ << std::endl; } } // namespace gtsam diff --git a/gtsam_unstable/geometry/Similarity3.cpp b/gtsam/geometry/Similarity3.cpp similarity index 88% rename from gtsam_unstable/geometry/Similarity3.cpp rename to gtsam/geometry/Similarity3.cpp index 819c51fee..fcaf0c874 100644 --- a/gtsam_unstable/geometry/Similarity3.cpp +++ b/gtsam/geometry/Similarity3.cpp @@ -13,9 +13,10 @@ * @file Similarity3.cpp * @brief Implementation of Similarity3 transform * @author Paul Drews + * @author John Lambert */ -#include +#include #include #include @@ -24,13 +25,12 @@ namespace gtsam { using std::vector; -using PointPairs = vector; namespace { /// Subtract centroids from point pairs. -static PointPairs subtractCentroids(const PointPairs &abPointPairs, +static Point3Pairs subtractCentroids(const Point3Pairs &abPointPairs, const Point3Pair ¢roids) { - PointPairs d_abPointPairs; + Point3Pairs d_abPointPairs; for (const Point3Pair& abPair : abPointPairs) { Point3 da = abPair.first - centroids.first; Point3 db = abPair.second - centroids.second; @@ -40,7 +40,7 @@ static PointPairs subtractCentroids(const PointPairs &abPointPairs, } /// Form inner products x and y and calculate scale. -static const double calculateScale(const PointPairs &d_abPointPairs, +static const double calculateScale(const Point3Pairs &d_abPointPairs, const Rot3 &aRb) { double x = 0, y = 0; Point3 da, db; @@ -55,7 +55,7 @@ static const double calculateScale(const PointPairs &d_abPointPairs, } /// Form outer product H. -static Matrix3 calculateH(const PointPairs &d_abPointPairs) { +static Matrix3 calculateH(const Point3Pairs &d_abPointPairs) { Matrix3 H = Z_3x3; for (const Point3Pair& d_abPair : d_abPointPairs) { H += d_abPair.first * d_abPair.second.transpose(); @@ -63,17 +63,20 @@ static Matrix3 calculateH(const PointPairs &d_abPointPairs) { return H; } -/// This method estimates the similarity transform from differences point pairs, given a known or estimated rotation and point centroids. -static Similarity3 align(const PointPairs &d_abPointPairs, const Rot3 &aRb, +/// This method estimates the similarity transform from differences point pairs, +// given a known or estimated rotation and point centroids. +static Similarity3 align(const Point3Pairs &d_abPointPairs, const Rot3 &aRb, const Point3Pair ¢roids) { const double s = calculateScale(d_abPointPairs, aRb); + // dividing aTb by s is required because the registration cost function + // minimizes ||a - sRb - t||, whereas Sim(3) computes s(Rb + t) const Point3 aTb = (centroids.first - s * (aRb * centroids.second)) / s; return Similarity3(aRb, aTb, s); } /// This method estimates the similarity transform from point pairs, given a known or estimated rotation. // Refer to: http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf Chapter 3 -static Similarity3 alignGivenR(const PointPairs &abPointPairs, +static Similarity3 alignGivenR(const Point3Pairs &abPointPairs, const Rot3 &aRb) { auto centroids = means(abPointPairs); auto d_abPointPairs = subtractCentroids(abPointPairs, centroids); @@ -154,7 +157,7 @@ Point3 Similarity3::operator*(const Point3& p) const { return transformFrom(p); } -Similarity3 Similarity3::Align(const PointPairs &abPointPairs) { +Similarity3 Similarity3::Align(const Point3Pairs &abPointPairs) { // Refer to Chapter 3 of // http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf if (abPointPairs.size() < 3) @@ -174,18 +177,20 @@ Similarity3 Similarity3::Align(const vector &abPosePairs) { // calculate rotation vector rotations; - PointPairs abPointPairs; + Point3Pairs abPointPairs; rotations.reserve(n); abPointPairs.reserve(n); - Pose3 wTa, wTb; + // Below denotes the pose of the i'th object/camera/etc in frame "a" or frame "b" + Pose3 aTi, bTi; for (const Pose3Pair &abPair : abPosePairs) { - std::tie(wTa, wTb) = abPair; - rotations.emplace_back(wTa.rotation().compose(wTb.rotation().inverse())); - abPointPairs.emplace_back(wTa.translation(), wTb.translation()); + std::tie(aTi, bTi) = abPair; + const Rot3 aRb = aTi.rotation().compose(bTi.rotation().inverse()); + rotations.emplace_back(aRb); + abPointPairs.emplace_back(aTi.translation(), bTi.translation()); } - const Rot3 aRb = FindKarcherMean(rotations); + const Rot3 aRb_estimate = FindKarcherMean(rotations); - return alignGivenR(abPointPairs, aRb); + return alignGivenR(abPointPairs, aRb_estimate); } Matrix4 Similarity3::wedge(const Vector7 &xi) { diff --git a/gtsam_unstable/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h similarity index 68% rename from gtsam_unstable/geometry/Similarity3.h rename to gtsam/geometry/Similarity3.h index b82862ddb..0ef787b05 100644 --- a/gtsam_unstable/geometry/Similarity3.h +++ b/gtsam/geometry/Similarity3.h @@ -13,6 +13,7 @@ * @file Similarity3.h * @brief Implementation of Similarity3 transform * @author Paul Drews + * @author John Lambert */ #pragma once @@ -22,7 +23,7 @@ #include #include #include -#include +#include namespace gtsam { @@ -52,54 +53,54 @@ public: /// @{ /// Default constructor - GTSAM_UNSTABLE_EXPORT Similarity3(); + GTSAM_EXPORT Similarity3(); /// Construct pure scaling - GTSAM_UNSTABLE_EXPORT Similarity3(double s); + GTSAM_EXPORT Similarity3(double s); /// Construct from GTSAM types - GTSAM_UNSTABLE_EXPORT Similarity3(const Rot3& R, const Point3& t, double s); + GTSAM_EXPORT Similarity3(const Rot3& R, const Point3& t, double s); /// Construct from Eigen types - GTSAM_UNSTABLE_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s); + GTSAM_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s); /// Construct from matrix [R t; 0 s^-1] - GTSAM_UNSTABLE_EXPORT Similarity3(const Matrix4& T); + GTSAM_EXPORT Similarity3(const Matrix4& T); /// @} /// @name Testable /// @{ /// Compare with tolerance - GTSAM_UNSTABLE_EXPORT bool equals(const Similarity3& sim, double tol) const; + GTSAM_EXPORT bool equals(const Similarity3& sim, double tol) const; /// Exact equality - GTSAM_UNSTABLE_EXPORT bool operator==(const Similarity3& other) const; + GTSAM_EXPORT bool operator==(const Similarity3& other) const; /// Print with optional string - GTSAM_UNSTABLE_EXPORT void print(const std::string& s) const; + GTSAM_EXPORT void print(const std::string& s) const; - GTSAM_UNSTABLE_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p); + GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p); /// @} /// @name Group /// @{ /// Return an identity transform - GTSAM_UNSTABLE_EXPORT static Similarity3 identity(); + GTSAM_EXPORT static Similarity3 identity(); /// Composition - GTSAM_UNSTABLE_EXPORT Similarity3 operator*(const Similarity3& S) const; + GTSAM_EXPORT Similarity3 operator*(const Similarity3& S) const; /// Return the inverse - GTSAM_UNSTABLE_EXPORT Similarity3 inverse() const; + GTSAM_EXPORT Similarity3 inverse() const; /// @} /// @name Group action on Point3 /// @{ /// Action on a point p is s*(R*p+t) - GTSAM_UNSTABLE_EXPORT Point3 transformFrom(const Point3& p, // + GTSAM_EXPORT Point3 transformFrom(const Point3& p, // OptionalJacobian<3, 7> H1 = boost::none, // OptionalJacobian<3, 3> H2 = boost::none) const; @@ -114,20 +115,27 @@ public: * This group action satisfies the compatibility condition. * For more details, refer to: https://en.wikipedia.org/wiki/Group_action */ - GTSAM_UNSTABLE_EXPORT Pose3 transformFrom(const Pose3& T) const; + GTSAM_EXPORT Pose3 transformFrom(const Pose3& T) const; /** syntactic sugar for transformFrom */ - GTSAM_UNSTABLE_EXPORT Point3 operator*(const Point3& p) const; + GTSAM_EXPORT Point3 operator*(const Point3& p) const; /** * Create Similarity3 by aligning at least three point pairs */ - GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector& abPointPairs); + GTSAM_EXPORT static Similarity3 Align(const std::vector& abPointPairs); /** - * Create Similarity3 by aligning at least two pose pairs + * Create the Similarity3 object that aligns at least two pose pairs. + * Each pair is of the form (aTi, bTi). + * Given a list of pairs in frame a, and a list of pairs in frame b, Align() + * will compute the best-fit Similarity3 aSb transformation to align them. + * First, the rotation aRb will be computed as the average (Karcher mean) of + * many estimates aRb (from each pair). Afterwards, the scale factor will be computed + * using the algorithm described here: + * http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf */ - GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector& abPosePairs); + GTSAM_EXPORT static Similarity3 Align(const std::vector& abPosePairs); /// @} /// @name Lie Group @@ -136,12 +144,12 @@ public: /** Log map at the identity * \f$ [R_x,R_y,R_z, t_x, t_y, t_z, \lambda] \f$ */ - GTSAM_UNSTABLE_EXPORT static Vector7 Logmap(const Similarity3& s, // + GTSAM_EXPORT static Vector7 Logmap(const Similarity3& s, // OptionalJacobian<7, 7> Hm = boost::none); /** Exponential map at the identity */ - GTSAM_UNSTABLE_EXPORT static Similarity3 Expmap(const Vector7& v, // + GTSAM_EXPORT static Similarity3 Expmap(const Vector7& v, // OptionalJacobian<7, 7> Hm = boost::none); /// Chart at the origin @@ -162,17 +170,17 @@ public: * @return 4*4 element of Lie algebra that can be exponentiated * TODO(frank): rename to Hat, make part of traits */ - GTSAM_UNSTABLE_EXPORT static Matrix4 wedge(const Vector7& xi); + GTSAM_EXPORT static Matrix4 wedge(const Vector7& xi); /// Project from one tangent space to another - GTSAM_UNSTABLE_EXPORT Matrix7 AdjointMap() const; + GTSAM_EXPORT Matrix7 AdjointMap() const; /// @} /// @name Standard interface /// @{ /// Calculate 4*4 matrix group equivalent - GTSAM_UNSTABLE_EXPORT const Matrix4 matrix() const; + GTSAM_EXPORT const Matrix4 matrix() const; /// Return a GTSAM rotation const Rot3& rotation() const { @@ -191,7 +199,7 @@ public: /// Convert to a rigid body pose (R, s*t) /// TODO(frank): why is this here? Red flag! Definitely don't have it as a cast. - GTSAM_UNSTABLE_EXPORT operator Pose3() const; + GTSAM_EXPORT operator Pose3() const; /// Dimensionality of tangent space = 7 DOF - used to autodetect sizes inline static size_t Dim() { diff --git a/gtsam/geometry/SimpleCamera.cpp b/gtsam/geometry/SimpleCamera.cpp index 6134ae3d4..d1a5ed330 100644 --- a/gtsam/geometry/SimpleCamera.cpp +++ b/gtsam/geometry/SimpleCamera.cpp @@ -21,6 +21,7 @@ namespace gtsam { +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41 SimpleCamera simpleCamera(const Matrix34& P) { // P = [A|a] = s K cRw [I|-T], with s the unknown scale @@ -45,5 +46,6 @@ namespace gtsam { return SimpleCamera(Pose3(wRc, T), Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2))); } +#endif } diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h index 82f26aee2..5ff6b9816 100644 --- a/gtsam/geometry/SimpleCamera.h +++ b/gtsam/geometry/SimpleCamera.h @@ -19,14 +19,25 @@ #pragma once #include -#include +#include +#include +#include +#include +#include #include +#include namespace gtsam { - /// A simple camera class with a Cal3_S2 calibration -typedef gtsam::PinholeCamera PinholeCameraCal3_S2; + /// Convenient aliases for Pinhole camera classes with different calibrations. + /// Also needed as forward declarations in the wrapper. + using PinholeCameraCal3_S2 = gtsam::PinholeCamera; + using PinholeCameraCal3Bundler = gtsam::PinholeCamera; + using PinholeCameraCal3DS2 = gtsam::PinholeCamera; + using PinholeCameraCal3Unified = gtsam::PinholeCamera; + using PinholeCameraCal3Fisheye = gtsam::PinholeCamera; +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41 /** * @deprecated: SimpleCamera for backwards compatability with GTSAM 3.x * Use PinholeCameraCal3_S2 instead @@ -140,4 +151,6 @@ struct traits : public internal::Manifold {}; template struct Range : HasRange {}; +#endif + } // namespace gtsam diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i new file mode 100644 index 000000000..0e303cbcd --- /dev/null +++ b/gtsam/geometry/geometry.i @@ -0,0 +1,1019 @@ +//************************************************************************* +// geometry +//************************************************************************* + +namespace gtsam { + +#include +class Point2 { + // Standard Constructors + Point2(); + Point2(double x, double y); + Point2(Vector v); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::Point2& point, double tol) const; + + // Group + static gtsam::Point2 identity(); + + // Standard Interface + double x() const; + double y() const; + Vector vector() const; + double distance(const gtsam::Point2& p2) const; + double norm() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +// std::vector +class Point2Vector { + // Constructors + Point2Vector(); + Point2Vector(const gtsam::Point2Vector& v); + + // Capacity + size_t size() const; + size_t max_size() const; + void resize(size_t sz); + size_t capacity() const; + bool empty() const; + void reserve(size_t n); + + // Element access + gtsam::Point2 at(size_t n) const; + gtsam::Point2 front() const; + gtsam::Point2 back() const; + + // Modifiers + void assign(size_t n, const gtsam::Point2& u); + void push_back(const gtsam::Point2& x); + void pop_back(); +}; + +#include +class StereoPoint2 { + // Standard Constructors + StereoPoint2(); + StereoPoint2(double uL, double uR, double v); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::StereoPoint2& point, double tol) const; + + // Group + static gtsam::StereoPoint2 identity(); + gtsam::StereoPoint2 inverse() const; + gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2) const; + gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2) const; + + // Operator Overloads + gtsam::StereoPoint2 operator-() const; + // gtsam::StereoPoint2 operator+(Vector b) const; //TODO Mixed types not yet + // supported + gtsam::StereoPoint2 operator+(const gtsam::StereoPoint2& p2) const; + gtsam::StereoPoint2 operator-(const gtsam::StereoPoint2& p2) const; + + // Manifold + gtsam::StereoPoint2 retract(Vector v) const; + Vector localCoordinates(const gtsam::StereoPoint2& p) const; + + // Lie Group + static gtsam::StereoPoint2 Expmap(Vector v); + static Vector Logmap(const gtsam::StereoPoint2& p); + + // Standard Interface + Vector vector() const; + double uL() const; + double uR() const; + double v() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +class Point3 { + // Standard Constructors + Point3(); + Point3(double x, double y, double z); + Point3(Vector v); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::Point3& p, double tol) const; + + // Group + static gtsam::Point3 identity(); + + // Standard Interface + Vector vector() const; + double x() const; + double y() const; + double z() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +class Point3Pairs { + Point3Pairs(); + size_t size() const; + bool empty() const; + gtsam::Point3Pair at(size_t n) const; + void push_back(const gtsam::Point3Pair& point_pair); +}; + +#include +class Rot2 { + // Standard Constructors and Named Constructors + Rot2(); + Rot2(double theta); + static gtsam::Rot2 fromAngle(double theta); + static gtsam::Rot2 fromDegrees(double theta); + static gtsam::Rot2 fromCosSin(double c, double s); + + // Testable + void print(string s = "theta") const; + bool equals(const gtsam::Rot2& rot, double tol) const; + + // Group + static gtsam::Rot2 identity(); + gtsam::Rot2 inverse(); + gtsam::Rot2 compose(const gtsam::Rot2& p2) const; + gtsam::Rot2 between(const gtsam::Rot2& p2) const; + + // Operator Overloads + gtsam::Rot2 operator*(const gtsam::Rot2& p2) const; + + // Manifold + gtsam::Rot2 retract(Vector v) const; + Vector localCoordinates(const gtsam::Rot2& p) const; + + // Lie Group + static gtsam::Rot2 Expmap(Vector v); + static Vector Logmap(const gtsam::Rot2& p); + Vector logmap(const gtsam::Rot2& p); + + // Group Action on Point2 + gtsam::Point2 rotate(const gtsam::Point2& point) const; + gtsam::Point2 unrotate(const gtsam::Point2& point) const; + + // Standard Interface + static gtsam::Rot2 relativeBearing( + const gtsam::Point2& d); // Ignoring derivative + static gtsam::Rot2 atan2(double y, double x); + double theta() const; + double degrees() const; + double c() const; + double s() const; + Matrix matrix() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +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); + + // 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; + + // Operator Overloads + gtsam::SO3 operator*(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); + static gtsam::SO4 FromMatrix(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; + + // Operator Overloads + gtsam::SO4 operator*(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 SOn { + // Standard Constructors + SOn(size_t n); + static gtsam::SOn FromMatrix(Matrix R); + static gtsam::SOn Lift(size_t n, 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; + + // Operator Overloads + gtsam::SOn operator*(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; + Matrix matrix() const; + + // enabling serialization functionality + void serialize() const; +}; + +#include +class Quaternion { + double w() const; + double x() const; + double y() const; + double z() const; + Vector coeffs() const; +}; + +#include +class Rot3 { + // Standard Constructors and Named Constructors + Rot3(); + Rot3(Matrix R); + Rot3(const gtsam::Point3& col1, const gtsam::Point3& col2, + const gtsam::Point3& col3); + Rot3(double R11, double R12, double R13, double R21, double R22, double R23, + double R31, double R32, double R33); + Rot3(double w, double x, double y, double z); + + static gtsam::Rot3 Rx(double t); + static gtsam::Rot3 Ry(double t); + static gtsam::Rot3 Rz(double t); + static gtsam::Rot3 RzRyRx(double x, double y, double z); + static gtsam::Rot3 RzRyRx(Vector xyz); + static gtsam::Rot3 Yaw( + double t); // positive yaw is to right (as in aircraft heading) + static gtsam::Rot3 Pitch( + double t); // positive pitch is up (increasing aircraft altitude) + 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); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::Rot3& rot, double tol) const; + + // Group + static gtsam::Rot3 identity(); + gtsam::Rot3 inverse() const; + gtsam::Rot3 compose(const gtsam::Rot3& p2) const; + gtsam::Rot3 between(const gtsam::Rot3& p2) const; + + // Operator Overloads + gtsam::Rot3 operator*(const gtsam::Rot3& p2) const; + + // Manifold + // gtsam::Rot3 retractCayley(Vector v) const; // TODO, does not exist in both + // Matrix and Quaternion options + gtsam::Rot3 retract(Vector v) const; + Vector localCoordinates(const gtsam::Rot3& p) const; + + // Group Action on Point3 + gtsam::Point3 rotate(const gtsam::Point3& p) const; + gtsam::Point3 unrotate(const gtsam::Point3& p) const; + + // Standard Interface + static gtsam::Rot3 Expmap(Vector v); + static Vector Logmap(const gtsam::Rot3& p); + Vector logmap(const gtsam::Rot3& p); + Matrix matrix() const; + Matrix transpose() const; + gtsam::Point3 column(size_t index) const; + Vector xyz() const; + Vector ypr() const; + Vector rpy() const; + double roll() const; + double pitch() const; + double yaw() const; + pair axisAngle() const; + gtsam::Quaternion toQuaternion() const; + Vector quaternion() const; + gtsam::Rot3 slerp(double t, const gtsam::Rot3& other) const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +class Pose2 { + // Standard Constructor + Pose2(); + Pose2(const gtsam::Pose2& other); + Pose2(double x, double y, double theta); + Pose2(double theta, const gtsam::Point2& t); + Pose2(const gtsam::Rot2& r, const gtsam::Point2& t); + Pose2(Vector v); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::Pose2& pose, double tol) const; + + // Group + static gtsam::Pose2 identity(); + gtsam::Pose2 inverse() const; + gtsam::Pose2 compose(const gtsam::Pose2& p2) const; + gtsam::Pose2 between(const gtsam::Pose2& p2) const; + + // Operator Overloads + gtsam::Pose2 operator*(const gtsam::Pose2& p2) const; + + // Manifold + gtsam::Pose2 retract(Vector v) const; + Vector localCoordinates(const gtsam::Pose2& p) const; + + // Lie Group + static gtsam::Pose2 Expmap(Vector v); + static Vector Logmap(const gtsam::Pose2& p); + Vector logmap(const gtsam::Pose2& p); + static Matrix ExpmapDerivative(Vector v); + static Matrix LogmapDerivative(const gtsam::Pose2& v); + Matrix AdjointMap() const; + Vector Adjoint(Vector xi) const; + static Matrix adjointMap_(Vector v); + static Vector adjoint_(Vector xi, Vector y); + static Vector adjointTranspose(Vector xi, Vector y); + static Matrix wedge(double vx, double vy, double w); + + // Group Actions on Point2 + gtsam::Point2 transformFrom(const gtsam::Point2& p) const; + gtsam::Point2 transformTo(const gtsam::Point2& p) const; + + // Standard Interface + double x() const; + double y() const; + double theta() const; + gtsam::Rot2 bearing(const gtsam::Point2& point) const; + double range(const gtsam::Point2& point) const; + gtsam::Point2 translation() const; + gtsam::Rot2 rotation() const; + Matrix matrix() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +class Pose3 { + // Standard Constructors + Pose3(); + Pose3(const gtsam::Pose3& other); + Pose3(const gtsam::Rot3& r, const gtsam::Point3& t); + Pose3(const gtsam::Pose2& pose2); + Pose3(Matrix mat); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::Pose3& pose, double tol) const; + + // Group + static gtsam::Pose3 identity(); + gtsam::Pose3 inverse() const; + gtsam::Pose3 compose(const gtsam::Pose3& pose) const; + gtsam::Pose3 between(const gtsam::Pose3& pose) const; + + // Operator Overloads + gtsam::Pose3 operator*(const gtsam::Pose3& pose) const; + + // Manifold + gtsam::Pose3 retract(Vector v) const; + Vector localCoordinates(const gtsam::Pose3& pose) const; + + // Lie Group + static gtsam::Pose3 Expmap(Vector v); + static Vector Logmap(const gtsam::Pose3& pose); + gtsam::Pose3 expmap(Vector v); + Vector logmap(const gtsam::Pose3& pose); + Matrix AdjointMap() const; + Vector Adjoint(Vector xi) const; + static Matrix adjointMap_(Vector xi); + static Vector adjoint_(Vector xi, Vector y); + static Vector adjointTranspose(Vector xi, Vector y); + static Matrix ExpmapDerivative(Vector xi); + static Matrix LogmapDerivative(const gtsam::Pose3& xi); + static Matrix wedge(double wx, double wy, double wz, double vx, double vy, + double vz); + + // Group Action on Point3 + gtsam::Point3 transformFrom(const gtsam::Point3& point) const; + gtsam::Point3 transformTo(const gtsam::Point3& point) const; + + // Standard Interface + gtsam::Rot3 rotation() const; + gtsam::Point3 translation() const; + double x() const; + double y() const; + double z() const; + Matrix matrix() const; + gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose) const; + gtsam::Pose3 transformPoseTo(const gtsam::Pose3& pose) const; + double range(const gtsam::Point3& point); + double range(const gtsam::Pose3& pose); + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +class Pose3Pairs { + Pose3Pairs(); + size_t size() const; + bool empty() const; + gtsam::Pose3Pair at(size_t n) const; + void push_back(const gtsam::Pose3Pair& pose_pair); +}; + +class Pose3Vector { + Pose3Vector(); + size_t size() const; + bool empty() const; + gtsam::Pose3 at(size_t n) const; + void push_back(const gtsam::Pose3& pose); +}; + +#include +class Unit3 { + // Standard Constructors + Unit3(); + Unit3(const gtsam::Point3& pose); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::Unit3& pose, double tol) const; + + // Other functionality + Matrix basis() const; + Matrix skew() const; + gtsam::Point3 point3() const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Unit3 retract(Vector v) const; + Vector localCoordinates(const gtsam::Unit3& s) const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; + + // enabling function to compare objects + bool equals(const gtsam::Unit3& expected, double tol) const; +}; + +#include +class EssentialMatrix { + // Standard Constructors + EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Unit3& aTb); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::EssentialMatrix& pose, double tol) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::EssentialMatrix retract(Vector v) const; + Vector localCoordinates(const gtsam::EssentialMatrix& s) const; + + // Other methods: + gtsam::Rot3 rotation() const; + gtsam::Unit3 direction() const; + Matrix matrix() const; + double error(Vector vA, Vector vB); +}; + +#include +class Cal3_S2 { + // Standard Constructors + Cal3_S2(); + Cal3_S2(double fx, double fy, double s, double u0, double v0); + Cal3_S2(Vector v); + Cal3_S2(double fov, int w, int h); + + // Testable + void print(string s = "Cal3_S2") const; + bool equals(const gtsam::Cal3_S2& rhs, double tol) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Cal3_S2 retract(Vector v) const; + Vector localCoordinates(const gtsam::Cal3_S2& c) const; + + // Action on Point2 + gtsam::Point2 calibrate(const gtsam::Point2& p) const; + gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; + + // Standard Interface + double fx() const; + double fy() const; + double skew() const; + double px() const; + double py() const; + gtsam::Point2 principalPoint() const; + Vector vector() const; + Matrix K() const; + Matrix inverse() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +virtual class Cal3DS2_Base { + // Standard Constructors + Cal3DS2_Base(); + + // Testable + void print(string s = "") const; + + // Standard Interface + double fx() const; + double fy() const; + double skew() const; + double px() const; + double py() const; + double k1() const; + double k2() const; + Matrix K() const; + Vector k() const; + Vector vector() const; + + // Action on Point2 + gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; + gtsam::Point2 calibrate(const gtsam::Point2& p) const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +virtual class Cal3DS2 : gtsam::Cal3DS2_Base { + // Standard Constructors + Cal3DS2(); + Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, + double k2); + Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, + double k2, double p1, double p2); + Cal3DS2(Vector v); + + // Testable + bool equals(const gtsam::Cal3DS2& rhs, double tol) const; + + // Manifold + size_t dim() const; + static size_t Dim(); + gtsam::Cal3DS2 retract(Vector v) const; + Vector localCoordinates(const gtsam::Cal3DS2& c) const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +virtual class Cal3Unified : gtsam::Cal3DS2_Base { + // Standard Constructors + Cal3Unified(); + Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1, + double k2); + Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1, + double k2, double p1, double p2, double xi); + Cal3Unified(Vector v); + + // Testable + bool equals(const gtsam::Cal3Unified& rhs, double tol) const; + + // Standard Interface + double xi() const; + gtsam::Point2 spaceToNPlane(const gtsam::Point2& p) const; + gtsam::Point2 nPlaneToSpace(const gtsam::Point2& p) const; + + // Manifold + size_t dim() const; + static size_t Dim(); + gtsam::Cal3Unified retract(Vector v) const; + Vector localCoordinates(const gtsam::Cal3Unified& c) const; + + // Action on Point2 + // Note: the signature of this functions differ from the functions + // with equal name in the base class. + gtsam::Point2 calibrate(const gtsam::Point2& p) const; + gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +class Cal3Fisheye { + // Standard Constructors + Cal3Fisheye(); + Cal3Fisheye(double fx, double fy, double s, double u0, double v0, double k1, + double k2, double k3, double k4, double tol = 1e-5); + Cal3Fisheye(Vector v); + + // Testable + void print(string s = "Cal3Fisheye") const; + bool equals(const gtsam::Cal3Fisheye& rhs, double tol) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Cal3Fisheye retract(Vector v) const; + Vector localCoordinates(const gtsam::Cal3Fisheye& c) const; + + // Action on Point2 + gtsam::Point2 calibrate(const gtsam::Point2& p) const; + gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; + + // Standard Interface + double fx() const; + double fy() const; + double skew() const; + double k1() const; + double k2() const; + double k3() const; + double k4() const; + double px() const; + double py() const; + gtsam::Point2 principalPoint() const; + Vector vector() const; + Vector k() const; + Matrix K() const; + Matrix inverse() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +class Cal3_S2Stereo { + // Standard Constructors + Cal3_S2Stereo(); + Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b); + Cal3_S2Stereo(Vector v); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::Cal3_S2Stereo& K, double tol) const; + + // Standard Interface + double fx() const; + double fy() const; + double skew() const; + double px() const; + double py() const; + gtsam::Point2 principalPoint() const; + double baseline() const; +}; + +#include +class Cal3Bundler { + // Standard Constructors + Cal3Bundler(); + Cal3Bundler(double fx, double k1, double k2, double u0, double v0); + Cal3Bundler(double fx, double k1, double k2, double u0, double v0, + double tol); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::Cal3Bundler& rhs, double tol) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Cal3Bundler retract(Vector v) const; + Vector localCoordinates(const gtsam::Cal3Bundler& c) const; + + // Action on Point2 + gtsam::Point2 calibrate(const gtsam::Point2& p) const; + gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; + + // Standard Interface + double fx() const; + double fy() const; + double k1() const; + double k2() const; + double px() const; + double py() const; + Vector vector() const; + Vector k() const; + Matrix K() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +class CalibratedCamera { + // Standard Constructors and Named Constructors + CalibratedCamera(); + CalibratedCamera(const gtsam::Pose3& pose); + CalibratedCamera(Vector v); + static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, + double height); + + // Testable + void print(string s = "CalibratedCamera") const; + bool equals(const gtsam::CalibratedCamera& camera, double tol) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::CalibratedCamera retract(Vector d) const; + Vector localCoordinates(const gtsam::CalibratedCamera& T2) const; + + // Action on Point3 + gtsam::Point2 project(const gtsam::Point3& point) const; + static gtsam::Point2 Project(const gtsam::Point3& cameraPoint); + + // Standard Interface + gtsam::Pose3 pose() const; + double range(const gtsam::Point3& point) const; + double range(const gtsam::Pose3& pose) const; + double range(const gtsam::CalibratedCamera& camera) const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +template +class PinholeCamera { + // Standard Constructors and Named Constructors + PinholeCamera(); + PinholeCamera(const gtsam::Pose3& pose); + PinholeCamera(const gtsam::Pose3& pose, const CALIBRATION& K); + static This Level(const CALIBRATION& K, const gtsam::Pose2& pose, + double height); + static This Level(const gtsam::Pose2& pose, double height); + static This Lookat(const gtsam::Point3& eye, const gtsam::Point3& target, + const gtsam::Point3& upVector, const CALIBRATION& K); + + // Testable + void print(string s = "PinholeCamera") const; + bool equals(const This& camera, double tol) const; + + // Standard Interface + gtsam::Pose3 pose() const; + CALIBRATION calibration() const; + + // Manifold + This retract(Vector d) const; + Vector localCoordinates(const This& T2) const; + size_t dim() const; + static size_t Dim(); + + // Transformations and measurement functions + static gtsam::Point2 Project(const gtsam::Point3& cameraPoint); + pair projectSafe(const gtsam::Point3& pw) const; + gtsam::Point2 project(const gtsam::Point3& point); + gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; + double range(const gtsam::Point3& point); + double range(const gtsam::Pose3& pose); + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +class Similarity3 { + // Standard Constructors + Similarity3(); + Similarity3(double s); + Similarity3(const gtsam::Rot3& R, const gtsam::Point3& t, double s); + Similarity3(const Matrix& R, const Vector& t, double s); + Similarity3(const Matrix& T); + + gtsam::Point3 transformFrom(const gtsam::Point3& p) const; + gtsam::Pose3 transformFrom(const gtsam::Pose3& T); + + static gtsam::Similarity3 Align(const gtsam::Point3Pairs& abPointPairs); + static gtsam::Similarity3 Align(const gtsam::Pose3Pairs& abPosePairs); + + // Standard Interface + const Matrix matrix() const; + const gtsam::Rot3& rotation(); + const gtsam::Point3& translation(); + double scale() const; +}; + +// Forward declaration of PinholeCameraCalX is defined here. +#include +// Some typedefs for common camera types +// PinholeCameraCal3_S2 is the same as SimpleCamera above +typedef gtsam::PinholeCamera PinholeCameraCal3_S2; +typedef gtsam::PinholeCamera PinholeCameraCal3DS2; +typedef gtsam::PinholeCamera PinholeCameraCal3Unified; +typedef gtsam::PinholeCamera PinholeCameraCal3Bundler; +typedef gtsam::PinholeCamera PinholeCameraCal3Fisheye; + +template +class CameraSet { + CameraSet(); + + // structure specific methods + T at(size_t i) const; + void push_back(const T& cam); +}; + +#include +class StereoCamera { + // Standard Constructors and Named Constructors + StereoCamera(); + StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::StereoCamera& camera, double tol) const; + + // Standard Interface + gtsam::Pose3 pose() const; + double baseline() const; + gtsam::Cal3_S2Stereo calibration() const; + + // Manifold + gtsam::StereoCamera retract(Vector d) const; + Vector localCoordinates(const gtsam::StereoCamera& T2) const; + size_t dim() const; + static size_t Dim(); + + // Transformations and measurement functions + gtsam::StereoPoint2 project(const gtsam::Point3& point); + gtsam::Point3 backproject(const gtsam::StereoPoint2& p) const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include + +// Templates appear not yet supported for free functions - issue raised at +// borglab/wrap#14 to add support +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); +gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3_S2& cameras, + const gtsam::Point2Vector& measurements, + double rank_tol, bool optimize); +gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Bundler& cameras, + const gtsam::Point2Vector& measurements, + double rank_tol, bool optimize); +gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Fisheye& cameras, + const gtsam::Point2Vector& measurements, + double rank_tol, bool optimize); +gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Unified& cameras, + const gtsam::Point2Vector& measurements, + double rank_tol, bool optimize); +gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses, + gtsam::Cal3_S2* sharedCal, + const gtsam::Point2Vector& measurements, + const gtsam::Point3& initialEstimate); +gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses, + gtsam::Cal3DS2* sharedCal, + const gtsam::Point2Vector& measurements, + const gtsam::Point3& initialEstimate); +gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses, + gtsam::Cal3Bundler* sharedCal, + const gtsam::Point2Vector& measurements, + const gtsam::Point3& initialEstimate); +gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3_S2& cameras, + const gtsam::Point2Vector& measurements, + const gtsam::Point3& initialEstimate); +gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Bundler& cameras, + const gtsam::Point2Vector& measurements, + const gtsam::Point3& initialEstimate); + +#include +template +class BearingRange { + BearingRange(const BEARING& b, const RANGE& r); + BEARING bearing() const; + RANGE range() const; + static This Measure(const POSE& pose, const POINT& point); + static BEARING MeasureBearing(const POSE& pose, const POINT& point); + static RANGE MeasureRange(const POSE& pose, const POINT& point); + void print(string s = "") const; +}; + +typedef gtsam::BearingRange + BearingRange2D; + +} // namespace gtsam diff --git a/gtsam/geometry/tests/testCal3Bundler.cpp b/gtsam/geometry/tests/testCal3Bundler.cpp index 448600266..cd576f900 100644 --- a/gtsam/geometry/tests/testCal3Bundler.cpp +++ b/gtsam/geometry/tests/testCal3Bundler.cpp @@ -11,11 +11,12 @@ /** * @file testCal3Bundler.cpp - * @brief Unit tests for transform derivatives + * @brief Unit tests for Bundler calibration model. */ #include #include +#include #include #include @@ -25,30 +26,27 @@ GTSAM_CONCEPT_TESTABLE_INST(Cal3Bundler) GTSAM_CONCEPT_MANIFOLD_INST(Cal3Bundler) static Cal3Bundler K(500, 1e-3, 1e-3, 1000, 2000); -static Point2 p(2,3); +static Point2 p(2, 3); /* ************************************************************************* */ -TEST( Cal3Bundler, vector) -{ +TEST(Cal3Bundler, vector) { Cal3Bundler K; Vector expected(3); expected << 1, 0, 0; - CHECK(assert_equal(expected,K.vector())); + CHECK(assert_equal(expected, K.vector())); } /* ************************************************************************* */ -TEST( Cal3Bundler, uncalibrate) -{ - Vector v = K.vector() ; - double r = p.x()*p.x() + p.y()*p.y() ; - double g = v[0]*(1+v[1]*r+v[2]*r*r) ; - Point2 expected (1000+g*p.x(), 2000+g*p.y()) ; +TEST(Cal3Bundler, uncalibrate) { + Vector v = K.vector(); + double r = p.x() * p.x() + p.y() * p.y(); + double g = v[0] * (1 + v[1] * r + v[2] * r * r); + Point2 expected(1000 + g * p.x(), 2000 + g * p.y()); Point2 actual = K.uncalibrate(p); - CHECK(assert_equal(expected,actual)); + CHECK(assert_equal(expected, actual)); } -TEST( Cal3Bundler, calibrate ) -{ +TEST(Cal3Bundler, calibrate) { Point2 pn(0.5, 0.5); Point2 pi = K.uncalibrate(pn); Point2 pn_hat = K.calibrate(pi); @@ -56,26 +54,57 @@ TEST( Cal3Bundler, calibrate ) } /* ************************************************************************* */ -Point2 uncalibrate_(const Cal3Bundler& k, const Point2& pt) { return k.uncalibrate(pt); } +Point2 uncalibrate_(const Cal3Bundler& k, const Point2& pt) { + return k.uncalibrate(pt); +} -Point2 calibrate_(const Cal3Bundler& k, const Point2& pt) { return k.calibrate(pt); } - -/* ************************************************************************* */ -TEST( Cal3Bundler, Duncalibrate) -{ - Matrix Dcal, Dp; - Point2 actual = K.uncalibrate(p, Dcal, Dp); - Point2 expected(2182, 3773); - CHECK(assert_equal(expected,actual,1e-7)); - Matrix numerical1 = numericalDerivative21(uncalibrate_, K, p); - Matrix numerical2 = numericalDerivative22(uncalibrate_, K, p); - CHECK(assert_equal(numerical1,Dcal,1e-7)); - CHECK(assert_equal(numerical2,Dp,1e-7)); +Point2 calibrate_(const Cal3Bundler& k, const Point2& pt) { + return k.calibrate(pt); } /* ************************************************************************* */ -TEST( Cal3Bundler, Dcalibrate) -{ +TEST(Cal3Bundler, DuncalibrateDefault) { + Cal3Bundler trueK(1, 0, 0); + Matrix Dcal, Dp; + Point2 actual = trueK.uncalibrate(p, Dcal, Dp); + Point2 expected = p; + CHECK(assert_equal(expected, actual, 1e-7)); + Matrix numerical1 = numericalDerivative21(uncalibrate_, trueK, p); + Matrix numerical2 = numericalDerivative22(uncalibrate_, trueK, p); + CHECK(assert_equal(numerical1, Dcal, 1e-7)); + CHECK(assert_equal(numerical2, Dp, 1e-7)); +} + +/* ************************************************************************* */ +TEST(Cal3Bundler, DcalibrateDefault) { + Cal3Bundler trueK(1, 0, 0); + Matrix Dcal, Dp; + Point2 pn(0.5, 0.5); + Point2 pi = trueK.uncalibrate(pn); + Point2 actual = trueK.calibrate(pi, Dcal, Dp); + CHECK(assert_equal(pn, actual, 1e-7)); + Matrix numerical1 = numericalDerivative21(calibrate_, trueK, pi); + Matrix numerical2 = numericalDerivative22(calibrate_, trueK, pi); + CHECK(assert_equal(numerical1, Dcal, 1e-5)); + CHECK(assert_equal(numerical2, Dp, 1e-5)); +} + +/* ************************************************************************* */ +TEST(Cal3Bundler, DuncalibratePrincipalPoint) { + Cal3Bundler K(5, 0, 0, 2, 2); + Matrix Dcal, Dp; + Point2 actual = K.uncalibrate(p, Dcal, Dp); + Point2 expected(12, 17); + CHECK(assert_equal(expected, actual, 1e-7)); + Matrix numerical1 = numericalDerivative21(uncalibrate_, K, p); + Matrix numerical2 = numericalDerivative22(uncalibrate_, K, p); + CHECK(assert_equal(numerical1, Dcal, 1e-7)); + CHECK(assert_equal(numerical2, Dp, 1e-7)); +} + +/* ************************************************************************* */ +TEST(Cal3Bundler, DcalibratePrincipalPoint) { + Cal3Bundler K(2, 0, 0, 2, 2); Matrix Dcal, Dp; Point2 pn(0.5, 0.5); Point2 pi = K.uncalibrate(pn); @@ -83,27 +112,66 @@ TEST( Cal3Bundler, Dcalibrate) CHECK(assert_equal(pn, actual, 1e-7)); Matrix numerical1 = numericalDerivative21(calibrate_, K, pi); Matrix numerical2 = numericalDerivative22(calibrate_, K, pi); - CHECK(assert_equal(numerical1,Dcal,1e-5)); - CHECK(assert_equal(numerical2,Dp,1e-5)); + CHECK(assert_equal(numerical1, Dcal, 1e-5)); + CHECK(assert_equal(numerical2, Dp, 1e-5)); } /* ************************************************************************* */ -TEST( Cal3Bundler, assert_equal) -{ - CHECK(assert_equal(K,K,1e-7)); +TEST(Cal3Bundler, Duncalibrate) { + Matrix Dcal, Dp; + Point2 actual = K.uncalibrate(p, Dcal, Dp); + Point2 expected(2182, 3773); + CHECK(assert_equal(expected, actual, 1e-7)); + Matrix numerical1 = numericalDerivative21(uncalibrate_, K, p); + Matrix numerical2 = numericalDerivative22(uncalibrate_, K, p); + CHECK(assert_equal(numerical1, Dcal, 1e-7)); + CHECK(assert_equal(numerical2, Dp, 1e-7)); } /* ************************************************************************* */ -TEST( Cal3Bundler, retract) -{ +TEST(Cal3Bundler, Dcalibrate) { + Matrix Dcal, Dp; + Point2 pn(0.5, 0.5); + Point2 pi = K.uncalibrate(pn); + Point2 actual = K.calibrate(pi, Dcal, Dp); + CHECK(assert_equal(pn, actual, 1e-7)); + Matrix numerical1 = numericalDerivative21(calibrate_, K, pi); + Matrix numerical2 = numericalDerivative22(calibrate_, K, pi); + CHECK(assert_equal(numerical1, Dcal, 1e-5)); + CHECK(assert_equal(numerical2, Dp, 1e-5)); +} + +/* ************************************************************************* */ +TEST(Cal3Bundler, assert_equal) { CHECK(assert_equal(K, K, 1e-7)); } + +/* ************************************************************************* */ +TEST(Cal3Bundler, retract) { Cal3Bundler expected(510, 2e-3, 2e-3, 1000, 2000); - Vector d(3); + EXPECT_LONGS_EQUAL(3, expected.dim()); + + EXPECT_LONGS_EQUAL(Cal3Bundler::Dim(), 3); + EXPECT_LONGS_EQUAL(expected.dim(), 3); + + Vector3 d; d << 10, 1e-3, 1e-3; Cal3Bundler 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); } +TEST(Cal3_S2, Print) { + Cal3Bundler cal(1, 2, 3, 4, 5); + std::stringstream os; + os << "f: " << cal.fx() << ", k1: " << cal.k1() << ", k2: " << cal.k2() + << ", px: " << cal.px() << ", py: " << cal.py(); + + EXPECT(assert_stdout_equal(os.str(), cal)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testCal3DFisheye.cpp b/gtsam/geometry/tests/testCal3DFisheye.cpp index 9317fb737..28064a92c 100644 --- a/gtsam/geometry/tests/testCal3DFisheye.cpp +++ b/gtsam/geometry/tests/testCal3DFisheye.cpp @@ -10,12 +10,13 @@ * -------------------------------------------------------------------------- */ /** - * @file testCal3DFisheye.cpp + * @file testCal3Fisheye.cpp * @brief Unit tests for fisheye calibration class * @author ghaggin */ #include +#include #include #include #include @@ -41,7 +42,11 @@ 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); + + EXPECT_LONGS_EQUAL(Cal3Fisheye::Dim(), 9); + EXPECT_LONGS_EQUAL(expected.dim(), 9); + + Vector9 d; d << 1, 2, 3, 4, 5, 6, 7, 8, 9; Cal3Fisheye actual = K.retract(d); CHECK(assert_equal(expected, actual, 1e-7)); @@ -181,6 +186,33 @@ TEST(Cal3Fisheye, calibrate3) { CHECK(assert_equal(xi_hat, xi)); } +Point2 calibrate_(const Cal3Fisheye& k, const Point2& pt) { + return k.calibrate(pt); +} + +/* ************************************************************************* */ +TEST(Cal3Fisheye, Dcalibrate) { + Point2 p(0.5, 0.5); + Point2 pi = K.uncalibrate(p); + Matrix Dcal, Dp; + K.calibrate(pi, Dcal, Dp); + Matrix numerical1 = numericalDerivative21(calibrate_, K, pi); + CHECK(assert_equal(numerical1, Dcal, 1e-5)); + Matrix numerical2 = numericalDerivative22(calibrate_, K, pi); + CHECK(assert_equal(numerical2, Dp, 1e-5)); +} + +/* ************************************************************************* */ +TEST(Cal3Fisheye, Print) { + Cal3Fisheye cal(1, 2, 3, 4, 5, 6, 7, 8, 9); + std::stringstream os; + os << "fx: " << cal.fx() << ", fy: " << cal.fy() << ", s: " << cal.skew() + << ", px: " << cal.px() << ", py: " << cal.py() << ", k1: " << cal.k1() + << ", k2: " << cal.k2() << ", k3: " << cal.k3() << ", k4: " << cal.k4(); + + EXPECT(assert_stdout_equal(os.str(), cal)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/geometry/tests/testCal3DS2.cpp b/gtsam/geometry/tests/testCal3DS2.cpp index 416665d46..7ef6e5001 100644 --- a/gtsam/geometry/tests/testCal3DS2.cpp +++ b/gtsam/geometry/tests/testCal3DS2.cpp @@ -11,12 +11,12 @@ /** * @file testCal3DS2.cpp - * @brief Unit tests for transform derivatives + * @brief Unit tests for Cal3DS2 calibration model. */ - #include #include +#include #include #include @@ -25,73 +25,103 @@ using namespace gtsam; GTSAM_CONCEPT_TESTABLE_INST(Cal3DS2) GTSAM_CONCEPT_MANIFOLD_INST(Cal3DS2) -static Cal3DS2 K(500, 100, 0.1, 320, 240, 1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3); -static Point2 p(2,3); +static Cal3DS2 K(500, 100, 0.1, 320, 240, 1e-3, 2.0 * 1e-3, 3.0 * 1e-3, + 4.0 * 1e-3); +static Point2 p(2, 3); /* ************************************************************************* */ -TEST( Cal3DS2, uncalibrate) -{ - Vector k = K.k() ; - double r = p.x()*p.x() + p.y()*p.y() ; - double g = 1+k[0]*r+k[1]*r*r ; - double tx = 2*k[2]*p.x()*p.y() + k[3]*(r+2*p.x()*p.x()) ; - double ty = k[2]*(r+2*p.y()*p.y()) + 2*k[3]*p.x()*p.y() ; - Vector v_hat = (Vector(3) << g*p.x() + tx, g*p.y() + ty, 1.0).finished(); - Vector v_i = K.K() * v_hat ; - Point2 p_i(v_i(0)/v_i(2), v_i(1)/v_i(2)) ; +TEST(Cal3DS2, Uncalibrate) { + Vector k = K.k(); + double r = p.x() * p.x() + p.y() * p.y(); + double g = 1 + k[0] * r + k[1] * r * r; + double tx = 2 * k[2] * p.x() * p.y() + k[3] * (r + 2 * p.x() * p.x()); + double ty = k[2] * (r + 2 * p.y() * p.y()) + 2 * k[3] * p.x() * p.y(); + Vector v_hat = (Vector(3) << g * p.x() + tx, g * p.y() + ty, 1.0).finished(); + Vector v_i = K.K() * v_hat; + Point2 p_i(v_i(0) / v_i(2), v_i(1) / v_i(2)); Point2 q = K.uncalibrate(p); - CHECK(assert_equal(q,p_i)); + CHECK(assert_equal(q, p_i)); } -TEST( Cal3DS2, calibrate ) -{ +TEST(Cal3DS2, Calibrate) { Point2 pn(0.5, 0.5); Point2 pi = K.uncalibrate(pn); Point2 pn_hat = K.calibrate(pi); - CHECK( traits::Equals(pn, pn_hat, 1e-5)); + CHECK(traits::Equals(pn, pn_hat, 1e-5)); } -Point2 uncalibrate_(const Cal3DS2& k, const Point2& pt) { return k.uncalibrate(pt); } +Point2 uncalibrate_(const Cal3DS2& k, const Point2& pt) { + return k.uncalibrate(pt); +} /* ************************************************************************* */ -TEST( Cal3DS2, Duncalibrate1) -{ +TEST(Cal3DS2, 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( Cal3DS2, Duncalibrate2) -{ - Matrix computed; K.uncalibrate(p, boost::none, computed); +TEST(Cal3DS2, 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)); +} + +Point2 calibrate_(const Cal3DS2& k, const Point2& pt) { + return k.calibrate(pt); } /* ************************************************************************* */ -TEST( Cal3DS2, assert_equal) -{ - CHECK(assert_equal(K,K,1e-5)); +TEST(Cal3DS2, Dcalibrate) { + Point2 pn(0.5, 0.5); + Point2 pi = K.uncalibrate(pn); + Matrix Dcal, Dp; + K.calibrate(pi, Dcal, Dp); + Matrix numerical1 = numericalDerivative21(calibrate_, K, pi, 1e-7); + CHECK(assert_equal(numerical1, Dcal, 1e-5)); + Matrix numerical2 = numericalDerivative22(calibrate_, K, pi, 1e-7); + CHECK(assert_equal(numerical2, Dp, 1e-5)); } /* ************************************************************************* */ -TEST( Cal3DS2, retract) -{ +TEST(Cal3DS2, Equal) { CHECK(assert_equal(K, K, 1e-5)); } + +/* ************************************************************************* */ +TEST(Cal3DS2, Retract) { Cal3DS2 expected(500 + 1, 100 + 2, 0.1 + 3, 320 + 4, 240 + 5, 1e-3 + 6, - 2.0 * 1e-3 + 7, 3.0 * 1e-3 + 8, 4.0 * 1e-3 + 9); - Vector d(9); - d << 1,2,3,4,5,6,7,8,9; + 2.0 * 1e-3 + 7, 3.0 * 1e-3 + 8, 4.0 * 1e-3 + 9); + + EXPECT_LONGS_EQUAL(Cal3DS2::Dim(), 9); + EXPECT_LONGS_EQUAL(expected.dim(), 9); + + Vector9 d; + d << 1, 2, 3, 4, 5, 6, 7, 8, 9; Cal3DS2 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); } +TEST(Cal3DS2, Print) { + Cal3DS2 cal(1, 2, 3, 4, 5, 6, 7, 8, 9); + std::stringstream os; + os << "fx: " << cal.fx() << ", fy: " << cal.fy() << ", s: " << cal.skew() + << ", px: " << cal.px() << ", py: " << cal.py() << ", k1: " << cal.k1() + << ", k2: " << cal.k2() << ", p1: " << cal.p1() << ", p2: " << cal.p2(); + + EXPECT(assert_stdout_equal(os.str(), cal)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testCal3Unified.cpp b/gtsam/geometry/tests/testCal3Unified.cpp index 2c5ffd7fb..648bb358c 100644 --- a/gtsam/geometry/tests/testCal3Unified.cpp +++ b/gtsam/geometry/tests/testCal3Unified.cpp @@ -10,17 +10,18 @@ * -------------------------------------------------------------------------- */ /** - * @file testCal3Unify.cpp - * @brief Unit tests for transform derivatives + * @file testCal3Unified.cpp + * @brief Unit tests for Cal3Unified calibration model. */ #include #include +#include #include #include -#include #include +#include using namespace gtsam; @@ -35,74 +36,87 @@ V = [0.1, 1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3, 0, 0, 100, 105, 320, 240]; matlab toolbox available at http://homepages.laas.fr/~cmei/index.php/Toolbox */ -static Cal3Unified K(100, 105, 0.0, 320, 240, 1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3, 0.1); +static Cal3Unified K(100, 105, 0.0, 320, 240, 1e-3, 2.0 * 1e-3, 3.0 * 1e-3, + 4.0 * 1e-3, 0.1); static Point2 p(0.5, 0.7); /* ************************************************************************* */ -TEST( Cal3Unified, uncalibrate) -{ - Point2 p_i(364.7791831734982, 305.6677211952602) ; +TEST(Cal3Unified, Uncalibrate) { + Point2 p_i(364.7791831734982, 305.6677211952602); Point2 q = K.uncalibrate(p); - CHECK(assert_equal(q,p_i)); + CHECK(assert_equal(q, p_i)); } /* ************************************************************************* */ -TEST( Cal3Unified, spaceNplane) -{ +TEST(Cal3Unified, SpaceNplane) { Point2 q = K.spaceToNPlane(p); CHECK(assert_equal(Point2(0.441731600049497, 0.618424240069295), q)); CHECK(assert_equal(p, K.nPlaneToSpace(q))); } /* ************************************************************************* */ -TEST( Cal3Unified, calibrate) -{ +TEST(Cal3Unified, Calibrate) { Point2 pi = K.uncalibrate(p); Point2 pn_hat = K.calibrate(pi); - CHECK( traits::Equals(p, pn_hat, 1e-8)); + CHECK(traits::Equals(p, pn_hat, 1e-8)); } -Point2 uncalibrate_(const Cal3Unified& k, const Point2& pt) { return k.uncalibrate(pt); } +Point2 uncalibrate_(const Cal3Unified& k, const Point2& pt) { + return k.uncalibrate(pt); +} /* ************************************************************************* */ -TEST( Cal3Unified, Duncalibrate1) -{ +TEST(Cal3Unified, Duncalibrate1) { Matrix computed; K.uncalibrate(p, computed, boost::none); Matrix numerical = numericalDerivative21(uncalibrate_, K, p, 1e-7); - CHECK(assert_equal(numerical,computed,1e-6)); + CHECK(assert_equal(numerical, computed, 1e-6)); } /* ************************************************************************* */ -TEST( Cal3Unified, Duncalibrate2) -{ +TEST(Cal3Unified, Duncalibrate2) { Matrix computed; K.uncalibrate(p, boost::none, computed); Matrix numerical = numericalDerivative22(uncalibrate_, K, p, 1e-7); - CHECK(assert_equal(numerical,computed,1e-6)); + CHECK(assert_equal(numerical, computed, 1e-6)); +} + +Point2 calibrate_(const Cal3Unified& k, const Point2& pt) { + return k.calibrate(pt); } /* ************************************************************************* */ -TEST( Cal3Unified, assert_equal) -{ - CHECK(assert_equal(K,K,1e-9)); +TEST(Cal3Unified, Dcalibrate) { + Point2 pi = K.uncalibrate(p); + Matrix Dcal, Dp; + K.calibrate(pi, Dcal, Dp); + Matrix numerical1 = numericalDerivative21(calibrate_, K, pi); + CHECK(assert_equal(numerical1, Dcal, 1e-5)); + Matrix numerical2 = numericalDerivative22(calibrate_, K, pi); + CHECK(assert_equal(numerical2, Dp, 1e-5)); } /* ************************************************************************* */ -TEST( Cal3Unified, retract) -{ - Cal3Unified expected(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6, - 1e-3 + 7, 2.0*1e-3 + 8, 3.0*1e-3 + 9, 4.0*1e-3 + 10, 0.1 + 1); - Vector d(10); +TEST(Cal3Unified, Equal) { CHECK(assert_equal(K, K, 1e-9)); } + +/* ************************************************************************* */ +TEST(Cal3Unified, Retract) { + Cal3Unified expected(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6, 1e-3 + 7, + 2.0 * 1e-3 + 8, 3.0 * 1e-3 + 9, 4.0 * 1e-3 + 10, + 0.1 + 1); + + EXPECT_LONGS_EQUAL(Cal3Unified::Dim(), 10); + EXPECT_LONGS_EQUAL(expected.dim(), 10); + + Vector10 d; d << 2, 3, 4, 5, 6, 7, 8, 9, 10, 1; Cal3Unified actual = K.retract(d); - CHECK(assert_equal(expected,actual,1e-9)); - CHECK(assert_equal(d,K.localCoordinates(actual),1e-9)); + CHECK(assert_equal(expected, actual, 1e-9)); + CHECK(assert_equal(d, K.localCoordinates(actual), 1e-9)); } /* ************************************************************************* */ -TEST( Cal3Unified, DerivedValue) -{ +TEST(Cal3Unified, DerivedValue) { Values values; Cal3Unified cal(1, 2, 3, 4, 5, 6, 7, 8, 9, 10); Key key = 1; @@ -110,9 +124,24 @@ TEST( Cal3Unified, DerivedValue) Cal3Unified calafter = values.at(key); - CHECK(assert_equal(cal,calafter,1e-9)); + CHECK(assert_equal(cal, calafter, 1e-9)); } /* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +TEST(Cal3Unified, Print) { + Cal3Unified cal(0, 1, 2, 3, 4, 5, 6, 7, 8, 9); + std::stringstream os; + os << "fx: " << cal.fx() << ", fy: " << cal.fy() << ", s: " << cal.skew() + << ", px: " << cal.px() << ", py: " << cal.py() << ", k1: " << cal.k1() + << ", k2: " << cal.k2() << ", p1: " << cal.p1() << ", p2: " << cal.p2() + << ", xi: " << cal.xi(); + + EXPECT(assert_stdout_equal(os.str(), cal)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testCal3_S2.cpp b/gtsam/geometry/tests/testCal3_S2.cpp index 55ea32e32..41be5ea8e 100644 --- a/gtsam/geometry/tests/testCal3_S2.cpp +++ b/gtsam/geometry/tests/testCal3_S2.cpp @@ -11,7 +11,7 @@ /** * @file testCal3_S2.cpp - * @brief Unit tests for transform derivatives + * @brief Unit tests for basic Cal3_S2 calibration model. */ #include @@ -31,90 +31,94 @@ static Point2 p_uv(1320.3, 1740); static Point2 p_xy(2, 3); /* ************************************************************************* */ -TEST( Cal3_S2, easy_constructor) -{ +TEST(Cal3_S2, Constructor) { Cal3_S2 expected(554.256, 554.256, 0, 640 / 2, 480 / 2); - double fov = 60; // degrees - size_t w=640,h=480; - Cal3_S2 actual(fov,w,h); + double fov = 60; // degrees + size_t w = 640, h = 480; + Cal3_S2 actual(fov, w, h); - CHECK(assert_equal(expected,actual,1e-3)); + CHECK(assert_equal(expected, actual, 1e-3)); } /* ************************************************************************* */ -TEST( Cal3_S2, calibrate) -{ - Point2 intrinsic(2,3); +TEST(Cal3_S2, Calibrate) { + Point2 intrinsic(2, 3); Point2 expectedimage(1320.3, 1740); Point2 imagecoordinates = K.uncalibrate(intrinsic); - CHECK(assert_equal(expectedimage,imagecoordinates)); - CHECK(assert_equal(intrinsic,K.calibrate(imagecoordinates))); + CHECK(assert_equal(expectedimage, imagecoordinates)); + CHECK(assert_equal(intrinsic, K.calibrate(imagecoordinates))); } /* ************************************************************************* */ -TEST( Cal3_S2, calibrate_homogeneous) { +TEST(Cal3_S2, CalibrateHomogeneous) { Vector3 intrinsic(2, 3, 1); Vector3 image(1320.3, 1740, 1); - CHECK(assert_equal((Vector)intrinsic,(Vector)K.calibrate(image))); + CHECK(assert_equal((Vector)intrinsic, (Vector)K.calibrate(image))); } /* ************************************************************************* */ -Point2 uncalibrate_(const Cal3_S2& k, const Point2& pt) { return k.uncalibrate(pt); } -TEST( Cal3_S2, Duncalibrate1) -{ - Matrix25 computed; K.uncalibrate(p, computed, boost::none); +Point2 uncalibrate_(const Cal3_S2& k, const Point2& pt) { + return k.uncalibrate(pt); +} + +TEST(Cal3_S2, Duncalibrate1) { + Matrix25 computed; + K.uncalibrate(p, computed, boost::none); Matrix numerical = numericalDerivative21(uncalibrate_, K, p); - CHECK(assert_equal(numerical,computed,1e-8)); + CHECK(assert_equal(numerical, computed, 1e-8)); } /* ************************************************************************* */ -TEST( Cal3_S2, Duncalibrate2) -{ - Matrix computed; K.uncalibrate(p, boost::none, computed); +TEST(Cal3_S2, Duncalibrate2) { + Matrix computed; + K.uncalibrate(p, boost::none, computed); Matrix numerical = numericalDerivative22(uncalibrate_, K, p); - CHECK(assert_equal(numerical,computed,1e-9)); + CHECK(assert_equal(numerical, computed, 1e-9)); } -Point2 calibrate_(const Cal3_S2& k, const Point2& pt) {return k.calibrate(pt); } -/* ************************************************************************* */ -TEST(Cal3_S2, Dcalibrate1) -{ - Matrix computed; - Point2 expected = K.calibrate(p_uv, computed, boost::none); - Matrix numerical = numericalDerivative21(calibrate_, K, p_uv); - CHECK(assert_equal(expected, p_xy, 1e-8)); - CHECK(assert_equal(numerical, computed, 1e-8)); +Point2 calibrate_(const Cal3_S2& k, const Point2& pt) { + return k.calibrate(pt); } /* ************************************************************************* */ -TEST(Cal3_S2, Dcalibrate2) -{ - Matrix computed; - Point2 expected = K.calibrate(p_uv, boost::none, computed); - Matrix numerical = numericalDerivative22(calibrate_, K, p_uv); - CHECK(assert_equal(expected, p_xy, 1e-8)); - CHECK(assert_equal(numerical, computed, 1e-8)); +TEST(Cal3_S2, Dcalibrate1) { + Matrix computed; + Point2 expected = K.calibrate(p_uv, computed, boost::none); + Matrix numerical = numericalDerivative21(calibrate_, K, p_uv); + CHECK(assert_equal(expected, p_xy, 1e-8)); + CHECK(assert_equal(numerical, computed, 1e-8)); } /* ************************************************************************* */ -TEST( Cal3_S2, assert_equal) -{ - CHECK(assert_equal(K,K,1e-9)); +TEST(Cal3_S2, Dcalibrate2) { + Matrix computed; + Point2 expected = K.calibrate(p_uv, boost::none, computed); + Matrix numerical = numericalDerivative22(calibrate_, K, p_uv); + CHECK(assert_equal(expected, p_xy, 1e-8)); + CHECK(assert_equal(numerical, computed, 1e-8)); +} + +/* ************************************************************************* */ +TEST(Cal3_S2, Equal) { + CHECK(assert_equal(K, K, 1e-9)); Cal3_S2 K1(500, 500, 0.1, 640 / 2, 480 / 2); - CHECK(assert_equal(K,K1,1e-9)); + CHECK(assert_equal(K, K1, 1e-9)); } /* ************************************************************************* */ -TEST( Cal3_S2, retract) -{ - Cal3_S2 expected(500+1, 500+2, 0.1+3, 640 / 2+4, 480 / 2+5); - Vector d(5); - d << 1,2,3,4,5; +TEST(Cal3_S2, Retract) { + Cal3_S2 expected(500 + 1, 500 + 2, 0.1 + 3, 640 / 2 + 4, 480 / 2 + 5); + + EXPECT_LONGS_EQUAL(Cal3_S2::Dim(), 5); + EXPECT_LONGS_EQUAL(expected.dim(), 5); + + Vector5 d; + d << 1, 2, 3, 4, 5; Cal3_S2 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)); } /* ************************************************************************* */ @@ -122,18 +126,17 @@ TEST(Cal3_S2, between) { Cal3_S2 k1(5, 5, 5, 5, 5), k2(5, 6, 7, 8, 9); Matrix H1, H2; - EXPECT(assert_equal(Cal3_S2(0,1,2,3,4), k1.between(k2, H1, H2))); + EXPECT(assert_equal(Cal3_S2(0, 1, 2, 3, 4), k1.between(k2, H1, H2))); EXPECT(assert_equal(-I_5x5, H1)); EXPECT(assert_equal(I_5x5, H2)); - } /* ************************************************************************* */ TEST(Cal3_S2, Print) { Cal3_S2 cal(5, 5, 5, 5, 5); std::stringstream os; - os << "{fx: " << cal.fx() << ", fy: " << cal.fy() << ", s:" << cal.skew() << ", px:" << cal.px() - << ", py:" << cal.py() << "}"; + os << "fx: " << cal.fx() << ", fy: " << cal.fy() << ", s: " << cal.skew() + << ", px: " << cal.px() << ", py: " << cal.py(); EXPECT(assert_stdout_equal(os.str(), cal)); } @@ -144,4 +147,3 @@ int main() { return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ - diff --git a/gtsam/geometry/tests/testCal3_S2Stereo.cpp b/gtsam/geometry/tests/testCal3_S2Stereo.cpp new file mode 100644 index 000000000..070eee8fe --- /dev/null +++ b/gtsam/geometry/tests/testCal3_S2Stereo.cpp @@ -0,0 +1,129 @@ +/* ---------------------------------------------------------------------------- + + * 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 testCal3_S2Stereo.cpp + * @brief Unit tests for stereo-rig calibration model. + */ + +#include +#include +#include +#include +#include + +using namespace gtsam; + +GTSAM_CONCEPT_TESTABLE_INST(Cal3_S2Stereo) +GTSAM_CONCEPT_MANIFOLD_INST(Cal3_S2Stereo) + +static Cal3_S2Stereo K(500, 500, 0.1, 640 / 2, 480 / 2, 1); +static Point2 p(1, -2); +static Point2 p_uv(1320.3, 1740); +static Point2 p_xy(2, 3); + +/* ************************************************************************* */ +TEST(Cal3_S2Stereo, Constructor) { + Cal3_S2Stereo expected(554.256, 554.256, 0, 640 / 2, 480 / 2, 3); + + double fov = 60; // degrees + size_t w = 640, h = 480; + Cal3_S2Stereo actual(fov, w, h, 3); + + CHECK(assert_equal(expected, actual, 1e-3)); +} + +/* ************************************************************************* */ +TEST(Cal3_S2Stereo, Calibrate) { + Point2 intrinsic(2, 3); + Point2 expectedimage(1320.3, 1740); + Point2 imagecoordinates = K.uncalibrate(intrinsic); + CHECK(assert_equal(expectedimage, imagecoordinates)); + CHECK(assert_equal(intrinsic, K.calibrate(imagecoordinates))); +} + +/* ************************************************************************* */ +TEST(Cal3_S2Stereo, CalibrateHomogeneous) { + Vector3 intrinsic(2, 3, 1); + Vector3 image(1320.3, 1740, 1); + CHECK(assert_equal(intrinsic, K.calibrate(image))); +} + +/* ************************************************************************* */ +Point2 uncalibrate_(const Cal3_S2Stereo& k, const Point2& pt) { + return k.uncalibrate(pt); +} + +TEST(Cal3_S2Stereo, Duncalibrate) { + Matrix26 Dcal; + Matrix22 Dp; + K.uncalibrate(p, Dcal, Dp); + + Matrix numerical1 = numericalDerivative21(uncalibrate_, K, p); + CHECK(assert_equal(numerical1, Dcal, 1e-8)); + Matrix numerical2 = numericalDerivative22(uncalibrate_, K, p); + CHECK(assert_equal(numerical2, Dp, 1e-9)); +} + +Point2 calibrate_(const Cal3_S2Stereo& K, const Point2& pt) { + return K.calibrate(pt); +} +/* ************************************************************************* */ +TEST(Cal3_S2Stereo, Dcalibrate) { + Matrix26 Dcal; + Matrix22 Dp; + Point2 expected = K.calibrate(p_uv, Dcal, Dp); + CHECK(assert_equal(expected, p_xy, 1e-8)); + + Matrix numerical1 = numericalDerivative21(calibrate_, K, p_uv); + CHECK(assert_equal(numerical1, Dcal, 1e-8)); + Matrix numerical2 = numericalDerivative22(calibrate_, K, p_uv); + CHECK(assert_equal(numerical2, Dp, 1e-8)); +} + +/* ************************************************************************* */ +TEST(Cal3_S2Stereo, Equal) { + CHECK(assert_equal(K, K, 1e-9)); + + Cal3_S2Stereo K1(500, 500, 0.1, 640 / 2, 480 / 2, 1); + CHECK(assert_equal(K, K1, 1e-9)); +} + +/* ************************************************************************* */ +TEST(Cal3_S2Stereo, Retract) { + Cal3_S2Stereo expected(500 + 1, 500 + 2, 0.1 + 3, 640 / 2 + 4, 480 / 2 + 5, + 7); + EXPECT_LONGS_EQUAL(Cal3_S2Stereo::Dim(), 6); + EXPECT_LONGS_EQUAL(expected.dim(), 6); + + Vector6 d; + d << 1, 2, 3, 4, 5, 6; + Cal3_S2Stereo actual = K.retract(d); + CHECK(assert_equal(expected, actual, 1e-7)); + CHECK(assert_equal(d, K.localCoordinates(actual), 1e-7)); +} + +/* ************************************************************************* */ +TEST(Cal3_S2Stereo, Print) { + Cal3_S2Stereo cal(5, 5, 5, 5, 5, 2); + std::stringstream os; + os << "fx: " << cal.fx() << ", fy: " << cal.fy() << ", s: " << cal.skew() + << ", px: " << cal.px() << ", py: " << cal.py() + << ", b: " << cal.baseline(); + EXPECT(assert_stdout_equal(os.str(), cal)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testCalibratedCamera.cpp b/gtsam/geometry/tests/testCalibratedCamera.cpp index 1982b8f50..0fb0754fe 100644 --- a/gtsam/geometry/tests/testCalibratedCamera.cpp +++ b/gtsam/geometry/tests/testCalibratedCamera.cpp @@ -24,6 +24,7 @@ #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -52,8 +53,8 @@ TEST(CalibratedCamera, Create) { EXPECT(assert_equal(camera, CalibratedCamera::Create(kDefaultPose, actualH))); // Check derivative - boost::function f = // - boost::bind(CalibratedCamera::Create, _1, boost::none); + std::function f = // + std::bind(CalibratedCamera::Create, std::placeholders::_1, boost::none); Matrix numericalH = numericalDerivative11(f, kDefaultPose); EXPECT(assert_equal(numericalH, actualH, 1e-9)); } diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp index 60cee59ee..761ef3a8c 100644 --- a/gtsam/geometry/tests/testCameraSet.cpp +++ b/gtsam/geometry/tests/testCameraSet.cpp @@ -20,7 +20,6 @@ #include #include #include -#include using namespace std; using namespace gtsam; diff --git a/gtsam/geometry/tests/testEssentialMatrix.cpp b/gtsam/geometry/tests/testEssentialMatrix.cpp index 86a498cdc..ff8c61f35 100644 --- a/gtsam/geometry/tests/testEssentialMatrix.cpp +++ b/gtsam/geometry/tests/testEssentialMatrix.cpp @@ -5,13 +5,15 @@ * @date December 17, 2013 */ -#include -#include -#include -#include #include +#include +#include +#include +#include + #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -39,15 +41,15 @@ TEST(EssentialMatrix, FromRotationAndDirection) { 1e-8)); Matrix expectedH1 = numericalDerivative11( - boost::bind(EssentialMatrix::FromRotationAndDirection, _1, trueDirection, boost::none, - boost::none), + std::bind(EssentialMatrix::FromRotationAndDirection, + std::placeholders::_1, trueDirection, boost::none, boost::none), trueRotation); EXPECT(assert_equal(expectedH1, actualH1, 1e-7)); Matrix expectedH2 = numericalDerivative11( - boost::bind(EssentialMatrix::FromRotationAndDirection, trueRotation, _1, boost::none, - boost::none), - trueDirection); + std::bind(EssentialMatrix::FromRotationAndDirection, trueRotation, + std::placeholders::_1, boost::none, boost::none), + trueDirection); EXPECT(assert_equal(expectedH2, actualH2, 1e-7)); } @@ -173,7 +175,7 @@ TEST (EssentialMatrix, FromPose3_a) { Pose3 pose(trueRotation, trueTranslation); // Pose between two cameras EXPECT(assert_equal(trueE, EssentialMatrix::FromPose3(pose, actualH), 1e-8)); Matrix expectedH = numericalDerivative11( - boost::bind(EssentialMatrix::FromPose3, _1, boost::none), pose); + std::bind(EssentialMatrix::FromPose3, std::placeholders::_1, boost::none), pose); EXPECT(assert_equal(expectedH, actualH, 1e-7)); } @@ -186,7 +188,7 @@ TEST (EssentialMatrix, FromPose3_b) { Pose3 pose(c1Rc2, c1Tc2); // Pose between two cameras EXPECT(assert_equal(E, EssentialMatrix::FromPose3(pose, actualH), 1e-8)); Matrix expectedH = numericalDerivative11( - boost::bind(EssentialMatrix::FromPose3, _1, boost::none), pose); + std::bind(EssentialMatrix::FromPose3, std::placeholders::_1, boost::none), pose); EXPECT(assert_equal(expectedH, actualH, 1e-5)); } diff --git a/gtsam/geometry/tests/testLine3.cpp b/gtsam/geometry/tests/testLine3.cpp index 9ed12aef7..09371bad4 100644 --- a/gtsam/geometry/tests/testLine3.cpp +++ b/gtsam/geometry/tests/testLine3.cpp @@ -14,6 +14,16 @@ GTSAM_CONCEPT_MANIFOLD_INST(Line3) static const Line3 l(Rot3(), 1, 1); +// Testing getters +TEST(Line3, getMethods) { + const double a = 5, b = 10; + const Rot3 R = Rot3::Expmap(Vector3(0.1, 0.2, 0.3)); + const Line3 line(R, a, b); + EXPECT_DOUBLES_EQUAL(a, line.a(), 1e-8); + EXPECT_DOUBLES_EQUAL(b, line.b(), 1e-8); + EXPECT(assert_equal(R, line.R(), 1e-8)); +} + // Testing equals function of Line3 TEST(Line3, equals) { Line3 l_same = l; diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp index dc5851319..533041a2c 100644 --- a/gtsam/geometry/tests/testOrientedPlane3.cpp +++ b/gtsam/geometry/tests/testOrientedPlane3.cpp @@ -23,6 +23,7 @@ #include using namespace boost::assign; +using namespace std::placeholders; using namespace gtsam; using namespace std; using boost::none; @@ -31,7 +32,7 @@ GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3) GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3) //******************************************************************************* -TEST (OrientedPlane3, getMethods) { +TEST(OrientedPlane3, getMethods) { Vector4 c; c << -1, 0, 0, 5; OrientedPlane3 plane1(c); @@ -50,44 +51,27 @@ TEST (OrientedPlane3, getMethods) { //******************************************************************************* -OrientedPlane3 Transform_(const OrientedPlane3& plane, const Pose3& xr) { - return OrientedPlane3::Transform(plane, xr); -} - OrientedPlane3 transform_(const OrientedPlane3& plane, const Pose3& xr) { return plane.transform(xr); } -TEST (OrientedPlane3, transform) { +TEST(OrientedPlane3, transform) { gtsam::Pose3 pose(gtsam::Rot3::Ypr(-M_PI / 4.0, 0.0, 0.0), - gtsam::Point3(2.0, 3.0, 4.0)); + gtsam::Point3(2.0, 3.0, 4.0)); OrientedPlane3 plane(-1, 0, 0, 5); OrientedPlane3 expectedPlane(-sqrt(2.0) / 2.0, -sqrt(2.0) / 2.0, 0.0, 3); - OrientedPlane3 transformedPlane1 = OrientedPlane3::Transform(plane, pose, - none, none); - OrientedPlane3 transformedPlane2 = plane.transform(pose, none, none); - EXPECT(assert_equal(expectedPlane, transformedPlane1, 1e-5)); - EXPECT(assert_equal(expectedPlane, transformedPlane2, 1e-5)); + OrientedPlane3 transformedPlane = plane.transform(pose, none, none); + EXPECT(assert_equal(expectedPlane, transformedPlane, 1e-5)); // Test the jacobians of transform Matrix actualH1, expectedH1, actualH2, expectedH2; - { - // 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-5)); - OrientedPlane3::Transform(plane, pose, none, actualH2); - expectedH2 = numericalDerivative21(Transform_, plane, pose); - EXPECT(assert_equal(expectedH2, actualH2, 1e-5)); - } - { - plane.transform(pose, actualH1, none); - expectedH1 = numericalDerivative21(transform_, plane, pose); - EXPECT(assert_equal(expectedH1, actualH1, 1e-5)); - plane.transform(pose, none, actualH2); - expectedH2 = numericalDerivative22(Transform_, plane, pose); - EXPECT(assert_equal(expectedH2, actualH2, 1e-5)); - } + expectedH1 = numericalDerivative21(transform_, plane, pose); + plane.transform(pose, actualH1, none); + EXPECT(assert_equal(expectedH1, actualH1, 1e-5)); + + expectedH2 = numericalDerivative22(transform_, plane, pose); + plane.transform(pose, none, actualH2); + EXPECT(assert_equal(expectedH2, actualH2, 1e-5)); } //******************************************************************************* @@ -109,7 +93,6 @@ inline static Vector randomVector(const Vector& minLimits, //******************************************************************************* TEST(OrientedPlane3, localCoordinates_retract) { - size_t numIterations = 10000; Vector4 minPlaneLimit, maxPlaneLimit; minPlaneLimit << -1.0, -1.0, -1.0, 0.01; @@ -119,7 +102,6 @@ TEST(OrientedPlane3, localCoordinates_retract) { minXiLimit << -M_PI, -M_PI, -10.0; maxXiLimit << M_PI, M_PI, 10.0; for (size_t i = 0; i < numIterations; i++) { - // Create a Plane OrientedPlane3 p1(randomVector(minPlaneLimit, maxPlaneLimit)); Vector v12 = randomVector(minXiLimit, maxXiLimit); @@ -138,23 +120,26 @@ TEST(OrientedPlane3, localCoordinates_retract) { } //******************************************************************************* -TEST (OrientedPlane3, error2) { +TEST(OrientedPlane3, errorVector) { OrientedPlane3 plane1(-1, 0.1, 0.2, 5); OrientedPlane3 plane2(-1.1, 0.2, 0.3, 5.4); // Hard-coded regression values, to ensure the result doesn't change. EXPECT(assert_equal((Vector) Z_3x1, plane1.errorVector(plane1), 1e-8)); - EXPECT(assert_equal(Vector3(-0.0677674148, -0.0760543588, -0.4), plane1.errorVector(plane2), 1e-5)); + EXPECT(assert_equal(Vector3(-0.0677674148, -0.0760543588, -0.4), + plane1.errorVector(plane2), 1e-5)); // Test the jacobians of transform Matrix33 actualH1, expectedH1, actualH2, expectedH2; Vector3 actual = plane1.errorVector(plane2, actualH1, actualH2); - EXPECT(assert_equal(plane1.normal().errorVector(plane2.normal()), Vector2(actual[0], actual[1]))); + EXPECT(assert_equal(plane1.normal().errorVector(plane2.normal()), + Vector2(actual[0], actual[1]))); EXPECT(assert_equal(plane1.distance() - plane2.distance(), actual[2])); - boost::function f = // - boost::bind(&OrientedPlane3::errorVector, _1, _2, boost::none, boost::none); + std::function f = + std::bind(&OrientedPlane3::errorVector, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none); expectedH1 = numericalDerivative21(f, plane1, plane2); expectedH2 = numericalDerivative22(f, plane1, plane2); EXPECT(assert_equal(expectedH1, actualH1, 1e-5)); @@ -162,19 +147,19 @@ TEST (OrientedPlane3, error2) { } //******************************************************************************* -TEST (OrientedPlane3, jacobian_retract) { +TEST(OrientedPlane3, jacobian_retract) { OrientedPlane3 plane(-1, 0.1, 0.2, 5); Matrix33 H_actual; - boost::function f = - boost::bind(&OrientedPlane3::retract, plane, _1, boost::none); + std::function f = std::bind( + &OrientedPlane3::retract, plane, std::placeholders::_1, boost::none); { - Vector3 v (-0.1, 0.2, 0.3); + 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-5)); } { - Vector3 v (0, 0, 0); + 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-5)); diff --git a/gtsam/geometry/tests/testPinholeCamera.cpp b/gtsam/geometry/tests/testPinholeCamera.cpp index ad6f4e921..0679a4609 100644 --- a/gtsam/geometry/tests/testPinholeCamera.cpp +++ b/gtsam/geometry/tests/testPinholeCamera.cpp @@ -27,6 +27,7 @@ #include #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -64,8 +65,9 @@ TEST(PinholeCamera, Create) { EXPECT(assert_equal(camera, Camera::Create(pose,K, actualH1, actualH2))); // Check derivative - boost::function f = // - boost::bind(Camera::Create,_1,_2,boost::none,boost::none); + std::function f = // + std::bind(Camera::Create, std::placeholders::_1, std::placeholders::_2, + boost::none, boost::none); Matrix numericalH1 = numericalDerivative21(f,pose,K); EXPECT(assert_equal(numericalH1, actualH1, 1e-9)); Matrix numericalH2 = numericalDerivative22(f,pose,K); @@ -79,8 +81,8 @@ TEST(PinholeCamera, Pose) { EXPECT(assert_equal(pose, camera.getPose(actualH))); // Check derivative - boost::function f = // - boost::bind(&Camera::getPose,_1,boost::none); + std::function f = // + std::bind(&Camera::getPose, std::placeholders::_1, boost::none); Matrix numericalH = numericalDerivative11(f,camera); EXPECT(assert_equal(numericalH, actualH, 1e-9)); } diff --git a/gtsam/geometry/tests/testPinholePose.cpp b/gtsam/geometry/tests/testPinholePose.cpp index 1cf2f4a3f..acfcd9f39 100644 --- a/gtsam/geometry/tests/testPinholePose.cpp +++ b/gtsam/geometry/tests/testPinholePose.cpp @@ -65,8 +65,8 @@ TEST(PinholeCamera, Pose) { EXPECT(assert_equal(pose, camera.getPose(actualH))); // Check derivative - boost::function f = // - boost::bind(&Camera::getPose,_1,boost::none); + std::function f = // + std::bind(&Camera::getPose,_1,boost::none); Matrix numericalH = numericalDerivative11(f,camera); EXPECT(assert_equal(numericalH, actualH, 1e-9)); } diff --git a/gtsam/geometry/tests/testPinholeSet.cpp b/gtsam/geometry/tests/testPinholeSet.cpp index f32fe60ed..9ca8847f8 100644 --- a/gtsam/geometry/tests/testPinholeSet.cpp +++ b/gtsam/geometry/tests/testPinholeSet.cpp @@ -20,7 +20,6 @@ #include #include #include -#include using namespace std; using namespace gtsam; diff --git a/gtsam/geometry/tests/testPoint3.cpp b/gtsam/geometry/tests/testPoint3.cpp index a655011a0..315391ac8 100644 --- a/gtsam/geometry/tests/testPoint3.cpp +++ b/gtsam/geometry/tests/testPoint3.cpp @@ -14,11 +14,14 @@ * @brief Unit tests for Point3 class */ -#include +#include #include #include -#include +#include +#include + +using namespace std::placeholders; using namespace gtsam; GTSAM_CONCEPT_TESTABLE_INST(Point3) @@ -98,7 +101,7 @@ TEST( Point3, dot) { // Use numerical derivatives to calculate the expected Jacobians Matrix H1, H2; - boost::function f = + std::function f = [](const Point3& p, const Point3& q) { return gtsam::dot(p, q); }; { gtsam::dot(p, q, H1, H2); @@ -120,8 +123,9 @@ TEST( Point3, dot) { /* ************************************************************************* */ TEST(Point3, cross) { Matrix aH1, aH2; - boost::function f = - boost::bind(>sam::cross, _1, _2, boost::none, boost::none); + std::function f = + std::bind(>sam::cross, std::placeholders::_1, std::placeholders::_2, + boost::none, boost::none); const Point3 omega(0, 1, 0), theta(4, 6, 8); cross(omega, theta, aH1, aH2); EXPECT(assert_equal(numericalDerivative21(f, omega, theta), aH1)); @@ -139,8 +143,9 @@ TEST( Point3, cross2) { // Use numerical derivatives to calculate the expected Jacobians Matrix H1, H2; - boost::function f = boost::bind(>sam::cross, _1, _2, // - boost::none, boost::none); + std::function f = + std::bind(>sam::cross, std::placeholders::_1, std::placeholders::_2, // + boost::none, boost::none); { gtsam::cross(p, q, H1, H2); EXPECT(assert_equal(numericalDerivative21(f, p, q), H1, 1e-9)); @@ -160,7 +165,7 @@ TEST (Point3, normalize) { Point3 expected(point / sqrt(14.0)); EXPECT(assert_equal(expected, normalize(point, actualH), 1e-8)); Matrix expectedH = numericalDerivative11( - boost::bind(gtsam::normalize, _1, boost::none), point); + std::bind(gtsam::normalize, std::placeholders::_1, boost::none), point); EXPECT(assert_equal(expectedH, actualH, 1e-8)); } diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index 3d821502d..d17dc7689 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -14,16 +14,17 @@ * @brief Unit tests for Pose2 class */ -#include -#include -#include -#include -#include -#include - #include +#include +#include +#include +#include +#include +#include +#include + +#include // for operator += #include -#include // for operator += #include #include @@ -910,6 +911,22 @@ TEST(Pose2 , TransformCovariance3) { } } +/* ************************************************************************* */ +TEST(Pose2, Print) { + Pose2 pose(Rot2::identity(), Point2(1, 2)); + + // Generate the expected output + string s = "Planar Pose"; + string expected_stdout = "(1, 2, 0)"; + string expected1 = expected_stdout + "\n"; + string expected2 = s + " " + expected1; + + EXPECT(assert_stdout_equal(expected_stdout, pose)); + + EXPECT(assert_print_equal(expected1, pose)); + EXPECT(assert_print_equal(expected2, pose, s)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 6de2c0a33..11b8791d4 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -22,6 +22,7 @@ #include // for operator += using namespace boost::assign; +using namespace std::placeholders; #include #include @@ -213,7 +214,7 @@ TEST(Pose3, translation) { EXPECT(assert_equal(Point3(3.5, -8.2, 4.2), T.translation(actualH), 1e-8)); Matrix numericalH = numericalDerivative11( - boost::bind(&Pose3::translation, _1, boost::none), T); + std::bind(&Pose3::translation, std::placeholders::_1, boost::none), T); EXPECT(assert_equal(numericalH, actualH, 1e-6)); } @@ -224,7 +225,7 @@ TEST(Pose3, rotation) { EXPECT(assert_equal(R, T.rotation(actualH), 1e-8)); Matrix numericalH = numericalDerivative11( - boost::bind(&Pose3::rotation, _1, boost::none), T); + std::bind(&Pose3::rotation, std::placeholders::_1, boost::none), T); EXPECT(assert_equal(numericalH, actualH, 1e-6)); } @@ -1016,6 +1017,33 @@ TEST(Pose3, TransformCovariance6) { TEST(Pose3, interpolate) { EXPECT(assert_equal(T2, interpolate(T2,T3, 0.0))); EXPECT(assert_equal(T3, interpolate(T2,T3, 1.0))); + + // Trivial example: start at origin and move to (1, 0, 0) while rotating pi/2 + // about z-axis. + Pose3 start; + Pose3 end(Rot3::Rz(M_PI_2), Point3(1, 0, 0)); + // This interpolation is easy to calculate by hand. + double t = 0.5; + Pose3 expected0(Rot3::Rz(M_PI_4), Point3(0.5, 0, 0)); + EXPECT(assert_equal(expected0, start.interpolateRt(end, t))); + + // Example from Peter Corke + // https://robotacademy.net.au/lesson/interpolating-pose-in-3d/ + t = 0.0759; // corresponds to the 10th element when calling `ctraj` in + // the video + Pose3 O; + Pose3 F(Rot3::Roll(0.6).compose(Rot3::Pitch(0.8)).compose(Rot3::Yaw(1.4)), + Point3(1, 2, 3)); + + // The expected answer matches the result presented in the video. + Pose3 expected1(interpolate(O.rotation(), F.rotation(), t), + interpolate(O.translation(), F.translation(), t)); + EXPECT(assert_equal(expected1, O.interpolateRt(F, t))); + + // Non-trivial interpolation, translation value taken from output. + Pose3 expected2(interpolate(T2.rotation(), T3.rotation(), t), + interpolate(T2.translation(), T3.translation(), t)); + EXPECT(assert_equal(expected2, T2.interpolateRt(T3, t))); } /* ************************************************************************* */ @@ -1023,7 +1051,9 @@ TEST(Pose3, Create) { Matrix63 actualH1, actualH2; Pose3 actual = Pose3::Create(R, P2, actualH1, actualH2); EXPECT(assert_equal(T, actual)); - boost::function create = boost::bind(Pose3::Create,_1,_2,boost::none,boost::none); + std::function create = + std::bind(Pose3::Create, std::placeholders::_1, std::placeholders::_2, + boost::none, boost::none); EXPECT(assert_equal(numericalDerivative21(create, R, P2), actualH1, 1e-9)); EXPECT(assert_equal(numericalDerivative22(create, R, P2), actualH2, 1e-9)); } diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index 7b792f8bd..34f90c8cc 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -807,15 +807,15 @@ TEST(Rot3, RQ_derivative) { test_xyz.push_back(VecAndErr{{0, 0, 0}, error}); test_xyz.push_back(VecAndErr{{0, 0.5, -0.5}, error}); test_xyz.push_back(VecAndErr{{0.3, 0, 0.2}, error}); - test_xyz.push_back(VecAndErr{{-0.6, 1.3, 0}, error}); + test_xyz.push_back(VecAndErr{{-0.6, 1.3, 0}, 1e-8}); test_xyz.push_back(VecAndErr{{1.0, 0.7, 0.8}, error}); test_xyz.push_back(VecAndErr{{3.0, 0.7, -0.6}, error}); test_xyz.push_back(VecAndErr{{M_PI / 2, 0, 0}, error}); test_xyz.push_back(VecAndErr{{0, 0, M_PI / 2}, error}); // Test close to singularity - test_xyz.push_back(VecAndErr{{0, M_PI / 2 - 1e-1, 0}, 1e-8}); - test_xyz.push_back(VecAndErr{{0, 3 * M_PI / 2 + 1e-1, 0}, 1e-8}); + test_xyz.push_back(VecAndErr{{0, M_PI / 2 - 1e-1, 0}, 1e-7}); + test_xyz.push_back(VecAndErr{{0, 3 * M_PI / 2 + 1e-1, 0}, 1e-7}); test_xyz.push_back(VecAndErr{{0, M_PI / 2 - 1.1e-2, 0}, 1e-4}); test_xyz.push_back(VecAndErr{{0, 3 * M_PI / 2 + 1.1e-2, 0}, 1e-4}); @@ -825,7 +825,7 @@ TEST(Rot3, RQ_derivative) { const auto R = Rot3::RzRyRx(xyz).matrix(); const auto num = numericalDerivative11(RQ_proxy, R); Matrix39 calc; - RQ(R, calc).second; + RQ(R, calc); const auto err = vec_err.second; CHECK(assert_equal(num, calc, err)); diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp index b2c781b35..910d482b0 100644 --- a/gtsam/geometry/tests/testSO3.cpp +++ b/gtsam/geometry/tests/testSO3.cpp @@ -15,13 +15,12 @@ * @author Frank Dellaert **/ -#include - +#include #include #include +#include -#include - +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -209,7 +208,7 @@ TEST(SO3, ExpmapDerivative) { TEST(SO3, ExpmapDerivative2) { const Vector3 theta(0.1, 0, 0.1); const Matrix Jexpected = numericalDerivative11( - boost::bind(&SO3::Expmap, _1, boost::none), theta); + std::bind(&SO3::Expmap, std::placeholders::_1, boost::none), theta); CHECK(assert_equal(Jexpected, SO3::ExpmapDerivative(theta))); CHECK(assert_equal(Matrix3(Jexpected.transpose()), @@ -220,7 +219,7 @@ TEST(SO3, ExpmapDerivative2) { TEST(SO3, ExpmapDerivative3) { const Vector3 theta(10, 20, 30); const Matrix Jexpected = numericalDerivative11( - boost::bind(&SO3::Expmap, _1, boost::none), theta); + std::bind(&SO3::Expmap, std::placeholders::_1, boost::none), theta); CHECK(assert_equal(Jexpected, SO3::ExpmapDerivative(theta))); CHECK(assert_equal(Matrix3(Jexpected.transpose()), @@ -275,7 +274,7 @@ TEST(SO3, ExpmapDerivative5) { TEST(SO3, ExpmapDerivative6) { const Vector3 thetahat(0.1, 0, 0.1); const Matrix Jexpected = numericalDerivative11( - boost::bind(&SO3::Expmap, _1, boost::none), thetahat); + std::bind(&SO3::Expmap, std::placeholders::_1, boost::none), thetahat); Matrix3 Jactual; SO3::Expmap(thetahat, Jactual); EXPECT(assert_equal(Jexpected, Jactual)); @@ -286,7 +285,7 @@ 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); + std::bind(&SO3::Logmap, std::placeholders::_1, boost::none), R); const Matrix3 Jactual = SO3::LogmapDerivative(thetahat); EXPECT(assert_equal(Jexpected, Jactual)); } @@ -296,7 +295,7 @@ 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); + std::bind(&SO3::Logmap, std::placeholders::_1, boost::none), R); Matrix3 Jactual; SO3::Logmap(R, Jactual); EXPECT(assert_equal(Jexpected, Jactual)); @@ -306,7 +305,7 @@ TEST(SO3, JacobianLogmap) { TEST(SO3, ApplyDexp) { Matrix aH1, aH2; for (bool nearZeroApprox : {true, false}) { - boost::function f = + std::function f = [=](const Vector3& omega, const Vector3& v) { return so3::DexpFunctor(omega, nearZeroApprox).applyDexp(v); }; @@ -329,7 +328,7 @@ TEST(SO3, ApplyDexp) { TEST(SO3, ApplyInvDexp) { Matrix aH1, aH2; for (bool nearZeroApprox : {true, false}) { - boost::function f = + std::function f = [=](const Vector3& omega, const Vector3& v) { return so3::DexpFunctor(omega, nearZeroApprox).applyInvDexp(v); }; @@ -355,7 +354,7 @@ TEST(SO3, vec) { Matrix actualH; const Vector9 actual = R2.vec(actualH); CHECK(assert_equal(expected, actual)); - boost::function f = [](const SO3& Q) { return Q.vec(); }; + std::function f = [](const SO3& Q) { return Q.vec(); }; const Matrix numericalH = numericalDerivative11(f, R2, 1e-5); CHECK(assert_equal(numericalH, actualH)); } @@ -369,7 +368,7 @@ TEST(Matrix, compose) { Matrix actualH; const Matrix3 actual = so3::compose(M, R, actualH); CHECK(assert_equal(expected, actual)); - boost::function f = [R](const Matrix3& M) { + std::function f = [R](const Matrix3& M) { return so3::compose(M, R); }; Matrix numericalH = numericalDerivative11(f, M, 1e-2); diff --git a/gtsam/geometry/tests/testSO4.cpp b/gtsam/geometry/tests/testSO4.cpp index f771eea5f..5486755f7 100644 --- a/gtsam/geometry/tests/testSO4.cpp +++ b/gtsam/geometry/tests/testSO4.cpp @@ -166,7 +166,7 @@ TEST(SO4, vec) { Matrix actualH; const Vector16 actual = Q2.vec(actualH); EXPECT(assert_equal(expected, actual)); - boost::function f = [](const SO4& Q) { + std::function f = [](const SO4& Q) { return Q.vec(); }; const Matrix numericalH = numericalDerivative11(f, Q2, 1e-5); @@ -179,7 +179,7 @@ TEST(SO4, topLeft) { Matrix actualH; const Matrix3 actual = topLeft(Q3, actualH); EXPECT(assert_equal(expected, actual)); - boost::function f = [](const SO4& Q3) { + std::function f = [](const SO4& Q3) { return topLeft(Q3); }; const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); @@ -192,7 +192,7 @@ TEST(SO4, stiefel) { Matrix actualH; const Matrix43 actual = stiefel(Q3, actualH); EXPECT(assert_equal(expected, actual)); - boost::function f = [](const SO4& Q3) { + std::function f = [](const SO4& Q3) { return stiefel(Q3); }; const Matrix numericalH = numericalDerivative11(f, Q3, 1e-5); diff --git a/gtsam/geometry/tests/testSOn.cpp b/gtsam/geometry/tests/testSOn.cpp index 4d0ed98b3..d9d4da34c 100644 --- a/gtsam/geometry/tests/testSOn.cpp +++ b/gtsam/geometry/tests/testSOn.cpp @@ -189,7 +189,7 @@ Matrix RetractJacobian(size_t n) { return SOn::VectorizedGenerators(n); } /// Test Jacobian of Retract at origin TEST(SOn, RetractJacobian) { Matrix actualH = RetractJacobian(3); - boost::function h = [](const Vector &v) { + std::function h = [](const Vector &v) { return SOn::ChartAtOrigin::Retract(v).matrix(); }; Vector3 v; @@ -205,7 +205,7 @@ TEST(SOn, vec) { SOn Q = SOn::ChartAtOrigin::Retract(v); Matrix actualH; const Vector actual = Q.vec(actualH); - boost::function h = [](const SOn &Q) { return Q.vec(); }; + std::function h = [](const SOn &Q) { return Q.vec(); }; const Matrix H = numericalDerivative11(h, Q, 1e-5); CHECK(assert_equal(H, actualH)); } diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam/geometry/tests/testSimilarity3.cpp similarity index 88% rename from gtsam_unstable/geometry/tests/testSimilarity3.cpp rename to gtsam/geometry/tests/testSimilarity3.cpp index 937761f02..428422072 100644 --- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp +++ b/gtsam/geometry/tests/testSimilarity3.cpp @@ -16,23 +16,22 @@ * @author Zhaoyang Lv */ -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include #include #include -#include +#include +#include +#include +#include +#include +#include +#include +#include -#include - -#include -#include +#include +using namespace std::placeholders; using namespace gtsam; using namespace std; using symbol_shorthand::X; @@ -242,8 +241,9 @@ TEST(Similarity3, GroupAction) { EXPECT(assert_equal(Point3(2, 6, 6), Td.transformFrom(pa))); // Test derivative - boost::function f = boost::bind( - &Similarity3::transformFrom, _1, _2, boost::none, boost::none); + // Use lambda to resolve overloaded method + std::function + f = [](const Similarity3& S, const Point3& p){ return S.transformFrom(p); }; Point3 q(1, 2, 3); for (const auto& T : { T1, T2, T3, T4, T5, T6 }) { @@ -259,19 +259,27 @@ TEST(Similarity3, GroupAction) { //****************************************************************************** // Group action on Pose3 +// Estimate Sim(3) object "aSb" from pose pairs {(aTi, bTi)} +// In the example below, let the "a" frame be the "world" frame below, +// and let the "b" frame be the "egovehicle" frame. +// Suppose within the egovehicle frame, we know the poses of two objects "o1" and "o2" TEST(Similarity3, GroupActionPose3) { - Similarity3 bSa(Rot3::Ry(180 * degree), Point3(2, 3, 5), 2.0); + // Suppose we know the pose of the egovehicle in the world frame + Similarity3 wSe(Rot3::Ry(180 * degree), Point3(2, 3, 5), 2.0); - // Create source poses - Pose3 Ta1(Rot3(), Point3(0, 0, 0)); - Pose3 Ta2(Rot3(-1, 0, 0, 0, -1, 0, 0, 0, 1), Point3(4, 0, 0)); + // Create source poses (two objects o1 and o2 living in the egovehicle "e" frame) + // Suppose they are 3d cuboids detected by onboard sensor, in the egovehicle frame + Pose3 eTo1(Rot3(), Point3(0, 0, 0)); + Pose3 eTo2(Rot3(-1, 0, 0, 0, -1, 0, 0, 0, 1), Point3(4, 0, 0)); - // Create destination poses - Pose3 expected_Tb1(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(4, 6, 10)); - Pose3 expected_Tb2(Rot3(1, 0, 0, 0, -1, 0, 0, 0, -1), Point3(-4, 6, 10)); + // Create destination poses (two objects now living in the world/city "w" frame) + // Desired to place the objects into the world frame for tracking + Pose3 expected_wTo1(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(4, 6, 10)); + Pose3 expected_wTo2(Rot3(1, 0, 0, 0, -1, 0, 0, 0, -1), Point3(-4, 6, 10)); - EXPECT(assert_equal(expected_Tb1, bSa.transformFrom(Ta1))); - EXPECT(assert_equal(expected_Tb2, bSa.transformFrom(Ta2))); + // objects now live in the world frame, instead of in the egovehicle frame + EXPECT(assert_equal(expected_wTo1, wSe.transformFrom(eTo1))); + EXPECT(assert_equal(expected_wTo2, wSe.transformFrom(eTo2))); } // Test left group action compatibility. @@ -346,26 +354,28 @@ TEST(Similarity3, AlignPoint3_3) { //****************************************************************************** // Align with Pose3 Pairs TEST(Similarity3, AlignPose3) { - Similarity3 expected_aSb(Rot3::Ry(180 * degree), Point3(2, 3, 5), 2.0); + Similarity3 expected_wSe(Rot3::Ry(180 * degree), Point3(2, 3, 5), 2.0); - // Create source poses - Pose3 Ta1(Rot3(), Point3(0, 0, 0)); - Pose3 Ta2(Rot3(-1, 0, 0, 0, -1, 0, 0, 0, 1), Point3(4, 0, 0)); + // Create source poses (two objects o1 and o2 living in the egovehicle "e" frame) + // Suppose they are 3d cuboids detected by an onboard sensor in the egovehicle frame + Pose3 eTo1(Rot3(), Point3(0, 0, 0)); + Pose3 eTo2(Rot3(-1, 0, 0, 0, -1, 0, 0, 0, 1), Point3(4, 0, 0)); - // Create destination poses - Pose3 Tb1(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(4, 6, 10)); - Pose3 Tb2(Rot3(1, 0, 0, 0, -1, 0, 0, 0, -1), Point3(-4, 6, 10)); + // Create destination poses (same two objects, but instead living in the world/city "w" frame) + Pose3 wTo1(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(4, 6, 10)); + Pose3 wTo2(Rot3(1, 0, 0, 0, -1, 0, 0, 0, -1), Point3(-4, 6, 10)); - Pose3Pair bTa1(make_pair(Tb1, Ta1)); - Pose3Pair bTa2(make_pair(Tb2, Ta2)); + Pose3Pair wTe1(make_pair(wTo1, eTo1)); + Pose3Pair wTe2(make_pair(wTo2, eTo2)); - vector correspondences{bTa1, bTa2}; + vector correspondences{wTe1, wTe2}; // Cayley transform cannot accommodate 180 degree rotations, // hence we only test for Expmap #ifdef GTSAM_ROT3_EXPMAP - Similarity3 actual_aSb = Similarity3::Align(correspondences); - EXPECT(assert_equal(expected_aSb, actual_aSb)); + // Recover the transformation wSe (i.e. world_S_egovehicle) + Similarity3 actual_wSe = Similarity3::Align(correspondences); + EXPECT(assert_equal(expected_wSe, actual_wSe)); #endif } diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp index edf122d3c..18a25c553 100644 --- a/gtsam/geometry/tests/testSimpleCamera.cpp +++ b/gtsam/geometry/tests/testSimpleCamera.cpp @@ -26,6 +26,8 @@ using namespace std; using namespace gtsam; +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41 + static const Cal3_S2 K(625, 625, 0, 0, 0); static const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()), @@ -149,6 +151,8 @@ TEST( SimpleCamera, simpleCamera) CHECK(assert_equal(expected, actual,1e-1)); } +#endif + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index ddf60a256..b548b9315 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -31,13 +31,13 @@ #include -#include #include #include #include using namespace boost::assign; +using namespace std::placeholders; using namespace gtsam; using namespace std; using gtsam::symbol_shorthand::U; @@ -126,8 +126,9 @@ TEST(Unit3, dot) { // Use numerical derivatives to calculate the expected Jacobians Matrix H1, H2; - boost::function f = boost::bind(&Unit3::dot, _1, _2, // - boost::none, boost::none); + std::function f = + std::bind(&Unit3::dot, std::placeholders::_1, std::placeholders::_2, // + boost::none, boost::none); { p.dot(q, H1, H2); EXPECT(assert_equal(numericalDerivative21(f, p, q), H1, 1e-5)); @@ -157,13 +158,13 @@ TEST(Unit3, error) { // Use numerical derivatives to calculate the expected Jacobian { expected = numericalDerivative11( - boost::bind(&Unit3::error, &p, _1, boost::none), q); + std::bind(&Unit3::error, &p, std::placeholders::_1, boost::none), q); p.error(q, actual); EXPECT(assert_equal(expected.transpose(), actual, 1e-5)); } { expected = numericalDerivative11( - boost::bind(&Unit3::error, &p, _1, boost::none), r); + std::bind(&Unit3::error, &p, std::placeholders::_1, boost::none), r); p.error(r, actual); EXPECT(assert_equal(expected.transpose(), actual, 1e-5)); } @@ -184,25 +185,33 @@ TEST(Unit3, error2) { // Use numerical derivatives to calculate the expected Jacobian { expected = numericalDerivative21( - boost::bind(&Unit3::errorVector, _1, _2, boost::none, boost::none), p, q); + std::bind(&Unit3::errorVector, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none), + p, q); p.errorVector(q, actual, boost::none); EXPECT(assert_equal(expected, actual, 1e-5)); } { expected = numericalDerivative21( - boost::bind(&Unit3::errorVector, _1, _2, boost::none, boost::none), p, r); + std::bind(&Unit3::errorVector, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none), + p, r); p.errorVector(r, actual, boost::none); EXPECT(assert_equal(expected, actual, 1e-5)); } { expected = numericalDerivative22( - boost::bind(&Unit3::errorVector, _1, _2, boost::none, boost::none), p, q); + std::bind(&Unit3::errorVector, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none), + p, q); p.errorVector(q, boost::none, actual); EXPECT(assert_equal(expected, actual, 1e-5)); } { expected = numericalDerivative22( - boost::bind(&Unit3::errorVector, _1, _2, boost::none, boost::none), p, r); + std::bind(&Unit3::errorVector, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none), + p, r); p.errorVector(r, boost::none, actual); EXPECT(assert_equal(expected, actual, 1e-5)); } @@ -220,13 +229,13 @@ TEST(Unit3, distance) { // Use numerical derivatives to calculate the expected Jacobian { expected = numericalGradient( - boost::bind(&Unit3::distance, &p, _1, boost::none), q); + std::bind(&Unit3::distance, &p, std::placeholders::_1, boost::none), q); p.distance(q, actual); EXPECT(assert_equal(expected.transpose(), actual, 1e-5)); } { expected = numericalGradient( - boost::bind(&Unit3::distance, &p, _1, boost::none), r); + std::bind(&Unit3::distance, &p, std::placeholders::_1, boost::none), r); p.distance(r, actual); EXPECT(assert_equal(expected.transpose(), actual, 1e-5)); } @@ -318,7 +327,7 @@ TEST(Unit3, basis) { Matrix62 actualH; Matrix62 expectedH = numericalDerivative11( - boost::bind(BasisTest, _1, boost::none), p); + std::bind(BasisTest, std::placeholders::_1, boost::none), p); // without H, first time EXPECT(assert_equal(expected, p.basis(), 1e-6)); @@ -347,7 +356,7 @@ TEST(Unit3, basis_derivatives) { p.basis(actualH); Matrix62 expectedH = numericalDerivative11( - boost::bind(BasisTest, _1, boost::none), p); + std::bind(BasisTest, std::placeholders::_1, boost::none), p); EXPECT(assert_equal(expectedH, actualH, 1e-5)); } } @@ -375,8 +384,8 @@ TEST(Unit3, retract) { TEST (Unit3, jacobian_retract) { Matrix22 H; Unit3 p; - boost::function f = - boost::bind(&Unit3::retract, p, _1, boost::none); + std::function f = + std::bind(&Unit3::retract, p, std::placeholders::_1, boost::none); { Vector2 v (-0.2, 0.1); p.retract(v, H); @@ -439,7 +448,7 @@ TEST (Unit3, FromPoint3) { Unit3 expected(point); EXPECT(assert_equal(expected, Unit3::FromPoint3(point, actualH), 1e-5)); Matrix expectedH = numericalDerivative11( - boost::bind(Unit3::FromPoint3, _1, boost::none), point); + std::bind(Unit3::FromPoint3, std::placeholders::_1, boost::none), point); EXPECT(assert_equal(expectedH, actualH, 1e-5)); } @@ -501,6 +510,7 @@ TEST(actualH, Serialization) { EXPECT(serializationTestHelpers::equalsBinary(p)); } + /* ************************************************************************* */ int main() { srand(time(nullptr)); diff --git a/gtsam/geometry/tests/testUtilities.cpp b/gtsam/geometry/tests/testUtilities.cpp new file mode 100644 index 000000000..25ac3acc8 --- /dev/null +++ b/gtsam/geometry/tests/testUtilities.cpp @@ -0,0 +1,64 @@ +/* ---------------------------------------------------------------------------- + + * 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 testUtilities.cpp + * @date Aug 19, 2021 + * @author Varun Agrawal + * @brief Tests for the utilities. + */ + +#include +#include +#include +#include +#include +#include +#include + +using namespace gtsam; +using gtsam::symbol_shorthand::L; +using gtsam::symbol_shorthand::R; +using gtsam::symbol_shorthand::X; + +/* ************************************************************************* */ +TEST(Utilities, ExtractPoint2) { + Point2 p0(0, 0), p1(1, 0); + Values values; + values.insert(L(0), p0); + values.insert(L(1), p1); + values.insert(R(0), Rot3()); + values.insert(X(0), Pose3()); + + Matrix all_points = utilities::extractPoint2(values); + EXPECT_LONGS_EQUAL(2, all_points.rows()); +} + +/* ************************************************************************* */ +TEST(Utilities, ExtractPoint3) { + Point3 p0(0, 0, 0), p1(1, 0, 0); + Values values; + values.insert(L(0), p0); + values.insert(L(1), p1); + values.insert(R(0), Rot3()); + values.insert(X(0), Pose3()); + + Matrix all_points = utilities::extractPoint3(values); + EXPECT_LONGS_EQUAL(2, all_points.rows()); +} + +/* ************************************************************************* */ +int main() { + srand(time(nullptr)); + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index 6f6c645b8..6f6ade6f7 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -18,12 +18,16 @@ #pragma once -#include +#include +#include +#include +#include #include +#include #include -#include -#include #include +#include +#include namespace gtsam { @@ -494,5 +498,11 @@ TriangulationResult triangulateSafe(const CameraSet& cameras, } } +// Vector of Cameras - used by the Python/MATLAB wrapper +using CameraSetCal3Bundler = CameraSet>; +using CameraSetCal3_S2 = CameraSet>; +using CameraSetCal3Fisheye = CameraSet>; +using CameraSetCal3Unified = CameraSet>; + } // \namespace gtsam diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i index 1b4d976da..67c3278a3 100644 --- a/gtsam/gtsam.i +++ b/gtsam/gtsam.i @@ -2,126 +2,21 @@ * GTSAM Wrap Module Definition * - * These are the current classes available through the matlab and python wrappers, + * These are the current classes available through the matlab and python + wrappers, * add more functions/classes as they are available. * - * IMPORTANT: the python wrapper supports keyword arguments for functions/methods. Hence, the - * argument names matter. An implementation restriction is that in overloaded methods - * or functions, arguments of different types *have* to have different names. - * - * Requirements: - * Classes must start with an uppercase letter - * - Can wrap a typedef - * Only one Method/Constructor per line, though methods/constructors can extend across multiple lines - * Methods can return - * - Eigen types: Matrix, Vector - * - C/C++ basic types: string, bool, size_t, int, double, char, unsigned char - * - void - * - Any class with which be copied with boost::make_shared() - * - boost::shared_ptr of any object type - * Constructors - * - Overloads are supported, but arguments of different types *have* to have different names - * - A class with no constructors can be returned from other functions but not allocated directly in MATLAB - * Methods - * - Constness has no effect - * - Specify by-value (not reference) return types, even if C++ method returns reference - * - Must start with a letter (upper or lowercase) - * - Overloads are supported - * Static methods - * - Must start with a letter (upper or lowercase) and use the "static" keyword - * - The first letter will be made uppercase in the generated MATLAB interface - * - Overloads are supported, but arguments of different types *have* to have different names - * Arguments to functions any of - * - Eigen types: Matrix, Vector - * - Eigen types and classes as an optionally const reference - * - C/C++ basic types: string, bool, size_t, size_t, double, char, unsigned char - * - Any class with which be copied with boost::make_shared() (except Eigen) - * - boost::shared_ptr of any object type (except Eigen) - * Comments can use either C++ or C style, with multiple lines - * Namespace definitions - * - Names of namespaces must start with a lowercase letter - * - start a namespace with "namespace {" - * - end a namespace with exactly "}" - * - Namespaces can be nested - * Namespace usage - * - Namespaces can be specified for classes in arguments and return values - * - In each case, the namespace must be fully specified, e.g., "namespace1::namespace2::ClassName" - * Includes in C++ wrappers - * - All includes will be collected and added in a single file - * - All namespaces must have angle brackets: - * - No default includes will be added - * Global/Namespace functions - * - Functions specified outside of a class are global - * - Can be overloaded with different arguments - * - Can have multiple functions of the same name in different namespaces - * Using classes defined in other modules - * - If you are using a class 'OtherClass' not wrapped in this definition file, add "class OtherClass;" to avoid a dependency error - * Virtual inheritance - * - Specify fully-qualified base classes, i.e. "virtual class Derived : ns::Base {" where "ns" is the namespace - * - Mark with 'virtual' keyword, e.g. "virtual class Base {", and also "virtual class Derived : ns::Base {" - * - Forward declarations must also be marked virtual, e.g. "virtual class ns::Base;" and - * also "virtual class ns::Derived;" - * - Pure virtual (abstract) classes should list no constructors in this interface file - * - Virtual classes must have a clone() function in C++ (though it does not have to be included - * in the MATLAB interface). clone() will be called whenever an object copy is needed, instead - * of using the copy constructor (which is used for non-virtual objects). - * - Signature of clone function - will be called virtually, so must appear at least at the top of the inheritance tree - * virtual boost::shared_ptr clone() const; - * Class Templates - * - Basic templates are supported either with an explicit list of types to instantiate, - * e.g. template class Class1 { ... }; - * or with typedefs, e.g. - * template class Class2 { ... }; - * typedef Class2 MyInstantiatedClass; - * - In the class definition, appearances of the template argument(s) will be replaced with their - * instantiated types, e.g. 'void setValue(const T& value);'. - * - To refer to the instantiation of the template class itself, use 'This', i.e. 'static This Create();' - * - To create new instantiations in other modules, you must copy-and-paste the whole class definition - * into the new module, but use only your new instantiation types. - * - When forward-declaring template instantiations, use the generated/typedefed name, e.g. - * class gtsam::Class1Pose2; - * class gtsam::MyInstantiatedClass; - * Boost.serialization within Matlab: - * - you need to mark classes as being serializable in the markup file (see this file for an example). - * - There are two options currently, depending on the class. To "mark" a class as serializable, - * add a function with a particular signature so that wrap will catch it. - * - Add "void serialize()" to a class to create serialization functions for a class. - * Adding this flag subsumes the serializable() flag below. Requirements: - * - A default constructor must be publicly accessible - * - Must not be an abstract base class - * - The class must have an actual boost.serialization serialize() function. - * - Add "void serializable()" to a class if you only want the class to be serialized as a - * part of a container (such as noisemodel). This version does not require a publicly - * accessible default constructor. - * Forward declarations and class definitions for Pybind: - * - Need to specify the base class (both this forward class and base class are declared in an external Pybind header) - * This is so Pybind can generate proper inheritance. - * Example when wrapping a gtsam-based project: - * // forward declarations - * virtual class gtsam::NonlinearFactor - * virtual class gtsam::NoiseModelFactor : gtsam::NonlinearFactor - * // class definition - * #include - * virtual class MyFactor : gtsam::NoiseModelFactor {...}; - * - *DO NOT* re-define overriden function already declared in the external (forward-declared) base class - * - This will cause an ambiguity problem in Pybind header file - */ - -/** - * Status: - * - TODO: default values for arguments - * - WORKAROUND: make multiple versions of the same function for different configurations of default arguments - * - TODO: Handle gtsam::Rot3M conversions to quaternions - * - TODO: Parse return of const ref arguments - * - TODO: Parse std::string variants and convert directly to special string - * - TODO: Add enum support - * - TODO: Add generalized serialization support via boost.serialization with hooks to matlab save/load + * Please refer to the wrapping docs: + https://github.com/borglab/wrap/blob/master/README.md */ namespace gtsam { -// Actually a FastList #include + +const KeyFormatter DefaultKeyFormatter; + +// Actually a FastList class KeyList { KeyList(); KeyList(const gtsam::KeyList& other); @@ -144,6 +39,9 @@ class KeyList { void remove(size_t key); void serialize() const; + + // enable pickling in python + void pickle() const; }; // Actually a FastSet @@ -154,7 +52,7 @@ class KeySet { KeySet(const gtsam::KeyList& list); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::KeySet& other) const; // common STL methods @@ -165,10 +63,13 @@ class KeySet { // structure specific methods void insert(size_t key); void merge(const gtsam::KeySet& other); - bool erase(size_t key); // returns true if value was removed - bool count(size_t key) const; // returns true if value exists + bool erase(size_t key); // returns true if value was removed + bool count(size_t key) const; // returns true if value exists void serialize() const; + + // enable pickling in python + void pickle() const; }; // Actually a vector @@ -190,6 +91,9 @@ class KeyVector { void push_back(size_t key) const; void serialize() const; + + // enable pickling in python + void pickle() const; }; // Actually a FastMap @@ -221,8 +125,8 @@ class FactorIndexSet { // structure specific methods void insert(size_t factorIndex); - bool erase(size_t factorIndex); // returns true if value was removed - bool count(size_t factorIndex) const; // returns true if value exists + bool erase(size_t factorIndex); // returns true if value was removed + bool count(size_t factorIndex) const; // returns true if value exists }; // Actually a vector @@ -242,3208 +146,48 @@ class FactorIndices { void push_back(size_t factorIndex) const; }; -//************************************************************************* -// base -//************************************************************************* - -/** gtsam namespace functions */ - -#include -bool isDebugVersion(); - -#include -class IndexPair { - IndexPair(); - IndexPair(size_t i, size_t j); - size_t i() const; - size_t j() const; -}; - -// template -// class DSFMap { -// DSFMap(); -// KEY find(const KEY& key) const; -// void merge(const KEY& x, const KEY& y); -// std::map sets(); -// }; - -class IndexPairSet { - IndexPairSet(); - // common STL methods - size_t size() const; - bool empty() const; - void clear(); - - // structure specific methods - void insert(gtsam::IndexPair key); - bool erase(gtsam::IndexPair key); // returns true if value was removed - bool count(gtsam::IndexPair key) const; // returns true if value exists -}; - -class IndexPairVector { - IndexPairVector(); - IndexPairVector(const gtsam::IndexPairVector& other); - - // common STL methods - size_t size() const; - bool empty() const; - void clear(); - - // structure specific methods - gtsam::IndexPair at(size_t i) const; - void push_back(gtsam::IndexPair key) const; -}; - -gtsam::IndexPairVector IndexPairSetAsArray(gtsam::IndexPairSet& set); - -class IndexPairSetMap { - IndexPairSetMap(); - // common STL methods - size_t size() const; - bool empty() const; - void clear(); - - // structure specific methods - gtsam::IndexPairSet at(gtsam::IndexPair& key); -}; - -class DSFMapIndexPair { - DSFMapIndexPair(); - gtsam::IndexPair find(const gtsam::IndexPair& key) const; - void merge(const gtsam::IndexPair& x, const gtsam::IndexPair& y); - gtsam::IndexPairSetMap sets(); -}; - -#include -bool linear_independent(Matrix A, Matrix B, double tol); - -#include -virtual class Value { - // No constructors because this is an abstract class - - // Testable - void print(string s) const; - - // Manifold - size_t dim() const; -}; - -#include -template -virtual class GenericValue : gtsam::Value { - void serializable() const; -}; - -//************************************************************************* -// geometry -//************************************************************************* - -#include -class Point2 { - // Standard Constructors - Point2(); - Point2(double x, double y); - Point2(Vector v); - - // Testable - void print(string s) const; - bool equals(const gtsam::Point2& point, double tol) const; - - // Group - static gtsam::Point2 identity(); - - // Standard Interface - double x() const; - double y() const; - Vector vector() const; - double distance(const gtsam::Point2& p2) const; - double norm() const; - - // enabling serialization functionality - void serialize() const; -}; - -// std::vector -#include -class Point2Vector -{ - // Constructors - Point2Vector(); - Point2Vector(const gtsam::Point2Vector& v); - - //Capacity - size_t size() const; - size_t max_size() const; - void resize(size_t sz); - size_t capacity() const; - bool empty() const; - void reserve(size_t n); - - //Element access - gtsam::Point2 at(size_t n) const; - gtsam::Point2 front() const; - gtsam::Point2 back() const; - - //Modifiers - void assign(size_t n, const gtsam::Point2& u); - void push_back(const gtsam::Point2& x); - void pop_back(); -}; - -#include -class StereoPoint2 { - // Standard Constructors - StereoPoint2(); - StereoPoint2(double uL, double uR, double v); - - // Testable - void print(string s) const; - bool equals(const gtsam::StereoPoint2& point, double tol) const; - - // Group - static gtsam::StereoPoint2 identity(); - gtsam::StereoPoint2 inverse() const; - gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2) const; - gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2) const; - - // Manifold - gtsam::StereoPoint2 retract(Vector v) const; - Vector localCoordinates(const gtsam::StereoPoint2& p) const; - - // Lie Group - static gtsam::StereoPoint2 Expmap(Vector v); - static Vector Logmap(const gtsam::StereoPoint2& p); - - // Standard Interface - Vector vector() const; - double uL() const; - double uR() const; - double v() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -class Point3 { - // Standard Constructors - Point3(); - Point3(double x, double y, double z); - Point3(Vector v); - - // Testable - void print(string s) const; - bool equals(const gtsam::Point3& p, double tol) const; - - // Group - static gtsam::Point3 identity(); - - // Standard Interface - Vector vector() const; - double x() const; - double y() const; - double z() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -class Rot2 { - // Standard Constructors and Named Constructors - Rot2(); - Rot2(double theta); - static gtsam::Rot2 fromAngle(double theta); - static gtsam::Rot2 fromDegrees(double theta); - static gtsam::Rot2 fromCosSin(double c, double s); - - // Testable - void print(string s) const; - bool equals(const gtsam::Rot2& rot, double tol) const; - - // Group - static gtsam::Rot2 identity(); - gtsam::Rot2 inverse(); - gtsam::Rot2 compose(const gtsam::Rot2& p2) const; - gtsam::Rot2 between(const gtsam::Rot2& p2) const; - - // Manifold - gtsam::Rot2 retract(Vector v) const; - Vector localCoordinates(const gtsam::Rot2& p) const; - - // Lie Group - static gtsam::Rot2 Expmap(Vector v); - static Vector Logmap(const gtsam::Rot2& p); - Vector logmap(const gtsam::Rot2& p); - - // Group Action on Point2 - gtsam::Point2 rotate(const gtsam::Point2& point) const; - gtsam::Point2 unrotate(const gtsam::Point2& point) const; - - // Standard Interface - static gtsam::Rot2 relativeBearing(const gtsam::Point2& d); // Ignoring derivative - static gtsam::Rot2 atan2(double y, double x); - double theta() const; - double degrees() const; - double c() const; - double s() const; - Matrix matrix() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -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); - - // 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); - static gtsam::SO4 FromMatrix(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 SOn { - // Standard Constructors - SOn(size_t n); - static gtsam::SOn FromMatrix(Matrix R); - static gtsam::SOn Lift(size_t n, 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; - Matrix matrix() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -class Quaternion { - double w() const; - double x() const; - double y() const; - double z() const; - Vector coeffs() const; -}; - -#include -class Rot3 { - // Standard Constructors and Named Constructors - Rot3(); - Rot3(Matrix R); - Rot3(const gtsam::Point3& col1, const gtsam::Point3& col2, const gtsam::Point3& col3); - Rot3(double R11, double R12, double R13, - double R21, double R22, double R23, - double R31, double R32, double R33); - Rot3(double w, double x, double y, double z); - - static gtsam::Rot3 Rx(double t); - static gtsam::Rot3 Ry(double t); - static gtsam::Rot3 Rz(double t); - static gtsam::Rot3 RzRyRx(double x, double y, double z); - static gtsam::Rot3 RzRyRx(Vector xyz); - static gtsam::Rot3 Yaw(double t); // positive yaw is to right (as in aircraft heading) - static gtsam::Rot3 Pitch(double t); // positive pitch is up (increasing aircraft altitude) - 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); - - // Testable - void print(string s) const; - bool equals(const gtsam::Rot3& rot, double tol) const; - - // Group - static gtsam::Rot3 identity(); - gtsam::Rot3 inverse() const; - gtsam::Rot3 compose(const gtsam::Rot3& p2) const; - gtsam::Rot3 between(const gtsam::Rot3& p2) const; - - // Manifold - //gtsam::Rot3 retractCayley(Vector v) const; // TODO, does not exist in both Matrix and Quaternion options - gtsam::Rot3 retract(Vector v) const; - Vector localCoordinates(const gtsam::Rot3& p) const; - - // Group Action on Point3 - gtsam::Point3 rotate(const gtsam::Point3& p) const; - gtsam::Point3 unrotate(const gtsam::Point3& p) const; - - // Standard Interface - static gtsam::Rot3 Expmap(Vector v); - static Vector Logmap(const gtsam::Rot3& p); - Vector logmap(const gtsam::Rot3& p); - Matrix matrix() const; - Matrix transpose() const; - gtsam::Point3 column(size_t index) const; - Vector xyz() const; - Vector ypr() const; - Vector rpy() const; - double roll() const; - double pitch() const; - double yaw() const; - pair axisAngle() const; - gtsam::Quaternion toQuaternion() const; - Vector quaternion() const; - gtsam::Rot3 slerp(double t, const gtsam::Rot3& other) const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -class Pose2 { - // Standard Constructor - Pose2(); - Pose2(const gtsam::Pose2& other); - Pose2(double x, double y, double theta); - Pose2(double theta, const gtsam::Point2& t); - Pose2(const gtsam::Rot2& r, const gtsam::Point2& t); - Pose2(Vector v); - - // Testable - void print(string s) const; - bool equals(const gtsam::Pose2& pose, double tol) const; - - // Group - static gtsam::Pose2 identity(); - gtsam::Pose2 inverse() const; - gtsam::Pose2 compose(const gtsam::Pose2& p2) const; - gtsam::Pose2 between(const gtsam::Pose2& p2) const; - - // Manifold - gtsam::Pose2 retract(Vector v) const; - Vector localCoordinates(const gtsam::Pose2& p) const; - - // Lie Group - static gtsam::Pose2 Expmap(Vector v); - static Vector Logmap(const gtsam::Pose2& p); - Vector logmap(const gtsam::Pose2& p); - static Matrix ExpmapDerivative(Vector v); - static Matrix LogmapDerivative(const gtsam::Pose2& v); - Matrix AdjointMap() const; - Vector Adjoint(Vector xi) const; - static Matrix adjointMap_(Vector v); - static Vector adjoint_(Vector xi, Vector y); - static Vector adjointTranspose(Vector xi, Vector y); - static Matrix wedge(double vx, double vy, double w); - - // Group Actions on Point2 - gtsam::Point2 transformFrom(const gtsam::Point2& p) const; - gtsam::Point2 transformTo(const gtsam::Point2& p) const; - - // Standard Interface - double x() const; - double y() const; - double theta() const; - gtsam::Rot2 bearing(const gtsam::Point2& point) const; - double range(const gtsam::Point2& point) const; - gtsam::Point2 translation() const; - gtsam::Rot2 rotation() const; - Matrix matrix() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -class Pose3 { - // Standard Constructors - Pose3(); - Pose3(const gtsam::Pose3& other); - Pose3(const gtsam::Rot3& r, const gtsam::Point3& t); - Pose3(const gtsam::Pose2& pose2); - Pose3(Matrix mat); - - // Testable - void print(string s) const; - bool equals(const gtsam::Pose3& pose, double tol) const; - - // Group - static gtsam::Pose3 identity(); - gtsam::Pose3 inverse() const; - gtsam::Pose3 compose(const gtsam::Pose3& pose) const; - gtsam::Pose3 between(const gtsam::Pose3& pose) const; - - // Manifold - gtsam::Pose3 retract(Vector v) const; - Vector localCoordinates(const gtsam::Pose3& pose) const; - - // Lie Group - static gtsam::Pose3 Expmap(Vector v); - static Vector Logmap(const gtsam::Pose3& pose); - Vector logmap(const gtsam::Pose3& pose); - Matrix AdjointMap() const; - Vector Adjoint(Vector xi) const; - static Matrix adjointMap_(Vector xi); - static Vector adjoint_(Vector xi, Vector y); - static Vector adjointTranspose(Vector xi, Vector y); - static Matrix ExpmapDerivative(Vector xi); - static Matrix LogmapDerivative(const gtsam::Pose3& xi); - static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz); - - // Group Action on Point3 - gtsam::Point3 transformFrom(const gtsam::Point3& point) const; - gtsam::Point3 transformTo(const gtsam::Point3& point) const; - - // Standard Interface - gtsam::Rot3 rotation() const; - gtsam::Point3 translation() const; - double x() const; - double y() const; - double z() const; - Matrix matrix() const; - gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose) const; - gtsam::Pose3 transformPoseTo(const gtsam::Pose3& pose) const; - double range(const gtsam::Point3& point); - double range(const gtsam::Pose3& pose); - - // enabling serialization functionality - void serialize() const; -}; - -// std::vector -#include -class Pose3Vector -{ - Pose3Vector(); - size_t size() const; - bool empty() const; - gtsam::Pose3 at(size_t n) const; - void push_back(const gtsam::Pose3& pose); -}; - -#include -class Unit3 { - // Standard Constructors - Unit3(); - Unit3(const gtsam::Point3& pose); - - // Testable - void print(string s) const; - bool equals(const gtsam::Unit3& pose, double tol) const; - - // Other functionality - Matrix basis() const; - Matrix skew() const; - gtsam::Point3 point3() const; - - // Manifold - static size_t Dim(); - size_t dim() const; - gtsam::Unit3 retract(Vector v) const; - Vector localCoordinates(const gtsam::Unit3& s) const; -}; - -#include -class EssentialMatrix { - // Standard Constructors - EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Unit3& aTb); - - // Testable - void print(string s) const; - bool equals(const gtsam::EssentialMatrix& pose, double tol) const; - - // Manifold - static size_t Dim(); - size_t dim() const; - gtsam::EssentialMatrix retract(Vector v) const; - Vector localCoordinates(const gtsam::EssentialMatrix& s) const; - - // Other methods: - gtsam::Rot3 rotation() const; - gtsam::Unit3 direction() const; - Matrix matrix() const; - double error(Vector vA, Vector vB); -}; - -#include -class Cal3_S2 { - // Standard Constructors - Cal3_S2(); - Cal3_S2(double fx, double fy, double s, double u0, double v0); - Cal3_S2(Vector v); - Cal3_S2(double fov, int w, int h); - - // Testable - void print(string s) const; - bool equals(const gtsam::Cal3_S2& rhs, double tol) const; - - // Manifold - static size_t Dim(); - size_t dim() const; - gtsam::Cal3_S2 retract(Vector v) const; - Vector localCoordinates(const gtsam::Cal3_S2& c) const; - - // Action on Point2 - gtsam::Point2 calibrate(const gtsam::Point2& p) const; - gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; - - // Standard Interface - double fx() const; - double fy() const; - double skew() const; - double px() const; - double py() const; - gtsam::Point2 principalPoint() const; - Vector vector() const; - Matrix K() const; - Matrix matrix() const; - Matrix matrix_inverse() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -virtual class Cal3DS2_Base { - // Standard Constructors - Cal3DS2_Base(); - - // Testable - void print(string s) const; - - // Standard Interface - double fx() const; - double fy() const; - double skew() const; - double px() const; - double py() const; - double k1() const; - double k2() const; - Matrix K() const; - Vector k() const; - Vector vector() const; - - // Action on Point2 - gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; - gtsam::Point2 calibrate(const gtsam::Point2& p, double tol) const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -virtual class Cal3DS2 : gtsam::Cal3DS2_Base { - // Standard Constructors - Cal3DS2(); - Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2); - Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1, double p2); - Cal3DS2(Vector v); - - // Testable - bool equals(const gtsam::Cal3DS2& rhs, double tol) const; - - // Manifold - size_t dim() const; - static size_t Dim(); - gtsam::Cal3DS2 retract(Vector v) const; - Vector localCoordinates(const gtsam::Cal3DS2& c) const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -virtual class Cal3Unified : gtsam::Cal3DS2_Base { - // Standard Constructors - Cal3Unified(); - Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1, double k2); - Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1, double p2, double xi); - Cal3Unified(Vector v); - - // Testable - bool equals(const gtsam::Cal3Unified& rhs, double tol) const; - - // Standard Interface - double xi() const; - gtsam::Point2 spaceToNPlane(const gtsam::Point2& p) const; - gtsam::Point2 nPlaneToSpace(const gtsam::Point2& p) const; - - // Manifold - size_t dim() const; - static size_t Dim(); - gtsam::Cal3Unified retract(Vector v) const; - Vector localCoordinates(const gtsam::Cal3Unified& c) const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -class Cal3_S2Stereo { - // Standard Constructors - Cal3_S2Stereo(); - Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b); - Cal3_S2Stereo(Vector v); - - // Testable - void print(string s) const; - bool equals(const gtsam::Cal3_S2Stereo& K, double tol) const; - - // Standard Interface - double fx() const; - double fy() const; - double skew() const; - double px() const; - double py() const; - gtsam::Point2 principalPoint() const; - double baseline() const; -}; - -#include -class Cal3Bundler { - // Standard Constructors - Cal3Bundler(); - Cal3Bundler(double fx, double k1, double k2, double u0, double v0); - Cal3Bundler(double fx, double k1, double k2, double u0, double v0, double tol); - - // Testable - void print(string s) const; - bool equals(const gtsam::Cal3Bundler& rhs, double tol) const; - - // Manifold - static size_t Dim(); - size_t dim() const; - gtsam::Cal3Bundler retract(Vector v) const; - Vector localCoordinates(const gtsam::Cal3Bundler& c) const; - - // Action on Point2 - gtsam::Point2 calibrate(const gtsam::Point2& p) const; - gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; - - // Standard Interface - double fx() const; - double fy() const; - double k1() const; - double k2() const; - double px() const; - double py() const; - Vector vector() const; - Vector k() const; - Matrix K() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -class CalibratedCamera { - // Standard Constructors and Named Constructors - CalibratedCamera(); - CalibratedCamera(const gtsam::Pose3& pose); - CalibratedCamera(Vector v); - static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height); - - // Testable - void print(string s) const; - bool equals(const gtsam::CalibratedCamera& camera, double tol) const; - - // Manifold - static size_t Dim(); - size_t dim() const; - gtsam::CalibratedCamera retract(Vector d) const; - Vector localCoordinates(const gtsam::CalibratedCamera& T2) const; - - // Action on Point3 - gtsam::Point2 project(const gtsam::Point3& point) const; - static gtsam::Point2 Project(const gtsam::Point3& cameraPoint); - - // Standard Interface - gtsam::Pose3 pose() const; - double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods - - // enabling serialization functionality - void serialize() const; -}; - -#include -template -class PinholeCamera { - // Standard Constructors and Named Constructors - PinholeCamera(); - PinholeCamera(const gtsam::Pose3& pose); - PinholeCamera(const gtsam::Pose3& pose, const CALIBRATION& K); - static This Level(const CALIBRATION& K, const gtsam::Pose2& pose, double height); - static This Level(const gtsam::Pose2& pose, double height); - static This Lookat(const gtsam::Point3& eye, const gtsam::Point3& target, - const gtsam::Point3& upVector, const CALIBRATION& K); - - // Testable - void print(string s) const; - bool equals(const This& camera, double tol) const; - - // Standard Interface - gtsam::Pose3 pose() const; - CALIBRATION calibration() const; - - // Manifold - This retract(Vector d) const; - Vector localCoordinates(const This& T2) const; - size_t dim() const; - static size_t Dim(); - - // Transformations and measurement functions - static gtsam::Point2 Project(const gtsam::Point3& cameraPoint); - pair projectSafe(const gtsam::Point3& pw) const; - gtsam::Point2 project(const gtsam::Point3& point); - gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; - double range(const gtsam::Point3& point); - double range(const gtsam::Pose3& pose); - - // enabling serialization functionality - void serialize() const; -}; - -#include -virtual class SimpleCamera { - // Standard Constructors and Named Constructors - SimpleCamera(); - SimpleCamera(const gtsam::Pose3& pose); - SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K); - static gtsam::SimpleCamera Level(const gtsam::Cal3_S2& K, const gtsam::Pose2& pose, double height); - static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height); - static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, const gtsam::Point3& target, - const gtsam::Point3& upVector, const gtsam::Cal3_S2& K); - static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, const gtsam::Point3& target, - const gtsam::Point3& upVector); - - // Testable - void print(string s) const; - bool equals(const gtsam::SimpleCamera& camera, double tol) const; - - // Standard Interface - gtsam::Pose3 pose() const; - gtsam::Cal3_S2 calibration() const; - - // Manifold - gtsam::SimpleCamera retract(Vector d) const; - Vector localCoordinates(const gtsam::SimpleCamera& T2) const; - size_t dim() const; - static size_t Dim(); - - // Transformations and measurement functions - static gtsam::Point2 Project(const gtsam::Point3& cameraPoint); - pair projectSafe(const gtsam::Point3& pw) const; - gtsam::Point2 project(const gtsam::Point3& point); - gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; - double range(const gtsam::Point3& point); - double range(const gtsam::Pose3& pose); - - // enabling serialization functionality - void serialize() const; - -}; - -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; -//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified -//typedef gtsam::PinholeCamera PinholeCameraCal3DS2; -//typedef gtsam::PinholeCamera PinholeCameraCal3Unified; -typedef gtsam::PinholeCamera PinholeCameraCal3Bundler; - -#include -class StereoCamera { - // Standard Constructors and Named Constructors - StereoCamera(); - StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K); - - // Testable - void print(string s) const; - bool equals(const gtsam::StereoCamera& camera, double tol) const; - - // Standard Interface - gtsam::Pose3 pose() const; - double baseline() const; - gtsam::Cal3_S2Stereo calibration() const; - - // Manifold - gtsam::StereoCamera retract(Vector d) const; - Vector localCoordinates(const gtsam::StereoCamera& T2) const; - size_t dim() const; - static size_t Dim(); - - // Transformations and measurement functions - gtsam::StereoPoint2 project(const gtsam::Point3& point); - gtsam::Point3 backproject(const gtsam::StereoPoint2& p) const; - - // enabling serialization functionality - void serialize() const; -}; - -#include - -// Templates appear not yet supported for free functions -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); - -//************************************************************************* -// Symbolic -//************************************************************************* - -#include -virtual class SymbolicFactor { - // Standard Constructors and Named Constructors - SymbolicFactor(const gtsam::SymbolicFactor& f); - SymbolicFactor(); - SymbolicFactor(size_t j); - SymbolicFactor(size_t j1, size_t j2); - SymbolicFactor(size_t j1, size_t j2, size_t j3); - SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4); - SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5); - SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5, size_t j6); - static gtsam::SymbolicFactor FromKeys(const gtsam::KeyVector& js); - - // From Factor - size_t size() const; - void print(string s) const; - bool equals(const gtsam::SymbolicFactor& other, double tol) const; - gtsam::KeyVector keys(); -}; - -#include -virtual class SymbolicFactorGraph { - SymbolicFactorGraph(); - SymbolicFactorGraph(const gtsam::SymbolicBayesNet& bayesNet); - SymbolicFactorGraph(const gtsam::SymbolicBayesTree& bayesTree); - - // From FactorGraph - void push_back(gtsam::SymbolicFactor* factor); - void print(string s) const; - bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const; - size_t size() const; - bool exists(size_t idx) const; - - // Standard interface - gtsam::KeySet keys() const; - void push_back(const gtsam::SymbolicFactorGraph& graph); - void push_back(const gtsam::SymbolicBayesNet& bayesNet); - void push_back(const gtsam::SymbolicBayesTree& bayesTree); - - //Advanced Interface - void push_factor(size_t key); - void push_factor(size_t key1, size_t key2); - void push_factor(size_t key1, size_t key2, size_t key3); - void push_factor(size_t key1, size_t key2, size_t key3, size_t key4); - - gtsam::SymbolicBayesNet* eliminateSequential(); - gtsam::SymbolicBayesNet* eliminateSequential(const gtsam::Ordering& ordering); - gtsam::SymbolicBayesTree* eliminateMultifrontal(); - gtsam::SymbolicBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering); - pair eliminatePartialSequential( - const gtsam::Ordering& ordering); - pair eliminatePartialSequential( - const gtsam::KeyVector& keys); - pair eliminatePartialMultifrontal( - const gtsam::Ordering& ordering); - pair eliminatePartialMultifrontal( - const gtsam::KeyVector& keys); - gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering); - gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector); - gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering, - const gtsam::Ordering& marginalizedVariableOrdering); - gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector, - const gtsam::Ordering& marginalizedVariableOrdering); - gtsam::SymbolicFactorGraph* marginal(const gtsam::KeyVector& key_vector); -}; - -#include -virtual class SymbolicConditional : gtsam::SymbolicFactor { - // Standard Constructors and Named Constructors - SymbolicConditional(); - SymbolicConditional(const gtsam::SymbolicConditional& other); - SymbolicConditional(size_t key); - SymbolicConditional(size_t key, size_t parent); - SymbolicConditional(size_t key, size_t parent1, size_t parent2); - SymbolicConditional(size_t key, size_t parent1, size_t parent2, size_t parent3); - static gtsam::SymbolicConditional FromKeys(const gtsam::KeyVector& keys, size_t nrFrontals); - - // Testable - void print(string s) const; - bool equals(const gtsam::SymbolicConditional& other, double tol) const; - - // Standard interface - size_t nrFrontals() const; - size_t nrParents() const; -}; - -#include -class SymbolicBayesNet { - SymbolicBayesNet(); - SymbolicBayesNet(const gtsam::SymbolicBayesNet& other); - // Testable - void print(string s) const; - bool equals(const gtsam::SymbolicBayesNet& other, double tol) const; - - // Standard interface - size_t size() const; - void saveGraph(string s) const; - gtsam::SymbolicConditional* at(size_t idx) const; - gtsam::SymbolicConditional* front() const; - gtsam::SymbolicConditional* back() const; - void push_back(gtsam::SymbolicConditional* conditional); - void push_back(const gtsam::SymbolicBayesNet& bayesNet); -}; - -#include -class SymbolicBayesTree { - - //Constructors - SymbolicBayesTree(); - SymbolicBayesTree(const gtsam::SymbolicBayesTree& other); - - // Testable - void print(string s); - bool equals(const gtsam::SymbolicBayesTree& other, double tol) const; - - //Standard Interface - //size_t findParentClique(const gtsam::IndexVector& parents) const; - size_t size(); - void saveGraph(string s) const; - void clear(); - void deleteCachedShortcuts(); - size_t numCachedSeparatorMarginals() const; - - gtsam::SymbolicConditional* marginalFactor(size_t key) const; - gtsam::SymbolicFactorGraph* joint(size_t key1, size_t key2) const; - gtsam::SymbolicBayesNet* jointBayesNet(size_t key1, size_t key2) const; -}; - -// class SymbolicBayesTreeClique { -// BayesTreeClique(); -// BayesTreeClique(CONDITIONAL* conditional); -// // BayesTreeClique(const pair& result) : Base(result) {} -// -// bool equals(const This& other, double tol) const; -// void print(string s) const; -// void printTree() const; // Default indent of "" -// void printTree(string indent) const; -// size_t numCachedSeparatorMarginals() const; -// -// CONDITIONAL* conditional() const; -// bool isRoot() const; -// size_t treeSize() const; -// // const std::list& children() const { return children_; } -// // derived_ptr parent() const { return parent_.lock(); } -// -// // TODO: need wrapped versions graphs, BayesNet -// // BayesNet shortcut(derived_ptr root, Eliminate function) const; -// // FactorGraph marginal(derived_ptr root, Eliminate function) const; -// // FactorGraph joint(derived_ptr C2, derived_ptr root, Eliminate function) const; -// -// void deleteCachedShortcuts(); -// }; - -#include -class VariableIndex { - // Standard Constructors and Named Constructors - VariableIndex(); - // TODO: Templetize constructor when wrap supports it - //template - //VariableIndex(const T& factorGraph, size_t nVariables); - //VariableIndex(const T& factorGraph); - VariableIndex(const gtsam::SymbolicFactorGraph& sfg); - VariableIndex(const gtsam::GaussianFactorGraph& gfg); - VariableIndex(const gtsam::NonlinearFactorGraph& fg); - VariableIndex(const gtsam::VariableIndex& other); - - // Testable - bool equals(const gtsam::VariableIndex& other, double tol) const; - void print(string s) const; - - // Standard interface - size_t size() const; - size_t nFactors() const; - size_t nEntries() const; -}; - -//************************************************************************* -// linear -//************************************************************************* - -namespace noiseModel { -#include -virtual class Base { - void print(string s) const; - // Methods below are available for all noise models. However, can't add them - // because wrap (incorrectly) thinks robust classes derive from this Base as well. - // bool isConstrained() const; - // bool isUnit() const; - // size_t dim() const; - // Vector sigmas() const; -}; - -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); - - bool equals(gtsam::noiseModel::Base& expected, double tol); - - // access to noise model - Matrix R() const; - Matrix information() const; - Matrix covariance() const; - - // Whitening operations - Vector whiten(Vector v) const; - Vector unwhiten(Vector v) const; - Matrix Whiten(Matrix H) const; - - // enabling serialization functionality - void serializable() const; -}; - -virtual class Diagonal : gtsam::noiseModel::Gaussian { - static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas); - static gtsam::noiseModel::Diagonal* Variances(Vector variances); - static gtsam::noiseModel::Diagonal* Precisions(Vector precisions); - Matrix R() const; - - // access to noise model - Vector sigmas() const; - Vector invsigmas() const; - Vector precisions() const; - - // enabling serialization functionality - void serializable() const; -}; - -virtual class Constrained : gtsam::noiseModel::Diagonal { - static gtsam::noiseModel::Constrained* MixedSigmas(Vector mu, Vector sigmas); - static gtsam::noiseModel::Constrained* MixedSigmas(double m, Vector sigmas); - static gtsam::noiseModel::Constrained* MixedVariances(Vector mu, Vector variances); - static gtsam::noiseModel::Constrained* MixedVariances(Vector variances); - static gtsam::noiseModel::Constrained* MixedPrecisions(Vector mu, Vector precisions); - static gtsam::noiseModel::Constrained* MixedPrecisions(Vector precisions); - - static gtsam::noiseModel::Constrained* All(size_t dim); - static gtsam::noiseModel::Constrained* All(size_t dim, double mu); - - gtsam::noiseModel::Constrained* unit() const; - - // enabling serialization functionality - void serializable() const; -}; - -virtual class Isotropic : gtsam::noiseModel::Diagonal { - static gtsam::noiseModel::Isotropic* Sigma(size_t dim, double sigma); - static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace); - static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision); - - // access to noise model - double sigma() const; - - // enabling serialization functionality - void serializable() const; -}; - -virtual class Unit : gtsam::noiseModel::Isotropic { - static gtsam::noiseModel::Unit* Create(size_t dim); - - // enabling serialization functionality - void serializable() const; -}; - -namespace mEstimator { -virtual class Base { - void print(string s) const; -}; - -virtual class Null: gtsam::noiseModel::mEstimator::Base { - Null(); - static gtsam::noiseModel::mEstimator::Null* Create(); - - // enabling serialization functionality - void serializable() const; - - double weight(double error) const; - double loss(double error) const; -}; - -virtual class Fair: gtsam::noiseModel::mEstimator::Base { - Fair(double c); - static gtsam::noiseModel::mEstimator::Fair* Create(double c); - - // enabling serialization functionality - void serializable() const; - - double weight(double error) const; - double loss(double error) const; -}; - -virtual class Huber: gtsam::noiseModel::mEstimator::Base { - Huber(double k); - static gtsam::noiseModel::mEstimator::Huber* Create(double k); - - // enabling serialization functionality - void serializable() const; - - double weight(double error) const; - double loss(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; - double loss(double error) const; -}; - -virtual class Tukey: gtsam::noiseModel::mEstimator::Base { - Tukey(double k); - static gtsam::noiseModel::mEstimator::Tukey* Create(double k); - - // enabling serialization functionality - void serializable() const; - - double weight(double error) const; - double loss(double error) const; -}; - -virtual class Welsch: gtsam::noiseModel::mEstimator::Base { - Welsch(double k); - static gtsam::noiseModel::mEstimator::Welsch* Create(double k); - - // enabling serialization functionality - void serializable() const; - - double weight(double error) const; - double loss(double error) const; -}; - -virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { - GemanMcClure(double c); - static gtsam::noiseModel::mEstimator::GemanMcClure* Create(double c); - - // enabling serialization functionality - void serializable() const; - - double weight(double error) const; - double loss(double error) const; -}; - -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 loss(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 loss(double error) const; -}; - -}///\namespace mEstimator - -virtual class Robust : gtsam::noiseModel::Base { - Robust(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise); - static gtsam::noiseModel::Robust* Create(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise); - - // enabling serialization functionality - void serializable() const; -}; - -}///\namespace noiseModel - -#include -class Sampler { - // Constructors - Sampler(gtsam::noiseModel::Diagonal* model, int seed); - Sampler(Vector sigmas, int seed); - - // Standard Interface - size_t dim() const; - Vector sigmas() const; - gtsam::noiseModel::Diagonal* model() const; - Vector sample(); -}; - -#include -class VectorValues { - //Constructors - VectorValues(); - VectorValues(const gtsam::VectorValues& other); - - //Named Constructors - static gtsam::VectorValues Zero(const gtsam::VectorValues& model); - - //Standard Interface - size_t size() const; - size_t dim(size_t j) const; - bool exists(size_t j) const; - void print(string s) const; - bool equals(const gtsam::VectorValues& expected, double tol) const; - void insert(size_t j, Vector value); - Vector vector() const; - Vector at(size_t j) const; - void update(const gtsam::VectorValues& values); - - //Advanced Interface - void setZero(); - - gtsam::VectorValues add(const gtsam::VectorValues& c) const; - void addInPlace(const gtsam::VectorValues& c); - gtsam::VectorValues subtract(const gtsam::VectorValues& c) const; - gtsam::VectorValues scale(double a) const; - void scaleInPlace(double a); - - bool hasSameStructure(const gtsam::VectorValues& other) const; - double dot(const gtsam::VectorValues& V) const; - double norm() const; - double squaredNorm() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -virtual class GaussianFactor { - gtsam::KeyVector keys() const; - void print(string s) const; - bool equals(const gtsam::GaussianFactor& lf, double tol) const; - double error(const gtsam::VectorValues& c) const; - gtsam::GaussianFactor* clone() const; - gtsam::GaussianFactor* negate() const; - Matrix augmentedInformation() const; - Matrix information() const; - Matrix augmentedJacobian() const; - pair jacobian() const; - size_t size() const; - bool empty() const; -}; - -#include -virtual class JacobianFactor : gtsam::GaussianFactor { - //Constructors - JacobianFactor(); - JacobianFactor(const gtsam::GaussianFactor& factor); - JacobianFactor(Vector b_in); - JacobianFactor(size_t i1, Matrix A1, Vector b, - const gtsam::noiseModel::Diagonal* model); - JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b, - const gtsam::noiseModel::Diagonal* model); - JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3, - Vector b, const gtsam::noiseModel::Diagonal* model); - JacobianFactor(const gtsam::GaussianFactorGraph& graph); - - //Testable - void print(string s) const; - void printKeys(string s) const; - bool equals(const gtsam::GaussianFactor& lf, double tol) const; - size_t size() const; - Vector unweighted_error(const gtsam::VectorValues& c) const; - Vector error_vector(const gtsam::VectorValues& c) const; - double error(const gtsam::VectorValues& c) const; - - //Standard Interface - Matrix getA() const; - Vector getb() const; - size_t rows() const; - size_t cols() const; - bool isConstrained() const; - pair jacobianUnweighted() const; - Matrix augmentedJacobianUnweighted() const; - - void transposeMultiplyAdd(double alpha, Vector e, gtsam::VectorValues& x) const; - gtsam::JacobianFactor whiten() const; - - pair eliminate(const gtsam::Ordering& keys) const; - - void setModel(bool anyConstrained, Vector sigmas); - - gtsam::noiseModel::Diagonal* get_model() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -virtual class HessianFactor : gtsam::GaussianFactor { - //Constructors - HessianFactor(); - HessianFactor(const gtsam::GaussianFactor& factor); - HessianFactor(size_t j, Matrix G, Vector g, double f); - HessianFactor(size_t j, Vector mu, Matrix Sigma); - HessianFactor(size_t j1, size_t j2, Matrix G11, Matrix G12, Vector g1, Matrix G22, - Vector g2, double f); - HessianFactor(size_t j1, size_t j2, size_t j3, Matrix G11, Matrix G12, Matrix G13, - Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3, - double f); - HessianFactor(const gtsam::GaussianFactorGraph& factors); - - //Testable - size_t size() const; - void print(string s) const; - void printKeys(string s) const; - bool equals(const gtsam::GaussianFactor& lf, double tol) const; - double error(const gtsam::VectorValues& c) const; - - //Standard Interface - size_t rows() const; - Matrix information() const; - double constantTerm() const; - Vector linearTerm() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -class GaussianFactorGraph { - GaussianFactorGraph(); - GaussianFactorGraph(const gtsam::GaussianBayesNet& bayesNet); - GaussianFactorGraph(const gtsam::GaussianBayesTree& bayesTree); - - // From FactorGraph - void print(string s) const; - bool equals(const gtsam::GaussianFactorGraph& lfgraph, double tol) const; - size_t size() const; - gtsam::GaussianFactor* at(size_t idx) const; - gtsam::KeySet keys() const; - gtsam::KeyVector keyVector() const; - bool exists(size_t idx) const; - - // Building the graph - void push_back(const gtsam::GaussianFactor* factor); - void push_back(const gtsam::GaussianConditional* conditional); - void push_back(const gtsam::GaussianFactorGraph& graph); - void push_back(const gtsam::GaussianBayesNet& bayesNet); - void push_back(const gtsam::GaussianBayesTree& bayesTree); - void add(const gtsam::GaussianFactor& factor); - void add(Vector b); - void add(size_t key1, Matrix A1, Vector b, const gtsam::noiseModel::Diagonal* model); - void add(size_t key1, Matrix A1, size_t key2, Matrix A2, Vector b, - const gtsam::noiseModel::Diagonal* model); - void add(size_t key1, Matrix A1, size_t key2, Matrix A2, size_t key3, Matrix A3, - Vector b, const gtsam::noiseModel::Diagonal* model); - - // error and probability - double error(const gtsam::VectorValues& c) const; - double probPrime(const gtsam::VectorValues& c) const; - - gtsam::GaussianFactorGraph clone() const; - gtsam::GaussianFactorGraph negate() const; - - // Optimizing and linear algebra - gtsam::VectorValues optimize() const; - gtsam::VectorValues optimize(const gtsam::Ordering& ordering) const; - gtsam::VectorValues optimizeGradientSearch() const; - gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const; - gtsam::VectorValues gradientAtZero() const; - - // Elimination and marginals - gtsam::GaussianBayesNet* eliminateSequential(); - gtsam::GaussianBayesNet* eliminateSequential(const gtsam::Ordering& ordering); - gtsam::GaussianBayesTree* eliminateMultifrontal(); - gtsam::GaussianBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering); - pair eliminatePartialSequential( - const gtsam::Ordering& ordering); - pair eliminatePartialSequential( - const gtsam::KeyVector& keys); - pair eliminatePartialMultifrontal( - const gtsam::Ordering& ordering); - pair eliminatePartialMultifrontal( - const gtsam::KeyVector& keys); - gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering); - gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector); - gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering, - const gtsam::Ordering& marginalizedVariableOrdering); - gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector, - const gtsam::Ordering& marginalizedVariableOrdering); - gtsam::GaussianFactorGraph* marginal(const gtsam::KeyVector& key_vector); - - // Conversion to matrices - Matrix sparseJacobian_() const; - Matrix augmentedJacobian() const; - Matrix augmentedJacobian(const gtsam::Ordering& ordering) const; - pair jacobian() const; - pair jacobian(const gtsam::Ordering& ordering) const; - Matrix augmentedHessian() const; - Matrix augmentedHessian(const gtsam::Ordering& ordering) const; - pair hessian() const; - pair hessian(const gtsam::Ordering& ordering) const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -virtual class GaussianConditional : gtsam::GaussianFactor { - //Constructors - GaussianConditional(size_t key, Vector d, Matrix R, const gtsam::noiseModel::Diagonal* sigmas); - GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, - const gtsam::noiseModel::Diagonal* sigmas); - GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, - size_t name2, Matrix T, const gtsam::noiseModel::Diagonal* sigmas); - - //Constructors with no noise model - GaussianConditional(size_t key, Vector d, Matrix R); - GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S); - GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, - size_t name2, Matrix T); - - //Standard Interface - void print(string s) const; - bool equals(const gtsam::GaussianConditional &cg, double tol) const; - - //Advanced Interface - gtsam::VectorValues solve(const gtsam::VectorValues& parents) const; - 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; -}; - -#include -virtual class GaussianDensity : gtsam::GaussianConditional { - //Constructors - GaussianDensity(size_t key, Vector d, Matrix R, const gtsam::noiseModel::Diagonal* sigmas); - - //Standard Interface - void print(string s) const; - bool equals(const gtsam::GaussianDensity &cg, double tol) const; - Vector mean() const; - Matrix covariance() const; -}; - -#include -virtual class GaussianBayesNet { - //Constructors - GaussianBayesNet(); - GaussianBayesNet(const gtsam::GaussianConditional* conditional); - - // Testable - void print(string s) const; - bool equals(const gtsam::GaussianBayesNet& other, double tol) const; - size_t size() const; - - // FactorGraph derived interface - // size_t size() const; - gtsam::GaussianConditional* at(size_t idx) const; - gtsam::KeySet keys() const; - bool exists(size_t idx) const; - - gtsam::GaussianConditional* front() const; - gtsam::GaussianConditional* back() const; - void push_back(gtsam::GaussianConditional* conditional); - void push_back(const gtsam::GaussianBayesNet& bayesNet); - - gtsam::VectorValues optimize() const; - gtsam::VectorValues optimize(gtsam::VectorValues& solutionForMissing) const; - gtsam::VectorValues optimizeGradientSearch() const; - gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const; - gtsam::VectorValues gradientAtZero() const; - double error(const gtsam::VectorValues& x) const; - double determinant() const; - double logDeterminant() const; - gtsam::VectorValues backSubstitute(const gtsam::VectorValues& gx) const; - gtsam::VectorValues backSubstituteTranspose(const gtsam::VectorValues& gx) const; -}; - -#include -virtual class GaussianBayesTree { - // Standard Constructors and Named Constructors - GaussianBayesTree(); - GaussianBayesTree(const gtsam::GaussianBayesTree& other); - bool equals(const gtsam::GaussianBayesTree& other, double tol) const; - void print(string s); - size_t size() const; - bool empty() const; - size_t numCachedSeparatorMarginals() const; - void saveGraph(string s) const; - - gtsam::VectorValues optimize() const; - gtsam::VectorValues optimizeGradientSearch() const; - gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const; - gtsam::VectorValues gradientAtZero() const; - double error(const gtsam::VectorValues& x) const; - double determinant() const; - double logDeterminant() const; - Matrix marginalCovariance(size_t key) const; - gtsam::GaussianConditional* marginalFactor(size_t key) const; - gtsam::GaussianFactorGraph* joint(size_t key1, size_t key2) const; - gtsam::GaussianBayesNet* jointBayesNet(size_t key1, size_t key2) const; -}; - -#include -class Errors { - //Constructors - Errors(); - Errors(const gtsam::VectorValues& V); - - //Testable - void print(string s); - bool equals(const gtsam::Errors& expected, double tol) const; -}; - -#include -class GaussianISAM { - //Constructor - GaussianISAM(); - - //Standard Interface - void update(const gtsam::GaussianFactorGraph& newFactors); - void saveGraph(string s) const; - void clear(); -}; - -#include -virtual class IterativeOptimizationParameters { - string getVerbosity() const; - void setVerbosity(string s) ; - void print() const; -}; - -//virtual class IterativeSolver { -// IterativeSolver(); -// gtsam::VectorValues optimize (); -//}; - -#include -virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParameters { - ConjugateGradientParameters(); - int getMinIterations() const ; - int getMaxIterations() const ; - int getReset() const; - double getEpsilon_rel() const; - double getEpsilon_abs() const; - - void setMinIterations(int value); - void setMaxIterations(int value); - void setReset(int value); - void setEpsilon_rel(double value); - void setEpsilon_abs(double value); - void print() const; -}; - -#include -virtual class PreconditionerParameters { - PreconditionerParameters(); -}; - -virtual class DummyPreconditionerParameters : gtsam::PreconditionerParameters { - DummyPreconditionerParameters(); -}; - -#include -virtual class PCGSolverParameters : gtsam::ConjugateGradientParameters { - PCGSolverParameters(); - void print(string s); - void setPreconditionerParams(gtsam::PreconditionerParameters* preconditioner); -}; - -#include -virtual class SubgraphSolverParameters : gtsam::ConjugateGradientParameters { - SubgraphSolverParameters(); - void print() const; -}; - -virtual class SubgraphSolver { - SubgraphSolver(const gtsam::GaussianFactorGraph &A, const gtsam::SubgraphSolverParameters ¶meters, const gtsam::Ordering& ordering); - SubgraphSolver(const gtsam::GaussianFactorGraph &Ab1, const gtsam::GaussianFactorGraph* Ab2, const gtsam::SubgraphSolverParameters ¶meters, const gtsam::Ordering& ordering); - gtsam::VectorValues optimize() const; -}; - -#include -class KalmanFilter { - KalmanFilter(size_t n); - // gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0); - gtsam::GaussianDensity* init(Vector x0, Matrix P0); - void print(string s) const; - static size_t step(gtsam::GaussianDensity* p); - gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F, - Matrix B, Vector u, const gtsam::noiseModel::Diagonal* modelQ); - gtsam::GaussianDensity* predictQ(gtsam::GaussianDensity* p, Matrix F, - Matrix B, Vector u, Matrix Q); - gtsam::GaussianDensity* predict2(gtsam::GaussianDensity* p, Matrix A0, - Matrix A1, Vector b, const gtsam::noiseModel::Diagonal* model); - gtsam::GaussianDensity* update(gtsam::GaussianDensity* p, Matrix H, - Vector z, const gtsam::noiseModel::Diagonal* model); - gtsam::GaussianDensity* updateQ(gtsam::GaussianDensity* p, Matrix H, - Vector z, Matrix Q); -}; - -//************************************************************************* -// nonlinear -//************************************************************************* - -#include -size_t symbol(char chr, size_t index); -char symbolChr(size_t key); -size_t symbolIndex(size_t key); - -namespace symbol_shorthand { - size_t A(size_t j); - size_t B(size_t j); - size_t C(size_t j); - size_t D(size_t j); - size_t E(size_t j); - size_t F(size_t j); - size_t G(size_t j); - size_t H(size_t j); - size_t I(size_t j); - size_t J(size_t j); - size_t K(size_t j); - size_t L(size_t j); - size_t M(size_t j); - size_t N(size_t j); - size_t O(size_t j); - size_t P(size_t j); - size_t Q(size_t j); - size_t R(size_t j); - size_t S(size_t j); - size_t T(size_t j); - size_t U(size_t j); - size_t V(size_t j); - size_t W(size_t j); - size_t X(size_t j); - size_t Y(size_t j); - size_t Z(size_t j); -}///\namespace symbol - -// Default keyformatter -void PrintKeyList (const gtsam::KeyList& keys); -void PrintKeyList (const gtsam::KeyList& keys, string s); -void PrintKeyVector(const gtsam::KeyVector& keys); -void PrintKeyVector(const gtsam::KeyVector& keys, string s); -void PrintKeySet (const gtsam::KeySet& keys); -void PrintKeySet (const gtsam::KeySet& keys, string s); - -#include -class LabeledSymbol { - LabeledSymbol(size_t full_key); - LabeledSymbol(const gtsam::LabeledSymbol& key); - LabeledSymbol(unsigned char valType, unsigned char label, size_t j); - - size_t key() const; - unsigned char label() const; - unsigned char chr() const; - size_t index() const; - - gtsam::LabeledSymbol upper() const; - gtsam::LabeledSymbol lower() const; - gtsam::LabeledSymbol newChr(unsigned char c) const; - gtsam::LabeledSymbol newLabel(unsigned char label) const; - - void print(string s) const; -}; - -size_t mrsymbol(unsigned char c, unsigned char label, size_t j); -unsigned char mrsymbolChr(size_t key); -unsigned char mrsymbolLabel(size_t key); -size_t mrsymbolIndex(size_t key); - -#include -class Ordering { - // Standard Constructors and Named Constructors - Ordering(); - Ordering(const gtsam::Ordering& other); - - // Testable - void print(string s) const; - bool equals(const gtsam::Ordering& ord, double tol) const; - - // Standard interface - size_t size() const; - size_t at(size_t key) const; - void push_back(size_t key); - - // enabling serialization functionality - void serialize() const; -}; - -#include -class NonlinearFactorGraph { - NonlinearFactorGraph(); - NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph); - - // FactorGraph - void print(string s) const; - bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const; - size_t size() const; - bool empty() const; - void remove(size_t i); - void replace(size_t i, gtsam::NonlinearFactor* factors); - void resize(size_t size); - size_t nrFactors() const; - gtsam::NonlinearFactor* at(size_t idx) const; - void push_back(const gtsam::NonlinearFactorGraph& factors); - void push_back(gtsam::NonlinearFactor* factor); - void add(gtsam::NonlinearFactor* factor); - bool exists(size_t idx) const; - gtsam::KeySet keys() const; - gtsam::KeyVector keyVector() const; - - template, gtsam::imuBias::ConstantBias}> - void addPrior(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); - - // NonlinearFactorGraph - void printErrors(const gtsam::Values& values) const; - double error(const gtsam::Values& values) const; - double probPrime(const gtsam::Values& values) const; - gtsam::Ordering orderingCOLAMD() const; - // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map& constraints) const; - gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values) const; - gtsam::NonlinearFactorGraph clone() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -virtual class NonlinearFactor { - // Factor base class - size_t size() const; - gtsam::KeyVector keys() const; - void print(string s) const; - void printKeys(string s) const; - // NonlinearFactor - bool equals(const gtsam::NonlinearFactor& other, double tol) const; - double error(const gtsam::Values& c) const; - size_t dim() const; - bool active(const gtsam::Values& c) const; - gtsam::GaussianFactor* linearize(const gtsam::Values& c) const; - gtsam::NonlinearFactor* clone() const; - // gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //TODO: Conversion from KeyVector to std::vector does not happen -}; - -#include -virtual class NoiseModelFactor: gtsam::NonlinearFactor { - bool equals(const gtsam::NoiseModelFactor& other, double tol) const; - gtsam::noiseModel::Base* noiseModel() const; - Vector unwhitenedError(const gtsam::Values& x) const; - Vector whitenedError(const gtsam::Values& x) const; -}; - -#include -class Values { - Values(); - Values(const gtsam::Values& other); - - size_t size() const; - bool empty() const; - void clear(); - size_t dim() const; - - void print(string s) const; - bool equals(const gtsam::Values& other, double tol) const; - - void insert(const gtsam::Values& values); - void update(const gtsam::Values& values); - void erase(size_t j); - void swap(gtsam::Values& values); - - bool exists(size_t j) const; - gtsam::KeyVector keys() const; - - gtsam::VectorValues zeroVectors() const; - - gtsam::Values retract(const gtsam::VectorValues& delta) const; - gtsam::VectorValues localCoordinates(const gtsam::Values& cp) const; - - // enabling serialization functionality - void serialize() const; - - // New in 4.0, we have to specialize every insert/update/at to generate wrappers - // Instead of the old: - // void insert(size_t j, const gtsam::Value& value); - // void update(size_t j, const gtsam::Value& val); - // gtsam::Value at(size_t j) const; - - // The order is important: Vector has to precede Point2/Point3 so `atVector` - // can work for those fixed-size vectors. - void insert(size_t j, Vector vector); - void insert(size_t j, Matrix matrix); - void insert(size_t j, const gtsam::Point2& point2); - 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::SOn& P); - void insert(size_t j, const gtsam::Rot3& rot3); - void insert(size_t j, const gtsam::Pose3& pose3); - void insert(size_t j, const gtsam::Unit3& unit3); - void insert(size_t j, const gtsam::Cal3_S2& cal3_s2); - void insert(size_t j, const gtsam::Cal3DS2& cal3ds2); - void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler); - void insert(size_t j, const gtsam::EssentialMatrix& essential_matrix); - void insert(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera); - void insert(size_t j, const gtsam::PinholeCamera& camera); - void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); - void insert(size_t j, const gtsam::NavState& nav_state); - - void update(size_t j, const gtsam::Point2& point2); - 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::SOn& P); - void update(size_t j, const gtsam::Rot3& rot3); - void update(size_t j, const gtsam::Pose3& pose3); - void update(size_t j, const gtsam::Unit3& unit3); - void update(size_t j, const gtsam::Cal3_S2& cal3_s2); - void update(size_t j, const gtsam::Cal3DS2& cal3ds2); - void update(size_t j, const gtsam::Cal3Bundler& cal3bundler); - void update(size_t j, const gtsam::EssentialMatrix& essential_matrix); - void update(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera); - void update(size_t j, const gtsam::PinholeCamera& camera); - void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); - void update(size_t j, const gtsam::NavState& nav_state); - void update(size_t j, Vector vector); - void update(size_t j, Matrix matrix); - - template, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}> - T at(size_t j); - - /// version for double - void insertDouble(size_t j, double c); - double atDouble(size_t j) const; -}; - -#include -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; - Matrix marginalInformation(size_t variable) const; - gtsam::JointMarginal jointMarginalCovariance(const gtsam::KeyVector& variables) const; - gtsam::JointMarginal jointMarginalInformation(const gtsam::KeyVector& variables) const; -}; - -class JointMarginal { - Matrix at(size_t iVariable, size_t jVariable) const; - Matrix fullMatrix() const; - void print(string s) const; - void print() const; -}; - -#include -virtual class LinearContainerFactor : gtsam::NonlinearFactor { - - LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Values& linearizationPoint); - LinearContainerFactor(gtsam::GaussianFactor* factor); - - gtsam::GaussianFactor* factor() const; -// const boost::optional& linearizationPoint() const; - - bool isJacobian() const; - gtsam::JacobianFactor* toJacobian() const; - gtsam::HessianFactor* toHessian() const; - - static gtsam::NonlinearFactorGraph ConvertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, - const gtsam::Values& linearizationPoint); - - static gtsam::NonlinearFactorGraph ConvertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph); - - // enabling serialization functionality - void serializable() const; -}; // \class LinearContainerFactor - -// Summarization functionality -//#include -// -//// Uses partial QR approach by default -//gtsam::GaussianFactorGraph summarize( -// const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values, -// const gtsam::KeySet& saved_keys); -// -//gtsam::NonlinearFactorGraph summarizeAsNonlinearContainer( -// const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values, -// const gtsam::KeySet& saved_keys); - -//************************************************************************* -// Nonlinear optimizers -//************************************************************************* -#include -virtual class NonlinearOptimizerParams { - NonlinearOptimizerParams(); - void print(string s) const; - - int getMaxIterations() const; - double getRelativeErrorTol() const; - double getAbsoluteErrorTol() const; - double getErrorTol() const; - string getVerbosity() const; - - void setMaxIterations(int value); - void setRelativeErrorTol(double value); - void setAbsoluteErrorTol(double value); - void setErrorTol(double value); - void setVerbosity(string s); - - string getLinearSolverType() const; - void setLinearSolverType(string solver); - - void setIterativeParams(gtsam::IterativeOptimizationParameters* params); - void setOrdering(const gtsam::Ordering& ordering); - string getOrderingType() const; - void setOrderingType(string ordering); - - bool isMultifrontal() const; - bool isSequential() const; - bool isCholmod() const; - bool isIterative() const; -}; - -bool checkConvergence(double relativeErrorTreshold, - double absoluteErrorTreshold, double errorThreshold, - double currentError, double newError); -bool checkConvergence(const gtsam::NonlinearOptimizerParams& params, - double currentError, double newError); - -#include -virtual class GaussNewtonParams : gtsam::NonlinearOptimizerParams { - GaussNewtonParams(); -}; - -#include -virtual class LevenbergMarquardtParams : gtsam::NonlinearOptimizerParams { - LevenbergMarquardtParams(); - - bool getDiagonalDamping() const; - double getlambdaFactor() const; - double getlambdaInitial() const; - double getlambdaLowerBound() const; - double getlambdaUpperBound() const; - bool getUseFixedLambdaFactor(); - string getLogFile() const; - string getVerbosityLM() const; - - void setDiagonalDamping(bool flag); - void setlambdaFactor(double value); - void setlambdaInitial(double value); - void setlambdaLowerBound(double value); - void setlambdaUpperBound(double value); - void setUseFixedLambdaFactor(bool flag); - void setLogFile(string s); - void setVerbosityLM(string s); - - static gtsam::LevenbergMarquardtParams LegacyDefaults(); - static gtsam::LevenbergMarquardtParams CeresDefaults(); - - static gtsam::LevenbergMarquardtParams EnsureHasOrdering( - gtsam::LevenbergMarquardtParams params, - const gtsam::NonlinearFactorGraph& graph); - static gtsam::LevenbergMarquardtParams ReplaceOrdering( - gtsam::LevenbergMarquardtParams params, const gtsam::Ordering& ordering); -}; - -#include -virtual class DoglegParams : gtsam::NonlinearOptimizerParams { - DoglegParams(); - - double getDeltaInitial() const; - string getVerbosityDL() const; - - void setDeltaInitial(double deltaInitial) const; - void setVerbosityDL(string verbosityDL) const; -}; - -#include -virtual class NonlinearOptimizer { - gtsam::Values optimize(); - gtsam::Values optimizeSafely(); - double error() const; - int iterations() const; - gtsam::Values values() const; - gtsam::NonlinearFactorGraph graph() const; - gtsam::GaussianFactorGraph* iterate() const; -}; - -#include -virtual class GaussNewtonOptimizer : gtsam::NonlinearOptimizer { - GaussNewtonOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues); - GaussNewtonOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::GaussNewtonParams& params); -}; - -#include -virtual class DoglegOptimizer : gtsam::NonlinearOptimizer { - DoglegOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues); - DoglegOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::DoglegParams& params); - double getDelta() const; -}; - -#include -virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer { - LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues); - LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::LevenbergMarquardtParams& params); - double lambda() const; - void print(string str) const; -}; - -#include -class ISAM2GaussNewtonParams { - ISAM2GaussNewtonParams(); - - void print(string str) const; - - /** Getters and Setters for all properties */ - double getWildfireThreshold() const; - void setWildfireThreshold(double wildfireThreshold); -}; - -class ISAM2DoglegParams { - ISAM2DoglegParams(); - - void print(string str) const; - - /** Getters and Setters for all properties */ - double getWildfireThreshold() const; - void setWildfireThreshold(double wildfireThreshold); - double getInitialDelta() const; - void setInitialDelta(double initialDelta); - string getAdaptationMode() const; - void setAdaptationMode(string adaptationMode); - bool isVerbose() const; - void setVerbose(bool verbose); -}; - -class ISAM2ThresholdMapValue { - ISAM2ThresholdMapValue(char c, Vector thresholds); - ISAM2ThresholdMapValue(const gtsam::ISAM2ThresholdMapValue& other); -}; - -class ISAM2ThresholdMap { - ISAM2ThresholdMap(); - ISAM2ThresholdMap(const gtsam::ISAM2ThresholdMap& other); - - // Note: no print function - - // common STL methods - size_t size() const; - bool empty() const; - void clear(); - - // structure specific methods - void insert(const gtsam::ISAM2ThresholdMapValue& value) const; -}; - -class ISAM2Params { - ISAM2Params(); - - void print(string str) const; - - /** Getters and Setters for all properties */ - void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& gauss_newton__params); - void setOptimizationParams(const gtsam::ISAM2DoglegParams& dogleg_params); - void setRelinearizeThreshold(double threshold); - void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& threshold_map); - int getRelinearizeSkip() const; - void setRelinearizeSkip(int relinearizeSkip); - bool isEnableRelinearization() const; - void setEnableRelinearization(bool enableRelinearization); - bool isEvaluateNonlinearError() const; - void setEvaluateNonlinearError(bool evaluateNonlinearError); - string getFactorization() const; - void setFactorization(string factorization); - bool isCacheLinearizedFactors() const; - void setCacheLinearizedFactors(bool cacheLinearizedFactors); - bool isEnableDetailedResults() const; - void setEnableDetailedResults(bool enableDetailedResults); - bool isEnablePartialRelinearizationCheck() const; - void setEnablePartialRelinearizationCheck(bool enablePartialRelinearizationCheck); -}; - -class ISAM2Clique { - - //Constructors - ISAM2Clique(); - - //Standard Interface - Vector gradientContribution() const; - void print(string s); -}; - -class ISAM2Result { - ISAM2Result(); - - void print(string str) const; - - /** Getters and Setters for all properties */ - size_t getVariablesRelinearized() const; - size_t getVariablesReeliminated() const; - size_t getCliques() const; - double getErrorBefore() const; - double getErrorAfter() const; -}; - -class ISAM2 { - ISAM2(); - ISAM2(const gtsam::ISAM2Params& params); - ISAM2(const gtsam::ISAM2& other); - - bool equals(const gtsam::ISAM2& other, double tol) const; - void print(string s) const; - void printStats() const; - void saveGraph(string s) const; - - gtsam::ISAM2Result update(); - gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta); - gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices); - gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices, const gtsam::KeyGroupMap& constrainedKeys); - gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices, gtsam::KeyGroupMap& constrainedKeys, const gtsam::KeyList& noRelinKeys); - gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices, gtsam::KeyGroupMap& constrainedKeys, const gtsam::KeyList& noRelinKeys, const gtsam::KeyList& extraReelimKeys); - gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices, gtsam::KeyGroupMap& constrainedKeys, const gtsam::KeyList& noRelinKeys, const gtsam::KeyList& extraReelimKeys, bool force_relinearize); - - gtsam::Values getLinearizationPoint() const; - gtsam::Values calculateEstimate() const; - template , - Vector, Matrix}> - VALUE calculateEstimate(size_t key) const; - gtsam::Values calculateBestEstimate() const; - Matrix marginalCovariance(size_t key) const; - gtsam::VectorValues getDelta() const; - gtsam::NonlinearFactorGraph getFactorsUnsafe() const; - gtsam::VariableIndex getVariableIndex() const; - gtsam::ISAM2Params params() const; -}; - -#include -class NonlinearISAM { - NonlinearISAM(); - NonlinearISAM(int reorderInterval); - void print(string s) const; - void printStats() const; - void saveGraph(string s) const; - gtsam::Values estimate() const; - Matrix marginalCovariance(size_t key) const; - int reorderInterval() const; - int reorderCounter() const; - void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& initialValues); - void reorder_relinearize(); - - // These might be expensive as instead of a reference the wrapper will make a copy - gtsam::GaussianISAM bayesTree() const; - gtsam::Values getLinearizationPoint() const; - gtsam::NonlinearFactorGraph getFactorsUnsafe() const; -}; - -//************************************************************************* -// Nonlinear factor types -//************************************************************************* -#include -#include -#include - -#include -template}> -virtual class PriorFactor : gtsam::NoiseModelFactor { - PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); - T prior() const; - - // enabling serialization functionality - void serialize() const; -}; - - -#include -template -virtual class BetweenFactor : gtsam::NoiseModelFactor { - BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel); - T measured() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -template -virtual class NonlinearEquality : gtsam::NoiseModelFactor { - // Constructor - forces exact evaluation - NonlinearEquality(size_t j, const T& feasible); - // Constructor - allows inexact evaluation - NonlinearEquality(size_t j, const T& feasible, double error_gain); - - // enabling serialization functionality - void serialize() const; -}; - -#include -template -virtual class RangeFactor : gtsam::NoiseModelFactor { - RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); - - // enabling serialization functionality - void serialize() const; -}; - -typedef gtsam::RangeFactor RangeFactor2D; -typedef gtsam::RangeFactor RangeFactor3D; -typedef gtsam::RangeFactor RangeFactorPose2; -typedef gtsam::RangeFactor RangeFactorPose3; -typedef gtsam::RangeFactor RangeFactorCalibratedCameraPoint; -typedef gtsam::RangeFactor RangeFactorSimpleCameraPoint; -typedef gtsam::RangeFactor RangeFactorCalibratedCamera; -typedef gtsam::RangeFactor RangeFactorSimpleCamera; - - -#include -template -virtual class RangeFactorWithTransform : gtsam::NoiseModelFactor { - RangeFactorWithTransform(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel, const POSE& body_T_sensor); - - // enabling serialization functionality - void serialize() const; -}; - -typedef gtsam::RangeFactorWithTransform RangeFactorWithTransform2D; -typedef gtsam::RangeFactorWithTransform RangeFactorWithTransform3D; -typedef gtsam::RangeFactorWithTransform RangeFactorWithTransformPose2; -typedef gtsam::RangeFactorWithTransform RangeFactorWithTransformPose3; - -#include -template -virtual class BearingFactor : gtsam::NoiseModelFactor { - BearingFactor(size_t key1, size_t key2, const BEARING& measured, const gtsam::noiseModel::Base* noiseModel); - - // enabling serialization functionality - void serialize() const; -}; - -typedef gtsam::BearingFactor BearingFactor2D; -typedef gtsam::BearingFactor BearingFactorPose2; - -#include -template -class BearingRange { - BearingRange(const BEARING& b, const RANGE& r); - BEARING bearing() const; - RANGE range() const; - static This Measure(const POSE& pose, const POINT& point); - static BEARING MeasureBearing(const POSE& pose, const POINT& point); - static RANGE MeasureRange(const POSE& pose, const POINT& point); - void print(string s) const; -}; - -typedef gtsam::BearingRange BearingRange2D; - -#include -template -virtual class BearingRangeFactor : gtsam::NoiseModelFactor { - BearingRangeFactor(size_t poseKey, size_t pointKey, - const BEARING& measuredBearing, const RANGE& measuredRange, - const gtsam::noiseModel::Base* noiseModel); - - // enabling serialization functionality - void serialize() const; -}; - -typedef gtsam::BearingRangeFactor BearingRangeFactor2D; -typedef gtsam::BearingRangeFactor BearingRangeFactorPose2; - - -#include -template -virtual class GenericProjectionFactor : gtsam::NoiseModelFactor { - GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel, - size_t poseKey, size_t pointKey, const CALIBRATION* k); - GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel, - size_t poseKey, size_t pointKey, const CALIBRATION* k, const POSE& body_P_sensor); - - GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel, - size_t poseKey, size_t pointKey, const CALIBRATION* k, bool throwCheirality, bool verboseCheirality); - GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel, - size_t poseKey, size_t pointKey, const CALIBRATION* k, bool throwCheirality, bool verboseCheirality, - const POSE& body_P_sensor); - - gtsam::Point2 measured() const; - CALIBRATION* calibration() const; - bool verboseCheirality() const; - bool throwCheirality() const; - - // enabling serialization functionality - void serialize() const; -}; -typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3_S2; -typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3DS2; - - -#include -template -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; -//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2 -//typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; -typedef gtsam::GeneralSFMFactor, gtsam::Point3> GeneralSFMFactorCal3Bundler; - -template -virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor { - GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey); - gtsam::Point2 measured() const; - - // enabling serialization functionality - void serialize() const; -}; - -#include -class SmartProjectionParams { - SmartProjectionParams(); - // TODO(frank): make these work: - // void setLinearizationMode(LinearizationMode linMode); - // void setDegeneracyMode(DegeneracyMode degMode); - void setRankTolerance(double rankTol); - void setEnableEPI(bool enableEPI); - void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold); - void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold); -}; - -#include -template -virtual class SmartProjectionPoseFactor: gtsam::NonlinearFactor { - - SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, - const CALIBRATION* K); - SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, - const CALIBRATION* K, - const gtsam::Pose3& body_P_sensor); - SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, - const CALIBRATION* K, - const gtsam::SmartProjectionParams& params); - SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, - const CALIBRATION* K, - const gtsam::Pose3& body_P_sensor, - const gtsam::SmartProjectionParams& params); - - void add(const gtsam::Point2& measured_i, size_t poseKey_i); - - // enabling serialization functionality - //void serialize() const; -}; - -typedef gtsam::SmartProjectionPoseFactor SmartProjectionPose3Factor; - - -#include -template -virtual class GenericStereoFactor : gtsam::NoiseModelFactor { - GenericStereoFactor(const gtsam::StereoPoint2& measured, const gtsam::noiseModel::Base* noiseModel, - size_t poseKey, size_t landmarkKey, const gtsam::Cal3_S2Stereo* K); - gtsam::StereoPoint2 measured() const; - gtsam::Cal3_S2Stereo* calibration() const; - - // enabling serialization functionality - void serialize() const; -}; -typedef gtsam::GenericStereoFactor GenericStereoFactor3D; - -#include -template -virtual class PoseTranslationPrior : gtsam::NoiseModelFactor { - PoseTranslationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel); -}; - -typedef gtsam::PoseTranslationPrior PoseTranslationPrior2D; -typedef gtsam::PoseTranslationPrior PoseTranslationPrior3D; - -#include -template -virtual class PoseRotationPrior : gtsam::NoiseModelFactor { - PoseRotationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel); -}; - -typedef gtsam::PoseRotationPrior PoseRotationPrior2D; -typedef gtsam::PoseRotationPrior PoseRotationPrior3D; - -#include -virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor { - EssentialMatrixFactor(size_t key, const gtsam::Point2& pA, const gtsam::Point2& pB, - const gtsam::noiseModel::Base* noiseModel); -}; - -#include - -class SfmTrack { - SfmTrack(); - SfmTrack(const gtsam::Point3& pt); - const Point3& point3() const; - - double r; - double g; - double b; - // TODO Need to close wrap#10 to allow this to work. - // std::vector> measurements; - - size_t number_measurements() const; - pair measurement(size_t idx) const; - pair siftIndex(size_t idx) const; - void add_measurement(size_t idx, const gtsam::Point2& m); -}; - -class SfmData { - SfmData(); - size_t number_cameras() const; - size_t number_tracks() const; - gtsam::PinholeCamera camera(size_t idx) const; - gtsam::SfmTrack track(size_t idx) const; - void add_track(const gtsam::SfmTrack& t) ; - void add_camera(const gtsam::SfmCamera& cam); -}; - -gtsam::SfmData readBal(string filename); -bool writeBAL(string filename, gtsam::SfmData& data); -gtsam::Values initialCamerasEstimate(const gtsam::SfmData& db); -gtsam::Values initialCamerasAndPointsEstimate(const gtsam::SfmData& db); - -pair load2D(string filename, - gtsam::noiseModel::Diagonal* model, int maxIndex, bool addNoise, bool smart); -pair load2D(string filename, - gtsam::noiseModel::Diagonal* model, int maxIndex, bool addNoise); -pair load2D(string filename, - gtsam::noiseModel::Diagonal* model, int maxIndex); -pair load2D(string filename, - gtsam::noiseModel::Diagonal* model); -pair load2D(string filename); -pair load2D_robust(string filename, - gtsam::noiseModel::Base* model, int maxIndex); -void save2D(const gtsam::NonlinearFactorGraph& graph, - const gtsam::Values& config, gtsam::noiseModel::Diagonal* model, - string filename); - -// std::vector::shared_ptr> -// Ignored by pybind -> will be List[BetweenFactorPose2] -class BetweenFactorPose2s -{ - BetweenFactorPose2s(); - size_t size() const; - gtsam::BetweenFactor* at(size_t i) const; - void push_back(const gtsam::BetweenFactor* factor); -}; -gtsam::BetweenFactorPose2s parse2DFactors(string filename); - -// std::vector::shared_ptr> -// Ignored by pybind -> will be List[BetweenFactorPose3] -class BetweenFactorPose3s -{ - BetweenFactorPose3s(); - size_t size() const; - gtsam::BetweenFactor* at(size_t i) const; - void push_back(const gtsam::BetweenFactor* factor); -}; -gtsam::BetweenFactorPose3s parse3DFactors(string filename); - -pair load3D(string filename); - -pair readG2o(string filename); -pair readG2o(string filename, bool is3D); -void writeG2o(const gtsam::NonlinearFactorGraph& graph, - const gtsam::Values& estimate, string filename); - -#include -class InitializePose3 { - static gtsam::Values computeOrientationsChordal( - const gtsam::NonlinearFactorGraph& pose3Graph); - static gtsam::Values computeOrientationsGradient( - const gtsam::NonlinearFactorGraph& pose3Graph, - const gtsam::Values& givenGuess, size_t maxIter, const bool setRefFrame); - static gtsam::Values computeOrientationsGradient( - const gtsam::NonlinearFactorGraph& pose3Graph, - const gtsam::Values& givenGuess); - static gtsam::NonlinearFactorGraph buildPose3graph( - const gtsam::NonlinearFactorGraph& graph); - static gtsam::Values initializeOrientations( - const gtsam::NonlinearFactorGraph& graph); - static gtsam::Values initialize(const gtsam::NonlinearFactorGraph& graph, - const gtsam::Values& givenGuess, - bool useGradient); - static gtsam::Values initialize(const gtsam::NonlinearFactorGraph& graph); -}; - -#include -template -virtual class KarcherMeanFactor : gtsam::NonlinearFactor { - KarcherMeanFactor(const gtsam::KeyVector& keys); -}; - -#include -gtsam::noiseModel::Isotropic* ConvertNoiseModel( - gtsam::noiseModel::Base* model, size_t d); - -template -virtual class FrobeniusFactor : gtsam::NoiseModelFactor { - FrobeniusFactor(size_t key1, size_t key2); - FrobeniusFactor(size_t key1, size_t key2, gtsam::noiseModel::Base* model); - - Vector evaluateError(const T& R1, const T& R2); -}; - -template -virtual class FrobeniusBetweenFactor : gtsam::NoiseModelFactor { - FrobeniusBetweenFactor(size_t key1, size_t key2, const T& R12); - FrobeniusBetweenFactor(size_t key1, size_t key2, const T& R12, gtsam::noiseModel::Base* model); - - Vector evaluateError(const T& R1, const T& R2); -}; - -#include - -virtual class ShonanFactor3 : gtsam::NoiseModelFactor { - ShonanFactor3(size_t key1, size_t key2, const gtsam::Rot3 &R12, - size_t p); - ShonanFactor3(size_t key1, size_t key2, const gtsam::Rot3 &R12, - size_t p, gtsam::noiseModel::Base *model); - Vector evaluateError(const gtsam::SOn &Q1, const gtsam::SOn &Q2); -}; - -#include -template -class BinaryMeasurement { - BinaryMeasurement(size_t key1, size_t key2, const T& measured, - const gtsam::noiseModel::Base* model); - size_t key1() const; - size_t key2() const; - T measured() const; - gtsam::noiseModel::Base* noiseModel() const; -}; - -typedef gtsam::BinaryMeasurement BinaryMeasurementUnit3; -typedef gtsam::BinaryMeasurement BinaryMeasurementRot3; - -class BinaryMeasurementsUnit3 { - BinaryMeasurementsUnit3(); - size_t size() const; - gtsam::BinaryMeasurement at(size_t idx) const; - void push_back(const gtsam::BinaryMeasurement& measurement); -}; - -#include - -// TODO(frank): copy/pasta below until we have integer template paremeters in wrap! - -class ShonanAveragingParameters2 { - ShonanAveragingParameters2(const gtsam::LevenbergMarquardtParams& lm); - ShonanAveragingParameters2(const gtsam::LevenbergMarquardtParams& lm, string method); - gtsam::LevenbergMarquardtParams getLMParams() const; - void setOptimalityThreshold(double value); - double getOptimalityThreshold() const; - void setAnchor(size_t index, const gtsam::Rot2& value); - pair getAnchor(); - void setAnchorWeight(double value); - double getAnchorWeight() const; - void setKarcherWeight(double value); - double getKarcherWeight(); - void setGaugesWeight(double value); - double getGaugesWeight(); -}; - -class ShonanAveragingParameters3 { - ShonanAveragingParameters3(const gtsam::LevenbergMarquardtParams& lm); - ShonanAveragingParameters3(const gtsam::LevenbergMarquardtParams& lm, string method); - gtsam::LevenbergMarquardtParams getLMParams() const; - void setOptimalityThreshold(double value); - double getOptimalityThreshold() const; - void setAnchor(size_t index, const gtsam::Rot3& value); - pair getAnchor(); - void setAnchorWeight(double value); - double getAnchorWeight() const; - void setKarcherWeight(double value); - double getKarcherWeight(); - void setGaugesWeight(double value); - double getGaugesWeight(); -}; - -class ShonanAveraging2 { - ShonanAveraging2(string g2oFile); - ShonanAveraging2(string g2oFile, - const gtsam::ShonanAveragingParameters2 ¶meters); - - // Query properties - size_t nrUnknowns() const; - size_t nrMeasurements() const; - gtsam::Rot2 measured(size_t i); - gtsam::KeyVector keys(size_t i); - - // Matrix API (advanced use, debugging) - Matrix denseD() const; - Matrix denseQ() const; - Matrix denseL() const; - // Matrix computeLambda_(Matrix S) const; - Matrix computeLambda_(const gtsam::Values& values) const; - Matrix computeA_(const gtsam::Values& values) const; - double computeMinEigenValue(const gtsam::Values& values) const; - gtsam::Values initializeWithDescent(size_t p, const gtsam::Values& values, - const Vector& minEigenVector, double minEigenValue) const; - - // Advanced API - gtsam::NonlinearFactorGraph buildGraphAt(size_t p) const; - gtsam::Values initializeRandomlyAt(size_t p) const; - double costAt(size_t p, const gtsam::Values& values) const; - pair computeMinEigenVector(const gtsam::Values& values) const; - bool checkOptimality(const gtsam::Values& values) const; - gtsam::LevenbergMarquardtOptimizer* createOptimizerAt(size_t p, const gtsam::Values& initial); - // gtsam::Values tryOptimizingAt(size_t p) const; - gtsam::Values tryOptimizingAt(size_t p, const gtsam::Values& initial) const; - gtsam::Values projectFrom(size_t p, const gtsam::Values& values) const; - gtsam::Values roundSolution(const gtsam::Values& values) const; - - // Basic API - double cost(const gtsam::Values& values) const; - gtsam::Values initializeRandomly() const; - pair run(const gtsam::Values& initial, size_t min_p, size_t max_p) const; -}; - -class ShonanAveraging3 { - ShonanAveraging3(string g2oFile); - ShonanAveraging3(string g2oFile, - const gtsam::ShonanAveragingParameters3 ¶meters); - - // TODO(frank): deprecate once we land pybind wrapper - ShonanAveraging3(const gtsam::BetweenFactorPose3s &factors); - ShonanAveraging3(const gtsam::BetweenFactorPose3s &factors, - const gtsam::ShonanAveragingParameters3 ¶meters); - - // Query properties - size_t nrUnknowns() const; - size_t nrMeasurements() const; - gtsam::Rot3 measured(size_t i); - gtsam::KeyVector keys(size_t i); - - // Matrix API (advanced use, debugging) - Matrix denseD() const; - Matrix denseQ() const; - Matrix denseL() const; - // Matrix computeLambda_(Matrix S) const; - Matrix computeLambda_(const gtsam::Values& values) const; - Matrix computeA_(const gtsam::Values& values) const; - double computeMinEigenValue(const gtsam::Values& values) const; - gtsam::Values initializeWithDescent(size_t p, const gtsam::Values& values, - const Vector& minEigenVector, double minEigenValue) const; - - // Advanced API - gtsam::NonlinearFactorGraph buildGraphAt(size_t p) const; - gtsam::Values initializeRandomlyAt(size_t p) const; - double costAt(size_t p, const gtsam::Values& values) const; - pair computeMinEigenVector(const gtsam::Values& values) const; - bool checkOptimality(const gtsam::Values& values) const; - gtsam::LevenbergMarquardtOptimizer* createOptimizerAt(size_t p, const gtsam::Values& initial); - // gtsam::Values tryOptimizingAt(size_t p) const; - gtsam::Values tryOptimizingAt(size_t p, const gtsam::Values& initial) const; - gtsam::Values projectFrom(size_t p, const gtsam::Values& values) const; - gtsam::Values roundSolution(const gtsam::Values& values) const; - - // Basic API - double cost(const gtsam::Values& values) const; - gtsam::Values initializeRandomly() const; - pair run(const gtsam::Values& initial, size_t min_p, size_t max_p) const; -}; - -#include - -class KeyPairDoubleMap { - KeyPairDoubleMap(); - KeyPairDoubleMap(const gtsam::KeyPairDoubleMap& other); - - size_t size() const; - bool empty() const; - void clear(); - size_t at(const pair& keypair) const; -}; - -class MFAS { - MFAS(const gtsam::BinaryMeasurementsUnit3& relativeTranslations, - const gtsam::Unit3& projectionDirection); - - gtsam::KeyPairDoubleMap computeOutlierWeights() const; - gtsam::KeyVector computeOrdering() const; -}; - -#include -class TranslationRecovery { - TranslationRecovery(const gtsam::BinaryMeasurementsUnit3 &relativeTranslations, - const gtsam::LevenbergMarquardtParams &lmParams); - TranslationRecovery( - const gtsam::BinaryMeasurementsUnit3 & relativeTranslations); // default LevenbergMarquardtParams - gtsam::Values run(const double scale) const; - gtsam::Values run() const; // default scale = 1.0 -}; - -//************************************************************************* -// Navigation -//************************************************************************* -namespace imuBias { -#include - -class ConstantBias { - // Constructors - ConstantBias(); - ConstantBias(Vector biasAcc, Vector biasGyro); - - // Testable - void print(string s) const; - bool equals(const gtsam::imuBias::ConstantBias& expected, double tol) const; - - // Group - static gtsam::imuBias::ConstantBias identity(); - gtsam::imuBias::ConstantBias inverse() const; - gtsam::imuBias::ConstantBias compose(const gtsam::imuBias::ConstantBias& b) const; - gtsam::imuBias::ConstantBias between(const gtsam::imuBias::ConstantBias& b) const; - - // Manifold - gtsam::imuBias::ConstantBias retract(Vector v) const; - Vector localCoordinates(const gtsam::imuBias::ConstantBias& b) const; - - // Lie Group - static gtsam::imuBias::ConstantBias Expmap(Vector v); - static Vector Logmap(const gtsam::imuBias::ConstantBias& b); - - // Standard Interface - Vector vector() const; - Vector accelerometer() const; - Vector gyroscope() const; - Vector correctAccelerometer(Vector measurement) const; - Vector correctGyroscope(Vector measurement) const; -}; - -}///\namespace imuBias - -#include -class NavState { - // Constructors - NavState(); - NavState(const gtsam::Rot3& R, const gtsam::Point3& t, Vector v); - NavState(const gtsam::Pose3& pose, Vector v); - - // Testable - void print(string s) const; - bool equals(const gtsam::NavState& expected, double tol) const; - - // Access - gtsam::Rot3 attitude() const; - gtsam::Point3 position() const; - Vector velocity() const; - gtsam::Pose3 pose() const; -}; - -#include -virtual class PreintegratedRotationParams { - PreintegratedRotationParams(); - - // Testable - void print(string s) const; - bool equals(const gtsam::PreintegratedRotationParams& expected, double tol); - - void setGyroscopeCovariance(Matrix cov); - void setOmegaCoriolis(Vector omega); - void setBodyPSensor(const gtsam::Pose3& pose); - - Matrix getGyroscopeCovariance() const; - - // TODO(frank): allow optional - // boost::optional getOmegaCoriolis() const; - // boost::optional getBodyPSensor() const; -}; - -#include -virtual class PreintegrationParams : gtsam::PreintegratedRotationParams { - PreintegrationParams(Vector n_gravity); - - static gtsam::PreintegrationParams* MakeSharedD(double g); - static gtsam::PreintegrationParams* MakeSharedU(double g); - static gtsam::PreintegrationParams* MakeSharedD(); // default g = 9.81 - static gtsam::PreintegrationParams* MakeSharedU(); // default g = 9.81 - - // Testable - void print(string s) const; - bool equals(const gtsam::PreintegrationParams& expected, double tol); - - void setAccelerometerCovariance(Matrix cov); - void setIntegrationCovariance(Matrix cov); - void setUse2ndOrderCoriolis(bool flag); - - Matrix getAccelerometerCovariance() const; - Matrix getIntegrationCovariance() const; - bool getUse2ndOrderCoriolis() const; -}; - -#include -class PreintegratedImuMeasurements { - // Constructors - PreintegratedImuMeasurements(const gtsam::PreintegrationParams* params); - PreintegratedImuMeasurements(const gtsam::PreintegrationParams* params, - const gtsam::imuBias::ConstantBias& bias); - - // Testable - void print(string s) const; - bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol); - - // Standard Interface - void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, - double deltaT); - void resetIntegration(); - void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat); - - Matrix preintMeasCov() const; - Vector preintegrated() const; - double deltaTij() const; - gtsam::Rot3 deltaRij() const; - Vector deltaPij() const; - Vector deltaVij() const; - gtsam::imuBias::ConstantBias biasHat() const; - Vector biasHatVector() const; - gtsam::NavState predict(const gtsam::NavState& state_i, - const gtsam::imuBias::ConstantBias& bias) const; -}; - -virtual class ImuFactor: gtsam::NonlinearFactor { - ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, - size_t bias, - const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements); - - // Standard Interface - gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const; - Vector evaluateError(const gtsam::Pose3& pose_i, Vector vel_i, - const gtsam::Pose3& pose_j, Vector vel_j, - const gtsam::imuBias::ConstantBias& bias); -}; - -#include -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, - double tol); - - // Standard Interface - void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, - double deltaT); - void resetIntegration(); - void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat); - - Matrix preintMeasCov() const; - double deltaTij() const; - gtsam::Rot3 deltaRij() const; - Vector deltaPij() const; - Vector deltaVij() const; - gtsam::imuBias::ConstantBias biasHat() const; - Vector biasHatVector() const; - gtsam::NavState predict(const gtsam::NavState& state_i, - const gtsam::imuBias::ConstantBias& bias) const; -}; - -virtual class CombinedImuFactor: gtsam::NonlinearFactor { - CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, - size_t bias_i, size_t bias_j, - const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements); - - // Standard Interface - gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const; - Vector evaluateError(const gtsam::Pose3& pose_i, Vector vel_i, - const gtsam::Pose3& pose_j, Vector vel_j, - const gtsam::imuBias::ConstantBias& bias_i, - const gtsam::imuBias::ConstantBias& bias_j); -}; - -#include -class PreintegratedAhrsMeasurements { - // Standard Constructor - PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance); - PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs); - - // Testable - void print(string s) const; - bool equals(const gtsam::PreintegratedAhrsMeasurements& expected, double tol); - - // get Data - gtsam::Rot3 deltaRij() const; - double deltaTij() const; - Vector biasHat() const; - - // Standard Interface - void integrateMeasurement(Vector measuredOmega, double deltaT); - void resetIntegration() ; -}; - -virtual class AHRSFactor : gtsam::NonlinearFactor { - AHRSFactor(size_t rot_i, size_t rot_j,size_t bias, - const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis); - AHRSFactor(size_t rot_i, size_t rot_j, size_t bias, - const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis, - const gtsam::Pose3& body_P_sensor); - - // Standard Interface - gtsam::PreintegratedAhrsMeasurements preintegratedMeasurements() const; - Vector evaluateError(const gtsam::Rot3& rot_i, const gtsam::Rot3& rot_j, - Vector bias) const; - gtsam::Rot3 predict(const gtsam::Rot3& rot_i, Vector bias, - const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, - Vector omegaCoriolis) const; -}; - -#include -//virtual class AttitudeFactor : gtsam::NonlinearFactor { -// AttitudeFactor(const Unit3& nZ, const Unit3& bRef); -// AttitudeFactor(); -//}; -virtual class Rot3AttitudeFactor : gtsam::NonlinearFactor{ - Rot3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model, - const gtsam::Unit3& bRef); - Rot3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model); - Rot3AttitudeFactor(); - void print(string s) const; - bool equals(const gtsam::NonlinearFactor& expected, double tol) const; - gtsam::Unit3 nZ() const; - gtsam::Unit3 bRef() const; -}; - -virtual class Pose3AttitudeFactor : gtsam::NonlinearFactor { - Pose3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, - const gtsam::noiseModel::Diagonal* model, - const gtsam::Unit3& bRef); - Pose3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, - const gtsam::noiseModel::Diagonal* model); - Pose3AttitudeFactor(); - void print(string s) const; - bool equals(const gtsam::NonlinearFactor& expected, double tol) const; - gtsam::Unit3 nZ() const; - 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; - Vector omega_b(double t) const; - Vector velocity_n(double t) const; - Vector acceleration_n(double t) const; - gtsam::Rot3 rotation(double t) const; - gtsam::NavState navState(double t) const; - Vector velocity_b(double t) const; - Vector acceleration_b(double t) const; -}; - -virtual class ConstantTwistScenario : gtsam::Scenario { - ConstantTwistScenario(Vector w, Vector v); - ConstantTwistScenario(Vector w, Vector v, - const gtsam::Pose3& nTb0); -}; - -virtual class AcceleratingScenario : gtsam::Scenario { - AcceleratingScenario(const gtsam::Rot3& nRb, const gtsam::Point3& p0, - Vector v0, Vector a_n, - Vector omega_b); -}; - -#include -class ScenarioRunner { - ScenarioRunner(const gtsam::Scenario& scenario, - const gtsam::PreintegrationParams* p, - double imuSampleTime, - const gtsam::imuBias::ConstantBias& bias); - Vector gravity_n() const; - Vector actualAngularVelocity(double t) const; - Vector actualSpecificForce(double t) const; - Vector measuredAngularVelocity(double t) const; - Vector measuredSpecificForce(double t) const; - double imuSampleTime() const; - gtsam::PreintegratedImuMeasurements integrate( - double T, const gtsam::imuBias::ConstantBias& estimatedBias, - bool corrupted) const; - gtsam::NavState predict( - const gtsam::PreintegratedImuMeasurements& pim, - const gtsam::imuBias::ConstantBias& estimatedBias) const; - Matrix estimateCovariance( - double T, size_t N, - const gtsam::imuBias::ConstantBias& estimatedBias) const; - Matrix estimateNoiseCovariance(size_t N) const; -}; - //************************************************************************* // Utilities //************************************************************************* namespace utilities { - #include - gtsam::KeyList createKeyList(Vector I); - gtsam::KeyList createKeyList(string s, Vector I); - gtsam::KeyVector createKeyVector(Vector I); - gtsam::KeyVector createKeyVector(string s, Vector I); - gtsam::KeySet createKeySet(Vector I); - gtsam::KeySet createKeySet(string s, Vector I); - Matrix extractPoint2(const gtsam::Values& values); - Matrix extractPoint3(const gtsam::Values& values); - gtsam::Values allPose2s(gtsam::Values& values); - Matrix extractPose2(const gtsam::Values& values); - gtsam::Values allPose3s(gtsam::Values& values); - Matrix extractPose3(const gtsam::Values& values); - 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::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); - gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base); - gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base, const gtsam::KeyVector& keys); - -} //\namespace utilities - #include +gtsam::KeyList createKeyList(Vector I); +gtsam::KeyList createKeyList(string s, Vector I); +gtsam::KeyVector createKeyVector(Vector I); +gtsam::KeyVector createKeyVector(string s, Vector I); +gtsam::KeySet createKeySet(Vector I); +gtsam::KeySet createKeySet(string s, Vector I); +Matrix extractPoint2(const gtsam::Values& values); +Matrix extractPoint3(const gtsam::Values& values); +gtsam::Values allPose2s(gtsam::Values& values); +Matrix extractPose2(const gtsam::Values& values); +gtsam::Values allPose3s(gtsam::Values& values); +Matrix extractPose3(const gtsam::Values& values); +void perturbPoint2(gtsam::Values& values, double sigma, int seed = 42u); +void perturbPose2(gtsam::Values& values, double sigmaT, double sigmaR, + int seed = 42u); +void perturbPoint3(gtsam::Values& values, double sigma, int seed = 42u); +void insertBackprojections(gtsam::Values& values, + const gtsam::PinholeCamera& 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, + const gtsam::Pose3& body_P_sensor = gtsam::Pose3()); +Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& values); +gtsam::Values localToWorld(const gtsam::Values& local, + const gtsam::Pose2& base); +gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base, + const gtsam::KeyVector& keys); + +} // namespace utilities + class RedirectCout { RedirectCout(); string str(); }; -} +} // namespace gtsam diff --git a/gtsam/inference/BayesNet-inst.h b/gtsam/inference/BayesNet-inst.h index a3bd87887..a73762258 100644 --- a/gtsam/inference/BayesNet-inst.h +++ b/gtsam/inference/BayesNet-inst.h @@ -26,30 +26,30 @@ namespace gtsam { - /* ************************************************************************* */ - template - void BayesNet::print(const std::string& s, const KeyFormatter& formatter) const - { - Base::print(s, formatter); - } - - /* ************************************************************************* */ - template - void BayesNet::saveGraph(const std::string &s, const KeyFormatter& keyFormatter) const - { - std::ofstream of(s.c_str()); - of << "digraph G{\n"; - - for (auto conditional: boost::adaptors::reverse(*this)) { - typename CONDITIONAL::Frontals frontals = conditional->frontals(); - Key me = frontals.front(); - typename CONDITIONAL::Parents parents = conditional->parents(); - for(Key p: parents) - of << keyFormatter(p) << "->" << keyFormatter(me) << std::endl; - } - - of << "}"; - of.close(); - } - +/* ************************************************************************* */ +template +void BayesNet::print( + const std::string& s, const KeyFormatter& formatter) const { + Base::print(s, formatter); } + +/* ************************************************************************* */ +template +void BayesNet::saveGraph(const std::string& s, + const KeyFormatter& keyFormatter) const { + std::ofstream of(s.c_str()); + of << "digraph G{\n"; + + for (auto conditional : boost::adaptors::reverse(*this)) { + typename CONDITIONAL::Frontals frontals = conditional->frontals(); + Key me = frontals.front(); + typename CONDITIONAL::Parents parents = conditional->parents(); + for (Key p : parents) + of << keyFormatter(p) << "->" << keyFormatter(me) << std::endl; + } + + of << "}"; + of.close(); +} + +} // namespace gtsam diff --git a/gtsam/inference/BayesNet.h b/gtsam/inference/BayesNet.h index 0597ece98..938278d5a 100644 --- a/gtsam/inference/BayesNet.h +++ b/gtsam/inference/BayesNet.h @@ -57,16 +57,18 @@ namespace gtsam { /// @name Testable /// @{ - /** print out graph */ - void print(const std::string& s = "BayesNet", - const KeyFormatter& formatter = DefaultKeyFormatter) const; + /** print out graph */ + void print( + const std::string& s = "BayesNet", + const KeyFormatter& formatter = DefaultKeyFormatter) const override; - /// @} + /// @} - /// @name Standard Interface - /// @{ + /// @name Standard Interface + /// @{ - void saveGraph(const std::string &s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + void saveGraph(const std::string& s, + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; }; } diff --git a/gtsam/inference/EliminateableFactorGraph.h b/gtsam/inference/EliminateableFactorGraph.h index 316ca8ee4..edc4883e7 100644 --- a/gtsam/inference/EliminateableFactorGraph.h +++ b/gtsam/inference/EliminateableFactorGraph.h @@ -19,7 +19,7 @@ #pragma once #include -#include +#include #include #include @@ -86,7 +86,7 @@ namespace gtsam { typedef std::pair, boost::shared_ptr<_FactorType> > EliminationResult; /// The function type that does a single dense elimination step on a subgraph. - typedef boost::function Eliminate; + typedef std::function Eliminate; /// Typedef for an optional variable index as an argument to elimination functions typedef boost::optional OptionalVariableIndex; diff --git a/gtsam/inference/EliminationTree-inst.h b/gtsam/inference/EliminationTree-inst.h index 3390a3aac..b8d446e49 100644 --- a/gtsam/inference/EliminationTree-inst.h +++ b/gtsam/inference/EliminationTree-inst.h @@ -18,7 +18,6 @@ #pragma once #include -#include #include #include diff --git a/gtsam/inference/Factor.cpp b/gtsam/inference/Factor.cpp index 58448edbb..6fe96c777 100644 --- a/gtsam/inference/Factor.cpp +++ b/gtsam/inference/Factor.cpp @@ -33,8 +33,8 @@ namespace gtsam { /* ************************************************************************* */ void Factor::printKeys(const std::string& s, const KeyFormatter& formatter) const { - std::cout << s << " "; - for(Key key: keys_) std::cout << " " << formatter(key); + std::cout << (s.empty() ? "" : s + " "); + for (Key key : keys_) std::cout << " " << formatter(key); std::cout << std::endl; } diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h index 1aaaff0e4..6ea81030a 100644 --- a/gtsam/inference/Factor.h +++ b/gtsam/inference/Factor.h @@ -102,43 +102,52 @@ typedef FastSet FactorIndexSet; /// @} public: - /// @name Standard Interface - /// @{ + /// Default destructor + // public since it is required for boost serialization and static methods. + // virtual since it is public. + // http://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#Rc-dtor-virtual + virtual ~Factor() = default; - /// First key - Key front() const { return keys_.front(); } + /// @name Standard Interface + /// @{ - /// Last key - Key back() const { return keys_.back(); } + /// First key + Key front() const { return keys_.front(); } - /// find - const_iterator find(Key key) const { return std::find(begin(), end(), key); } + /// Last key + Key back() const { return keys_.back(); } - /// Access the factor's involved variable keys - const KeyVector& keys() const { return keys_; } + /// find + const_iterator find(Key key) const { return std::find(begin(), end(), key); } - /** Iterator at beginning of involved variable keys */ - const_iterator begin() const { return keys_.begin(); } + /// Access the factor's involved variable keys + const KeyVector& keys() const { return keys_; } - /** Iterator at end of involved variable keys */ - const_iterator end() const { return keys_.end(); } + /** Iterator at beginning of involved variable keys */ + const_iterator begin() const { return keys_.begin(); } - /** + /** Iterator at end of involved variable keys */ + const_iterator end() const { return keys_.end(); } + + /** * @return the number of variables involved in this factor */ - size_t size() const { return keys_.size(); } + size_t size() const { return keys_.size(); } - /// @} + /// @} + /// @name Testable + /// @{ - /// @name Testable - /// @{ + /// print + virtual void print( + const std::string& s = "Factor", + const KeyFormatter& formatter = DefaultKeyFormatter) const; - /// print - void print(const std::string& s = "Factor", const KeyFormatter& formatter = DefaultKeyFormatter) const; - - /// print only keys - void printKeys(const std::string& s = "Factor", const KeyFormatter& formatter = DefaultKeyFormatter) const; + /// print only keys + virtual void printKeys( + const std::string& s = "Factor", + const KeyFormatter& formatter = DefaultKeyFormatter) const; protected: /// check equality diff --git a/gtsam/inference/FactorGraph-inst.h b/gtsam/inference/FactorGraph-inst.h index df68019e1..166ae41f4 100644 --- a/gtsam/inference/FactorGraph-inst.h +++ b/gtsam/inference/FactorGraph-inst.h @@ -23,8 +23,6 @@ #include -#include - #include #include #include // for cout :-( @@ -37,7 +35,7 @@ namespace gtsam { template void FactorGraph::print(const std::string& s, const KeyFormatter& formatter) const { - std::cout << s << std::endl; + std::cout << (s.empty() ? "" : s + " ") << std::endl; std::cout << "size: " << size() << std::endl; for (size_t i = 0; i < factors_.size(); i++) { std::stringstream ss; diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 2bc9578b2..e337e3249 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -29,7 +29,6 @@ #include // for Eigen::aligned_allocator #include -#include #include #include #include @@ -148,6 +147,10 @@ class FactorGraph { /// @} public: + /// Default destructor + // Public and virtual so boost serialization can call it. + virtual ~FactorGraph() = default; + /// @name Adding Single Factors /// @{ @@ -285,9 +288,9 @@ class FactorGraph { /// @name Testable /// @{ - /** print out graph */ - void print(const std::string& s = "FactorGraph", - const KeyFormatter& formatter = DefaultKeyFormatter) const; + /// print out graph + virtual void print(const std::string& s = "FactorGraph", + const KeyFormatter& formatter = DefaultKeyFormatter) const; /** Check equality */ bool equals(const This& fg, double tol = 1e-9) const; @@ -355,7 +358,7 @@ class FactorGraph { /** delete factor without re-arranging indexes by inserting a nullptr pointer */ - void remove(size_t i) { factors_[i].reset(); } + void remove(size_t i) { factors_.at(i).reset(); } /** replace a factor by index */ void replace(size_t index, sharedFactor factor) { at(index) = factor; } diff --git a/gtsam/inference/Key.h b/gtsam/inference/Key.h index 8b13f0b4c..2cc19d07a 100644 --- a/gtsam/inference/Key.h +++ b/gtsam/inference/Key.h @@ -25,14 +25,14 @@ #include #include -#include +#include #include namespace gtsam { /// Typedef for a function to format a key, i.e. to convert it to a string -typedef boost::function KeyFormatter; +typedef std::function KeyFormatter; // Helper function for DefaultKeyFormatter GTSAM_EXPORT std::string _defaultKeyFormatter(Key key); diff --git a/gtsam/inference/LabeledSymbol.cpp b/gtsam/inference/LabeledSymbol.cpp index e67c56e5e..6a1739e20 100644 --- a/gtsam/inference/LabeledSymbol.cpp +++ b/gtsam/inference/LabeledSymbol.cpp @@ -15,14 +15,11 @@ * @author: Alex Cunningham */ -#include +#include #include -#include - #include - -#include +#include namespace gtsam { @@ -109,17 +106,37 @@ bool LabeledSymbol::operator!=(gtsam::Key comp) const { /* ************************************************************************* */ static LabeledSymbol make(gtsam::Key key) { return LabeledSymbol(key);} -boost::function LabeledSymbol::TypeTest(unsigned char c) { - return boost::bind(&LabeledSymbol::chr, boost::bind(make, _1)) == c; +std::function LabeledSymbol::TypeTest(unsigned char c) { + // Use lambda function to check equality + auto equals = [](unsigned char s, unsigned char c) { return s == c; }; + return std::bind( + equals, + std::bind(&LabeledSymbol::chr, std::bind(make, std::placeholders::_1)), + c); } -boost::function LabeledSymbol::LabelTest(unsigned char label) { - return boost::bind(&LabeledSymbol::label, boost::bind(make, _1)) == label; +std::function LabeledSymbol::LabelTest(unsigned char label) { + // Use lambda function to check equality + auto equals = [](unsigned char s, unsigned char c) { return s == c; }; + return std::bind( + equals, + std::bind(&LabeledSymbol::label, std::bind(make, std::placeholders::_1)), + label); } -boost::function LabeledSymbol::TypeLabelTest(unsigned char c, unsigned char label) { - return boost::bind(&LabeledSymbol::chr, boost::bind(make, _1)) == c && - boost::bind(&LabeledSymbol::label, boost::bind(make, _1)) == label; +std::function LabeledSymbol::TypeLabelTest(unsigned char c, unsigned char label) { + // Use lambda functions for && and == + auto logical_and = [](bool is_type, bool is_label) { return is_type == is_label; }; + auto equals = [](unsigned char s, unsigned char c) { return s == c; }; + return std::bind(logical_and, + std::bind(equals, + std::bind(&LabeledSymbol::chr, + std::bind(make, std::placeholders::_1)), + c), + std::bind(equals, + std::bind(&LabeledSymbol::label, + std::bind(make, std::placeholders::_1)), + label)); } /* ************************************************************************* */ diff --git a/gtsam/inference/LabeledSymbol.h b/gtsam/inference/LabeledSymbol.h index d46425bb4..5aee4a0e2 100644 --- a/gtsam/inference/LabeledSymbol.h +++ b/gtsam/inference/LabeledSymbol.h @@ -19,6 +19,7 @@ #pragma once +#include #include namespace gtsam { @@ -88,13 +89,13 @@ public: */ // Checks only the type - static boost::function TypeTest(unsigned char c); + static std::function TypeTest(unsigned char c); // Checks only the robot ID (label_) - static boost::function LabelTest(unsigned char label); + static std::function LabelTest(unsigned char label); // Checks both type and the robot ID - static boost::function TypeLabelTest(unsigned char c, unsigned char label); + static std::function TypeLabelTest(unsigned char c, unsigned char label); // Converts to upper/lower versions of labels LabeledSymbol upper() const { return LabeledSymbol(c_, toupper(label_), j_); } diff --git a/gtsam/inference/Symbol.cpp b/gtsam/inference/Symbol.cpp index e6a2beee0..925ba9ce3 100644 --- a/gtsam/inference/Symbol.cpp +++ b/gtsam/inference/Symbol.cpp @@ -18,8 +18,8 @@ #include +#include #include -#include #include #include @@ -62,8 +62,11 @@ Symbol::operator std::string() const { static Symbol make(gtsam::Key key) { return Symbol(key);} -boost::function Symbol::ChrTest(unsigned char c) { - return bind(&Symbol::chr, bind(make, _1)) == c; +std::function Symbol::ChrTest(unsigned char c) { + auto equals = [](unsigned char s, unsigned char c) { return s == c; }; + return std::bind( + equals, std::bind(&Symbol::chr, std::bind(make, std::placeholders::_1)), + c); } GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const Symbol &symbol) { diff --git a/gtsam/inference/Symbol.h b/gtsam/inference/Symbol.h index 469082f16..017d5134a 100644 --- a/gtsam/inference/Symbol.h +++ b/gtsam/inference/Symbol.h @@ -18,10 +18,12 @@ #pragma once -#include #include +#include + #include #include +#include namespace gtsam { @@ -80,6 +82,9 @@ public: /** Create a string from the key */ operator std::string() const; + /// Return string representation of the key + std::string string() const { return std::string(*this); }; + /** Comparison for use in maps */ bool operator<(const Symbol& comp) const { return c_ < comp.c_ || (comp.c_ == c_ && j_ < comp.j_); @@ -110,7 +115,7 @@ public: * Values::filter() function to retrieve all key-value pairs with the * requested character. */ - static boost::function ChrTest(unsigned char c); + static std::function ChrTest(unsigned char c); /// Output stream operator that can be used with key_formatter (see Key.h). GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &, const Symbol &); @@ -167,10 +172,11 @@ inline Key Z(std::uint64_t j) { return Symbol('z', j); } /** Generates symbol shorthands with alternative names different than the * one-letter predefined ones. */ class SymbolGenerator { - const char c_; + const unsigned char c_; public: - SymbolGenerator(const char c) : c_(c) {} + constexpr SymbolGenerator(const unsigned char c) : c_(c) {} Symbol operator()(const std::uint64_t j) const { return Symbol(c_, j); } + constexpr unsigned char chr() const { return c_; } }; /// traits diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index f2ba3e31c..47438ecd6 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -182,6 +182,16 @@ protected: return item->second; } +private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + ar & BOOST_SERIALIZATION_NVP(index_); + ar & BOOST_SERIALIZATION_NVP(nFactors_); + ar & BOOST_SERIALIZATION_NVP(nEntries_); + } + /// @} }; diff --git a/gtsam/inference/inference-inst.h b/gtsam/inference/inference-inst.h index cc5dc4b88..770b48f63 100644 --- a/gtsam/inference/inference-inst.h +++ b/gtsam/inference/inference-inst.h @@ -20,7 +20,6 @@ #pragma once #include -#include #include #include diff --git a/gtsam/inference/inferenceExceptions.h b/gtsam/inference/inferenceExceptions.h index 4409b16c7..bcd986983 100644 --- a/gtsam/inference/inferenceExceptions.h +++ b/gtsam/inference/inferenceExceptions.h @@ -29,7 +29,7 @@ namespace gtsam { class InconsistentEliminationRequested : public std::exception { public: InconsistentEliminationRequested() noexcept {} - virtual ~InconsistentEliminationRequested() noexcept {} + ~InconsistentEliminationRequested() noexcept override {} const char* what() const noexcept override { return "An inference algorithm was called with inconsistent arguments. The\n" diff --git a/gtsam/inference/tests/testKey.cpp b/gtsam/inference/tests/testKey.cpp index 64674c36f..98c5d36bf 100644 --- a/gtsam/inference/tests/testKey.cpp +++ b/gtsam/inference/tests/testKey.cpp @@ -59,6 +59,12 @@ TEST(Key, SymbolGenerator) { EXPECT(assert_equal(a1, ddz1)); } +/* ************************************************************************* */ +TEST(Key, SymbolGeneratorConstexpr) { + constexpr auto Z = gtsam::SymbolGenerator('x'); + EXPECT(assert_equal(Z.chr(), 'x')); +} + /* ************************************************************************* */ template Key KeyTestValue(); diff --git a/gtsam/linear/AcceleratedPowerMethod.h b/gtsam/linear/AcceleratedPowerMethod.h new file mode 100644 index 000000000..6653d43c9 --- /dev/null +++ b/gtsam/linear/AcceleratedPowerMethod.h @@ -0,0 +1,176 @@ +/* ---------------------------------------------------------------------------- + + * 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 AcceleratedPowerMethod.h + * @date Sept 2020 + * @author Jing Wu + * @brief accelerated power method for fast eigenvalue and eigenvector + * computation + */ + +#pragma once + +#include + +namespace gtsam { + +using Sparse = Eigen::SparseMatrix; + +/** + * \brief Compute maximum Eigenpair with accelerated power method + * + * References : + * 1) G. Golub and C. V. Loan, Matrix Computations, 3rd ed. Baltimore, Johns + * Hopkins University Press, 1996, pp.405-411 + * 2) Rosen, D. and Carlone, L., 2017, September. Computational + * enhancements for certifiably correct SLAM. In Proceedings of the + * International Conference on Intelligent Robots and Systems. + * 3) Yulun Tian and Kasra Khosoussi and David M. Rosen and Jonathan P. How, + * 2020, Aug, Distributed Certifiably Correct Pose-Graph Optimization, Arxiv + * 4) C. de Sa, B. He, I. Mitliagkas, C. Ré, and P. Xu, “Accelerated + * stochastic power iteration,” in Proc. Mach. Learn. Res., no. 84, 2018, pp. + * 58–67 + * + * It performs the following iteration: \f$ x_{k+1} = A * x_k - \beta * + * x_{k-1} \f$ where A is the aim matrix we want to get eigenpair of, x is the + * Ritz vector + * + * Template argument Operator just needs multiplication operator + * + */ +template +class AcceleratedPowerMethod : public PowerMethod { + + double beta_ = 0; // a Polyak momentum term + + Vector previousVector_; // store previous vector + + public: + /** + * Constructor from aim matrix A (given as Matrix or Sparse), optional intial + * vector as ritzVector + */ + explicit AcceleratedPowerMethod( + const Operator &A, const boost::optional initial = boost::none, + double initialBeta = 0.0) + : PowerMethod(A, initial) { + // initialize Ritz eigen vector and previous vector + this->ritzVector_ = initial ? initial.get() : Vector::Random(this->dim_); + this->ritzVector_.normalize(); + previousVector_ = Vector::Zero(this->dim_); + + // initialize beta_ + beta_ = initialBeta; + } + + /** + * Run accelerated power iteration to get ritzVector with beta and previous + * two ritzVector x0 and x00, and return y = (A * x0 - \beta * x00) / || A * x0 + * - \beta * x00 || + */ + Vector acceleratedPowerIteration (const Vector &x1, const Vector &x0, + const double beta) const { + Vector y = this->A_ * x1 - beta * x0; + y.normalize(); + return y; + } + + /** + * Run accelerated power iteration to get ritzVector with beta and previous + * two ritzVector x0 and x00, and return y = (A * x0 - \beta * x00) / || A * x0 + * - \beta * x00 || + */ + Vector acceleratedPowerIteration () const { + Vector y = acceleratedPowerIteration(this->ritzVector_, previousVector_, beta_); + return y; + } + + /** + * Tuning the momentum beta using the Best Heavy Ball algorithm in Ref(3), T + * is the iteration time to find beta with largest Rayleigh quotient + */ + double estimateBeta(const size_t T = 10) const { + // set initial estimation of maxBeta + Vector initVector = this->ritzVector_; + const double up = initVector.dot( this->A_ * initVector ); + const double down = initVector.dot(initVector); + const double mu = up / down; + double maxBeta = mu * mu / 4; + size_t maxIndex; + std::vector betas; + + Matrix R = Matrix::Zero(this->dim_, 10); + // run T times of iteration to find the beta that has the largest Rayleigh quotient + for (size_t t = 0; t < T; t++) { + // after each t iteration, reset the betas with the current maxBeta + betas = {2 / 3 * maxBeta, 0.99 * maxBeta, maxBeta, 1.01 * maxBeta, + 1.5 * maxBeta}; + // iterate through every beta value + for (size_t k = 0; k < betas.size(); ++k) { + // initialize x0 and x00 in each iteration of each beta + Vector x0 = initVector; + Vector x00 = Vector::Zero(this->dim_); + // run 10 steps of accelerated power iteration with this beta + for (size_t j = 1; j < 10; j++) { + if (j < 2) { + R.col(0) = acceleratedPowerIteration(x0, x00, betas[k]); + R.col(1) = acceleratedPowerIteration(R.col(0), x0, betas[k]); + } else { + R.col(j) = acceleratedPowerIteration(R.col(j - 1), R.col(j - 2), + betas[k]); + } + } + // compute the Rayleigh quotient for the randomly sampled vector after + // 10 steps of power accelerated iteration + const Vector x = R.col(9); + const double up = x.dot(this->A_ * x); + const double down = x.dot(x); + const double mu = up / down; + // store the momentum with largest Rayleigh quotient and its according index of beta_ + if (mu * mu / 4 > maxBeta) { + // save the max beta index + maxIndex = k; + maxBeta = mu * mu / 4; + } + } + } + // set beta_ to momentum with largest Rayleigh quotient + return betas[maxIndex]; + } + + /** + * Start the accelerated iteration, after performing the + * accelerated iteration, calculate the ritz error, repeat this + * operation until the ritz error converge. If converged return true, else + * false. + */ + bool compute(size_t maxIterations, double tol) { + // Starting + bool isConverged = false; + + for (size_t i = 0; i < maxIterations && !isConverged; i++) { + ++(this->nrIterations_); + Vector tmp = this->ritzVector_; + // update the ritzVector after accelerated power iteration + this->ritzVector_ = acceleratedPowerIteration(); + // update the previousVector with ritzVector + previousVector_ = tmp; + // update the ritzValue + this->ritzValue_ = this->ritzVector_.dot(this->A_ * this->ritzVector_); + isConverged = this->converged(tol); + } + + return isConverged; + } +}; + +} // namespace gtsam diff --git a/gtsam/linear/GaussianBayesNet.cpp b/gtsam/linear/GaussianBayesNet.cpp index 04094d593..1e790d0f1 100644 --- a/gtsam/linear/GaussianBayesNet.cpp +++ b/gtsam/linear/GaussianBayesNet.cpp @@ -12,15 +12,16 @@ /** * @file GaussianBayesNet.cpp * @brief Chordal Bayes Net, the result of eliminating a factor graph - * @author Frank Dellaert + * @author Frank Dellaert, Varun Agrawal */ +#include +#include #include #include -#include -#include #include +#include using namespace std; using namespace gtsam; @@ -204,5 +205,23 @@ namespace gtsam { } /* ************************************************************************* */ + void GaussianBayesNet::saveGraph(const std::string& s, + const KeyFormatter& keyFormatter) const { + std::ofstream of(s.c_str()); + of << "digraph G{\n"; + + for (auto conditional : boost::adaptors::reverse(*this)) { + typename GaussianConditional::Frontals frontals = conditional->frontals(); + Key me = frontals.front(); + typename GaussianConditional::Parents parents = conditional->parents(); + for (Key p : parents) + of << keyFormatter(p) << "->" << keyFormatter(me) << std::endl; + } + + of << "}"; + of.close(); + } + + /* ************************************************************************* */ } // namespace gtsam diff --git a/gtsam/linear/GaussianBayesNet.h b/gtsam/linear/GaussianBayesNet.h index 3f6d69e91..e55a89bcd 100644 --- a/gtsam/linear/GaussianBayesNet.h +++ b/gtsam/linear/GaussianBayesNet.h @@ -55,6 +55,9 @@ namespace gtsam { template GaussianBayesNet(const FactorGraph& graph) : Base(graph) {} + /// Destructor + virtual ~GaussianBayesNet() {} + /// @} /// @name Testable @@ -177,6 +180,23 @@ namespace gtsam { */ VectorValues backSubstituteTranspose(const VectorValues& gx) const; + /// print graph + void print( + const std::string& s = "", + const KeyFormatter& formatter = DefaultKeyFormatter) const override { + Base::print(s, formatter); + } + + /** + * @brief Save the GaussianBayesNet as an image. Requires `dot` to be + * installed. + * + * @param s The name of the figure. + * @param keyFormatter Formatter to use for styling keys in the graph. + */ + void saveGraph(const std::string& s, const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const; + /// @} private: diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index 9b4c5f940..334722868 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -54,8 +54,11 @@ namespace gtsam { virtual ~GaussianFactor() {} // Implementing Testable interface - virtual void print(const std::string& s = "", - const KeyFormatter& formatter = DefaultKeyFormatter) const = 0; + + /// print + void print( + const std::string& s = "", + const KeyFormatter& formatter = DefaultKeyFormatter) const override = 0; /** Equals for testable */ virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const = 0; diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index 69890c32d..13eaee7e3 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -100,33 +100,35 @@ namespace gtsam { } /* ************************************************************************* */ - vector > GaussianFactorGraph::sparseJacobian() const { + using SparseTriplets = std::vector >; + SparseTriplets GaussianFactorGraph::sparseJacobian(const Ordering& ordering, + size_t& nrows, + size_t& ncols) const { + gttic_(GaussianFactorGraph_sparseJacobian); // First find dimensions of each variable typedef std::map KeySizeMap; KeySizeMap dims; - for (const sharedFactor& factor : *this) { - if (!static_cast(factor)) - continue; + for (const auto& factor : *this) { + if (!static_cast(factor)) continue; - for (GaussianFactor::const_iterator key = factor->begin(); - key != factor->end(); ++key) { - dims[*key] = factor->getDim(key); + for (auto it = factor->begin(); it != factor->end(); ++it) { + dims[*it] = factor->getDim(it); } } // Compute first scalar column of each variable - size_t currentColIndex = 0; + ncols = 0; KeySizeMap columnIndices = dims; - for (const KeySizeMap::value_type& col : dims) { - columnIndices[col.first] = currentColIndex; - currentColIndex += dims[col.first]; + for (const auto key : ordering) { + columnIndices[key] = ncols; + ncols += dims[key]; } // Iterate over all factors, adding sparse scalar entries - typedef boost::tuple triplet; - vector entries; - size_t row = 0; - for (const sharedFactor& factor : *this) { + SparseTriplets entries; + entries.reserve(30 * size()); + nrows = 0; + for (const auto& factor : *this) { if (!static_cast(factor)) continue; // Convert to JacobianFactor if necessary @@ -138,52 +140,60 @@ namespace gtsam { if (hessian) jacobianFactor.reset(new JacobianFactor(*hessian)); else - throw invalid_argument( - "GaussianFactorGraph contains a factor that is neither a JacobianFactor nor a HessianFactor."); + throw std::invalid_argument( + "GaussianFactorGraph contains a factor that is neither a " + "JacobianFactor nor a HessianFactor."); } // Whiten the factor and add entries for it // iterate over all variables in the factor const JacobianFactor whitened(jacobianFactor->whiten()); - for (JacobianFactor::const_iterator key = whitened.begin(); - key < whitened.end(); ++key) { + for (auto key = whitened.begin(); key < whitened.end(); ++key) { JacobianFactor::constABlock whitenedA = whitened.getA(key); // find first column index for this key size_t column_start = columnIndices[*key]; - for (size_t i = 0; i < (size_t) whitenedA.rows(); i++) - for (size_t j = 0; j < (size_t) whitenedA.cols(); j++) { + for (size_t i = 0; i < (size_t)whitenedA.rows(); i++) + for (size_t j = 0; j < (size_t)whitenedA.cols(); j++) { double s = whitenedA(i, j); if (std::abs(s) > 1e-12) - entries.push_back(boost::make_tuple(row + i, column_start + j, s)); + entries.emplace_back(nrows + i, column_start + j, s); } } JacobianFactor::constBVector whitenedb(whitened.getb()); - size_t bcolumn = currentColIndex; - for (size_t i = 0; i < (size_t) whitenedb.size(); i++) - entries.push_back(boost::make_tuple(row + i, bcolumn, whitenedb(i))); + for (size_t i = 0; i < (size_t)whitenedb.size(); i++) { + double s = whitenedb(i); + if (std::abs(s) > 1e-12) entries.emplace_back(nrows + i, ncols, s); + } // Increment row index - row += jacobianFactor->rows(); + nrows += jacobianFactor->rows(); } - return vector(entries.begin(), entries.end()); + + ncols++; // +1 for b-column + return entries; + } + + /* ************************************************************************* */ + SparseTriplets GaussianFactorGraph::sparseJacobian() const { + size_t nrows, ncols; + return sparseJacobian(Ordering(this->keys()), nrows, ncols); } /* ************************************************************************* */ Matrix GaussianFactorGraph::sparseJacobian_() const { - + gttic_(GaussianFactorGraph_sparseJacobian_matrix); // call sparseJacobian - typedef boost::tuple triplet; - vector result = sparseJacobian(); + auto result = sparseJacobian(); // translate to base 1 matrix size_t nzmax = result.size(); - Matrix IJS(3,nzmax); + Matrix IJS(3, nzmax); for (size_t k = 0; k < result.size(); k++) { - const triplet& entry = result[k]; - IJS(0,k) = double(entry.get<0>() + 1); - IJS(1,k) = double(entry.get<1>() + 1); - IJS(2,k) = entry.get<2>(); + const auto& entry = result[k]; + IJS(0, k) = double(std::get<0>(entry) + 1); + IJS(1, k) = double(std::get<1>(entry) + 1); + IJS(2, k) = std::get<2>(entry); } return IJS; } diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 2b9e8e675..e3304d5e8 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -181,15 +181,25 @@ namespace gtsam { ///@{ /** - * Return vector of i, j, and s to generate an m-by-n sparse Jacobian matrix, - * where i(k) and j(k) are the base 0 row and column indices, s(k) a double. + * Returns a sparse augmented Jacbian matrix as a vector of i, j, and s, + * where i(k) and j(k) are the base 0 row and column indices, and s(k) is + * the entry as a double. * The standard deviations are baked into A and b + * @return the sparse matrix as a std::vector of std::tuples + * @param ordering the column ordering + * @param[out] nrows The number of rows in the augmented Jacobian + * @param[out] ncols The number of columns in the augmented Jacobian */ - std::vector > sparseJacobian() const; + std::vector > sparseJacobian( + const Ordering& ordering, size_t& nrows, size_t& ncols) const; + + /** Returns a sparse augmented Jacobian matrix with default ordering */ + std::vector > sparseJacobian() const; /** - * Matrix version of sparseJacobian: generates a 3*m matrix with [i,j,s] entries - * such that S(i(k),j(k)) = s(k), which can be given to MATLAB's sparse. + * Matrix version of sparseJacobian: generates a 3*m matrix with [i,j,s] + * entries such that S(i(k),j(k)) = s(k), which can be given to MATLAB's + * sparse. Note: i, j are 1-indexed. * The standard deviations are baked into A and b */ Matrix sparseJacobian_() const; diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 7bf65353b..8646a9cae 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -32,14 +32,6 @@ #include #include #include -#ifdef __GNUC__ -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wunused-variable" -#endif -#include -#ifdef __GNUC__ -#pragma GCC diagnostic pop -#endif #include #include #include diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index a4de46104..0f4c993fe 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -183,7 +183,7 @@ namespace gtsam { : HessianFactor(factors, Scatter(factors)) {} /** Destructor */ - virtual ~HessianFactor() {} + ~HessianFactor() override {} /** Clone this HessianFactor */ GaussianFactor::shared_ptr clone() const override { diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 2e0ffb034..635476687 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -35,14 +35,6 @@ #include #include #include -#ifdef __GNUC__ -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wunused-variable" -#endif -#include -#ifdef __GNUC__ -#pragma GCC diagnostic pop -#endif #include #include #include diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 49c47c7f0..4d4480d32 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -183,7 +183,7 @@ namespace gtsam { const VariableSlots& p_variableSlots); /** Virtual destructor */ - virtual ~JacobianFactor() {} + ~JacobianFactor() override {} /** Clone this JacobianFactor */ GaussianFactor::shared_ptr clone() const override { diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h index 771992e80..c3d7d64db 100644 --- a/gtsam/linear/LossFunctions.h +++ b/gtsam/linear/LossFunctions.h @@ -25,6 +25,7 @@ #include #include +#include #include #include #include @@ -129,7 +130,7 @@ class GTSAM_EXPORT Null : public Base { typedef boost::shared_ptr shared_ptr; Null(const ReweightScheme reweight = Block) : Base(reweight) {} - ~Null() {} + ~Null() override {} double weight(double /*error*/) const override { return 1.0; } double loss(double distance) const override { return 0.5 * distance * distance; } void print(const std::string &s) const override; @@ -286,7 +287,7 @@ class GTSAM_EXPORT GemanMcClure : public Base { typedef boost::shared_ptr shared_ptr; GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block); - ~GemanMcClure() {} + ~GemanMcClure() override {} double weight(double distance) const override; double loss(double distance) const override; void print(const std::string &s) const override; @@ -316,7 +317,7 @@ class GTSAM_EXPORT DCS : public Base { typedef boost::shared_ptr shared_ptr; DCS(double c = 1.0, const ReweightScheme reweight = Block); - ~DCS() {} + ~DCS() override {} double weight(double distance) const override; double loss(double distance) const override; void print(const std::string &s) const override; diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index a9b46bd16..2fb54d329 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -188,7 +188,7 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; - virtual ~Gaussian() {} + ~Gaussian() override {} /** * A Gaussian noise model created by specifying a square root information matrix. @@ -300,7 +300,7 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; - virtual ~Diagonal() {} + ~Diagonal() override {} /** * A diagonal noise model created by specifying a Vector of sigmas, i.e. @@ -406,7 +406,7 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; - ~Constrained() {} + ~Constrained() override {} /// true if a constrained noise mode, saves slow/clumsy dynamic casting bool isConstrained() const override { return true; } @@ -536,7 +536,7 @@ namespace gtsam { public: - virtual ~Isotropic() {} + ~Isotropic() override {} typedef boost::shared_ptr shared_ptr; @@ -600,7 +600,7 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; - ~Unit() {} + ~Unit() override {} /** * Create a unit covariance noise model @@ -671,7 +671,7 @@ namespace gtsam { : Base(noise->dim()), robust_(robust), noise_(noise) {} /// Destructor - ~Robust() {} + ~Robust() override {} void print(const std::string& name) const override; bool equals(const Base& expected, double tol=1e-9) const override; diff --git a/gtsam/linear/PCGSolver.h b/gtsam/linear/PCGSolver.h index 515f2eed2..198b77ec8 100644 --- a/gtsam/linear/PCGSolver.h +++ b/gtsam/linear/PCGSolver.h @@ -72,7 +72,7 @@ protected: public: /* Interface to initialize a solver without a problem */ PCGSolver(const PCGSolverParameters &p); - virtual ~PCGSolver() { + ~PCGSolver() override { } using IterativeSolver::optimize; diff --git a/gtsam/linear/PowerMethod.h b/gtsam/linear/PowerMethod.h new file mode 100644 index 000000000..8834777cc --- /dev/null +++ b/gtsam/linear/PowerMethod.h @@ -0,0 +1,152 @@ +/* ---------------------------------------------------------------------------- + + * 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 PowerMethod.h + * @date Sept 2020 + * @author Jing Wu + * @brief Power method for fast eigenvalue and eigenvector + * computation + */ + +#pragma once + +#include +#include + +#include +#include +#include +#include + +namespace gtsam { + +using Sparse = Eigen::SparseMatrix; + +/** + * \brief Compute maximum Eigenpair with power method + * + * References : + * 1) G. Golub and C. V. Loan, Matrix Computations, 3rd ed. Baltimore, Johns + * Hopkins University Press, 1996, pp.405-411 + * 2) Rosen, D. and Carlone, L., 2017, September. Computational + * enhancements for certifiably correct SLAM. In Proceedings of the + * International Conference on Intelligent Robots and Systems. + * 3) Yulun Tian and Kasra Khosoussi and David M. Rosen and Jonathan P. How, + * 2020, Aug, Distributed Certifiably Correct Pose-Graph Optimization, Arxiv + * 4) C. de Sa, B. He, I. Mitliagkas, C. Ré, and P. Xu, “Accelerated + * stochastic power iteration,” in Proc. Mach. Learn. Res., no. 84, 2018, pp. + * 58–67 + * + * It performs the following iteration: \f$ x_{k+1} = A * x_k \f$ + * where A is the aim matrix we want to get eigenpair of, x is the + * Ritz vector + * + * Template argument Operator just needs multiplication operator + * + */ +template +class PowerMethod { + protected: + /** + * Const reference to an externally-held matrix whose minimum-eigenvalue we + * want to compute + */ + const Operator &A_; + + const int dim_; // dimension of Matrix A + + size_t nrIterations_; // number of iterations + + double ritzValue_; // Ritz eigenvalue + Vector ritzVector_; // Ritz eigenvector + + public: + /// @name Standard Constructors + /// @{ + + /// Construct from the aim matrix and intial ritz vector + explicit PowerMethod(const Operator &A, + const boost::optional initial = boost::none) + : A_(A), dim_(A.rows()), nrIterations_(0) { + Vector x0; + x0 = initial ? initial.get() : Vector::Random(dim_); + x0.normalize(); + + // initialize Ritz eigen value + ritzValue_ = 0.0; + + // initialize Ritz eigen vector + ritzVector_ = powerIteration(x0); + } + + /** + * Run power iteration to get ritzVector with previous ritzVector x, and + * return A * x / || A * x || + */ + Vector powerIteration(const Vector &x) const { + Vector y = A_ * x; + y.normalize(); + return y; + } + + /** + * Run power iteration to get ritzVector with previous ritzVector x, and + * return A * x / || A * x || + */ + Vector powerIteration() const { return powerIteration(ritzVector_); } + + /** + * After Perform power iteration on a single Ritz value, check if the Ritz + * residual for the current Ritz pair is less than the required convergence + * tol, return true if yes, else false + */ + bool converged(double tol) const { + const Vector x = ritzVector_; + // store the Ritz eigen value + const double ritzValue = x.dot(A_ * x); + const double error = (A_ * x - ritzValue * x).norm(); + return error < tol; + } + + /// Return the number of iterations + size_t nrIterations() const { return nrIterations_; } + + /** + * Start the power/accelerated iteration, after performing the + * power/accelerated iteration, calculate the ritz error, repeat this + * operation until the ritz error converge. If converged return true, else + * false. + */ + bool compute(size_t maxIterations, double tol) { + // Starting + bool isConverged = false; + + for (size_t i = 0; i < maxIterations && !isConverged; i++) { + ++nrIterations_; + // update the ritzVector after power iteration + ritzVector_ = powerIteration(); + // update the ritzValue + ritzValue_ = ritzVector_.dot(A_ * ritzVector_); + isConverged = converged(tol); + } + + return isConverged; + } + + /// Return the eigenvalue + double eigenvalue() const { return ritzValue_; } + + /// Return the eigenvector + Vector eigenvector() const { return ritzVector_; } +}; + +} // namespace gtsam diff --git a/gtsam/linear/Preconditioner.h b/gtsam/linear/Preconditioner.h index eceb19982..1a5a08090 100644 --- a/gtsam/linear/Preconditioner.h +++ b/gtsam/linear/Preconditioner.h @@ -44,9 +44,9 @@ struct GTSAM_EXPORT PreconditionerParameters { inline Kernel kernel() const { return kernel_; } inline Verbosity verbosity() const { return verbosity_; } - void print() const ; + void print() const; - virtual void print(std::ostream &os) const ; + virtual void print(std::ostream &os) const; static Kernel kernelTranslator(const std::string &s); static Verbosity verbosityTranslator(const std::string &s); @@ -96,7 +96,7 @@ struct GTSAM_EXPORT DummyPreconditionerParameters : public PreconditionerParamet typedef PreconditionerParameters Base; typedef boost::shared_ptr shared_ptr; DummyPreconditionerParameters() : Base() {} - virtual ~DummyPreconditionerParameters() {} + ~DummyPreconditionerParameters() override {} }; /*******************************************************************************************/ @@ -108,7 +108,7 @@ public: public: DummyPreconditioner() : Base() {} - virtual ~DummyPreconditioner() {} + ~DummyPreconditioner() override {} /* Computation Interfaces for raw vector */ void solve(const Vector& y, Vector &x) const override { x = y; } @@ -124,7 +124,7 @@ public: struct GTSAM_EXPORT BlockJacobiPreconditionerParameters : public PreconditionerParameters { typedef PreconditionerParameters Base; BlockJacobiPreconditionerParameters() : Base() {} - virtual ~BlockJacobiPreconditionerParameters() {} + ~BlockJacobiPreconditionerParameters() override {} }; /*******************************************************************************************/ @@ -132,7 +132,7 @@ class GTSAM_EXPORT BlockJacobiPreconditioner : public Preconditioner { public: typedef Preconditioner Base; BlockJacobiPreconditioner() ; - virtual ~BlockJacobiPreconditioner() ; + ~BlockJacobiPreconditioner() override ; /* Computation Interfaces for raw vector */ void solve(const Vector& y, Vector &x) const override; diff --git a/gtsam/linear/SparseEigen.h b/gtsam/linear/SparseEigen.h new file mode 100644 index 000000000..483ae7f8d --- /dev/null +++ b/gtsam/linear/SparseEigen.h @@ -0,0 +1,63 @@ +/* ---------------------------------------------------------------------------- + + * 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 SparseEigen.h + * + * @brief Utilities for creating Eigen sparse matrices (gtsam::SparseEigen) + * + * @date Aug 2019 + * @author Mandy Xie + * @author Fan Jiang + * @author Gerry Chen + * @author Frank Dellaert + */ + +#pragma once + +#include +#include + +#include + +namespace gtsam { + +/// Eigen-format sparse matrix. Note: ColMajor is ~20% faster since +/// InnerIndices must be sorted +typedef Eigen::SparseMatrix SparseEigen; + +/// Constructs an Eigen-format SparseMatrix of a GaussianFactorGraph +SparseEigen sparseJacobianEigen( + const GaussianFactorGraph &gfg, const Ordering &ordering) { + gttic_(SparseEigen_sparseJacobianEigen); + // intermediate `entries` vector is kind of unavoidable due to how expensive + // factor->rows() is, which prevents us from populating SparseEigen directly. + size_t nrows, ncols; + auto entries = gfg.sparseJacobian(ordering, nrows, ncols); + // declare sparse matrix + SparseEigen Ab(nrows, ncols); + // See Eigen::set_from_triplets. This is about 5% faster. + // pass 1: count the nnz per inner-vector + std::vector nnz(ncols, 0); + for (const auto &entry : entries) nnz[std::get<1>(entry)]++; + Ab.reserve(nnz); + // pass 2: insert the elements + for (const auto &entry : entries) + Ab.insert(std::get<0>(entry), std::get<1>(entry)) = std::get<2>(entry); + return Ab; +} + +SparseEigen sparseJacobianEigen(const GaussianFactorGraph &gfg) { + gttic_(SparseEigen_sparseJacobianEigen_defaultOrdering); + return sparseJacobianEigen(gfg, Ordering(gfg.keys())); +} + +} // namespace gtsam diff --git a/gtsam/linear/SubgraphBuilder.cpp b/gtsam/linear/SubgraphBuilder.cpp index c6b3ca15f..1919d38be 100644 --- a/gtsam/linear/SubgraphBuilder.cpp +++ b/gtsam/linear/SubgraphBuilder.cpp @@ -383,7 +383,7 @@ Subgraph SubgraphBuilder::operator()(const GaussianFactorGraph &gfg) const { const vector tree = buildTree(gfg, forward_ordering, weights); if (tree.size() != n - 1) { throw std::runtime_error( - "SubgraphBuilder::operator() failure: tree.size() != n-1"); + "SubgraphBuilder::operator() failure: tree.size() != n-1, might be caused by disconnected graph"); } // Downweight the tree edges to zero. diff --git a/gtsam/linear/SubgraphBuilder.h b/gtsam/linear/SubgraphBuilder.h index 5247ea2a2..84a477a5e 100644 --- a/gtsam/linear/SubgraphBuilder.h +++ b/gtsam/linear/SubgraphBuilder.h @@ -21,6 +21,7 @@ #include #include +#include #include #include diff --git a/gtsam/linear/SubgraphPreconditioner.h b/gtsam/linear/SubgraphPreconditioner.h index 8906337a9..681c12e40 100644 --- a/gtsam/linear/SubgraphPreconditioner.h +++ b/gtsam/linear/SubgraphPreconditioner.h @@ -80,7 +80,7 @@ namespace gtsam { SubgraphPreconditioner(const sharedFG& Ab2, const sharedBayesNet& Rc1, const sharedValues& xbar, const SubgraphPreconditionerParameters &p = SubgraphPreconditionerParameters()); - virtual ~SubgraphPreconditioner() {} + ~SubgraphPreconditioner() override {} /** print the object */ void print(const std::string& s = "SubgraphPreconditioner") const; diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h index 3c5f79cfc..a41738321 100644 --- a/gtsam/linear/SubgraphSolver.h +++ b/gtsam/linear/SubgraphSolver.h @@ -111,7 +111,7 @@ class GTSAM_EXPORT SubgraphSolver : public IterativeSolver { const Parameters ¶meters); /// Destructor - virtual ~SubgraphSolver() {} + ~SubgraphSolver() override {} /// @} /// @name Implement interface diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp index 9b5868744..6a2514b35 100644 --- a/gtsam/linear/VectorValues.cpp +++ b/gtsam/linear/VectorValues.cpp @@ -18,7 +18,7 @@ #include -#include +#include #include #include #include @@ -38,7 +38,8 @@ namespace gtsam { { // Merge using predicate for comparing first of pair merge(first.begin(), first.end(), second.begin(), second.end(), inserter(values_, values_.end()), - boost::bind(&less::operator(), less(), boost::bind(&KeyValuePair::first, _1), boost::bind(&KeyValuePair::first, _2))); + std::bind(&less::operator(), less(), std::bind(&KeyValuePair::first, std::placeholders::_1), + std::bind(&KeyValuePair::first, std::placeholders::_2))); if(size() != first.size() + second.size()) throw invalid_argument("Requested to merge two VectorValues that have one or more variables in common."); } @@ -161,7 +162,7 @@ namespace gtsam { bool VectorValues::equals(const VectorValues& x, double tol) const { if(this->size() != x.size()) return false; - for(const auto& values: boost::combine(*this, x)) { + for(const auto values: boost::combine(*this, x)) { if(values.get<0>().first != values.get<1>().first || !equal_with_abs_tol(values.get<0>().second, values.get<1>().second, tol)) return false; @@ -233,7 +234,7 @@ namespace gtsam { double result = 0.0; typedef boost::tuple ValuePair; using boost::adaptors::map_values; - for(const ValuePair& values: boost::combine(*this, v)) { + for(const ValuePair values: boost::combine(*this, v)) { assert_throw(values.get<0>().first == values.get<1>().first, invalid_argument("VectorValues::dot called with a VectorValues of different structure")); assert_throw(values.get<0>().second.size() == values.get<1>().second.size(), diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i new file mode 100644 index 000000000..63047bf4f --- /dev/null +++ b/gtsam/linear/linear.i @@ -0,0 +1,653 @@ +//************************************************************************* +// linear +//************************************************************************* +namespace gtsam { + +namespace noiseModel { +#include +virtual class Base { + void print(string s = "") const; + // Methods below are available for all noise models. However, can't add them + // because wrap (incorrectly) thinks robust classes derive from this Base as well. + // bool isConstrained() const; + // bool isUnit() const; + // size_t dim() const; + // Vector sigmas() const; +}; + +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); + + bool equals(gtsam::noiseModel::Base& expected, double tol); + + // access to noise model + Matrix R() const; + Matrix information() const; + Matrix covariance() const; + + // Whitening operations + Vector whiten(Vector v) const; + Vector unwhiten(Vector v) const; + Matrix Whiten(Matrix H) const; + + // enabling serialization functionality + void serializable() const; +}; + +virtual class Diagonal : gtsam::noiseModel::Gaussian { + static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas); + static gtsam::noiseModel::Diagonal* Variances(Vector variances); + static gtsam::noiseModel::Diagonal* Precisions(Vector precisions); + Matrix R() const; + + // access to noise model + Vector sigmas() const; + Vector invsigmas() const; + Vector precisions() const; + + // enabling serialization functionality + void serializable() const; +}; + +virtual class Constrained : gtsam::noiseModel::Diagonal { + static gtsam::noiseModel::Constrained* MixedSigmas(Vector mu, Vector sigmas); + static gtsam::noiseModel::Constrained* MixedSigmas(double m, Vector sigmas); + static gtsam::noiseModel::Constrained* MixedVariances(Vector mu, Vector variances); + static gtsam::noiseModel::Constrained* MixedVariances(Vector variances); + static gtsam::noiseModel::Constrained* MixedPrecisions(Vector mu, Vector precisions); + static gtsam::noiseModel::Constrained* MixedPrecisions(Vector precisions); + + static gtsam::noiseModel::Constrained* All(size_t dim); + static gtsam::noiseModel::Constrained* All(size_t dim, double mu); + + gtsam::noiseModel::Constrained* unit() const; + + // enabling serialization functionality + void serializable() const; +}; + +virtual class Isotropic : gtsam::noiseModel::Diagonal { + static gtsam::noiseModel::Isotropic* Sigma(size_t dim, double sigma); + static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace); + static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision); + + // access to noise model + double sigma() const; + + // enabling serialization functionality + void serializable() const; +}; + +virtual class Unit : gtsam::noiseModel::Isotropic { + static gtsam::noiseModel::Unit* Create(size_t dim); + + // enabling serialization functionality + void serializable() const; +}; + +namespace mEstimator { +virtual class Base { + void print(string s = "") const; +}; + +virtual class Null: gtsam::noiseModel::mEstimator::Base { + Null(); + static gtsam::noiseModel::mEstimator::Null* Create(); + + // enabling serialization functionality + void serializable() const; + + double weight(double error) const; + double loss(double error) const; +}; + +virtual class Fair: gtsam::noiseModel::mEstimator::Base { + Fair(double c); + static gtsam::noiseModel::mEstimator::Fair* Create(double c); + + // enabling serialization functionality + void serializable() const; + + double weight(double error) const; + double loss(double error) const; +}; + +virtual class Huber: gtsam::noiseModel::mEstimator::Base { + Huber(double k); + static gtsam::noiseModel::mEstimator::Huber* Create(double k); + + // enabling serialization functionality + void serializable() const; + + double weight(double error) const; + double loss(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; + double loss(double error) const; +}; + +virtual class Tukey: gtsam::noiseModel::mEstimator::Base { + Tukey(double k); + static gtsam::noiseModel::mEstimator::Tukey* Create(double k); + + // enabling serialization functionality + void serializable() const; + + double weight(double error) const; + double loss(double error) const; +}; + +virtual class Welsch: gtsam::noiseModel::mEstimator::Base { + Welsch(double k); + static gtsam::noiseModel::mEstimator::Welsch* Create(double k); + + // enabling serialization functionality + void serializable() const; + + double weight(double error) const; + double loss(double error) const; +}; + +virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { + GemanMcClure(double c); + static gtsam::noiseModel::mEstimator::GemanMcClure* Create(double c); + + // enabling serialization functionality + void serializable() const; + + double weight(double error) const; + double loss(double error) const; +}; + +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 loss(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 loss(double error) const; +}; + +}///\namespace mEstimator + +virtual class Robust : gtsam::noiseModel::Base { + Robust(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise); + static gtsam::noiseModel::Robust* Create(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise); + + // enabling serialization functionality + void serializable() const; +}; + +}///\namespace noiseModel + +#include +class Sampler { + // Constructors + Sampler(gtsam::noiseModel::Diagonal* model, int seed); + Sampler(Vector sigmas, int seed); + + // Standard Interface + size_t dim() const; + Vector sigmas() const; + gtsam::noiseModel::Diagonal* model() const; + Vector sample(); +}; + +#include +class VectorValues { + //Constructors + VectorValues(); + VectorValues(const gtsam::VectorValues& other); + + //Named Constructors + static gtsam::VectorValues Zero(const gtsam::VectorValues& model); + + //Standard Interface + size_t size() const; + size_t dim(size_t j) const; + bool exists(size_t j) const; + void print(string s = "VectorValues", + const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::VectorValues& expected, double tol) const; + void insert(size_t j, Vector value); + Vector vector() const; + Vector at(size_t j) const; + void update(const gtsam::VectorValues& values); + + //Advanced Interface + void setZero(); + + gtsam::VectorValues add(const gtsam::VectorValues& c) const; + void addInPlace(const gtsam::VectorValues& c); + gtsam::VectorValues subtract(const gtsam::VectorValues& c) const; + gtsam::VectorValues scale(double a) const; + void scaleInPlace(double a); + + bool hasSameStructure(const gtsam::VectorValues& other) const; + double dot(const gtsam::VectorValues& V) const; + double norm() const; + double squaredNorm() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +virtual class GaussianFactor { + gtsam::KeyVector keys() const; + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::GaussianFactor& lf, double tol) const; + double error(const gtsam::VectorValues& c) const; + gtsam::GaussianFactor* clone() const; + gtsam::GaussianFactor* negate() const; + Matrix augmentedInformation() const; + Matrix information() const; + Matrix augmentedJacobian() const; + pair jacobian() const; + size_t size() const; + bool empty() const; +}; + +#include +virtual class JacobianFactor : gtsam::GaussianFactor { + //Constructors + JacobianFactor(); + JacobianFactor(const gtsam::GaussianFactor& factor); + JacobianFactor(Vector b_in); + JacobianFactor(size_t i1, Matrix A1, Vector b, + const gtsam::noiseModel::Diagonal* model); + JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b, + const gtsam::noiseModel::Diagonal* model); + JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3, + Vector b, const gtsam::noiseModel::Diagonal* model); + JacobianFactor(const gtsam::GaussianFactorGraph& graph); + + //Testable + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + void printKeys(string s) const; + bool equals(const gtsam::GaussianFactor& lf, double tol) const; + size_t size() const; + Vector unweighted_error(const gtsam::VectorValues& c) const; + Vector error_vector(const gtsam::VectorValues& c) const; + double error(const gtsam::VectorValues& c) const; + + //Standard Interface + Matrix getA() const; + Vector getb() const; + size_t rows() const; + size_t cols() const; + bool isConstrained() const; + pair jacobianUnweighted() const; + Matrix augmentedJacobianUnweighted() const; + + void transposeMultiplyAdd(double alpha, Vector e, gtsam::VectorValues& x) const; + gtsam::JacobianFactor whiten() const; + + pair eliminate(const gtsam::Ordering& keys) const; + + void setModel(bool anyConstrained, Vector sigmas); + + gtsam::noiseModel::Diagonal* get_model() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +virtual class HessianFactor : gtsam::GaussianFactor { + //Constructors + HessianFactor(); + HessianFactor(const gtsam::GaussianFactor& factor); + HessianFactor(size_t j, Matrix G, Vector g, double f); + HessianFactor(size_t j, Vector mu, Matrix Sigma); + HessianFactor(size_t j1, size_t j2, Matrix G11, Matrix G12, Vector g1, Matrix G22, + Vector g2, double f); + HessianFactor(size_t j1, size_t j2, size_t j3, Matrix G11, Matrix G12, Matrix G13, + Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3, + double f); + HessianFactor(const gtsam::GaussianFactorGraph& factors); + + //Testable + size_t size() const; + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + void printKeys(string s) const; + bool equals(const gtsam::GaussianFactor& lf, double tol) const; + double error(const gtsam::VectorValues& c) const; + + //Standard Interface + size_t rows() const; + Matrix information() const; + double constantTerm() const; + Vector linearTerm() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +class GaussianFactorGraph { + GaussianFactorGraph(); + GaussianFactorGraph(const gtsam::GaussianBayesNet& bayesNet); + GaussianFactorGraph(const gtsam::GaussianBayesTree& bayesTree); + + // From FactorGraph + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::GaussianFactorGraph& lfgraph, double tol) const; + size_t size() const; + gtsam::GaussianFactor* at(size_t idx) const; + gtsam::KeySet keys() const; + gtsam::KeyVector keyVector() const; + bool exists(size_t idx) const; + + // Building the graph + void push_back(const gtsam::GaussianFactor* factor); + void push_back(const gtsam::GaussianConditional* conditional); + void push_back(const gtsam::GaussianFactorGraph& graph); + void push_back(const gtsam::GaussianBayesNet& bayesNet); + void push_back(const gtsam::GaussianBayesTree& bayesTree); + void add(const gtsam::GaussianFactor& factor); + void add(Vector b); + void add(size_t key1, Matrix A1, Vector b, const gtsam::noiseModel::Diagonal* model); + void add(size_t key1, Matrix A1, size_t key2, Matrix A2, Vector b, + const gtsam::noiseModel::Diagonal* model); + void add(size_t key1, Matrix A1, size_t key2, Matrix A2, size_t key3, Matrix A3, + Vector b, const gtsam::noiseModel::Diagonal* model); + + // error and probability + double error(const gtsam::VectorValues& c) const; + double probPrime(const gtsam::VectorValues& c) const; + + gtsam::GaussianFactorGraph clone() const; + gtsam::GaussianFactorGraph negate() const; + + // Optimizing and linear algebra + gtsam::VectorValues optimize() const; + gtsam::VectorValues optimize(const gtsam::Ordering& ordering) const; + gtsam::VectorValues optimizeGradientSearch() const; + gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const; + gtsam::VectorValues gradientAtZero() const; + + // Elimination and marginals + gtsam::GaussianBayesNet* eliminateSequential(); + gtsam::GaussianBayesNet* eliminateSequential(const gtsam::Ordering& ordering); + gtsam::GaussianBayesTree* eliminateMultifrontal(); + gtsam::GaussianBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering); + pair eliminatePartialSequential( + const gtsam::Ordering& ordering); + pair eliminatePartialSequential( + const gtsam::KeyVector& keys); + pair eliminatePartialMultifrontal( + const gtsam::Ordering& ordering); + pair eliminatePartialMultifrontal( + const gtsam::KeyVector& keys); + gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering); + gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector); + gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering, + const gtsam::Ordering& marginalizedVariableOrdering); + gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector, + const gtsam::Ordering& marginalizedVariableOrdering); + gtsam::GaussianFactorGraph* marginal(const gtsam::KeyVector& key_vector); + + // Conversion to matrices + Matrix sparseJacobian_() const; + Matrix augmentedJacobian() const; + Matrix augmentedJacobian(const gtsam::Ordering& ordering) const; + pair jacobian() const; + pair jacobian(const gtsam::Ordering& ordering) const; + Matrix augmentedHessian() const; + Matrix augmentedHessian(const gtsam::Ordering& ordering) const; + pair hessian() const; + pair hessian(const gtsam::Ordering& ordering) const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +virtual class GaussianConditional : gtsam::JacobianFactor { + //Constructors + GaussianConditional(size_t key, Vector d, Matrix R, const gtsam::noiseModel::Diagonal* sigmas); + GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, + const gtsam::noiseModel::Diagonal* sigmas); + GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, + size_t name2, Matrix T, const gtsam::noiseModel::Diagonal* sigmas); + + //Constructors with no noise model + GaussianConditional(size_t key, Vector d, Matrix R); + GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S); + GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, + size_t name2, Matrix T); + + //Standard Interface + void print(string s = "GaussianConditional", + const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::GaussianConditional& cg, double tol) const; + + // Advanced Interface + gtsam::VectorValues solve(const gtsam::VectorValues& parents) const; + 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; +}; + +#include +virtual class GaussianDensity : gtsam::GaussianConditional { + //Constructors + GaussianDensity(size_t key, Vector d, Matrix R, const gtsam::noiseModel::Diagonal* sigmas); + + //Standard Interface + void print(string s = "GaussianDensity", + const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::GaussianDensity &cg, double tol) const; + Vector mean() const; + Matrix covariance() const; +}; + +#include +virtual class GaussianBayesNet { + //Constructors + GaussianBayesNet(); + GaussianBayesNet(const gtsam::GaussianConditional* conditional); + + // Testable + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::GaussianBayesNet& other, double tol) const; + size_t size() const; + + // FactorGraph derived interface + // size_t size() const; + gtsam::GaussianConditional* at(size_t idx) const; + gtsam::KeySet keys() const; + bool exists(size_t idx) const; + + void saveGraph(const string& s) const; + + gtsam::GaussianConditional* front() const; + gtsam::GaussianConditional* back() const; + void push_back(gtsam::GaussianConditional* conditional); + void push_back(const gtsam::GaussianBayesNet& bayesNet); + + gtsam::VectorValues optimize() const; + gtsam::VectorValues optimize(gtsam::VectorValues& solutionForMissing) const; + gtsam::VectorValues optimizeGradientSearch() const; + gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const; + gtsam::VectorValues gradientAtZero() const; + double error(const gtsam::VectorValues& x) const; + double determinant() const; + double logDeterminant() const; + gtsam::VectorValues backSubstitute(const gtsam::VectorValues& gx) const; + gtsam::VectorValues backSubstituteTranspose(const gtsam::VectorValues& gx) const; +}; + +#include +virtual class GaussianBayesTree { + // Standard Constructors and Named Constructors + GaussianBayesTree(); + GaussianBayesTree(const gtsam::GaussianBayesTree& other); + bool equals(const gtsam::GaussianBayesTree& other, double tol) const; + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter); + size_t size() const; + bool empty() const; + size_t numCachedSeparatorMarginals() const; + void saveGraph(string s) const; + + gtsam::VectorValues optimize() const; + gtsam::VectorValues optimizeGradientSearch() const; + gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const; + gtsam::VectorValues gradientAtZero() const; + double error(const gtsam::VectorValues& x) const; + double determinant() const; + double logDeterminant() const; + Matrix marginalCovariance(size_t key) const; + gtsam::GaussianConditional* marginalFactor(size_t key) const; + gtsam::GaussianFactorGraph* joint(size_t key1, size_t key2) const; + gtsam::GaussianBayesNet* jointBayesNet(size_t key1, size_t key2) const; +}; + +#include +class Errors { + //Constructors + Errors(); + Errors(const gtsam::VectorValues& V); + + //Testable + void print(string s = "Errors"); + bool equals(const gtsam::Errors& expected, double tol) const; +}; + +#include +class GaussianISAM { + //Constructor + GaussianISAM(); + + //Standard Interface + void update(const gtsam::GaussianFactorGraph& newFactors); + void saveGraph(string s) const; + void clear(); +}; + +#include +virtual class IterativeOptimizationParameters { + string getVerbosity() const; + void setVerbosity(string s) ; +}; + +//virtual class IterativeSolver { +// IterativeSolver(); +// gtsam::VectorValues optimize (); +//}; + +#include +virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParameters { + ConjugateGradientParameters(); + int getMinIterations() const ; + int getMaxIterations() const ; + int getReset() const; + double getEpsilon_rel() const; + double getEpsilon_abs() const; + + void setMinIterations(int value); + void setMaxIterations(int value); + void setReset(int value); + void setEpsilon_rel(double value); + void setEpsilon_abs(double value); +}; + +#include +virtual class PreconditionerParameters { + PreconditionerParameters(); +}; + +virtual class DummyPreconditionerParameters : gtsam::PreconditionerParameters { + DummyPreconditionerParameters(); +}; + +#include +virtual class PCGSolverParameters : gtsam::ConjugateGradientParameters { + PCGSolverParameters(); + void print(string s = ""); + void setPreconditionerParams(gtsam::PreconditionerParameters* preconditioner); +}; + +#include +virtual class SubgraphSolverParameters : gtsam::ConjugateGradientParameters { + SubgraphSolverParameters(); +}; + +virtual class SubgraphSolver { + SubgraphSolver(const gtsam::GaussianFactorGraph &A, const gtsam::SubgraphSolverParameters ¶meters, const gtsam::Ordering& ordering); + SubgraphSolver(const gtsam::GaussianFactorGraph &Ab1, const gtsam::GaussianFactorGraph* Ab2, const gtsam::SubgraphSolverParameters ¶meters, const gtsam::Ordering& ordering); + gtsam::VectorValues optimize() const; +}; + +#include +class KalmanFilter { + KalmanFilter(size_t n); + // gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0); + gtsam::GaussianDensity* init(Vector x0, Matrix P0); + void print(string s = "") const; + static size_t step(gtsam::GaussianDensity* p); + gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F, + Matrix B, Vector u, const gtsam::noiseModel::Diagonal* modelQ); + gtsam::GaussianDensity* predictQ(gtsam::GaussianDensity* p, Matrix F, + Matrix B, Vector u, Matrix Q); + gtsam::GaussianDensity* predict2(gtsam::GaussianDensity* p, Matrix A0, + Matrix A1, Vector b, const gtsam::noiseModel::Diagonal* model); + gtsam::GaussianDensity* update(gtsam::GaussianDensity* p, Matrix H, + Vector z, const gtsam::noiseModel::Diagonal* model); + gtsam::GaussianDensity* updateQ(gtsam::GaussianDensity* p, Matrix H, + Vector z, Matrix Q); +}; + +} \ No newline at end of file diff --git a/gtsam/linear/linearExceptions.h b/gtsam/linear/linearExceptions.h index f0ad0be39..72981613e 100644 --- a/gtsam/linear/linearExceptions.h +++ b/gtsam/linear/linearExceptions.h @@ -95,7 +95,7 @@ namespace gtsam { Key j_; public: IndeterminantLinearSystemException(Key j) noexcept : j_(j) {} - virtual ~IndeterminantLinearSystemException() noexcept {} + ~IndeterminantLinearSystemException() noexcept override {} Key nearbyVariable() const { return j_; } const char* what() const noexcept override; }; @@ -110,7 +110,7 @@ namespace gtsam { InvalidNoiseModel(DenseIndex factorDims, DenseIndex noiseModelDims) : factorDims(factorDims), noiseModelDims(noiseModelDims) {} - virtual ~InvalidNoiseModel() noexcept {} + ~InvalidNoiseModel() noexcept override {} const char* what() const noexcept override; @@ -128,7 +128,7 @@ namespace gtsam { InvalidMatrixBlock(DenseIndex factorRows, DenseIndex blockRows) : factorRows(factorRows), blockRows(blockRows) {} - virtual ~InvalidMatrixBlock() noexcept {} + ~InvalidMatrixBlock() noexcept override {} const char* what() const noexcept override; diff --git a/gtsam/linear/tests/powerMethodExample.h b/gtsam/linear/tests/powerMethodExample.h new file mode 100644 index 000000000..f80299386 --- /dev/null +++ b/gtsam/linear/tests/powerMethodExample.h @@ -0,0 +1,67 @@ +/* ---------------------------------------------------------------------------- + + * 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 + + * -------------------------------------------------------------------------- */ + +/** + * powerMethodExample.h + * + * @file powerMethodExample.h + * @date Nov 2020 + * @author Jing Wu + * @brief Create sparse and dense factor graph for + * PowerMethod/AcceleratedPowerMethod + */ + +#include + +#include + + +namespace gtsam { +namespace linear { +namespace test { +namespace example { + +/* ************************************************************************* */ +inline GaussianFactorGraph createSparseGraph() { + using symbol_shorthand::X; + // Let's make a scalar synchronization graph with 4 nodes + GaussianFactorGraph fg; + auto model = noiseModel::Unit::Create(1); + for (size_t j = 0; j < 3; j++) { + fg.add(X(j), -I_1x1, X(j + 1), I_1x1, Vector1::Zero(), model); + } + fg.add(X(3), -I_1x1, X(0), I_1x1, Vector1::Zero(), model); // extra row + + return fg; +} + +/* ************************************************************************* */ +inline GaussianFactorGraph createDenseGraph() { + using symbol_shorthand::X; + // Let's make a scalar synchronization graph with 10 nodes + GaussianFactorGraph fg; + auto model = noiseModel::Unit::Create(1); + // Iterate over nodes + for (size_t j = 0; j < 10; j++) { + // Each node has an edge with all the others + for (size_t i = 1; i < 10; i++) + fg.add(X(j), -I_1x1, X((j + i) % 10), I_1x1, Vector1::Zero(), model); + } + + return fg; +} + +/* ************************************************************************* */ + +} // namespace example +} // namespace test +} // namespace linear +} // namespace gtsam diff --git a/gtsam/linear/tests/testAcceleratedPowerMethod.cpp b/gtsam/linear/tests/testAcceleratedPowerMethod.cpp new file mode 100644 index 000000000..7c4a90936 --- /dev/null +++ b/gtsam/linear/tests/testAcceleratedPowerMethod.cpp @@ -0,0 +1,140 @@ +/* ---------------------------------------------------------------------------- + + * 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 + + * -------------------------------------------------------------------------- */ + +/** + * testPowerMethod.cpp + * + * @file testAcceleratedPowerMethod.cpp + * @date Sept 2020 + * @author Jing Wu + * @brief Check eigenvalue and eigenvector computed by accelerated power method + */ + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +TEST(AcceleratedPowerMethod, acceleratedPowerIteration) { + // test power iteration, beta is set to 0 + Sparse A(6, 6); + A.coeffRef(0, 0) = 6; + A.coeffRef(1, 1) = 5; + A.coeffRef(2, 2) = 4; + A.coeffRef(3, 3) = 3; + A.coeffRef(4, 4) = 2; + A.coeffRef(5, 5) = 1; + Vector initial = (Vector(6) << 0.24434602, 0.22829942, 0.70094486, 0.15463092, 0.55871359, + 0.2465342).finished(); + const double ev1 = 6.0; + + // test accelerated power iteration + AcceleratedPowerMethod apf(A, initial); + apf.compute(100, 1e-5); + EXPECT_LONGS_EQUAL(6, apf.eigenvector().rows()); + + Vector6 actual1 = apf.eigenvector(); + const double ritzValue = actual1.dot(A * actual1); + const double ritzResidual = (A * actual1 - ritzValue * actual1).norm(); + EXPECT_DOUBLES_EQUAL(0, ritzResidual, 1e-5); + + EXPECT_DOUBLES_EQUAL(ev1, apf.eigenvalue(), 1e-5); +} + +/* ************************************************************************* */ +TEST(AcceleratedPowerMethod, useFactorGraphSparse) { + // Let's make a scalar synchronization graph with 4 nodes + GaussianFactorGraph fg = gtsam::linear::test::example::createSparseGraph(); + + // Get eigenvalues and eigenvectors with Eigen + auto L = fg.hessian(); + Eigen::EigenSolver solver(L.first); + + // find the index of the max eigenvalue + size_t maxIdx = 0; + for (auto i = 0; i < solver.eigenvalues().rows(); ++i) { + if (solver.eigenvalues()(i).real() >= solver.eigenvalues()(maxIdx).real()) + maxIdx = i; + } + // Store the max eigenvalue and its according eigenvector + const auto ev1 = solver.eigenvalues()(maxIdx).real(); + + Vector disturb = Vector4::Random(); + disturb.normalize(); + Vector initial = L.first.row(0); + double magnitude = initial.norm(); + initial += 0.03 * magnitude * disturb; + AcceleratedPowerMethod apf(L.first, initial); + apf.compute(100, 1e-5); + // Check if the eigenvalue is the maximum eigen value + EXPECT_DOUBLES_EQUAL(ev1, apf.eigenvalue(), 1e-8); + + // Check if the according ritz residual converged to the threshold + Vector actual1 = apf.eigenvector(); + const double ritzValue = actual1.dot(L.first * actual1); + const double ritzResidual = (L.first * actual1 - ritzValue * actual1).norm(); + EXPECT_DOUBLES_EQUAL(0, ritzResidual, 1e-5); +} + +/* ************************************************************************* */ +TEST(AcceleratedPowerMethod, useFactorGraphDense) { + // Let's make a scalar synchronization graph with 10 nodes + GaussianFactorGraph fg = gtsam::linear::test::example::createDenseGraph(); + + // Get eigenvalues and eigenvectors with Eigen + auto L = fg.hessian(); + Eigen::EigenSolver solver(L.first); + + // find the index of the max eigenvalue + size_t maxIdx = 0; + for (auto i = 0; i < solver.eigenvalues().rows(); ++i) { + if (solver.eigenvalues()(i).real() >= solver.eigenvalues()(maxIdx).real()) + maxIdx = i; + } + // Store the max eigenvalue and its according eigenvector + const auto ev1 = solver.eigenvalues()(maxIdx).real(); + + Vector disturb = Vector10::Random(); + disturb.normalize(); + Vector initial = L.first.row(0); + double magnitude = initial.norm(); + initial += 0.03 * magnitude * disturb; + AcceleratedPowerMethod apf(L.first, initial); + apf.compute(100, 1e-5); + // Check if the eigenvalue is the maximum eigen value + EXPECT_DOUBLES_EQUAL(ev1, apf.eigenvalue(), 1e-8); + + // Check if the according ritz residual converged to the threshold + Vector actual1 = apf.eigenvector(); + const double ritzValue = actual1.dot(L.first * actual1); + const double ritzResidual = (L.first * actual1 - ritzValue * actual1).norm(); + EXPECT_DOUBLES_EQUAL(0, ritzResidual, 1e-5); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ diff --git a/gtsam/linear/tests/testGaussianBayesNet.cpp b/gtsam/linear/tests/testGaussianBayesNet.cpp index eafefb3cb..00a338e54 100644 --- a/gtsam/linear/tests/testGaussianBayesNet.cpp +++ b/gtsam/linear/tests/testGaussianBayesNet.cpp @@ -25,12 +25,14 @@ #include #include #include // for operator += -using namespace boost::assign; +#include // STL/C++ #include #include +using namespace boost::assign; +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -268,11 +270,11 @@ TEST(GaussianBayesNet, ComputeSteepestDescentPoint) { // Compute the Hessian numerically Matrix hessian = numericalHessian( - boost::bind(&computeError, gbn, _1), Vector10::Zero()); + std::bind(&computeError, gbn, std::placeholders::_1), Vector10::Zero()); // Compute the gradient numerically Vector gradient = numericalGradient( - boost::bind(&computeError, gbn, _1), Vector10::Zero()); + std::bind(&computeError, gbn, std::placeholders::_1), Vector10::Zero()); // Compute the gradient using dense matrices Matrix augmentedHessian = GaussianFactorGraph(gbn).augmentedHessian(); diff --git a/gtsam/linear/tests/testGaussianBayesTree.cpp b/gtsam/linear/tests/testGaussianBayesTree.cpp index 17dc6a425..c5601af27 100644 --- a/gtsam/linear/tests/testGaussianBayesTree.cpp +++ b/gtsam/linear/tests/testGaussianBayesTree.cpp @@ -21,7 +21,6 @@ #include #include // for operator += #include // for operator += -using namespace boost::assign; #include #include @@ -29,6 +28,8 @@ using namespace boost::assign; #include #include +using namespace boost::assign; +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -258,11 +259,11 @@ TEST(GaussianBayesTree, ComputeSteepestDescentPointBT) { // Compute the Hessian numerically Matrix hessian = numericalHessian( - boost::bind(&computeError, bt, _1), Vector10::Zero()); + std::bind(&computeError, bt, std::placeholders::_1), Vector10::Zero()); // Compute the gradient numerically Vector gradient = numericalGradient( - boost::bind(&computeError, bt, _1), Vector10::Zero()); + std::bind(&computeError, bt, std::placeholders::_1), Vector10::Zero()); // Compute the gradient using dense matrices Matrix augmentedHessian = GaussianFactorGraph(bt).augmentedHessian(); diff --git a/gtsam/linear/tests/testGaussianFactorGraph.cpp b/gtsam/linear/tests/testGaussianFactorGraph.cpp index 45f652d05..bb07a36aa 100644 --- a/gtsam/linear/tests/testGaussianFactorGraph.cpp +++ b/gtsam/linear/tests/testGaussianFactorGraph.cpp @@ -36,9 +36,18 @@ using namespace boost::assign; using namespace std; using namespace gtsam; -// static SharedDiagonal -// sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1), sigma_02 = noiseModel::Isotropic::Sigma(2,0.2), -// constraintModel = noiseModel::Constrained::All(2); +typedef std::tuple SparseTriplet; +bool triplet_equal(SparseTriplet a, SparseTriplet b) { + if (get<0>(a) == get<0>(b) && get<1>(a) == get<1>(b) && + get<2>(a) == get<2>(b)) return true; + + cout << "not equal:" << endl; + cout << "\texpected: " + "(" << get<0>(a) << ", " << get<1>(a) << ") = " << get<2>(a) << endl; + cout << "\tactual: " + "(" << get<0>(b) << ", " << get<1>(b) << ") = " << get<2>(b) << endl; + return false; +} /* ************************************************************************* */ TEST(GaussianFactorGraph, initialization) { @@ -57,10 +66,11 @@ TEST(GaussianFactorGraph, initialization) { // Test sparse, which takes a vector and returns a matrix, used in MATLAB // Note that this the augmented vector and the RHS is in column 7 Matrix expectedIJS = - (Matrix(3, 22) << 1., 2., 1., 2., 3., 4., 3., 4., 3., 4., 5., 6., 5., 6., 5., 6., 7., 8., 7., - 8., 7., 8., 1., 2., 7., 7., 1., 2., 3., 4., 7., 7., 1., 2., 5., 6., 7., 7., 3., 4., 5., 6., - 7., 7., 10., 10., -1., -1., -10., -10., 10., 10., 2., -1., -5., -5., 5., 5., 0., 1., -5., - -5., 5., 5., -1., 1.5).finished(); + (Matrix(3, 21) << + 1., 2., 1., 2., 3., 4., 3., 4., 3., 4., 5., 6., 5., 6., 6., 7., 8., 7., 8., 7., 8., + 1., 2., 7., 7., 1., 2., 3., 4., 7., 7., 1., 2., 5., 6., 7., 3., 4., 5., 6., 7., 7., + 10., 10., -1., -1., -10., -10., 10., 10., 2., -1., -5., -5., 5., 5., + 1., -5., -5., 5., 5., -1., 1.5).finished(); Matrix actualIJS = fg.sparseJacobian_(); EQUALITY(expectedIJS, actualIJS); } @@ -74,8 +84,8 @@ TEST(GaussianFactorGraph, sparseJacobian) { // 9 10 0 11 12 13 // 0 0 0 14 15 16 - // Expected - NOTE that we transpose this! - Matrix expectedT = (Matrix(16, 3) << + // Expected + Matrix expected = (Matrix(16, 3) << 1., 1., 2., 1., 2., 4., 1., 3., 6., @@ -93,17 +103,32 @@ TEST(GaussianFactorGraph, sparseJacobian) { 3., 6.,26., 4., 6.,32.).finished(); - Matrix expected = expectedT.transpose(); + // expected: in matlab format - NOTE the transpose!) + Matrix expectedMatlab = expected.transpose(); GaussianFactorGraph gfg; SharedDiagonal model = noiseModel::Isotropic::Sigma(2, 0.5); - gfg.add(0, (Matrix(2, 3) << 1., 2., 3., 5., 6., 7.).finished(), Vector2(4., 8.), model); - gfg.add(0, (Matrix(2, 3) << 9., 10., 0., 0., 0., 0.).finished(), 1, - (Matrix(2, 2) << 11., 12., 14., 15.).finished(), Vector2(13., 16.), model); + const Key x123 = 0, x45 = 1; + gfg.add(x123, (Matrix(2, 3) << 1, 2, 3, 5, 6, 7).finished(), + Vector2(4, 8), model); + gfg.add(x123, (Matrix(2, 3) << 9, 10, 0, 0, 0, 0).finished(), + x45, (Matrix(2, 2) << 11, 12, 14, 15.).finished(), + Vector2(13, 16), model); Matrix actual = gfg.sparseJacobian_(); - EXPECT(assert_equal(expected, actual)); + EXPECT(assert_equal(expectedMatlab, actual)); + + // SparseTriplets + auto boostActual = gfg.sparseJacobian(); + // check the triplets size... + EXPECT_LONGS_EQUAL(16, boostActual.size()); + // check content + for (int i = 0; i < 16; i++) { + EXPECT(triplet_equal( + SparseTriplet(expected(i, 0) - 1, expected(i, 1) - 1, expected(i, 2)), + boostActual.at(i))); + } } /* ************************************************************************* */ diff --git a/gtsam/linear/tests/testPowerMethod.cpp b/gtsam/linear/tests/testPowerMethod.cpp new file mode 100644 index 000000000..54d4c720d --- /dev/null +++ b/gtsam/linear/tests/testPowerMethod.cpp @@ -0,0 +1,124 @@ +/* ---------------------------------------------------------------------------- + + * 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 + + * -------------------------------------------------------------------------- */ + +/** + * testPowerMethod.cpp + * + * @file testPowerMethod.cpp + * @date Sept 2020 + * @author Jing Wu + * @brief Check eigenvalue and eigenvector computed by power method + */ + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +TEST(PowerMethod, powerIteration) { + // test power iteration, beta is set to 0 + Sparse A(6, 6); + A.coeffRef(0, 0) = 6; + A.coeffRef(1, 1) = 5; + A.coeffRef(2, 2) = 4; + A.coeffRef(3, 3) = 3; + A.coeffRef(4, 4) = 2; + A.coeffRef(5, 5) = 1; + Vector initial = (Vector(6) << 0.24434602, 0.22829942, 0.70094486, 0.15463092, 0.55871359, + 0.2465342).finished(); + PowerMethod pf(A, initial); + pf.compute(100, 1e-5); + EXPECT_LONGS_EQUAL(6, pf.eigenvector().rows()); + + Vector6 actual1 = pf.eigenvector(); + const double ritzValue = actual1.dot(A * actual1); + const double ritzResidual = (A * actual1 - ritzValue * actual1).norm(); + EXPECT_DOUBLES_EQUAL(0, ritzResidual, 1e-5); + + const double ev1 = 6.0; + EXPECT_DOUBLES_EQUAL(ev1, pf.eigenvalue(), 1e-5); +} + +/* ************************************************************************* */ +TEST(PowerMethod, useFactorGraphSparse) { + // Let's make a scalar synchronization graph with 4 nodes + GaussianFactorGraph fg = gtsam::linear::test::example::createSparseGraph(); + + // Get eigenvalues and eigenvectors with Eigen + auto L = fg.hessian(); + Eigen::EigenSolver solver(L.first); + + // find the index of the max eigenvalue + size_t maxIdx = 0; + for (auto i = 0; i < solver.eigenvalues().rows(); ++i) { + if (solver.eigenvalues()(i).real() >= solver.eigenvalues()(maxIdx).real()) + maxIdx = i; + } + // Store the max eigenvalue and its according eigenvector + const auto ev1 = solver.eigenvalues()(maxIdx).real(); + + Vector initial = Vector4::Random(); + PowerMethod pf(L.first, initial); + pf.compute(100, 1e-5); + EXPECT_DOUBLES_EQUAL(ev1, pf.eigenvalue(), 1e-8); + auto actual2 = pf.eigenvector(); + const double ritzValue = actual2.dot(L.first * actual2); + const double ritzResidual = (L.first * actual2 - ritzValue * actual2).norm(); + EXPECT_DOUBLES_EQUAL(0, ritzResidual, 1e-5); +} + +/* ************************************************************************* */ +TEST(PowerMethod, useFactorGraphDense) { + // Let's make a scalar synchronization graph with 10 nodes + GaussianFactorGraph fg = gtsam::linear::test::example::createDenseGraph(); + + // Get eigenvalues and eigenvectors with Eigen + auto L = fg.hessian(); + Eigen::EigenSolver solver(L.first); + + // find the index of the max eigenvalue + size_t maxIdx = 0; + for (auto i = 0; i < solver.eigenvalues().rows(); ++i) { + if (solver.eigenvalues()(i).real() >= solver.eigenvalues()(maxIdx).real()) + maxIdx = i; + } + // Store the max eigenvalue and its according eigenvector + const auto ev1 = solver.eigenvalues()(maxIdx).real(); + + Vector initial = Vector10::Random(); + PowerMethod pf(L.first, initial); + pf.compute(100, 1e-5); + EXPECT_DOUBLES_EQUAL(ev1, pf.eigenvalue(), 1e-8); + auto actual2 = pf.eigenvector(); + const double ritzValue = actual2.dot(L.first * actual2); + const double ritzResidual = (L.first * actual2 - ritzValue * actual2).norm(); + EXPECT_DOUBLES_EQUAL(0, ritzResidual, 1e-5); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ diff --git a/gtsam/linear/tests/testSparseEigen.cpp b/gtsam/linear/tests/testSparseEigen.cpp new file mode 100644 index 000000000..225e1dab2 --- /dev/null +++ b/gtsam/linear/tests/testSparseEigen.cpp @@ -0,0 +1,72 @@ +/* ---------------------------------------------------------------------------- + + * 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 testSparseMatrix.cpp + * @author Mandy Xie + * @author Fan Jiang + * @author Gerry Chen + * @author Frank Dellaert + * @date Jan, 2021 + */ + +#include +#include + +#include +using boost::assign::list_of; + +#include +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +TEST(SparseEigen, sparseJacobianEigen) { + GaussianFactorGraph gfg; + SharedDiagonal model = noiseModel::Isotropic::Sigma(2, 0.5); + const Key x123 = 0, x45 = 1; + gfg.add(x123, (Matrix(2, 3) << 1, 2, 3, 5, 6, 7).finished(), + Vector2(4, 8), model); + gfg.add(x123, (Matrix(2, 3) << 9, 10, 0, 0, 0, 0).finished(), + x45, (Matrix(2, 2) << 11, 12, 14, 15.).finished(), + Vector2(13, 16), model); + + // Sparse Matrix + auto sparseResult = sparseJacobianEigen(gfg); + EXPECT_LONGS_EQUAL(16, sparseResult.nonZeros()); + EXPECT(assert_equal(4, sparseResult.rows())); + EXPECT(assert_equal(6, sparseResult.cols())); + EXPECT(assert_equal(gfg.augmentedJacobian(), Matrix(sparseResult))); + + // Call sparseJacobian with optional ordering... + auto ordering = Ordering(list_of(x45)(x123)); + + // Eigen Sparse with optional ordering + EXPECT(assert_equal(gfg.augmentedJacobian(ordering), + Matrix(sparseJacobianEigen(gfg, ordering)))); + + // Check matrix dimensions when zero rows / cols + gfg.add(x123, Matrix23::Zero(), Vector2::Zero(), model); // zero row + gfg.add(2, Matrix21::Zero(), Vector2::Zero(), model); // zero col + sparseResult = sparseJacobianEigen(gfg); + EXPECT_LONGS_EQUAL(16, sparseResult.nonZeros()); + EXPECT(assert_equal(8, sparseResult.rows())); + EXPECT(assert_equal(7, sparseResult.cols())); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h index 34626fcf6..1ab2d7cdc 100644 --- a/gtsam/navigation/AHRSFactor.h +++ b/gtsam/navigation/AHRSFactor.h @@ -154,7 +154,7 @@ public: AHRSFactor(Key rot_i, Key rot_j, Key bias, const PreintegratedAhrsMeasurements& preintegratedMeasurements); - virtual ~AHRSFactor() { + ~AHRSFactor() override { } /// @return a deep copy of this factor diff --git a/gtsam/navigation/AttitudeFactor.cpp b/gtsam/navigation/AttitudeFactor.cpp index 7f335152e..8c8eb5772 100644 --- a/gtsam/navigation/AttitudeFactor.cpp +++ b/gtsam/navigation/AttitudeFactor.cpp @@ -42,7 +42,8 @@ Vector AttitudeFactor::attitudeError(const Rot3& nRb, //*************************************************************************** void Rot3AttitudeFactor::print(const string& s, const KeyFormatter& keyFormatter) const { - cout << s << "Rot3AttitudeFactor on " << keyFormatter(this->key()) << "\n"; + cout << (s.empty() ? "" : s + " ") << "Rot3AttitudeFactor on " + << keyFormatter(this->key()) << "\n"; nZ_.print(" measured direction in nav frame: "); bRef_.print(" reference direction in body frame: "); this->noiseModel_->print(" noise model: "); diff --git a/gtsam/navigation/AttitudeFactor.h b/gtsam/navigation/AttitudeFactor.h index 9a0a11cfb..3016b31af 100644 --- a/gtsam/navigation/AttitudeFactor.h +++ b/gtsam/navigation/AttitudeFactor.h @@ -92,7 +92,7 @@ public: Rot3AttitudeFactor() { } - virtual ~Rot3AttitudeFactor() { + ~Rot3AttitudeFactor() override { } /** @@ -114,8 +114,8 @@ public: } /** print */ - void print(const std::string& s, const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const override; + void print(const std::string& s = "", const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const override; /** equals */ bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override; @@ -166,7 +166,7 @@ public: Pose3AttitudeFactor() { } - virtual ~Pose3AttitudeFactor() { + ~Pose3AttitudeFactor() override { } /** @@ -188,8 +188,8 @@ public: } /** print */ - void print(const std::string& s, const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const override; + void print(const std::string& s = "", const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const override; /** equals */ bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override; diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index e41a8de44..ca1c5b93a 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -167,7 +167,7 @@ gtsam::NonlinearFactor::shared_ptr CombinedImuFactor::clone() const { //------------------------------------------------------------------------------ void CombinedImuFactor::print(const string& s, const KeyFormatter& keyFormatter) const { - cout << (s == "" ? s : s + "\n") << "CombinedImuFactor(" + cout << (s.empty() ? s : s + "\n") << "CombinedImuFactor(" << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << "," << keyFormatter(this->key3()) << "," << keyFormatter(this->key4()) << "," << keyFormatter(this->key5()) << "," << keyFormatter(this->key6()) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index efca25bff..ed94750b7 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -173,7 +173,7 @@ public: } /// Virtual destructor - virtual ~PreintegratedCombinedMeasurements() {} + ~PreintegratedCombinedMeasurements() override {} /// @} @@ -211,9 +211,7 @@ public: * @param measuredAcc Measured acceleration (in body frame, as given by the * sensor) * @param measuredOmega Measured angular velocity (as given by the sensor) - * @param deltaT Time interval between two consecutive IMU measurements - * @param body_P_sensor Optional sensor frame (pose of the IMU in the body - * frame) + * @param dt Time interval between two consecutive IMU measurements */ void integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, const double dt) override; @@ -291,7 +289,7 @@ public: Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const PreintegratedCombinedMeasurements& preintegratedMeasurements); - virtual ~CombinedImuFactor() {} + ~CombinedImuFactor() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override; diff --git a/gtsam/navigation/ConstantVelocityFactor.h b/gtsam/navigation/ConstantVelocityFactor.h new file mode 100644 index 000000000..ed68ac077 --- /dev/null +++ b/gtsam/navigation/ConstantVelocityFactor.h @@ -0,0 +1,68 @@ +/* ---------------------------------------------------------------------------- + + * 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 ConstantVelocityFactor.h + * @brief Maintain a constant velocity motion model between two NavStates + * @author Asa Hammond + */ + +#include +#include + +namespace gtsam { + +/** + * Binary factor for applying a constant velocity model to a moving body represented as a NavState. + * The only measurement is dt, the time delta between the states. + */ +class ConstantVelocityFactor : public NoiseModelFactor2 { + double dt_; + + public: + using Base = NoiseModelFactor2; + + public: + ConstantVelocityFactor(Key i, Key j, double dt, const SharedNoiseModel &model) + : NoiseModelFactor2(model, i, j), dt_(dt) {} + ~ConstantVelocityFactor() override{}; + + /** + * @brief Caclulate error: (x2 - x1.update(dt))) + * where X1 and X1 are NavStates and dt is + * the time difference in seconds between the states. + * @param x1 NavState for key a + * @param x2 NavState for key b + * @param H1 optional jacobian in x1 + * @param H2 optional jacobian in x2 + * @return * Vector + */ + gtsam::Vector evaluateError(const NavState &x1, const NavState &x2, + boost::optional H1 = boost::none, + boost::optional H2 = boost::none) const override { + // only used to use update() below + static const Vector3 b_accel{0.0, 0.0, 0.0}; + static const Vector3 b_omega{0.0, 0.0, 0.0}; + + Matrix99 predicted_H_x1; + NavState predicted = x1.update(b_accel, b_omega, dt_, H1 ? &predicted_H_x1 : nullptr, {}, {}); + + Matrix99 error_H_predicted; + Vector9 error = predicted.localCoordinates(x2, H1 ? &error_H_predicted : nullptr, H2); + + if (H1) { + *H1 = error_H_predicted * predicted_H_x1; + } + return error; + } +}; + +} // namespace gtsam diff --git a/gtsam/navigation/GPSFactor.cpp b/gtsam/navigation/GPSFactor.cpp index f2448c488..1d6b78e13 100644 --- a/gtsam/navigation/GPSFactor.cpp +++ b/gtsam/navigation/GPSFactor.cpp @@ -24,7 +24,8 @@ namespace gtsam { //*************************************************************************** void GPSFactor::print(const string& s, const KeyFormatter& keyFormatter) const { - cout << s << "GPSFactor on " << keyFormatter(key()) << "\n"; + cout << (s.empty() ? "" : s + " ") << "GPSFactor on " << keyFormatter(key()) + << "\n"; cout << " GPS measurement: " << nT_ << "\n"; noiseModel_->print(" noise model: "); } diff --git a/gtsam/navigation/GPSFactor.h b/gtsam/navigation/GPSFactor.h index e6d5b88a9..8fcf0f099 100644 --- a/gtsam/navigation/GPSFactor.h +++ b/gtsam/navigation/GPSFactor.h @@ -51,7 +51,7 @@ public: /** default constructor - only use for serialization */ GPSFactor(): nT_(0, 0, 0) {} - virtual ~GPSFactor() {} + ~GPSFactor() override {} /** * @brief Constructor from a measurement in a Cartesian frame. @@ -71,8 +71,8 @@ public: } /// print - void print(const std::string& s, const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const override; + void print(const std::string& s = "", const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const override; /// equals bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override; @@ -129,7 +129,7 @@ public: /// default constructor - only use for serialization GPSFactor2():nT_(0, 0, 0) {} - virtual ~GPSFactor2() {} + ~GPSFactor2() override {} /// Constructor from a measurement in a Cartesian frame. GPSFactor2(Key key, const Point3& gpsIn, const SharedNoiseModel& model) : @@ -143,8 +143,8 @@ public: } /// print - void print(const std::string& s, const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const override; + void print(const std::string& s = "", const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const override; /// equals bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override; diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h index d52b4eb29..fad952232 100644 --- a/gtsam/navigation/ImuBias.h +++ b/gtsam/navigation/ImuBias.h @@ -29,8 +29,8 @@ namespace imuBias { class GTSAM_EXPORT ConstantBias { private: - Vector3 biasAcc_; - Vector3 biasGyro_; + Vector3 biasAcc_; ///< The units for stddev are σ = m/s² or m √Hz/s² + Vector3 biasGyro_; ///< The units for stddev are σ = rad/s or rad √Hz/s public: /// dimension of the variable - used to autodetect sizes diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index cebddf05d..28c0461b1 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -106,6 +106,7 @@ void PreintegratedImuMeasurements::mergeWith(const PreintegratedImuMeasurements& preintMeasCov_ = P + *H2 * pim12.preintMeasCov_ * H2->transpose(); } #endif + //------------------------------------------------------------------------------ // ImuFactor methods //------------------------------------------------------------------------------ @@ -130,7 +131,7 @@ std::ostream& operator<<(std::ostream& os, const ImuFactor& f) { //------------------------------------------------------------------------------ void ImuFactor::print(const string& s, const KeyFormatter& keyFormatter) const { - cout << (s == "" ? s : s + "\n") << "ImuFactor(" << keyFormatter(this->key1()) + cout << (s.empty() ? s : s + "\n") << "ImuFactor(" << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << "," << keyFormatter(this->key3()) << "," << keyFormatter(this->key4()) << "," << keyFormatter(this->key5()) << ")\n"; @@ -226,7 +227,7 @@ std::ostream& operator<<(std::ostream& os, const ImuFactor2& f) { //------------------------------------------------------------------------------ void ImuFactor2::print(const string& s, const KeyFormatter& keyFormatter) const { - cout << (s == "" ? s : s + "\n") << "ImuFactor2(" + cout << (s.empty() ? s : s + "\n") << "ImuFactor2(" << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << "," << keyFormatter(this->key3()) << ")\n"; cout << *this << endl; diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index cd9c591f1..35207e452 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -107,7 +107,7 @@ public: } /// Virtual destructor - virtual ~PreintegratedImuMeasurements() { + ~PreintegratedImuMeasurements() override { } /// print @@ -192,11 +192,13 @@ public: * @param pose_j Current pose key * @param vel_j Current velocity key * @param bias Previous bias key + * @param preintegratedMeasurements The preintegreated measurements since the + * last pose. */ ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedImuMeasurements& preintegratedMeasurements); - virtual ~ImuFactor() { + ~ImuFactor() override { } /// @return a deep copy of this factor @@ -274,7 +276,7 @@ public: ImuFactor2(Key state_i, Key state_j, Key bias, const PreintegratedImuMeasurements& preintegratedMeasurements); - virtual ~ImuFactor2() { + ~ImuFactor2() override { } /// @return a deep copy of this factor diff --git a/gtsam/navigation/MagPoseFactor.h b/gtsam/navigation/MagPoseFactor.h new file mode 100644 index 000000000..da2a54ce9 --- /dev/null +++ b/gtsam/navigation/MagPoseFactor.h @@ -0,0 +1,141 @@ +/* ---------------------------------------------------------------------------- + + * 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 + + * -------------------------------------------------------------------------- */ + +#pragma once + +#include +#include + +namespace gtsam { + +/** + * Factor to estimate rotation of a Pose2 or Pose3 given a magnetometer reading. + * This version uses the measurement model bM = scale * bRn * direction + bias, + * where bRn is the rotation of the body in the nav frame, and scale, direction, + * and bias are assumed to be known. If the factor is constructed with a + * body_P_sensor, then the magnetometer measurements and bias should be + * expressed in the sensor frame. + */ +template +class MagPoseFactor: public NoiseModelFactor1 { + private: + using This = MagPoseFactor; + using Base = NoiseModelFactor1; + using Point = typename POSE::Translation; ///< Could be a Vector2 or Vector3 depending on POSE. + using Rot = typename POSE::Rotation; + + const Point measured_; ///< The measured magnetometer data in the body frame. + const Point nM_; ///< Local magnetic field (mag output units) in the nav frame. + const Point bias_; ///< The bias vector (mag output units) in the body frame. + boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame. + + static const int MeasDim = Point::RowsAtCompileTime; + static const int PoseDim = traits::dimension; + static const int RotDim = traits::dimension; + + /// Shorthand for a smart pointer to a factor. + using shared_ptr = boost::shared_ptr>; + + /// Concept check by type. + GTSAM_CONCEPT_TESTABLE_TYPE(POSE) + GTSAM_CONCEPT_POSE_TYPE(POSE) + + public: + ~MagPoseFactor() override {} + + /// Default constructor - only use for serialization. + MagPoseFactor() {} + + /** + * Construct the factor. + * @param pose_key of the unknown pose nPb in the factor graph + * @param measured magnetometer reading, a Point2 or Point3 + * @param scale by which a unit vector is scaled to yield a magnetometer reading + * @param direction of the local magnetic field, see e.g. http://www.ngdc.noaa.gov/geomag-web/#igrfwmm + * @param bias of the magnetometer, modeled as purely additive (after scaling) + * @param model of the additive Gaussian noise that is assumed + * @param body_P_sensor an optional transform of the magnetometer in the body frame + */ + MagPoseFactor(Key pose_key, + const Point& measured, + double scale, + const Point& direction, + const Point& bias, + const SharedNoiseModel& model, + const boost::optional& body_P_sensor) + : Base(model, pose_key), + measured_(body_P_sensor ? body_P_sensor->rotation() * measured : measured), + nM_(scale * direction.normalized()), + bias_(body_P_sensor ? body_P_sensor->rotation() * bias : bias), + body_P_sensor_(body_P_sensor) {} + + /// @return a deep copy of this factor. + NonlinearFactor::shared_ptr clone() const override { + return boost::static_pointer_cast( + NonlinearFactor::shared_ptr(new This(*this))); + } + + /// Implement functions needed for Testable. + + // Print out the factor. + void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { + Base::print(s, keyFormatter); + gtsam::print(Vector(nM_), "local field (nM): "); + gtsam::print(Vector(measured_), "measured field (bM): "); + gtsam::print(Vector(bias_), "magnetometer bias: "); + } + + /// Equals function. + bool equals(const NonlinearFactor& expected, double tol=1e-9) const override { + const This *e = dynamic_cast (&expected); + return e != nullptr && Base::equals(*e, tol) && + gtsam::equal_with_abs_tol(this->measured_, e->measured_, tol) && + gtsam::equal_with_abs_tol(this->nM_, e->nM_, tol) && + gtsam::equal_with_abs_tol(this->bias_, e->bias_, tol); + } + + /// Implement functions needed to derive from Factor. + + /** + * Return the factor's error h(x) - z, and the optional Jacobian. Note that + * the measurement error is expressed in the body frame. + */ + Vector evaluateError(const POSE& nPb, boost::optional H = boost::none) const override { + // Predict the measured magnetic field h(x) in the *body* frame. + // If body_P_sensor was given, bias_ will have been rotated into the body frame. + Matrix H_rot = Matrix::Zero(MeasDim, RotDim); + const Point hx = nPb.rotation().unrotate(nM_, H_rot, boost::none) + bias_; + + if (H) { + // Fill in the relevant part of the Jacobian (just rotation columns). + *H = Matrix::Zero(MeasDim, PoseDim); + const size_t rot_col0 = nPb.rotationInterval().first; + (*H).block(0, rot_col0, MeasDim, RotDim) = H_rot; + } + + return (hx - measured_); + } + + 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(measured_); + ar & BOOST_SERIALIZATION_NVP(nM_); + ar & BOOST_SERIALIZATION_NVP(bias_); + ar & BOOST_SERIALIZATION_NVP(body_P_sensor_); + } +}; // \class MagPoseFactor + +} /// namespace gtsam diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 0181ea45f..f21a2f660 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -136,12 +136,12 @@ Vector9 NavState::localCoordinates(const NavState& g, // OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const { Matrix3 D_dR_R, D_dt_R, D_dv_R; const Rot3 dR = R_.between(g.R_, H1 ? &D_dR_R : 0); - const Point3 dt = R_.unrotate(g.t_ - t_, H1 ? &D_dt_R : 0); - const Vector dv = R_.unrotate(g.v_ - v_, H1 ? &D_dv_R : 0); + const Point3 dP = R_.unrotate(g.t_ - t_, H1 ? &D_dt_R : 0); + const Vector dV = R_.unrotate(g.v_ - v_, H1 ? &D_dv_R : 0); Vector9 xi; Matrix3 D_xi_R; - xi << Rot3::Logmap(dR, (H1 || H2) ? &D_xi_R : 0), dt, dv; + xi << Rot3::Logmap(dR, (H1 || H2) ? &D_xi_R : 0), dP, dV; if (H1) { *H1 << D_xi_R * D_dR_R, Z_3x3, Z_3x3, // D_dt_R, -I_3x3, Z_3x3, // diff --git a/gtsam/navigation/PreintegratedRotation.cpp b/gtsam/navigation/PreintegratedRotation.cpp index f827c7c59..ee30bee9e 100644 --- a/gtsam/navigation/PreintegratedRotation.cpp +++ b/gtsam/navigation/PreintegratedRotation.cpp @@ -26,7 +26,7 @@ using namespace std; namespace gtsam { void PreintegratedRotationParams::print(const string& s) const { - cout << (s == "" ? s : s + "\n") << endl; + cout << (s.empty() ? s : s + "\n") << endl; cout << "gyroscopeCovariance:\n[\n" << gyroscopeCovariance << "\n]" << endl; if (omegaCoriolis) cout << "omegaCoriolis = (" << omegaCoriolis->transpose() << ")" << endl; diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 0e0559a32..e52d28e1e 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -29,7 +29,9 @@ namespace gtsam { /// Parameters for pre-integration: /// Usage: Create just a single Params and pass a shared pointer to the constructor struct GTSAM_EXPORT PreintegratedRotationParams { - Matrix3 gyroscopeCovariance; ///< continuous-time "Covariance" of gyroscope measurements + /// Continuous-time "Covariance" of gyroscope measurements + /// The units for stddev are σ = rad/s/√Hz + Matrix3 gyroscopeCovariance; boost::optional omegaCoriolis; ///< Coriolis constant boost::optional body_P_sensor; ///< The pose of the sensor in the body frame diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 111594663..8840c34e9 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -17,6 +17,7 @@ * @author Vadim Indelman * @author David Jensen * @author Frank Dellaert + * @author Varun Agrawal **/ #include "PreintegrationBase.h" @@ -35,18 +36,18 @@ PreintegrationBase::PreintegrationBase(const boost::shared_ptr& p, //------------------------------------------------------------------------------ ostream& operator<<(ostream& os, const PreintegrationBase& pim) { - os << " deltaTij " << pim.deltaTij_ << endl; + os << " deltaTij = " << pim.deltaTij_ << endl; os << " deltaRij.ypr = (" << pim.deltaRij().ypr().transpose() << ")" << endl; - os << " deltaPij " << Point3(pim.deltaPij()) << endl; - os << " deltaVij " << Point3(pim.deltaVij()) << endl; - os << " gyrobias " << Point3(pim.biasHat_.gyroscope()) << endl; - os << " acc_bias " << Point3(pim.biasHat_.accelerometer()) << endl; + os << " deltaPij = " << pim.deltaPij().transpose() << endl; + os << " deltaVij = " << pim.deltaVij().transpose() << endl; + os << " gyrobias = " << pim.biasHat_.gyroscope().transpose() << endl; + os << " acc_bias = " << pim.biasHat_.accelerometer().transpose() << endl; return os; } //------------------------------------------------------------------------------ void PreintegrationBase::print(const string& s) const { - cout << (s == "" ? s : s + "\n") << *this << endl; + cout << (s.empty() ? s : s + "\n") << *this << endl; } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h index ce1f0e734..960f67e24 100644 --- a/gtsam/navigation/PreintegrationParams.h +++ b/gtsam/navigation/PreintegrationParams.h @@ -24,7 +24,9 @@ namespace gtsam { /// Parameters for pre-integration: /// Usage: Create just a single Params and pass a shared pointer to the constructor struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams { - Matrix3 accelerometerCovariance; ///< continuous-time "Covariance" of accelerometer + /// Continuous-time "Covariance" of accelerometer + /// The units for stddev are σ = m/s²/√Hz + Matrix3 accelerometerCovariance; Matrix3 integrationCovariance; ///< continuous-time "Covariance" describing integration uncertainty bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration Vector3 n_gravity; ///< Gravity vector in nav frame diff --git a/gtsam/navigation/TangentPreintegration.h b/gtsam/navigation/TangentPreintegration.h index 1b51b4e1e..56b0a1c75 100644 --- a/gtsam/navigation/TangentPreintegration.h +++ b/gtsam/navigation/TangentPreintegration.h @@ -54,7 +54,7 @@ public: const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()); /// Virtual destructor - virtual ~TangentPreintegration() { + ~TangentPreintegration() override { } /// @} diff --git a/gtsam/navigation/navigation.i b/gtsam/navigation/navigation.i new file mode 100644 index 000000000..48a5a35de --- /dev/null +++ b/gtsam/navigation/navigation.i @@ -0,0 +1,355 @@ +//************************************************************************* +// Navigation +//************************************************************************* + +namespace gtsam { + +namespace imuBias { +#include + +class ConstantBias { + // Constructors + ConstantBias(); + ConstantBias(Vector biasAcc, Vector biasGyro); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::imuBias::ConstantBias& expected, double tol) const; + + // Group + static gtsam::imuBias::ConstantBias identity(); + gtsam::imuBias::ConstantBias inverse() const; + gtsam::imuBias::ConstantBias compose(const gtsam::imuBias::ConstantBias& b) const; + gtsam::imuBias::ConstantBias between(const gtsam::imuBias::ConstantBias& b) const; + + // Operator Overloads + gtsam::imuBias::ConstantBias operator-() const; + gtsam::imuBias::ConstantBias operator+(const gtsam::imuBias::ConstantBias& b) const; + gtsam::imuBias::ConstantBias operator-(const gtsam::imuBias::ConstantBias& b) const; + + // Manifold + gtsam::imuBias::ConstantBias retract(Vector v) const; + Vector localCoordinates(const gtsam::imuBias::ConstantBias& b) const; + + // Lie Group + static gtsam::imuBias::ConstantBias Expmap(Vector v); + static Vector Logmap(const gtsam::imuBias::ConstantBias& b); + + // Standard Interface + Vector vector() const; + Vector accelerometer() const; + Vector gyroscope() const; + Vector correctAccelerometer(Vector measurement) const; + Vector correctGyroscope(Vector measurement) const; +}; + +}///\namespace imuBias + +#include +class NavState { + // Constructors + NavState(); + NavState(const gtsam::Rot3& R, const gtsam::Point3& t, Vector v); + NavState(const gtsam::Pose3& pose, Vector v); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::NavState& expected, double tol) const; + + // Access + gtsam::Rot3 attitude() const; + gtsam::Point3 position() const; + Vector velocity() const; + gtsam::Pose3 pose() const; + + gtsam::NavState retract(const Vector& x) const; + Vector localCoordinates(const gtsam::NavState& g) const; +}; + +#include +virtual class PreintegratedRotationParams { + PreintegratedRotationParams(); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::PreintegratedRotationParams& expected, double tol); + + void setGyroscopeCovariance(Matrix cov); + void setOmegaCoriolis(Vector omega); + void setBodyPSensor(const gtsam::Pose3& pose); + + Matrix getGyroscopeCovariance() const; + + boost::optional getOmegaCoriolis() const; + boost::optional getBodyPSensor() const; +}; + +#include +virtual class PreintegrationParams : gtsam::PreintegratedRotationParams { + PreintegrationParams(Vector n_gravity); + + static gtsam::PreintegrationParams* MakeSharedD(double g); + static gtsam::PreintegrationParams* MakeSharedU(double g); + static gtsam::PreintegrationParams* MakeSharedD(); // default g = 9.81 + static gtsam::PreintegrationParams* MakeSharedU(); // default g = 9.81 + + // Testable + void print(string s = "") const; + bool equals(const gtsam::PreintegrationParams& expected, double tol); + + void setAccelerometerCovariance(Matrix cov); + void setIntegrationCovariance(Matrix cov); + void setUse2ndOrderCoriolis(bool flag); + + Matrix getAccelerometerCovariance() const; + Matrix getIntegrationCovariance() const; + bool getUse2ndOrderCoriolis() const; +}; + +#include +class PreintegratedImuMeasurements { + // Constructors + PreintegratedImuMeasurements(const gtsam::PreintegrationParams* params); + PreintegratedImuMeasurements(const gtsam::PreintegrationParams* params, + const gtsam::imuBias::ConstantBias& bias); + + // Testable + void print(string s = "") const; + bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol); + + // Standard Interface + void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, + double deltaT); + void resetIntegration(); + void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat); + + Matrix preintMeasCov() const; + Vector preintegrated() const; + double deltaTij() const; + gtsam::Rot3 deltaRij() const; + Vector deltaPij() const; + Vector deltaVij() const; + gtsam::imuBias::ConstantBias biasHat() const; + Vector biasHatVector() const; + gtsam::NavState predict(const gtsam::NavState& state_i, + const gtsam::imuBias::ConstantBias& bias) const; +}; + +virtual class ImuFactor: gtsam::NonlinearFactor { + ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, + size_t bias, + const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements); + + // Standard Interface + gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const; + Vector evaluateError(const gtsam::Pose3& pose_i, Vector vel_i, + const gtsam::Pose3& pose_j, Vector vel_j, + const gtsam::imuBias::ConstantBias& bias); +}; + +#include +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 = "Preintegrated Measurements:") const; + bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, + double tol); + + // Standard Interface + void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, + double deltaT); + void resetIntegration(); + void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat); + + Matrix preintMeasCov() const; + double deltaTij() const; + gtsam::Rot3 deltaRij() const; + Vector deltaPij() const; + Vector deltaVij() const; + gtsam::imuBias::ConstantBias biasHat() const; + Vector biasHatVector() const; + gtsam::NavState predict(const gtsam::NavState& state_i, + const gtsam::imuBias::ConstantBias& bias) const; +}; + +virtual class CombinedImuFactor: gtsam::NonlinearFactor { + CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, + size_t bias_i, size_t bias_j, + const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements); + + // Standard Interface + gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const; + Vector evaluateError(const gtsam::Pose3& pose_i, Vector vel_i, + const gtsam::Pose3& pose_j, Vector vel_j, + const gtsam::imuBias::ConstantBias& bias_i, + const gtsam::imuBias::ConstantBias& bias_j); +}; + +#include +class PreintegratedAhrsMeasurements { + // Standard Constructor + PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance); + PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs); + + // Testable + void print(string s = "Preintegrated Measurements: ") const; + bool equals(const gtsam::PreintegratedAhrsMeasurements& expected, double tol); + + // get Data + gtsam::Rot3 deltaRij() const; + double deltaTij() const; + Vector biasHat() const; + + // Standard Interface + void integrateMeasurement(Vector measuredOmega, double deltaT); + void resetIntegration() ; +}; + +virtual class AHRSFactor : gtsam::NonlinearFactor { + AHRSFactor(size_t rot_i, size_t rot_j,size_t bias, + const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis); + AHRSFactor(size_t rot_i, size_t rot_j, size_t bias, + const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis, + const gtsam::Pose3& body_P_sensor); + + // Standard Interface + gtsam::PreintegratedAhrsMeasurements preintegratedMeasurements() const; + Vector evaluateError(const gtsam::Rot3& rot_i, const gtsam::Rot3& rot_j, + Vector bias) const; + gtsam::Rot3 predict(const gtsam::Rot3& rot_i, Vector bias, + const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, + Vector omegaCoriolis) const; +}; + +#include +//virtual class AttitudeFactor : gtsam::NonlinearFactor { +// AttitudeFactor(const Unit3& nZ, const Unit3& bRef); +// AttitudeFactor(); +//}; +virtual class Rot3AttitudeFactor : gtsam::NonlinearFactor{ + Rot3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model, + const gtsam::Unit3& bRef); + Rot3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model); + Rot3AttitudeFactor(); + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::NonlinearFactor& expected, double tol) const; + gtsam::Unit3 nZ() const; + gtsam::Unit3 bRef() const; +}; + +virtual class Pose3AttitudeFactor : gtsam::NonlinearFactor { + Pose3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, + const gtsam::noiseModel::Diagonal* model, + const gtsam::Unit3& bRef); + Pose3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, + const gtsam::noiseModel::Diagonal* model); + Pose3AttitudeFactor(); + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::NonlinearFactor& expected, double tol) const; + gtsam::Unit3 nZ() const; + 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 gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) 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 gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) 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; + Vector omega_b(double t) const; + Vector velocity_n(double t) const; + Vector acceleration_n(double t) const; + gtsam::Rot3 rotation(double t) const; + gtsam::NavState navState(double t) const; + Vector velocity_b(double t) const; + Vector acceleration_b(double t) const; +}; + +virtual class ConstantTwistScenario : gtsam::Scenario { + ConstantTwistScenario(Vector w, Vector v); + ConstantTwistScenario(Vector w, Vector v, + const gtsam::Pose3& nTb0); +}; + +virtual class AcceleratingScenario : gtsam::Scenario { + AcceleratingScenario(const gtsam::Rot3& nRb, const gtsam::Point3& p0, + Vector v0, Vector a_n, + Vector omega_b); +}; + +#include +class ScenarioRunner { + ScenarioRunner(const gtsam::Scenario& scenario, + const gtsam::PreintegrationParams* p, + double imuSampleTime, + const gtsam::imuBias::ConstantBias& bias); + Vector gravity_n() const; + Vector actualAngularVelocity(double t) const; + Vector actualSpecificForce(double t) const; + Vector measuredAngularVelocity(double t) const; + Vector measuredSpecificForce(double t) const; + double imuSampleTime() const; + gtsam::PreintegratedImuMeasurements integrate( + double T, const gtsam::imuBias::ConstantBias& estimatedBias, + bool corrupted) const; + gtsam::NavState predict( + const gtsam::PreintegratedImuMeasurements& pim, + const gtsam::imuBias::ConstantBias& estimatedBias) const; + Matrix estimateCovariance( + double T, size_t N, + const gtsam::imuBias::ConstantBias& estimatedBias) const; + Matrix estimateNoiseCovariance(size_t N) const; +}; + +} diff --git a/gtsam/navigation/tests/testAHRSFactor.cpp b/gtsam/navigation/tests/testAHRSFactor.cpp index 74acf69da..a4d06d01a 100644 --- a/gtsam/navigation/tests/testAHRSFactor.cpp +++ b/gtsam/navigation/tests/testAHRSFactor.cpp @@ -25,9 +25,9 @@ #include #include -#include #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -174,17 +174,17 @@ TEST(AHRSFactor, Error) { // Expected Jacobians Matrix H1e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, _1, x2, bias), x1); + std::bind(&callEvaluateError, factor, std::placeholders::_1, x2, bias), x1); Matrix H2e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, _1, bias), x2); + std::bind(&callEvaluateError, factor, x1, std::placeholders::_1, bias), x2); Matrix H3e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, x2, _1), bias); + std::bind(&callEvaluateError, factor, x1, x2, std::placeholders::_1), bias); // Check rotation Jacobians Matrix RH1e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, _1, x2, bias), x1); + std::bind(&evaluateRotationError, factor, std::placeholders::_1, x2, bias), x1); Matrix RH2e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, _1, bias), x2); + std::bind(&evaluateRotationError, factor, x1, std::placeholders::_1, bias), x2); // Actual Jacobians Matrix H1a, H2a, H3a; @@ -233,19 +233,19 @@ TEST(AHRSFactor, ErrorWithBiases) { // Expected Jacobians Matrix H1e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, _1, x2, bias), x1); + std::bind(&callEvaluateError, factor, std::placeholders::_1, x2, bias), x1); Matrix H2e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, _1, bias), x2); + std::bind(&callEvaluateError, factor, x1, std::placeholders::_1, bias), x2); Matrix H3e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, x2, _1), bias); + std::bind(&callEvaluateError, factor, x1, x2, std::placeholders::_1), bias); // Check rotation Jacobians Matrix RH1e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, _1, x2, bias), x1); + std::bind(&evaluateRotationError, factor, std::placeholders::_1, x2, bias), x1); Matrix RH2e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, _1, bias), x2); + std::bind(&evaluateRotationError, factor, x1, std::placeholders::_1, bias), x2); Matrix RH3e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, x2, _1), bias); + std::bind(&evaluateRotationError, factor, x1, x2, std::placeholders::_1), bias); // Actual Jacobians Matrix H1a, H2a, H3a; @@ -268,7 +268,7 @@ TEST( AHRSFactor, PartialDerivativeExpmap ) { // Compute numerical derivatives Matrix expectedDelRdelBiasOmega = numericalDerivative11( - boost::bind(&evaluateRotation, measuredOmega, _1, deltaT), biasOmega); + std::bind(&evaluateRotation, measuredOmega, std::placeholders::_1, deltaT), biasOmega); const Matrix3 Jr = Rot3::ExpmapDerivative( (measuredOmega - biasOmega) * deltaT); @@ -293,7 +293,7 @@ TEST( AHRSFactor, PartialDerivativeLogmap ) { // Compute numerical derivatives Matrix expectedDelFdeltheta = numericalDerivative11( - boost::bind(&evaluateLogRotation, thetahat, _1), deltatheta); + std::bind(&evaluateLogRotation, thetahat, std::placeholders::_1), deltatheta); const Vector3 x = thetahat; // parametrization of so(3) const Matrix3 X = skewSymmetric(x); // element of Lie algebra so(3): X = x^ @@ -367,7 +367,7 @@ TEST( AHRSFactor, FirstOrderPreIntegratedMeasurements ) { // Compute numerical derivatives Matrix expectedDelRdelBias = numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsRotation, _1, + std::bind(&evaluatePreintegratedMeasurementsRotation, std::placeholders::_1, measuredOmegas, deltaTs, Vector3(M_PI / 100.0, 0.0, 0.0)), bias); Matrix expectedDelRdelBiasOmega = expectedDelRdelBias.rightCols(3); @@ -409,19 +409,19 @@ TEST( AHRSFactor, ErrorWithBiasesAndSensorBodyDisplacement ) { // Expected Jacobians Matrix H1e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, _1, x2, bias), x1); + std::bind(&callEvaluateError, factor, std::placeholders::_1, x2, bias), x1); Matrix H2e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, _1, bias), x2); + std::bind(&callEvaluateError, factor, x1, std::placeholders::_1, bias), x2); Matrix H3e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, x2, _1), bias); + std::bind(&callEvaluateError, factor, x1, x2, std::placeholders::_1), bias); // Check rotation Jacobians Matrix RH1e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, _1, x2, bias), x1); + std::bind(&evaluateRotationError, factor, std::placeholders::_1, x2, bias), x1); Matrix RH2e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, _1, bias), x2); + std::bind(&evaluateRotationError, factor, x1, std::placeholders::_1, bias), x2); Matrix RH3e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, x2, _1), bias); + std::bind(&evaluateRotationError, factor, x1, x2, std::placeholders::_1), bias); // Actual Jacobians Matrix H1a, H2a, H3a; @@ -458,8 +458,8 @@ TEST (AHRSFactor, predictTest) { // AHRSFactor::PreintegratedMeasurements::predict Matrix expectedH = numericalDerivative11( - boost::bind(&AHRSFactor::PreintegratedMeasurements::predict, - &pim, _1, boost::none), bias); + std::bind(&AHRSFactor::PreintegratedMeasurements::predict, + &pim, std::placeholders::_1, boost::none), bias); // Actual Jacobians Matrix H; diff --git a/gtsam/navigation/tests/testAttitudeFactor.cpp b/gtsam/navigation/tests/testAttitudeFactor.cpp index 38f16f55f..d49907cbf 100644 --- a/gtsam/navigation/tests/testAttitudeFactor.cpp +++ b/gtsam/navigation/tests/testAttitudeFactor.cpp @@ -21,8 +21,11 @@ #include #include #include + +#include #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -47,8 +50,9 @@ TEST( Rot3AttitudeFactor, Constructor ) { EXPECT(assert_equal((Vector) Z_2x1,factor.evaluateError(nRb),1e-5)); // Calculate numerical derivatives - Matrix expectedH = numericalDerivative11( - boost::bind(&Rot3AttitudeFactor::evaluateError, &factor, _1, boost::none), + Matrix expectedH = numericalDerivative11( + std::bind(&Rot3AttitudeFactor::evaluateError, &factor, + std::placeholders::_1, boost::none), nRb); // Use the factor to calculate the derivative @@ -114,7 +118,7 @@ TEST( Pose3AttitudeFactor, Constructor ) { // Calculate numerical derivatives Matrix expectedH = numericalDerivative11( - boost::bind(&Pose3AttitudeFactor::evaluateError, &factor, _1, + std::bind(&Pose3AttitudeFactor::evaluateError, &factor, std::placeholders::_1, boost::none), T); // Use the factor to calculate the derivative diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 3ef810cad..2bbc2cc7c 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -29,7 +29,6 @@ #include -#include #include #include "imuFactorTesting.h" diff --git a/gtsam/navigation/tests/testConstantVelocityFactor.cpp b/gtsam/navigation/tests/testConstantVelocityFactor.cpp new file mode 100644 index 000000000..540c27eab --- /dev/null +++ b/gtsam/navigation/tests/testConstantVelocityFactor.cpp @@ -0,0 +1,81 @@ +/* ---------------------------------------------------------------------------- + + * 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 testConstantVelocityFactor.cpp + * @brief Unit test for ConstantVelocityFactor + * @author Asa Hammond + */ + +#include +#include +#include +#include + +#include +#include + +/* ************************************************************************* */ +TEST(ConstantVelocityFactor, VelocityFactor) { + using namespace gtsam; + + const double tol{1e-5}; + + const Key x1 = Key{1}; + const Key x2 = Key{2}; + + const double dt{1.0}; + + // moving upward with groundtruth velocity" + const auto origin = NavState{Pose3{Rot3::Yaw(0), Point3{0.0, 0.0, 0.0}}, Velocity3{0.0, 0.0, 0.0}}; + + const auto state0 = NavState{Pose3{Rot3::Yaw(0), Point3{0.0, 0.0, 0.0}}, Velocity3{0.0, 0.0, 1.0}}; + + const auto state1 = NavState{Pose3{Rot3::Yaw(0), Point3{0.0, 0.0, 1.0}}, Velocity3{0.0, 0.0, 1.0}}; + + const auto state2 = NavState{Pose3{Rot3::Yaw(0), Point3{0.0, 0.0, 2.0}}, Velocity3{0.0, 0.0, 1.0}}; + + const auto state3 = NavState{Pose3{Rot3::Yaw(M_PI_2), Point3{0.0, 0.0, 2.0}}, Velocity3{0.0, 0.0, 1.0}}; + + const double mu{1000}; + const auto noise_model = noiseModel::Constrained::All(9, mu); + + const auto factor = ConstantVelocityFactor(x1, x2, dt, noise_model); + + // positions are the same, secondary state has velocity 1.0 in z, + const auto state0_err_origin = factor.evaluateError(origin, state0); + EXPECT(assert_equal((Vector9() << 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0).finished(), state0_err_origin, tol)); + + // same velocities, different position + // second state agrees with initial state + velocity * dt + const auto state1_err_state0 = factor.evaluateError(state0, state1); + EXPECT(assert_equal((Vector9() << 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0).finished(), state1_err_state0, tol)); + + // same velocities, same position, different rotations + // second state agrees with initial state + velocity * dt + // as we assume that omega is 0.0 this is the same as the above case + // TODO: this should respect omega and actually fail in this case + const auto state3_err_state2 = factor.evaluateError(state0, state1); + EXPECT(assert_equal((Vector9() << 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0).finished(), state3_err_state2, tol)); + + // both bodies have the same velocity, + // but state2.pose() does not agree with state0.update() + // error comes from this position difference + const auto state2_err_state0 = factor.evaluateError(state0, state2); + EXPECT(assert_equal((Vector9() << 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0).finished(), state2_err_state0, tol)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ diff --git a/gtsam/navigation/tests/testGPSFactor.cpp b/gtsam/navigation/tests/testGPSFactor.cpp index 9457f501d..b784c0c94 100644 --- a/gtsam/navigation/tests/testGPSFactor.cpp +++ b/gtsam/navigation/tests/testGPSFactor.cpp @@ -20,11 +20,14 @@ #include #include +#include + #include #include #include +using namespace std::placeholders; using namespace std; using namespace gtsam; using namespace GeographicLib; @@ -69,7 +72,7 @@ TEST( GPSFactor, Constructor ) { // Calculate numerical derivatives Matrix expectedH = numericalDerivative11( - boost::bind(&GPSFactor::evaluateError, &factor, _1, boost::none), T); + std::bind(&GPSFactor::evaluateError, &factor, _1, boost::none), T); // Use the factor to calculate the derivative Matrix actualH; @@ -98,7 +101,7 @@ TEST( GPSFactor2, Constructor ) { // Calculate numerical derivatives Matrix expectedH = numericalDerivative11( - boost::bind(&GPSFactor2::evaluateError, &factor, _1, boost::none), T); + std::bind(&GPSFactor2::evaluateError, &factor, _1, boost::none), T); // Use the factor to calculate the derivative Matrix actualH; diff --git a/gtsam/navigation/tests/testImuBias.cpp b/gtsam/navigation/tests/testImuBias.cpp index 596b76f6a..b486a4a98 100644 --- a/gtsam/navigation/tests/testImuBias.cpp +++ b/gtsam/navigation/tests/testImuBias.cpp @@ -19,8 +19,8 @@ #include #include -#include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -127,8 +127,9 @@ TEST(ImuBias, operatorSubB) { TEST(ImuBias, Correct1) { Matrix aH1, aH2; const Vector3 measurement(1, 2, 3); - boost::function f = boost::bind( - &Bias::correctAccelerometer, _1, _2, boost::none, boost::none); + std::function f = + std::bind(&Bias::correctAccelerometer, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none); bias1.correctAccelerometer(measurement, aH1, aH2); EXPECT(assert_equal(numericalDerivative21(f, bias1, measurement), aH1)); EXPECT(assert_equal(numericalDerivative22(f, bias1, measurement), aH2)); @@ -138,8 +139,9 @@ TEST(ImuBias, Correct1) { TEST(ImuBias, Correct2) { Matrix aH1, aH2; const Vector3 measurement(1, 2, 3); - boost::function f = - boost::bind(&Bias::correctGyroscope, _1, _2, boost::none, boost::none); + std::function f = + std::bind(&Bias::correctGyroscope, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none); bias1.correctGyroscope(measurement, aH1, aH2); EXPECT(assert_equal(numericalDerivative21(f, bias1, measurement), aH1)); EXPECT(assert_equal(numericalDerivative22(f, bias1, measurement), aH2)); diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 474b00add..801d87895 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -30,7 +30,7 @@ #include #include -#include +#include #include #include "imuFactorTesting.h" @@ -146,8 +146,9 @@ TEST(ImuFactor, PreintegratedMeasurements) { Matrix9 aH1, aH2; Matrix96 aH3; actual.computeError(x1, x2, bias, aH1, aH2, aH3); - boost::function f = - boost::bind(&PreintegrationBase::computeError, actual, _1, _2, _3, + std::function f = + std::bind(&PreintegrationBase::computeError, actual, + std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, boost::none, boost::none, boost::none); EXPECT(assert_equal(numericalDerivative31(f, x1, x2, bias), aH1, 1e-9)); EXPECT(assert_equal(numericalDerivative32(f, x1, x2, bias), aH2, 1e-9)); @@ -203,20 +204,20 @@ TEST(ImuFactor, PreintegrationBaseMethods) { Matrix96 actualH; pim.biasCorrectedDelta(kZeroBias, actualH); Matrix expectedH = numericalDerivative11( - boost::bind(&PreintegrationBase::biasCorrectedDelta, pim, _1, - boost::none), kZeroBias); + std::bind(&PreintegrationBase::biasCorrectedDelta, pim, + std::placeholders::_1, boost::none), kZeroBias); EXPECT(assert_equal(expectedH, actualH)); Matrix9 aH1; Matrix96 aH2; NavState predictedState = pim.predict(state1, kZeroBias, aH1, aH2); Matrix eH1 = numericalDerivative11( - boost::bind(&PreintegrationBase::predict, pim, _1, kZeroBias, boost::none, - boost::none), state1); + std::bind(&PreintegrationBase::predict, pim, std::placeholders::_1, + kZeroBias, boost::none, boost::none), state1); EXPECT(assert_equal(eH1, aH1)); Matrix eH2 = numericalDerivative11( - boost::bind(&PreintegrationBase::predict, pim, state1, _1, boost::none, - boost::none), kZeroBias); + std::bind(&PreintegrationBase::predict, pim, state1, + std::placeholders::_1, boost::none, boost::none), kZeroBias); EXPECT(assert_equal(eH2, aH2)); } @@ -277,12 +278,12 @@ TEST(ImuFactor, ErrorAndJacobians) { // Make sure rotation part is correct when error is interpreted as axis-angle // Jacobians are around zero, so the rotation part is the same as: Matrix H1Rot3 = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, _1, v1, x2, v2, kZeroBias), + std::bind(&evaluateRotationError, factor, std::placeholders::_1, v1, x2, v2, kZeroBias), x1); EXPECT(assert_equal(H1Rot3, H1a.topRows(3))); Matrix H3Rot3 = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, v1, _1, v2, kZeroBias), + std::bind(&evaluateRotationError, factor, x1, v1, std::placeholders::_1, v2, kZeroBias), x2); EXPECT(assert_equal(H3Rot3, H3a.topRows(3))); @@ -332,8 +333,8 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { Matrix96 actualH; pim.biasCorrectedDelta(bias, actualH); Matrix expectedH = numericalDerivative11( - boost::bind(&PreintegrationBase::biasCorrectedDelta, pim, _1, - boost::none), bias); + std::bind(&PreintegrationBase::biasCorrectedDelta, pim, + std::placeholders::_1, boost::none), bias); EXPECT(assert_equal(expectedH, actualH)); // Create factor @@ -521,7 +522,8 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { pim.correctMeasurementsBySensorPose(measuredAcc, measuredOmega, boost::none, D_correctedAcc_measuredOmega, boost::none); Matrix3 expectedD = numericalDerivative11( - boost::bind(correctedAcc, pim, measuredAcc, _1), measuredOmega, 1e-6); + std::bind(correctedAcc, pim, measuredAcc, std::placeholders::_1), + measuredOmega, 1e-6); EXPECT(assert_equal(expectedD, D_correctedAcc_measuredOmega, 1e-5)); double dt = 0.1; @@ -532,13 +534,15 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { // pim.updatedDeltaXij(measuredAcc, measuredOmega, dt, boost::none, G1, G2); // // Matrix93 expectedG1 = numericalDerivative21( -// boost::bind(&PreintegratedImuMeasurements::updatedDeltaXij, pim, _1, _2, +// std::bind(&PreintegratedImuMeasurements::updatedDeltaXij, pim, +// std::placeholders::_1, std::placeholders::_2, // dt, boost::none, boost::none, boost::none), measuredAcc, // measuredOmega, 1e-6); // EXPECT(assert_equal(expectedG1, G1, 1e-5)); // // Matrix93 expectedG2 = numericalDerivative22( -// boost::bind(&PreintegratedImuMeasurements::updatedDeltaXij, pim, _1, _2, +// std::bind(&PreintegratedImuMeasurements::updatedDeltaXij, pim, +// std::placeholders::_1, std::placeholders::_2, // dt, boost::none, boost::none, boost::none), measuredAcc, // measuredOmega, 1e-6); // EXPECT(assert_equal(expectedG2, G2, 1e-5)); diff --git a/gtsam/navigation/tests/testMagFactor.cpp b/gtsam/navigation/tests/testMagFactor.cpp index 45db58e33..5107b3b6b 100644 --- a/gtsam/navigation/tests/testMagFactor.cpp +++ b/gtsam/navigation/tests/testMagFactor.cpp @@ -20,10 +20,13 @@ #include #include +#include + #include #include +using namespace std::placeholders; using namespace std; using namespace gtsam; using namespace GeographicLib; @@ -61,7 +64,7 @@ TEST( MagFactor, unrotate ) { Point3 expected(22735.5, 314.502, 44202.5); EXPECT( assert_equal(expected, MagFactor::unrotate(theta,nM,H),1e-1)); EXPECT( assert_equal(numericalDerivative11 // - (boost::bind(&MagFactor::unrotate, _1, nM, none), theta), H, 1e-6)); + (std::bind(&MagFactor::unrotate, _1, nM, none), theta), H, 1e-6)); } // ************************************************************************* @@ -73,35 +76,35 @@ TEST( MagFactor, Factors ) { MagFactor f(1, measured, s, dir, bias, model); EXPECT( assert_equal(Z_3x1,f.evaluateError(theta,H1),1e-5)); EXPECT( assert_equal((Matrix)numericalDerivative11 // - (boost::bind(&MagFactor::evaluateError, &f, _1, none), theta), H1, 1e-7)); + (std::bind(&MagFactor::evaluateError, &f, _1, none), theta), H1, 1e-7)); // MagFactor1 MagFactor1 f1(1, measured, s, dir, bias, model); EXPECT( assert_equal(Z_3x1,f1.evaluateError(nRb,H1),1e-5)); EXPECT( assert_equal(numericalDerivative11 // - (boost::bind(&MagFactor1::evaluateError, &f1, _1, none), nRb), H1, 1e-7)); + (std::bind(&MagFactor1::evaluateError, &f1, _1, none), nRb), H1, 1e-7)); // MagFactor2 MagFactor2 f2(1, 2, measured, nRb, model); EXPECT( assert_equal(Z_3x1,f2.evaluateError(scaled,bias,H1,H2),1e-5)); EXPECT( assert_equal(numericalDerivative11 // - (boost::bind(&MagFactor2::evaluateError, &f2, _1, bias, none, none), scaled),// + (std::bind(&MagFactor2::evaluateError, &f2, _1, bias, none, none), scaled),// H1, 1e-7)); EXPECT( assert_equal(numericalDerivative11 // - (boost::bind(&MagFactor2::evaluateError, &f2, scaled, _1, none, none), bias),// + (std::bind(&MagFactor2::evaluateError, &f2, scaled, _1, none, none), bias),// H2, 1e-7)); // MagFactor2 MagFactor3 f3(1, 2, 3, measured, nRb, model); EXPECT(assert_equal(Z_3x1,f3.evaluateError(s,dir,bias,H1,H2,H3),1e-5)); EXPECT(assert_equal((Matrix)numericalDerivative11 // - (boost::bind(&MagFactor3::evaluateError, &f3, _1, dir, bias, none, none, none), s),// + (std::bind(&MagFactor3::evaluateError, &f3, _1, dir, bias, none, none, none), s),// H1, 1e-7)); EXPECT(assert_equal(numericalDerivative11 // - (boost::bind(&MagFactor3::evaluateError, &f3, s, _1, bias, none, none, none), dir),// + (std::bind(&MagFactor3::evaluateError, &f3, s, _1, bias, none, none, none), dir),// H2, 1e-7)); EXPECT(assert_equal(numericalDerivative11 // - (boost::bind(&MagFactor3::evaluateError, &f3, s, dir, _1, none, none, none), bias),// + (std::bind(&MagFactor3::evaluateError, &f3, s, dir, _1, none, none, none), bias),// H3, 1e-7)); } diff --git a/gtsam/navigation/tests/testMagPoseFactor.cpp b/gtsam/navigation/tests/testMagPoseFactor.cpp new file mode 100644 index 000000000..204c1d38f --- /dev/null +++ b/gtsam/navigation/tests/testMagPoseFactor.cpp @@ -0,0 +1,133 @@ +/* ---------------------------------------------------------------------------- + + * 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 + + * -------------------------------------------------------------------------- */ + +#include +#include +#include +#include +#include +#include +#include + +using namespace std::placeholders; +using namespace gtsam; + +// ***************************************************************************** +// Magnetic field in the nav frame (NED), with units of nT. +Point3 nM(22653.29982, -1956.83010, 44202.47862); + +// Assumed scale factor (scales a unit vector to magnetometer units of nT). +double scale = 255.0 / 50000.0; + +// Ground truth Pose2/Pose3 in the nav frame. +Pose3 n_P3_b = Pose3(Rot3::Yaw(-0.1), Point3(-3, 12, 5)); +Pose2 n_P2_b = Pose2(Rot2(-0.1), Point2(-3, 12)); +Rot3 n_R3_b = n_P3_b.rotation(); +Rot2 n_R2_b = n_P2_b.rotation(); + +// Sensor bias (nT). +Point3 bias3(10, -10, 50); +Point2 bias2 = bias3.head(2); + +Point3 dir3(nM.normalized()); +Point2 dir2(nM.head(2).normalized()); + +// Compute the measured field in the sensor frame. +Point3 measured3 = n_R3_b.inverse() * (scale * dir3) + bias3; + +// The 2D magnetometer will measure the "NE" field components. +Point2 measured2 = n_R2_b.inverse() * (scale * dir2) + bias2; + +SharedNoiseModel model2 = noiseModel::Isotropic::Sigma(2, 0.25); +SharedNoiseModel model3 = noiseModel::Isotropic::Sigma(3, 0.25); + +// Make up a rotation and offset of the sensor in the body frame. +Pose2 body_P2_sensor(Rot2(-0.30), Point2(1.0, -2.0)); +Pose3 body_P3_sensor(Rot3::RzRyRx(Vector3(1.5, 0.9, -1.15)), Point3(-0.1, 0.2, 0.3)); +// ***************************************************************************** + +// ***************************************************************************** +TEST(MagPoseFactor, Constructors) { + MagPoseFactor f2a(Symbol('X', 0), measured2, scale, dir2, bias2, model2, boost::none); + MagPoseFactor f3a(Symbol('X', 0), measured3, scale, dir3, bias3, model3, boost::none); + + // Try constructing with a body_P_sensor set. + MagPoseFactor f2b = MagPoseFactor( + Symbol('X', 0), measured2, scale, dir2, bias2, model2, body_P2_sensor); + MagPoseFactor f3b = MagPoseFactor( + Symbol('X', 0), measured3, scale, dir3, bias3, model3, body_P3_sensor); + + f2b.print(); + f3b.print(); +} + +// ***************************************************************************** +TEST(MagPoseFactor, JacobianPose2) { + Matrix H2; + + // Error should be zero at the groundtruth pose. + MagPoseFactor f(Symbol('X', 0), measured2, scale, dir2, bias2, model2, boost::none); + CHECK(gtsam::assert_equal(Z_2x1, f.evaluateError(n_P2_b, H2), 1e-5)); + CHECK(gtsam::assert_equal(gtsam::numericalDerivative11 // + (std::bind(&MagPoseFactor::evaluateError, &f, + std::placeholders::_1, boost::none), + n_P2_b), + H2, 1e-7)); +} + +// ***************************************************************************** +TEST(MagPoseFactor, JacobianPose3) { + Matrix H3; + + // Error should be zero at the groundtruth pose. + MagPoseFactor f(Symbol('X', 0), measured3, scale, dir3, bias3, model3, boost::none); + CHECK(gtsam::assert_equal(Z_3x1, f.evaluateError(n_P3_b, H3), 1e-5)); + CHECK(gtsam::assert_equal(gtsam::numericalDerivative11 // + (std::bind(&MagPoseFactor::evaluateError, &f, + std::placeholders::_1, boost::none), + n_P3_b), + H3, 1e-7)); +} + +// ***************************************************************************** +TEST(MagPoseFactor, body_P_sensor2) { + Matrix H2; + + // Because body_P_sensor is specified, we need to rotate the raw measurement + // from the body frame into the sensor frame "s". + const Rot2 nRs = n_R2_b * body_P2_sensor.rotation(); + const Point2 sM = nRs.inverse() * (scale * dir2) + bias2; + MagPoseFactor f = MagPoseFactor(Symbol('X', 0), sM, scale, dir2, bias2, model2, body_P2_sensor); + CHECK(gtsam::assert_equal(Z_2x1, f.evaluateError(n_P2_b, H2), 1e-5)); + CHECK(gtsam::assert_equal(gtsam::numericalDerivative11 // + (std::bind(&MagPoseFactor::evaluateError, &f, std::placeholders::_1, boost::none), n_P2_b), H2, 1e-7)); +} + +// ***************************************************************************** +TEST(MagPoseFactor, body_P_sensor3) { + Matrix H3; + + // Because body_P_sensor is specified, we need to rotate the raw measurement + // from the body frame into the sensor frame "s". + const Rot3 nRs = n_R3_b * body_P3_sensor.rotation(); + const Point3 sM = nRs.inverse() * (scale * dir3) + bias3; + MagPoseFactor f = MagPoseFactor(Symbol('X', 0), sM, scale, dir3, bias3, model3, body_P3_sensor); + CHECK(gtsam::assert_equal(Z_3x1, f.evaluateError(n_P3_b, H3), 1e-5)); + CHECK(gtsam::assert_equal(gtsam::numericalDerivative11 // + (std::bind(&MagPoseFactor::evaluateError, &f, std::placeholders::_1, boost::none), n_P3_b), H3, 1e-7)); +} + +// ***************************************************************************** +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +// ***************************************************************************** diff --git a/gtsam/navigation/tests/testManifoldPreintegration.cpp b/gtsam/navigation/tests/testManifoldPreintegration.cpp index a3f688dda..7796ccbda 100644 --- a/gtsam/navigation/tests/testManifoldPreintegration.cpp +++ b/gtsam/navigation/tests/testManifoldPreintegration.cpp @@ -22,10 +22,11 @@ #include #include -#include #include "imuFactorTesting.h" +using namespace std::placeholders; + namespace testing { // Create default parameters with Z-down and above noise parameters static boost::shared_ptr Params() { @@ -41,21 +42,21 @@ static boost::shared_ptr Params() { TEST(ManifoldPreintegration, BiasCorrectionJacobians) { testing::SomeMeasurements measurements; - boost::function deltaRij = + std::function deltaRij = [=](const Vector3& a, const Vector3& w) { ManifoldPreintegration pim(testing::Params(), Bias(a, w)); testing::integrateMeasurements(measurements, &pim); return pim.deltaRij(); }; - boost::function deltaPij = + std::function deltaPij = [=](const Vector3& a, const Vector3& w) { ManifoldPreintegration pim(testing::Params(), Bias(a, w)); testing::integrateMeasurements(measurements, &pim); return pim.deltaPij(); }; - boost::function deltaVij = + std::function deltaVij = [=](const Vector3& a, const Vector3& w) { ManifoldPreintegration pim(testing::Params(), Bias(a, w)); testing::integrateMeasurements(measurements, &pim); @@ -96,10 +97,12 @@ TEST(ManifoldPreintegration, computeError) { Matrix9 aH1, aH2; Matrix96 aH3; pim.computeError(x1, x2, bias, aH1, aH2, aH3); - boost::function f = - boost::bind(&ManifoldPreintegration::computeError, pim, _1, _2, _3, - boost::none, boost::none, boost::none); + std::function + f = std::bind(&ManifoldPreintegration::computeError, pim, + std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, boost::none, boost::none, + boost::none); // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 EXPECT(assert_equal(numericalDerivative31(f, x1, x2, bias), aH1, 1e-9)); EXPECT(assert_equal(numericalDerivative32(f, x1, x2, bias), aH2, 1e-9)); diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index 5bafe4392..e7adb923d 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -19,8 +19,11 @@ #include #include #include + +#include #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -36,9 +39,9 @@ static const Vector9 kZeroXi = Vector9::Zero(); /* ************************************************************************* */ TEST(NavState, Constructor) { - boost::function create = - boost::bind(&NavState::Create, _1, _2, _3, boost::none, boost::none, - boost::none); + std::function create = + std::bind(&NavState::Create, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, boost::none, boost::none, boost::none); Matrix aH1, aH2, aH3; EXPECT( assert_equal(kState1, @@ -56,9 +59,9 @@ TEST(NavState, Constructor) { /* ************************************************************************* */ TEST(NavState, Constructor2) { - boost::function construct = - boost::bind(&NavState::FromPoseVelocity, _1, _2, boost::none, - boost::none); + std::function construct = + std::bind(&NavState::FromPoseVelocity, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none); Matrix aH1, aH2; EXPECT( assert_equal(kState1, @@ -73,7 +76,7 @@ TEST( NavState, Attitude) { Rot3 actual = kState1.attitude(aH); EXPECT(assert_equal(actual, kAttitude)); eH = numericalDerivative11( - boost::bind(&NavState::attitude, _1, boost::none), kState1); + std::bind(&NavState::attitude, std::placeholders::_1, boost::none), kState1); EXPECT(assert_equal((Matrix )eH, aH)); } @@ -83,7 +86,8 @@ TEST( NavState, Position) { Point3 actual = kState1.position(aH); EXPECT(assert_equal(actual, kPosition)); eH = numericalDerivative11( - boost::bind(&NavState::position, _1, boost::none), kState1); + std::bind(&NavState::position, std::placeholders::_1, boost::none), + kState1); EXPECT(assert_equal((Matrix )eH, aH)); } @@ -93,7 +97,8 @@ TEST( NavState, Velocity) { Velocity3 actual = kState1.velocity(aH); EXPECT(assert_equal(actual, kVelocity)); eH = numericalDerivative11( - boost::bind(&NavState::velocity, _1, boost::none), kState1); + std::bind(&NavState::velocity, std::placeholders::_1, boost::none), + kState1); EXPECT(assert_equal((Matrix )eH, aH)); } @@ -103,7 +108,8 @@ TEST( NavState, BodyVelocity) { Velocity3 actual = kState1.bodyVelocity(aH); EXPECT(assert_equal(actual, kAttitude.unrotate(kVelocity))); eH = numericalDerivative11( - boost::bind(&NavState::bodyVelocity, _1, boost::none), kState1); + std::bind(&NavState::bodyVelocity, std::placeholders::_1, boost::none), + kState1); EXPECT(assert_equal((Matrix )eH, aH)); } @@ -134,8 +140,9 @@ TEST( NavState, Manifold ) { // Check retract derivatives Matrix9 aH1, aH2; kState1.retract(xi, aH1, aH2); - boost::function retract = - boost::bind(&NavState::retract, _1, _2, boost::none, boost::none); + std::function retract = + std::bind(&NavState::retract, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none); EXPECT(assert_equal(numericalDerivative21(retract, kState1, xi), aH1)); EXPECT(assert_equal(numericalDerivative22(retract, kState1, xi), aH2)); @@ -146,9 +153,9 @@ TEST( NavState, Manifold ) { EXPECT(assert_equal(numericalDerivative22(retract, state2, xi2), aH2)); // Check localCoordinates derivatives - boost::function local = - boost::bind(&NavState::localCoordinates, _1, _2, boost::none, - boost::none); + std::function local = + std::bind(&NavState::localCoordinates, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none); // from state1 to state2 kState1.localCoordinates(state2, aH1, aH2); EXPECT(assert_equal(numericalDerivative21(local, kState1, state2), aH1)); @@ -165,8 +172,9 @@ TEST( NavState, Manifold ) { /* ************************************************************************* */ static const double dt = 2.0; -boost::function coriolis = boost::bind( - &NavState::coriolis, _1, dt, kOmegaCoriolis, _2, boost::none); +std::function coriolis = + std::bind(&NavState::coriolis, std::placeholders::_1, dt, kOmegaCoriolis, + std::placeholders::_2, boost::none); TEST(NavState, Coriolis) { Matrix9 aH; @@ -241,9 +249,10 @@ TEST(NavState, CorrectPIM) { xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; double dt = 0.5; Matrix9 aH1, aH2; - boost::function correctPIM = - boost::bind(&NavState::correctPIM, _1, _2, dt, kGravity, kOmegaCoriolis, - false, boost::none, boost::none); + std::function correctPIM = + std::bind(&NavState::correctPIM, std::placeholders::_1, + std::placeholders::_2, dt, kGravity, kOmegaCoriolis, false, + boost::none, boost::none); kState1.correctPIM(xi, dt, kGravity, kOmegaCoriolis, false, aH1, aH2); EXPECT(assert_equal(numericalDerivative21(correctPIM, kState1, xi), aH1)); EXPECT(assert_equal(numericalDerivative22(correctPIM, kState1, xi), aH2)); diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index 9c080929d..0df51956b 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -19,9 +19,9 @@ #include #include -#include #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -147,7 +147,7 @@ TEST(Scenario, Accelerating) { { // Check acceleration in nav Matrix expected = numericalDerivative11( - boost::bind(&Scenario::velocity_n, scenario, _1), T); + std::bind(&Scenario::velocity_n, scenario, std::placeholders::_1), T); EXPECT(assert_equal(Vector3(expected), scenario.acceleration_n(T), 1e-9)); } diff --git a/gtsam/navigation/tests/testTangentPreintegration.cpp b/gtsam/navigation/tests/testTangentPreintegration.cpp index 65fd55fa3..ada059094 100644 --- a/gtsam/navigation/tests/testTangentPreintegration.cpp +++ b/gtsam/navigation/tests/testTangentPreintegration.cpp @@ -22,10 +22,11 @@ #include #include -#include #include "imuFactorTesting.h" +using namespace std::placeholders; + static const double kDt = 0.1; Vector9 f(const Vector9& zeta, const Vector3& a, const Vector3& w) { @@ -76,7 +77,7 @@ TEST(TangentPreintegration, UpdateEstimate2) { TEST(ImuFactor, BiasCorrectionJacobians) { testing::SomeMeasurements measurements; - boost::function preintegrated = + std::function preintegrated = [=](const Vector3& a, const Vector3& w) { TangentPreintegration pim(testing::Params(), Bias(a, w)); testing::integrateMeasurements(measurements, &pim); @@ -103,10 +104,12 @@ TEST(TangentPreintegration, computeError) { Matrix9 aH1, aH2; Matrix96 aH3; pim.computeError(x1, x2, bias, aH1, aH2, aH3); - boost::function f = - boost::bind(&TangentPreintegration::computeError, pim, _1, _2, _3, - boost::none, boost::none, boost::none); + std::function + f = std::bind(&TangentPreintegration::computeError, pim, + std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, boost::none, boost::none, + boost::none); // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 EXPECT(assert_equal(numericalDerivative31(f, x1, x2, bias), aH1, 1e-9)); EXPECT(assert_equal(numericalDerivative32(f, x1, x2, bias), aH2, 1e-9)); @@ -119,7 +122,7 @@ TEST(TangentPreintegration, Compose) { TangentPreintegration pim(testing::Params()); testing::integrateMeasurements(measurements, &pim); - boost::function f = + std::function f = [pim](const Vector9& zeta01, const Vector9& zeta12) { return TangentPreintegration::Compose(zeta01, zeta12, pim.deltaTij()); }; diff --git a/gtsam/nonlinear/CustomFactor.cpp b/gtsam/nonlinear/CustomFactor.cpp new file mode 100644 index 000000000..e33caed6f --- /dev/null +++ b/gtsam/nonlinear/CustomFactor.cpp @@ -0,0 +1,76 @@ +/* ---------------------------------------------------------------------------- + + * 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 + +namespace gtsam { + +/* + * Calculates the unwhitened error by invoking the callback functor (i.e. from Python). + */ +Vector CustomFactor::unwhitenedError(const Values& x, boost::optional&> H) const { + if(this->active(x)) { + + if(H) { + /* + * In this case, we pass the raw pointer to the `std::vector` object directly to pybind. + * As the type `std::vector` has been marked as opaque in `preamble.h`, any changes in + * Python will be immediately reflected on the C++ side. + * + * Example: + * ``` + * def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]): + * + * if not H is None: + * + * H[0] = J1 + * H[1] = J2 + * ... + * return error + * ``` + */ + return this->error_function_(*this, x, H.get_ptr()); + } else { + /* + * In this case, we pass the a `nullptr` to pybind, and it will translate to `None` in Python. + * Users can check for `None` in their callback to determine if the Jacobian is requested. + */ + return this->error_function_(*this, x, nullptr); + } + } else { + return Vector::Zero(this->dim()); + } +} + +void CustomFactor::print(const std::string &s, const KeyFormatter &keyFormatter) const { + std::cout << s << "CustomFactor on "; + auto keys_ = this->keys(); + bool f = false; + for (const Key &k: keys_) { + if (f) + std::cout << ", "; + std::cout << keyFormatter(k); + f = true; + } + std::cout << "\n"; + if (this->noiseModel_) + this->noiseModel_->print(" noise model: "); + else + std::cout << "no noise model" << std::endl; +} + +} diff --git a/gtsam/nonlinear/CustomFactor.h b/gtsam/nonlinear/CustomFactor.h new file mode 100644 index 000000000..dbaf31898 --- /dev/null +++ b/gtsam/nonlinear/CustomFactor.h @@ -0,0 +1,104 @@ +/* ---------------------------------------------------------------------------- + + * 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 + +using namespace gtsam; + +namespace gtsam { + +using JacobianVector = std::vector; + +class CustomFactor; + +/* + * NOTE + * ========== + * pybind11 will invoke a copy if this is `JacobianVector &`, and modifications in Python will not be reflected. + * + * This is safe because this is passing a const pointer, and pybind11 will maintain the `std::vector` memory layout. + * Thus the pointer will never be invalidated. + */ +using CustomErrorFunction = std::function; + +/** + * @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 { +protected: + CustomErrorFunction error_function_; + +protected: + + using Base = NoiseModelFactor; + using This = CustomFactor; + +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->error_function_ = 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 &> H = boost::none) const override; + + /** print */ + void print(const std::string &s, + const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override; + + /** + * Mark not sendable + */ + bool sendable() const override { + return false; + } + +private: + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar & boost::serialization::make_nvp("CustomFactor", + boost::serialization::base_object(*this)); + } +}; + +}; diff --git a/gtsam/nonlinear/DoglegOptimizer.h b/gtsam/nonlinear/DoglegOptimizer.h index 6b3097476..e278bf075 100644 --- a/gtsam/nonlinear/DoglegOptimizer.h +++ b/gtsam/nonlinear/DoglegOptimizer.h @@ -43,7 +43,7 @@ public: DoglegParams() : deltaInitial(1.0), verbosityDL(SILENT) {} - virtual ~DoglegParams() {} + ~DoglegParams() override {} void print(const std::string& str = "") const override { NonlinearOptimizerParams::print(str); @@ -103,7 +103,7 @@ public: /// @{ /** Virtual destructor */ - virtual ~DoglegOptimizer() {} + ~DoglegOptimizer() override {} /** * Perform a single iteration, returning GaussianFactorGraph corresponding to @@ -121,7 +121,7 @@ public: protected: /** Access the parameters (base class version) */ - virtual const NonlinearOptimizerParams& _params() const override { return params_; } + const NonlinearOptimizerParams& _params() const override { return params_; } /** Internal function for computing a COLAMD ordering if no ordering is specified */ DoglegParams ensureHasOrdering(DoglegParams params, const NonlinearFactorGraph& graph) const; diff --git a/gtsam/nonlinear/Expression-inl.h b/gtsam/nonlinear/Expression-inl.h index 0ba2ad446..cf2462dfc 100644 --- a/gtsam/nonlinear/Expression-inl.h +++ b/gtsam/nonlinear/Expression-inl.h @@ -21,6 +21,7 @@ #include +#include #include #include #include @@ -82,7 +83,8 @@ template Expression::Expression(const Expression& expression, T (A::*method)(typename MakeOptionalJacobian::type) const) : root_( - new internal::UnaryExpression(boost::bind(method, _1, _2), + new internal::UnaryExpression(std::bind(method, + std::placeholders::_1, std::placeholders::_2), expression)) { } @@ -95,7 +97,10 @@ Expression::Expression(const Expression& expression1, const Expression& expression2) : root_( new internal::BinaryExpression( - boost::bind(method, _1, _2, _3, _4), expression1, expression2)) { + std::bind(method, std::placeholders::_1, + std::placeholders::_2, std::placeholders::_3, + std::placeholders::_4), + expression1, expression2)) { } /// Construct a binary method expression @@ -109,8 +114,11 @@ Expression::Expression(const Expression& expression1, const Expression& expression2, const Expression& expression3) : root_( new internal::TernaryExpression( - boost::bind(method, _1, _2, _3, _4, _5, _6), expression1, - expression2, expression3)) { + std::bind(method, std::placeholders::_1, + std::placeholders::_2, std::placeholders::_3, + std::placeholders::_4, std::placeholders::_5, + std::placeholders::_6), + expression1, expression2, expression3)) { } template @@ -247,8 +255,10 @@ template Expression operator*(const Expression& expression1, const Expression& expression2) { return Expression( - boost::bind(internal::apply_compose(), _1, _2, _3, _4), expression1, - expression2); + std::bind(internal::apply_compose(), std::placeholders::_1, + std::placeholders::_2, std::placeholders::_3, + std::placeholders::_4), + expression1, expression2); } /// Construct an array of leaves diff --git a/gtsam/nonlinear/Expression.h b/gtsam/nonlinear/Expression.h index 9e8aa3f29..eb828760d 100644 --- a/gtsam/nonlinear/Expression.h +++ b/gtsam/nonlinear/Expression.h @@ -24,7 +24,6 @@ #include #include -#include #include #include @@ -69,20 +68,20 @@ public: // Expression::BinaryFunction,Point3>::type template struct UnaryFunction { - typedef boost::function< + typedef std::function< T(const A1&, typename MakeOptionalJacobian::type)> type; }; template struct BinaryFunction { - typedef boost::function< + typedef std::function< T(const A1&, const A2&, typename MakeOptionalJacobian::type, typename MakeOptionalJacobian::type)> type; }; template struct TernaryFunction { - typedef boost::function< + typedef std::function< T(const A1&, const A2&, const A3&, typename MakeOptionalJacobian::type, typename MakeOptionalJacobian::type, @@ -240,7 +239,7 @@ class BinarySumExpression : public Expression { */ template Expression linearExpression( - const boost::function& f, const Expression& expression, + const std::function& f, const Expression& expression, const Eigen::Matrix::dimension, traits::dimension>& dTdA) { // Use lambda to endow f with a linear Jacobian typename Expression::template UnaryFunction::type g = diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h index 6d6162825..b55d643aa 100644 --- a/gtsam/nonlinear/ExpressionFactor.h +++ b/gtsam/nonlinear/ExpressionFactor.h @@ -71,7 +71,7 @@ protected: } /// Destructor - virtual ~ExpressionFactor() {} + ~ExpressionFactor() override {} /** return the measurement */ const T& measured() const { return measured_; } @@ -245,7 +245,7 @@ public: using ArrayNKeys = std::array; /// Destructor - virtual ~ExpressionFactorN() = default; + ~ExpressionFactorN() override = default; // Don't provide backward compatible evaluateVector(), due to its problematic // variable length of optional Jacobian arguments. Vector evaluateError(const @@ -330,7 +330,7 @@ public: throw std::runtime_error( "ExpressionFactor2::expression not provided: cannot deserialize."); } - virtual Expression + Expression expression(const typename ExpressionFactorN::ArrayNKeys &keys) const override { return expression(keys[0], keys[1]); diff --git a/gtsam/nonlinear/FunctorizedFactor.h b/gtsam/nonlinear/FunctorizedFactor.h index 688b3aaa2..691ab8ac8 100644 --- a/gtsam/nonlinear/FunctorizedFactor.h +++ b/gtsam/nonlinear/FunctorizedFactor.h @@ -79,7 +79,7 @@ class GTSAM_EXPORT FunctorizedFactor : public NoiseModelFactor1 { const std::function)> func) : Base(model, key), measured_(z), noiseModel_(model), func_(func) {} - virtual ~FunctorizedFactor() {} + ~FunctorizedFactor() override {} /// @return a deep copy of this factor NonlinearFactor::shared_ptr clone() const override { @@ -87,8 +87,8 @@ class GTSAM_EXPORT FunctorizedFactor : public NoiseModelFactor1 { NonlinearFactor::shared_ptr(new FunctorizedFactor(*this))); } - Vector evaluateError(const T ¶ms, - boost::optional H = boost::none) const override { + Vector evaluateError(const T ¶ms, boost::optional H = + boost::none) const override { R x = func_(params, H); Vector error = traits::Local(measured_, x); return error; @@ -96,8 +96,9 @@ class GTSAM_EXPORT FunctorizedFactor : public NoiseModelFactor1 { /// @name Testable /// @{ - void print(const std::string &s = "", - const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override { + void print( + const std::string &s = "", + const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override { Base::print(s, keyFormatter); std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor(" << keyFormatter(this->key()) << ")" << std::endl; @@ -144,4 +145,111 @@ FunctorizedFactor MakeFunctorizedFactor(Key key, const R &z, return FunctorizedFactor(key, z, model, func); } +/** + * Factor which evaluates provided binary functor and uses the result to compute + * error with respect to the provided measurement. + * + * Template parameters are + * @param R: The return type of the functor after evaluation. + * @param T1: The first argument type for the functor. + * @param T2: The second argument type for the functor. + */ +template +class GTSAM_EXPORT FunctorizedFactor2 : public NoiseModelFactor2 { + private: + using Base = NoiseModelFactor2; + + R measured_; ///< value that is compared with functor return value + SharedNoiseModel noiseModel_; ///< noise model + using FunctionType = std::function, + boost::optional)>; + FunctionType func_; ///< functor instance + + public: + /** default constructor - only use for serialization */ + FunctorizedFactor2() {} + + /** Construct with given x and the parameters of the basis + * + * @param key: Factor key + * @param z: Measurement object of same type as that returned by functor + * @param model: Noise model + * @param func: The instance of the functor object + */ + FunctorizedFactor2(Key key1, Key key2, const R &z, + const SharedNoiseModel &model, const FunctionType func) + : Base(model, key1, key2), + measured_(z), + noiseModel_(model), + func_(func) {} + + ~FunctorizedFactor2() override {} + + /// @return a deep copy of this factor + NonlinearFactor::shared_ptr clone() const override { + return boost::static_pointer_cast( + NonlinearFactor::shared_ptr(new FunctorizedFactor2(*this))); + } + + Vector evaluateError( + const T1 ¶ms1, const T2 ¶ms2, + boost::optional H1 = boost::none, + boost::optional H2 = boost::none) const override { + R x = func_(params1, params2, H1, H2); + Vector error = traits::Local(measured_, x); + return error; + } + + /// @name Testable + /// @{ + void print( + const std::string &s = "", + const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override { + Base::print(s, keyFormatter); + std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor2(" + << keyFormatter(this->key1()) << ", " + << keyFormatter(this->key2()) << ")" << std::endl; + traits::Print(measured_, " measurement: "); + std::cout << " noise model sigmas: " << noiseModel_->sigmas().transpose() + << std::endl; + } + + bool equals(const NonlinearFactor &other, double tol = 1e-9) const override { + const FunctorizedFactor2 *e = + dynamic_cast *>(&other); + return e && Base::equals(other, tol) && + traits::Equals(this->measured_, e->measured_, tol); + } + /// @} + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &boost::serialization::make_nvp( + "NoiseModelFactor2", boost::serialization::base_object(*this)); + ar &BOOST_SERIALIZATION_NVP(measured_); + ar &BOOST_SERIALIZATION_NVP(func_); + } +}; + +/// traits +template +struct traits> + : public Testable> {}; + +/** + * Helper function to create a functorized factor. + * + * Uses function template deduction to identify return type and functor type, so + * template list only needs the functor argument type. + */ +template +FunctorizedFactor2 MakeFunctorizedFactor2( + Key key1, Key key2, const R &z, const SharedNoiseModel &model, + const FUNC func) { + return FunctorizedFactor2(key1, key2, z, model, func); +} + } // namespace gtsam diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.h b/gtsam/nonlinear/GaussNewtonOptimizer.h index a436597e5..1c40f7fa5 100644 --- a/gtsam/nonlinear/GaussNewtonOptimizer.h +++ b/gtsam/nonlinear/GaussNewtonOptimizer.h @@ -28,6 +28,8 @@ class GaussNewtonOptimizer; * NonlinearOptimizationParams. */ class GTSAM_EXPORT GaussNewtonParams : public NonlinearOptimizerParams { +public: + using OptimizerType = GaussNewtonOptimizer; }; /** @@ -68,7 +70,7 @@ public: /// @{ /** Virtual destructor */ - virtual ~GaussNewtonOptimizer() {} + ~GaussNewtonOptimizer() override {} /** * Perform a single iteration, returning GaussianFactorGraph corresponding to diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h new file mode 100644 index 000000000..3ddaf4820 --- /dev/null +++ b/gtsam/nonlinear/GncOptimizer.h @@ -0,0 +1,460 @@ +/* ---------------------------------------------------------------------------- + + * 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 GncOptimizer.h + * @brief The GncOptimizer class + * @author Jingnan Shi + * @author Luca Carlone + * @author Frank Dellaert + * + * Implementation of the paper: Yang, Antonante, Tzoumas, Carlone, "Graduated Non-Convexity for Robust Spatial Perception: + * From Non-Minimal Solvers to Global Outlier Rejection", ICRA/RAL, 2020. (arxiv version: https://arxiv.org/pdf/1909.08605.pdf) + * + * See also: + * Antonante, Tzoumas, Yang, Carlone, "Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications", + * arxiv: https://arxiv.org/pdf/2007.15109.pdf, 2020. + */ + +#pragma once + +#include +#include +#include + +namespace gtsam { +/* + * Quantile of chi-squared distribution with given degrees of freedom at probability alpha. + * Equivalent to chi2inv in Matlab. + */ +static double Chi2inv(const double alpha, const size_t dofs) { + boost::math::chi_squared_distribution chi2(dofs); + return boost::math::quantile(chi2, alpha); +} + +/* ************************************************************************* */ +template +class GTSAM_EXPORT GncOptimizer { + public: + /// For each parameter, specify the corresponding optimizer: e.g., GaussNewtonParams -> GaussNewtonOptimizer. + typedef typename GncParameters::OptimizerType BaseOptimizer; + + private: + NonlinearFactorGraph nfg_; ///< Original factor graph to be solved by GNC. + Values state_; ///< Initial values to be used at each iteration by GNC. + GncParameters params_; ///< GNC parameters. + Vector weights_; ///< Weights associated to each factor in GNC (this could be a local variable in optimize, but it is useful to make it accessible from outside). + Vector barcSq_; ///< Inlier thresholds. A factor is considered an inlier if factor.error() < barcSq_[i] (where i is the position of the factor in the factor graph. Note that factor.error() whitens by the covariance. + + public: + /// Constructor. + GncOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues, + const GncParameters& params = GncParameters()) + : state_(initialValues), + params_(params) { + + // make sure all noiseModels are Gaussian or convert to Gaussian + nfg_.resize(graph.size()); + for (size_t i = 0; i < graph.size(); i++) { + if (graph[i]) { + NoiseModelFactor::shared_ptr factor = boost::dynamic_pointer_cast< + NoiseModelFactor>(graph[i]); + auto robust = boost::dynamic_pointer_cast< + noiseModel::Robust>(factor->noiseModel()); + // if the factor has a robust loss, we remove the robust loss + nfg_[i] = robust ? factor-> cloneWithNewNoiseModel(robust->noise()) : factor; + } + } + + // check that known inliers and outliers make sense: + std::vector inconsistentlySpecifiedWeights; // measurements the user has incorrectly specified + // to be BOTH known inliers and known outliers + std::set_intersection(params.knownInliers.begin(),params.knownInliers.end(), + params.knownOutliers.begin(),params.knownOutliers.end(), + std::inserter(inconsistentlySpecifiedWeights, inconsistentlySpecifiedWeights.begin())); + if(inconsistentlySpecifiedWeights.size() > 0){ // if we have inconsistently specified weights, we throw an exception + params.print("params\n"); + throw std::runtime_error("GncOptimizer::constructor: the user has selected one or more measurements" + " to be BOTH a known inlier and a known outlier."); + } + // check that known inliers are in the graph + for (size_t i = 0; i < params.knownInliers.size(); i++){ + if( params.knownInliers[i] > nfg_.size()-1 ){ // outside graph + throw std::runtime_error("GncOptimizer::constructor: the user has selected one or more measurements" + "that are not in the factor graph to be known inliers."); + } + } + // check that known outliers are in the graph + for (size_t i = 0; i < params.knownOutliers.size(); i++){ + if( params.knownOutliers[i] > nfg_.size()-1 ){ // outside graph + throw std::runtime_error("GncOptimizer::constructor: the user has selected one or more measurements" + "that are not in the factor graph to be known outliers."); + } + } + // initialize weights (if we don't have prior knowledge of inliers/outliers + // the weights are all initialized to 1. + weights_ = initializeWeightsFromKnownInliersAndOutliers(); + + // set default barcSq_ (inlier threshold) + double alpha = 0.99; // with this (default) probability, inlier residuals are smaller than barcSq_ + setInlierCostThresholdsAtProbability(alpha); + } + + /** Set the maximum weighted residual error for an inlier (same for all factors). For a factor in the form f(x) = 0.5 * || r(x) ||^2_Omega, + * the inlier threshold is the largest value of f(x) for the corresponding measurement to be considered an inlier. + * In other words, an inlier at x is such that 0.5 * || r(x) ||^2_Omega <= barcSq. + * Assuming an isotropic measurement covariance sigma^2 * Identity, the cost becomes: 0.5 * 1/sigma^2 || r(x) ||^2 <= barcSq. + * Hence || r(x) ||^2 <= 2 * barcSq * sigma^2. + * */ + void setInlierCostThresholds(const double inth) { + barcSq_ = inth * Vector::Ones(nfg_.size()); + } + + /** Set the maximum weighted residual error for an inlier (one for each factor). For a factor in the form f(x) = 0.5 * || r(x) ||^2_Omega, + * the inlier threshold is the largest value of f(x) for the corresponding measurement to be considered an inlier. + * In other words, an inlier at x is such that 0.5 * || r(x) ||^2_Omega <= barcSq. + * */ + void setInlierCostThresholds(const Vector& inthVec) { + barcSq_ = inthVec; + } + + /** Set the maximum weighted residual error threshold by specifying the probability + * alpha that the inlier residuals are smaller than that threshold + * */ + void setInlierCostThresholdsAtProbability(const double alpha) { + barcSq_ = Vector::Ones(nfg_.size()); // initialize + for (size_t k = 0; k < nfg_.size(); k++) { + if (nfg_[k]) { + barcSq_[k] = 0.5 * Chi2inv(alpha, nfg_[k]->dim()); // 0.5 derives from the error definition in gtsam + } + } + } + + /** Set weights for each factor. This is typically not needed, but + * provides an extra interface for the user to initialize the weightst + * */ + void setWeights(const Vector w) { + if(w.size() != nfg_.size()){ + throw std::runtime_error("GncOptimizer::setWeights: the number of specified weights" + " does not match the size of the factor graph."); + } + weights_ = w; + } + + /// Access a copy of the internal factor graph. + const NonlinearFactorGraph& getFactors() const { return nfg_; } + + /// Access a copy of the internal values. + const Values& getState() const { return state_; } + + /// Access a copy of the parameters. + const GncParameters& getParams() const { return params_;} + + /// Access a copy of the GNC weights. + const Vector& getWeights() const { return weights_;} + + /// Get the inlier threshold. + const Vector& getInlierCostThresholds() const {return barcSq_;} + + /// Equals. + bool equals(const GncOptimizer& other, double tol = 1e-9) const { + return nfg_.equals(other.getFactors()) + && equal(weights_, other.getWeights()) + && params_.equals(other.getParams()) + && equal(barcSq_, other.getInlierCostThresholds()); + } + + Vector initializeWeightsFromKnownInliersAndOutliers() const{ + Vector weights = Vector::Ones(nfg_.size()); + for (size_t i = 0; i < params_.knownOutliers.size(); i++){ + weights[ params_.knownOutliers[i] ] = 0.0; // known to be outliers + } + return weights; + } + + /// Compute optimal solution using graduated non-convexity. + Values optimize() { + NonlinearFactorGraph graph_initial = this->makeWeightedGraph(weights_); + BaseOptimizer baseOptimizer(graph_initial, state_); + Values result = baseOptimizer.optimize(); + double mu = initializeMu(); + double prev_cost = graph_initial.error(result); + double cost = 0.0; // this will be updated in the main loop + + // handle the degenerate case that corresponds to small + // maximum residual errors at initialization + // For GM: if residual error is small, mu -> 0 + // For TLS: if residual error is small, mu -> -1 + int nrUnknownInOrOut = nfg_.size() - ( params_.knownInliers.size() + params_.knownOutliers.size() ); + // ^^ number of measurements that are not known to be inliers or outliers (GNC will need to figure them out) + if (mu <= 0 || nrUnknownInOrOut == 0) { // no need to even call GNC in this case + if (mu <= 0 && params_.verbosity >= GncParameters::Verbosity::SUMMARY) { + std::cout << "GNC Optimizer stopped because maximum residual at " + "initialization is small." + << std::endl; + } + if (nrUnknownInOrOut==0 && params_.verbosity >= GncParameters::Verbosity::SUMMARY) { + std::cout << "GNC Optimizer stopped because all measurements are already known to be inliers or outliers" + << std::endl; + } + if (params_.verbosity >= GncParameters::Verbosity::VALUES) { + result.print("result\n"); + std::cout << "mu: " << mu << std::endl; + } + return result; + } + + size_t iter; + for (iter = 0; iter < params_.maxIterations; iter++) { + + // display info + if (params_.verbosity >= GncParameters::Verbosity::VALUES) { + std::cout << "iter: " << iter << std::endl; + result.print("result\n"); + std::cout << "mu: " << mu << std::endl; + std::cout << "weights: " << weights_ << std::endl; + } + // weights update + weights_ = calculateWeights(result, mu); + + // variable/values update + NonlinearFactorGraph graph_iter = this->makeWeightedGraph(weights_); + BaseOptimizer baseOptimizer_iter(graph_iter, state_); + result = baseOptimizer_iter.optimize(); + + // stopping condition + cost = graph_iter.error(result); + if (checkConvergence(mu, weights_, cost, prev_cost)) { + break; + } + + // update mu + mu = updateMu(mu); + + // get ready for next iteration + prev_cost = cost; + + // display info + if (params_.verbosity >= GncParameters::Verbosity::VALUES) { + std::cout << "previous cost: " << prev_cost << std::endl; + std::cout << "current cost: " << cost << std::endl; + } + } + // display info + if (params_.verbosity >= GncParameters::Verbosity::SUMMARY) { + std::cout << "final iterations: " << iter << std::endl; + std::cout << "final mu: " << mu << std::endl; + std::cout << "final weights: " << weights_ << std::endl; + std::cout << "previous cost: " << prev_cost << std::endl; + std::cout << "current cost: " << cost << std::endl; + } + return result; + } + + /// Initialize the gnc parameter mu such that loss is approximately convex (remark 5 in GNC paper). + double initializeMu() const { + + double mu_init = 0.0; + // initialize mu to the value specified in Remark 5 in GNC paper. + switch (params_.lossType) { + case GncLossType::GM: + /* surrogate cost is convex for large mu. initialize as in remark 5 in GNC paper. + Since barcSq_ can be different for each factor, we compute the max of the quantity in remark 5 in GNC paper + */ + for (size_t k = 0; k < nfg_.size(); k++) { + if (nfg_[k]) { + mu_init = std::max(mu_init, 2 * nfg_[k]->error(state_) / barcSq_[k]); + } + } + return mu_init; // initial mu + case GncLossType::TLS: + /* surrogate cost is convex for mu close to zero. initialize as in remark 5 in GNC paper. + degenerate case: 2 * rmax_sq - params_.barcSq < 0 (handled in the main loop) + according to remark mu = params_.barcSq / (2 * rmax_sq - params_.barcSq) = params_.barcSq/ excessResidual + however, if the denominator is 0 or negative, we return mu = -1 which leads to termination of the main GNC loop. + Since barcSq_ can be different for each factor, we look for the minimimum (positive) quantity in remark 5 in GNC paper + */ + mu_init = std::numeric_limits::infinity(); + for (size_t k = 0; k < nfg_.size(); k++) { + if (nfg_[k]) { + double rk = nfg_[k]->error(state_); + mu_init = (2 * rk - barcSq_[k]) > 0 ? // if positive, update mu, otherwise keep same + std::min(mu_init, barcSq_[k] / (2 * rk - barcSq_[k]) ) : mu_init; + } + } + return mu_init > 0 && !std::isinf(mu_init) ? mu_init : -1; // if mu <= 0 or mu = inf, return -1, + // which leads to termination of the main gnc loop. In this case, all residuals are already below the threshold + // and there is no need to robustify (TLS = least squares) + default: + throw std::runtime_error( + "GncOptimizer::initializeMu: called with unknown loss type."); + } + } + + /// Update the gnc parameter mu to gradually increase nonconvexity. + double updateMu(const double mu) const { + switch (params_.lossType) { + case GncLossType::GM: + // reduce mu, but saturate at 1 (original cost is recovered for mu -> 1) + return std::max(1.0, mu / params_.muStep); + case GncLossType::TLS: + // increases mu at each iteration (original cost is recovered for mu -> inf) + return mu * params_.muStep; + default: + throw std::runtime_error( + "GncOptimizer::updateMu: called with unknown loss type."); + } + } + + /// Check if we have reached the value of mu for which the surrogate loss matches the original loss. + bool checkMuConvergence(const double mu) const { + bool muConverged = false; + switch (params_.lossType) { + case GncLossType::GM: + muConverged = std::fabs(mu - 1.0) < 1e-9; // mu=1 recovers the original GM function + break; + case GncLossType::TLS: + muConverged = false; // for TLS there is no stopping condition on mu (it must tend to infinity) + break; + default: + throw std::runtime_error( + "GncOptimizer::checkMuConvergence: called with unknown loss type."); + } + if (muConverged && params_.verbosity >= GncParameters::Verbosity::SUMMARY) + std::cout << "muConverged = true " << std::endl; + return muConverged; + } + + /// Check convergence of relative cost differences. + bool checkCostConvergence(const double cost, const double prev_cost) const { + bool costConverged = std::fabs(cost - prev_cost) / std::max(prev_cost, 1e-7) + < params_.relativeCostTol; + if (costConverged && params_.verbosity >= GncParameters::Verbosity::SUMMARY) + std::cout << "checkCostConvergence = true " << std::endl; + return costConverged; + } + + /// Check convergence of weights to binary values. + bool checkWeightsConvergence(const Vector& weights) const { + bool weightsConverged = false; + switch (params_.lossType) { + case GncLossType::GM: + weightsConverged = false; // for GM, there is no clear binary convergence for the weights + break; + case GncLossType::TLS: + weightsConverged = true; + for (int i = 0; i < weights.size(); i++) { + if (std::fabs(weights[i] - std::round(weights[i])) + > params_.weightsTol) { + weightsConverged = false; + break; + } + } + break; + default: + throw std::runtime_error( + "GncOptimizer::checkWeightsConvergence: called with unknown loss type."); + } + if (weightsConverged + && params_.verbosity >= GncParameters::Verbosity::SUMMARY) + std::cout << "weightsConverged = true " << std::endl; + return weightsConverged; + } + + /// Check for convergence between consecutive GNC iterations. + bool checkConvergence(const double mu, const Vector& weights, + const double cost, const double prev_cost) const { + return checkCostConvergence(cost, prev_cost) + || checkWeightsConvergence(weights) || checkMuConvergence(mu); + } + + /// Create a graph where each factor is weighted by the gnc weights. + NonlinearFactorGraph makeWeightedGraph(const Vector& weights) const { + // make sure all noiseModels are Gaussian or convert to Gaussian + NonlinearFactorGraph newGraph; + newGraph.resize(nfg_.size()); + for (size_t i = 0; i < nfg_.size(); i++) { + if (nfg_[i]) { + auto factor = boost::dynamic_pointer_cast< + NoiseModelFactor>(nfg_[i]); + auto noiseModel = + boost::dynamic_pointer_cast( + factor->noiseModel()); + if (noiseModel) { + Matrix newInfo = weights[i] * noiseModel->information(); + auto newNoiseModel = noiseModel::Gaussian::Information(newInfo); + newGraph[i] = factor->cloneWithNewNoiseModel(newNoiseModel); + } else { + throw std::runtime_error( + "GncOptimizer::makeWeightedGraph: unexpected non-Gaussian noise model."); + } + } + } + return newGraph; + } + + /// Calculate gnc weights. + Vector calculateWeights(const Values& currentEstimate, const double mu) { + Vector weights = initializeWeightsFromKnownInliersAndOutliers(); + + // do not update the weights that the user has decided are known inliers + std::vector allWeights; + for (size_t k = 0; k < nfg_.size(); k++) { + allWeights.push_back(k); + } + std::vector knownWeights; + std::set_union(params_.knownInliers.begin(), params_.knownInliers.end(), + params_.knownOutliers.begin(), params_.knownOutliers.end(), + std::inserter(knownWeights, knownWeights.begin())); + + std::vector unknownWeights; + std::set_difference(allWeights.begin(), allWeights.end(), + knownWeights.begin(), knownWeights.end(), + std::inserter(unknownWeights, unknownWeights.begin())); + + // update weights of known inlier/outlier measurements + switch (params_.lossType) { + case GncLossType::GM: { // use eq (12) in GNC paper + for (size_t k : unknownWeights) { + if (nfg_[k]) { + double u2_k = nfg_[k]->error(currentEstimate); // squared (and whitened) residual + weights[k] = std::pow( + (mu * barcSq_[k]) / (u2_k + mu * barcSq_[k]), 2); + } + } + return weights; + } + case GncLossType::TLS: { // use eq (14) in GNC paper + double upperbound = (mu + 1) / mu * barcSq_.maxCoeff(); + double lowerbound = mu / (mu + 1) * barcSq_.minCoeff(); + for (size_t k : unknownWeights) { + if (nfg_[k]) { + double u2_k = nfg_[k]->error(currentEstimate); // squared (and whitened) residual + if (u2_k >= upperbound) { + weights[k] = 0; + } else if (u2_k <= lowerbound) { + weights[k] = 1; + } else { + weights[k] = std::sqrt(barcSq_[k] * mu * (mu + 1) / u2_k) + - mu; + } + } + } + return weights; + } + default: + throw std::runtime_error( + "GncOptimizer::calculateWeights: called with unknown loss type."); + } + } +}; + +} diff --git a/gtsam/nonlinear/GncParams.h b/gtsam/nonlinear/GncParams.h new file mode 100644 index 000000000..086f08acc --- /dev/null +++ b/gtsam/nonlinear/GncParams.h @@ -0,0 +1,168 @@ +/* ---------------------------------------------------------------------------- + + * 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 GncOptimizer.h + * @brief The GncOptimizer class + * @author Jingnan Shi + * @author Luca Carlone + * @author Frank Dellaert + * + * Implementation of the paper: Yang, Antonante, Tzoumas, Carlone, "Graduated Non-Convexity for Robust Spatial Perception: + * From Non-Minimal Solvers to Global Outlier Rejection", ICRA/RAL, 2020. (arxiv version: https://arxiv.org/pdf/1909.08605.pdf) + * + * See also: + * Antonante, Tzoumas, Yang, Carlone, "Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications", + * arxiv: https://arxiv.org/pdf/2007.15109.pdf, 2020. + */ + +#pragma once + +#include +#include + +namespace gtsam { + +/* ************************************************************************* */ +/// Choice of robust loss function for GNC. +enum GncLossType { + GM /*Geman McClure*/, + TLS /*Truncated least squares*/ +}; + +template +class GTSAM_EXPORT GncParams { + public: + /// For each parameter, specify the corresponding optimizer: e.g., GaussNewtonParams -> GaussNewtonOptimizer. + typedef typename BaseOptimizerParameters::OptimizerType OptimizerType; + + /// Verbosity levels + enum Verbosity { + SILENT = 0, + SUMMARY, + VALUES + }; + + /// Constructor. + GncParams(const BaseOptimizerParameters& baseOptimizerParams) + : baseOptimizerParams(baseOptimizerParams) { + } + + /// Default constructor. + GncParams() + : baseOptimizerParams() { + } + + /// GNC parameters. + BaseOptimizerParameters baseOptimizerParams; ///< Optimization parameters used to solve the weighted least squares problem at each GNC iteration + /// any other specific GNC parameters: + GncLossType lossType = TLS; ///< Default loss + size_t maxIterations = 100; ///< Maximum number of iterations + double muStep = 1.4; ///< Multiplicative factor to reduce/increase the mu in gnc + double relativeCostTol = 1e-5; ///< If relative cost change is below this threshold, stop iterating + double weightsTol = 1e-4; ///< If the weights are within weightsTol from being binary, stop iterating (only for TLS) + Verbosity verbosity = SILENT; ///< Verbosity level + std::vector knownInliers = std::vector(); ///< Slots in the factor graph corresponding to measurements that we know are inliers + std::vector knownOutliers = std::vector(); ///< Slots in the factor graph corresponding to measurements that we know are outliers + + /// Set the robust loss function to be used in GNC (chosen among the ones in GncLossType). + void setLossType(const GncLossType type) { + lossType = type; + } + + /// Set the maximum number of iterations in GNC (changing the max nr of iters might lead to less accurate solutions and is not recommended). + void setMaxIterations(const size_t maxIter) { + std::cout + << "setMaxIterations: changing the max nr of iters might lead to less accurate solutions and is not recommended! " + << std::endl; + maxIterations = maxIter; + } + + /// Set the graduated non-convexity step: at each GNC iteration, mu is updated as mu <- mu * muStep. + void setMuStep(const double step) { + muStep = step; + } + + /// Set the maximum relative difference in mu values to stop iterating. + void setRelativeCostTol(double value) { + relativeCostTol = value; + } + + /// Set the maximum difference between the weights and their rounding in {0,1} to stop iterating. + void setWeightsTol(double value) { + weightsTol = value; + } + + /// Set the verbosity level. + void setVerbosityGNC(const Verbosity value) { + verbosity = value; + } + + /** (Optional) Provide a vector of measurements that must be considered inliers. The enties in the vector + * corresponds to the slots in the factor graph. For instance, if you have a nonlinear factor graph nfg, + * and you provide knownIn = {0, 2, 15}, GNC will not apply outlier rejection to nfg[0], nfg[2], and nfg[15]. + * This functionality is commonly used in SLAM when one may assume the odometry is outlier free, and + * only apply GNC to prune outliers from the loop closures. + * */ + void setKnownInliers(const std::vector& knownIn) { + for (size_t i = 0; i < knownIn.size(); i++){ + knownInliers.push_back(knownIn[i]); + } + std::sort(knownInliers.begin(), knownInliers.end()); + } + + /** (Optional) Provide a vector of measurements that must be considered outliers. The enties in the vector + * corresponds to the slots in the factor graph. For instance, if you have a nonlinear factor graph nfg, + * and you provide knownOut = {0, 2, 15}, GNC will not apply outlier rejection to nfg[0], nfg[2], and nfg[15]. + * */ + void setKnownOutliers(const std::vector& knownOut) { + for (size_t i = 0; i < knownOut.size(); i++){ + knownOutliers.push_back(knownOut[i]); + } + std::sort(knownOutliers.begin(), knownOutliers.end()); + } + + /// Equals. + bool equals(const GncParams& other, double tol = 1e-9) const { + return baseOptimizerParams.equals(other.baseOptimizerParams) + && lossType == other.lossType && maxIterations == other.maxIterations + && std::fabs(muStep - other.muStep) <= tol + && verbosity == other.verbosity && knownInliers == other.knownInliers + && knownOutliers == other.knownOutliers; + } + + /// Print. + void print(const std::string& str) const { + std::cout << str << "\n"; + switch (lossType) { + case GM: + std::cout << "lossType: Geman McClure" << "\n"; + break; + case TLS: + std::cout << "lossType: Truncated Least-squares" << "\n"; + break; + default: + throw std::runtime_error("GncParams::print: unknown loss type."); + } + std::cout << "maxIterations: " << maxIterations << "\n"; + std::cout << "muStep: " << muStep << "\n"; + std::cout << "relativeCostTol: " << relativeCostTol << "\n"; + std::cout << "weightsTol: " << weightsTol << "\n"; + std::cout << "verbosity: " << verbosity << "\n"; + for (size_t i = 0; i < knownInliers.size(); i++) + std::cout << "knownInliers: " << knownInliers[i] << "\n"; + for (size_t i = 0; i < knownOutliers.size(); i++) + std::cout << "knownOutliers: " << knownOutliers[i] << "\n"; + baseOptimizerParams.print(str); + } +}; + +} diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 9f33e757f..92c2142a7 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -315,6 +315,26 @@ class GTSAM_EXPORT ISAM2 : public BayesTree { void removeVariables(const KeySet& unusedKeys); void updateDelta(bool forceFullSolve = false) const; + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + ar & boost::serialization::base_object >(*this); + ar & BOOST_SERIALIZATION_NVP(theta_); + ar & BOOST_SERIALIZATION_NVP(variableIndex_); + ar & BOOST_SERIALIZATION_NVP(delta_); + ar & BOOST_SERIALIZATION_NVP(deltaNewton_); + ar & BOOST_SERIALIZATION_NVP(RgProd_); + ar & BOOST_SERIALIZATION_NVP(deltaReplacedMask_); + ar & BOOST_SERIALIZATION_NVP(nonlinearFactors_); + ar & BOOST_SERIALIZATION_NVP(linearFactors_); + ar & BOOST_SERIALIZATION_NVP(doglegDelta_); + ar & BOOST_SERIALIZATION_NVP(fixedVariables_); + ar & BOOST_SERIALIZATION_NVP(update_count_); + } + }; // ISAM2 /// traits diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 2f09f234d..3e4453f4f 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -69,7 +69,7 @@ public: const LevenbergMarquardtParams& params = LevenbergMarquardtParams()); /** Virtual destructor */ - virtual ~LevenbergMarquardtOptimizer() { + ~LevenbergMarquardtOptimizer() override { } /// @} diff --git a/gtsam/nonlinear/LevenbergMarquardtParams.cpp b/gtsam/nonlinear/LevenbergMarquardtParams.cpp index 5d558a43a..caa2cc083 100644 --- a/gtsam/nonlinear/LevenbergMarquardtParams.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtParams.cpp @@ -37,6 +37,8 @@ LevenbergMarquardtParams::VerbosityLM LevenbergMarquardtParams::verbosityLMTrans return LevenbergMarquardtParams::SILENT; if (s == "SUMMARY") return LevenbergMarquardtParams::SUMMARY; + if (s == "TERMINATION") + return LevenbergMarquardtParams::TERMINATION; if (s == "LAMBDA") return LevenbergMarquardtParams::LAMBDA; if (s == "TRYLAMBDA") diff --git a/gtsam/nonlinear/LevenbergMarquardtParams.h b/gtsam/nonlinear/LevenbergMarquardtParams.h index 4962ad366..1e2c6e395 100644 --- a/gtsam/nonlinear/LevenbergMarquardtParams.h +++ b/gtsam/nonlinear/LevenbergMarquardtParams.h @@ -25,6 +25,8 @@ namespace gtsam { +class LevenbergMarquardtOptimizer; + /** Parameters for Levenberg-Marquardt optimization. Note that this parameters * class inherits from NonlinearOptimizerParams, which specifies the parameters * common to all nonlinear optimization algorithms. This class also contains @@ -40,6 +42,7 @@ public: static VerbosityLM verbosityLMTranslator(const std::string &s); static std::string verbosityLMTranslator(VerbosityLM value); + using OptimizerType = LevenbergMarquardtOptimizer; public: @@ -119,7 +122,7 @@ public: return params; } - virtual ~LevenbergMarquardtParams() {} + ~LevenbergMarquardtParams() override {} void print(const std::string& str = "") const override; /// @name Getters/Setters, mainly for wrappers. Use fields above in C++. diff --git a/gtsam/nonlinear/LinearContainerFactor.cpp b/gtsam/nonlinear/LinearContainerFactor.cpp index 4f19f36f8..9ee0681d2 100644 --- a/gtsam/nonlinear/LinearContainerFactor.cpp +++ b/gtsam/nonlinear/LinearContainerFactor.cpp @@ -164,6 +164,48 @@ NonlinearFactor::shared_ptr LinearContainerFactor::negateToNonlinear() const { return NonlinearFactor::shared_ptr(new LinearContainerFactor(antifactor, linearizationPoint_)); } +/* ************************************************************************* */ +NonlinearFactor::shared_ptr LinearContainerFactor::rekey( + const std::map& rekey_mapping) const { + auto rekeyed_base_factor = Base::rekey(rekey_mapping); + // Update the keys to the properties as well + // Downncast so we have access to members + auto new_factor = boost::static_pointer_cast(rekeyed_base_factor); + // Create a new Values to assign later + Values newLinearizationPoint; + for (size_t i = 0; i < factor_->size(); ++i) { + auto mapping = rekey_mapping.find(factor_->keys()[i]); + if (mapping != rekey_mapping.end()) { + new_factor->factor_->keys()[i] = mapping->second; + newLinearizationPoint.insert(mapping->second, linearizationPoint_->at(mapping->first)); + } + } + new_factor->linearizationPoint_ = newLinearizationPoint; + + // upcast back and return + return boost::static_pointer_cast(new_factor); +} + +/* ************************************************************************* */ +NonlinearFactor::shared_ptr LinearContainerFactor::rekey( + const KeyVector& new_keys) const { + auto rekeyed_base_factor = Base::rekey(new_keys); + // Update the keys to the properties as well + // Downncast so we have access to members + auto new_factor = boost::static_pointer_cast(rekeyed_base_factor); + new_factor->factor_->keys() = new_factor->keys(); + // Create a new Values to assign later + Values newLinearizationPoint; + for(size_t i=0; ikeys()[i]; + newLinearizationPoint.insert(new_keys[i], linearizationPoint_->at(cur_key)); + } + new_factor->linearizationPoint_ = newLinearizationPoint; + + // upcast back and return + return boost::static_pointer_cast(new_factor); +} + /* ************************************************************************* */ NonlinearFactorGraph LinearContainerFactor::ConvertLinearGraph( const GaussianFactorGraph& linear_graph, const Values& linearizationPoint) { diff --git a/gtsam/nonlinear/LinearContainerFactor.h b/gtsam/nonlinear/LinearContainerFactor.h index 8587e6b91..8c5b34f01 100644 --- a/gtsam/nonlinear/LinearContainerFactor.h +++ b/gtsam/nonlinear/LinearContainerFactor.h @@ -120,8 +120,21 @@ public: return NonlinearFactor::shared_ptr(new LinearContainerFactor(factor_,linearizationPoint_)); } - // casting syntactic sugar + /** + * Creates a shared_ptr clone of the + * factor with different keys using + * a map from old->new keys + */ + NonlinearFactor::shared_ptr rekey( + const std::map& rekey_mapping) const override; + /** + * Clones a factor and fully replaces its keys + * @param new_keys is the full replacement set of keys + */ + NonlinearFactor::shared_ptr rekey(const KeyVector& new_keys) const override; + + /// Casting syntactic sugar inline bool hasLinearizationPoint() const { return linearizationPoint_.is_initialized(); } /** diff --git a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h index a85f27425..fd9e49a62 100644 --- a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h +++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h @@ -67,7 +67,7 @@ public: const Values& initialValues, const Parameters& params = Parameters()); /// Destructor - virtual ~NonlinearConjugateGradientOptimizer() { + ~NonlinearConjugateGradientOptimizer() override { } /** diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h index 6286b73da..47083d5d7 100644 --- a/gtsam/nonlinear/NonlinearEquality.h +++ b/gtsam/nonlinear/NonlinearEquality.h @@ -21,7 +21,7 @@ #include #include -#include +#include #include #include @@ -59,25 +59,22 @@ private: double error_gain_; // typedef to this class - typedef NonlinearEquality This; + using This = NonlinearEquality; // typedef to base class - typedef NoiseModelFactor1 Base; + using Base = NoiseModelFactor1; public: - /** - * Function that compares two values - */ - typedef boost::function CompareFunction; + /// Function that compares two values. + using CompareFunction = std::function; CompareFunction compare_; -// bool (*compare_)(const T& a, const T& b); - /** default constructor - only for serialization */ + /// Default constructor - only for serialization NonlinearEquality() { } - virtual ~NonlinearEquality() { + ~NonlinearEquality() override { } /// @name Standard Constructors @@ -87,7 +84,8 @@ public: * Constructor - forces exact evaluation */ NonlinearEquality(Key j, const T& feasible, - const CompareFunction &_compare = boost::bind(traits::Equals,_1,_2,1e-9)) : + const CompareFunction &_compare = std::bind(traits::Equals, + std::placeholders::_1, std::placeholders::_2, 1e-9)) : Base(noiseModel::Constrained::All(traits::GetDimension(feasible)), j), feasible_(feasible), allow_error_(false), error_gain_(0.0), // compare_(_compare) { @@ -97,7 +95,8 @@ public: * Constructor - allows inexact evaluation */ NonlinearEquality(Key j, const T& feasible, double error_gain, - const CompareFunction &_compare = boost::bind(traits::Equals,_1,_2,1e-9)) : + const CompareFunction &_compare = std::bind(traits::Equals, + std::placeholders::_1, std::placeholders::_2, 1e-9)) : Base(noiseModel::Constrained::All(traits::GetDimension(feasible)), j), feasible_(feasible), allow_error_(true), error_gain_(error_gain), // compare_(_compare) { @@ -109,9 +108,11 @@ public: void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { - std::cout << s << "Constraint: on [" << keyFormatter(this->key()) << "]\n"; + std::cout << (s.empty() ? s : s + " ") << "Constraint: on [" + << keyFormatter(this->key()) << "]\n"; traits::Print(feasible_, "Feasible Point:\n"); - std::cout << "Variable Dimension: " << traits::GetDimension(feasible_) << std::endl; + std::cout << "Variable Dimension: " << traits::GetDimension(feasible_) + << std::endl; } /** Check if two factors are equal */ @@ -125,7 +126,7 @@ public: /// @name Standard Interface /// @{ - /** actual error function calculation */ + /// Actual error function calculation double error(const Values& c) const override { const T& xj = c.at(this->key()); Vector e = this->unwhitenedError(c); @@ -136,7 +137,7 @@ public: } } - /** error function */ + /// Error function Vector evaluateError(const T& xj, boost::optional H = boost::none) const override { const size_t nj = traits::GetDimension(feasible_); @@ -157,7 +158,7 @@ public: } } - // Linearize is over-written, because base linearization tries to whiten + /// Linearize is over-written, because base linearization tries to whiten GaussianFactor::shared_ptr linearize(const Values& x) const override { const T& xj = x.at(this->key()); Matrix A; @@ -179,7 +180,7 @@ public: private: - /** Serialization function */ + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { @@ -194,9 +195,8 @@ private: }; // \class NonlinearEquality -template -struct traits > : Testable > { -}; +template +struct traits> : Testable> {}; /* ************************************************************************* */ /** @@ -212,7 +212,7 @@ protected: typedef NoiseModelFactor1 Base; typedef NonlinearEquality1 This; - /** default constructor to allow for serialization */ + /// Default constructor to allow for serialization NonlinearEquality1() { } @@ -231,14 +231,14 @@ public: * @param value feasible value that values(key) shouild be equal to * @param key the key for the unknown variable to be constrained * @param mu a parameter which really turns this into a strong prior - * */ - NonlinearEquality1(const X& value, Key key, double mu = 1000.0) : - Base( noiseModel::Constrained::All(traits::GetDimension(value), - std::abs(mu)), key), value_(value) { - } + NonlinearEquality1(const X& value, Key key, double mu = 1000.0) + : Base(noiseModel::Constrained::All(traits::GetDimension(value), + std::abs(mu)), + key), + value_(value) {} - virtual ~NonlinearEquality1() { + ~NonlinearEquality1() override { } /// @return a deep copy of this factor @@ -247,7 +247,7 @@ public: gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - /** g(x) with optional derivative */ + /// g(x) with optional derivative Vector evaluateError(const X& x1, boost::optional H = boost::none) const override { if (H) @@ -256,7 +256,7 @@ public: return traits::Local(value_,x1); } - /** Print */ + /// Print void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { std::cout << s << ": NonlinearEquality1(" << keyFormatter(this->key()) @@ -269,7 +269,7 @@ public: private: - /** Serialization function */ + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { @@ -281,40 +281,39 @@ private: }; // \NonlinearEquality1 -template -struct traits > : Testable > { -}; +template +struct traits > + : Testable > {}; /* ************************************************************************* */ /** - * Simple binary equality constraint - this constraint forces two factors to + * Simple binary equality constraint - this constraint forces two variables to * be the same. */ -template -class NonlinearEquality2: public NoiseModelFactor2 { -public: - typedef VALUE X; +template +class NonlinearEquality2 : public NoiseModelFactor2 { + protected: + using Base = NoiseModelFactor2; + using This = NonlinearEquality2; -protected: - typedef NoiseModelFactor2 Base; - typedef NonlinearEquality2 This; + GTSAM_CONCEPT_MANIFOLD_TYPE(T) - GTSAM_CONCEPT_MANIFOLD_TYPE(X) + /// Default constructor to allow for serialization + NonlinearEquality2() {} - /** default constructor to allow for serialization */ - NonlinearEquality2() { - } + public: + typedef boost::shared_ptr> shared_ptr; -public: - - typedef boost::shared_ptr > shared_ptr; - - ///TODO: comment - NonlinearEquality2(Key key1, Key key2, double mu = 1000.0) : - Base(noiseModel::Constrained::All(traits::dimension, std::abs(mu)), key1, key2) { - } - virtual ~NonlinearEquality2() { - } + /** + * Constructor + * @param key1 the key for the first unknown variable to be constrained + * @param key2 the key for the second unknown variable to be constrained + * @param mu a parameter which really turns this into a strong prior + */ + NonlinearEquality2(Key key1, Key key2, double mu = 1e4) + : Base(noiseModel::Constrained::All(traits::dimension, std::abs(mu)), + key1, key2) {} + ~NonlinearEquality2() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -322,34 +321,31 @@ public: gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - /** g(x) with optional derivative2 */ - Vector evaluateError(const X& x1, const X& x2, boost::optional H1 = - boost::none, boost::optional H2 = boost::none) const override { - static const size_t p = traits::dimension; - if (H1) *H1 = -Matrix::Identity(p,p); - if (H2) *H2 = Matrix::Identity(p,p); - return traits::Local(x1,x2); + /// g(x) with optional derivative2 + Vector evaluateError( + const T& x1, const T& x2, boost::optional H1 = boost::none, + boost::optional H2 = boost::none) const override { + static const size_t p = traits::dimension; + if (H1) *H1 = -Matrix::Identity(p, p); + if (H2) *H2 = Matrix::Identity(p, p); + return traits::Local(x1, x2); } GTSAM_MAKE_ALIGNED_OPERATOR_NEW -private: - - /** Serialization function */ + private: + /// Serialization function friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar - & boost::serialization::make_nvp("NoiseModelFactor2", - boost::serialization::base_object(*this)); + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp( + "NoiseModelFactor2", boost::serialization::base_object(*this)); } }; // \NonlinearEquality2 -template -struct traits > : Testable > { +template +struct traits> : Testable> { }; - }// namespace gtsam - diff --git a/gtsam/nonlinear/NonlinearFactor.cpp b/gtsam/nonlinear/NonlinearFactor.cpp index 1cfcba274..8b8d2da6c 100644 --- a/gtsam/nonlinear/NonlinearFactor.cpp +++ b/gtsam/nonlinear/NonlinearFactor.cpp @@ -76,6 +76,14 @@ bool NoiseModelFactor::equals(const NonlinearFactor& f, double tol) const { && noiseModel_->equals(*e->noiseModel_, tol))); } +/* ************************************************************************* */ +NoiseModelFactor::shared_ptr NoiseModelFactor::cloneWithNewNoiseModel( + const SharedNoiseModel newNoise) const { + NoiseModelFactor::shared_ptr new_factor = boost::dynamic_pointer_cast(clone()); + new_factor->noiseModel_ = newNoise; + return new_factor; +} + /* ************************************************************************* */ static void check(const SharedNoiseModel& noiseModel, size_t m) { if (noiseModel && m != noiseModel->dim()) diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 80fbfbb11..7fafd95df 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -70,8 +70,8 @@ public: /// @{ /** print */ - virtual void print(const std::string& s = "", - const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + void print(const std::string& s = "", const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const override; /** Check if two factors are equal */ virtual bool equals(const NonlinearFactor& f, double tol = 1e-9) const; @@ -95,7 +95,7 @@ public: /** * Checks whether a factor should be used based on a set of values. - * This is primarily used to implment inequality constraints that + * This is primarily used to implement inequality constraints that * require a variable active set. For all others, the default implementation * returning true solves this problem. * @@ -126,13 +126,21 @@ public: * factor with different keys using * a map from old->new keys */ - shared_ptr rekey(const std::map& rekey_mapping) const; + virtual shared_ptr rekey(const std::map& rekey_mapping) const; /** * Clones a factor and fully replaces its keys * @param new_keys is the full replacement set of keys */ - shared_ptr rekey(const KeyVector& new_keys) const; + virtual shared_ptr rekey(const KeyVector& new_keys) const; + + /** + * Should the factor be evaluated in the same thread as the caller + * This is to enable factors that has shared states (like the Python GIL lock) + */ + virtual bool sendable() const { + return true; + } }; // \class NonlinearFactor @@ -169,7 +177,7 @@ public: NoiseModelFactor() {} /** Destructor */ - virtual ~NoiseModelFactor() {} + ~NoiseModelFactor() override {} /** * Constructor @@ -244,6 +252,12 @@ public: */ boost::shared_ptr linearize(const Values& x) const override; + /** + * Creates a shared_ptr clone of the + * factor with a new noise model + */ + shared_ptr cloneWithNewNoiseModel(const SharedNoiseModel newNoise) const; + private: /** Serialization function */ friend class boost::serialization::access; @@ -287,7 +301,7 @@ public: /** Default constructor for I/O only */ NoiseModelFactor1() {} - virtual ~NoiseModelFactor1() {} + ~NoiseModelFactor1() override {} inline Key key() const { return keys_[0]; } @@ -381,7 +395,7 @@ public: NoiseModelFactor2(const SharedNoiseModel& noiseModel, Key j1, Key j2) : Base(noiseModel, cref_list_of<2>(j1)(j2)) {} - virtual ~NoiseModelFactor2() {} + ~NoiseModelFactor2() override {} /** methods to retrieve both keys */ inline Key key1() const { return keys_[0]; } @@ -458,7 +472,7 @@ public: NoiseModelFactor3(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3) : Base(noiseModel, cref_list_of<3>(j1)(j2)(j3)) {} - virtual ~NoiseModelFactor3() {} + ~NoiseModelFactor3() override {} /** methods to retrieve keys */ inline Key key1() const { return keys_[0]; } @@ -537,7 +551,7 @@ public: NoiseModelFactor4(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4) : Base(noiseModel, cref_list_of<4>(j1)(j2)(j3)(j4)) {} - virtual ~NoiseModelFactor4() {} + ~NoiseModelFactor4() override {} /** methods to retrieve keys */ inline Key key1() const { return keys_[0]; } @@ -620,7 +634,7 @@ public: NoiseModelFactor5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5) : Base(noiseModel, cref_list_of<5>(j1)(j2)(j3)(j4)(j5)) {} - virtual ~NoiseModelFactor5() {} + ~NoiseModelFactor5() override {} /** methods to retrieve keys */ inline Key key1() const { return keys_[0]; } @@ -707,7 +721,7 @@ public: NoiseModelFactor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) : Base(noiseModel, cref_list_of<6>(j1)(j2)(j3)(j4)(j5)(j6)) {} - virtual ~NoiseModelFactor6() {} + ~NoiseModelFactor6() override {} /** methods to retrieve keys */ inline Key key1() const { return keys_[0]; } diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index 0b876f376..8e4cf277c 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -34,6 +34,7 @@ #endif #include +#include #include using namespace std; @@ -256,6 +257,16 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values, stm << "}\n"; } +/* ************************************************************************* */ +void NonlinearFactorGraph::saveGraph( + const std::string& file, const Values& values, + const GraphvizFormatting& graphvizFormatting, + const KeyFormatter& keyFormatter) const { + std::ofstream of(file); + saveGraph(of, values, graphvizFormatting, keyFormatter); + of.close(); +} + /* ************************************************************************* */ double NonlinearFactorGraph::error(const Values& values) const { gttic(NonlinearFactorGraph_error); @@ -314,7 +325,7 @@ public: // Operator that linearizes a given range of the factors void operator()(const tbb::blocked_range& blocked_range) const { for (size_t i = blocked_range.begin(); i != blocked_range.end(); ++i) { - if (nonlinearGraph_[i]) + if (nonlinearGraph_[i] && nonlinearGraph_[i]->sendable()) result_[i] = nonlinearGraph_[i]->linearize(linearizationPoint_); else result_[i] = GaussianFactor::shared_ptr(); @@ -337,9 +348,19 @@ GaussianFactorGraph::shared_ptr NonlinearFactorGraph::linearize(const Values& li linearFG->resize(size()); TbbOpenMPMixedScope threadLimiter; // Limits OpenMP threads since we're mixing TBB and OpenMP + + // First linearize all sendable factors tbb::parallel_for(tbb::blocked_range(0, size()), _LinearizeOneFactor(*this, linearizationPoint, *linearFG)); + // Linearize all non-sendable factors + for(size_t i = 0; i < size(); i++) { + auto& factor = (*this)[i]; + if(factor && !(factor->sendable())) { + (*linearFG)[i] = factor->linearize(linearizationPoint); + } + } + #else linearFG->reserve(size()); @@ -365,7 +386,7 @@ static Scatter scatterFromValues(const Values& values) { scatter.reserve(values.size()); // use "natural" ordering with keys taken from the initial values - for (const auto& key_value : values) { + for (const auto key_value : values) { scatter.add(key_value.key, key_value.value.dim()); } diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 0e17700d0..4d321f8ab 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -11,7 +11,7 @@ /** * @file NonlinearFactorGraph.h - * @brief Factor Graph Constsiting of non-linear factors + * @brief Factor Graph consisting of non-linear factors * @author Frank Dellaert * @author Carlos Nieto * @author Christian Potthast @@ -98,9 +98,13 @@ namespace gtsam { template NonlinearFactorGraph(const FactorGraph& graph) : Base(graph) {} + /// Destructor + virtual ~NonlinearFactorGraph() {} + /** print */ - void print(const std::string& str = "NonlinearFactorGraph: ", - const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + void print( + const std::string& str = "NonlinearFactorGraph: ", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override; /** print errors along with factors*/ void printErrors(const Values& values, const std::string& str = "NonlinearFactorGraph: ", @@ -111,11 +115,21 @@ namespace gtsam { /** Test equality */ bool equals(const NonlinearFactorGraph& other, double tol = 1e-9) const; - /** Write the graph in GraphViz format for visualization */ + /// Write the graph in GraphViz format for visualization void saveGraph(std::ostream& stm, const Values& values = Values(), const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(), const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + /** + * Write the graph in GraphViz format to file for visualization. + * + * This is a wrapper friendly version since wrapped languages don't have + * access to C++ streams. + */ + void saveGraph(const std::string& file, const Values& values = Values(), + const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(), + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + /** unnormalized error, \f$ 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \f$ in the most common case */ double error(const Values& values) const; diff --git a/gtsam/nonlinear/NonlinearOptimizerParams.h b/gtsam/nonlinear/NonlinearOptimizerParams.h index a7bc10a1f..218230421 100644 --- a/gtsam/nonlinear/NonlinearOptimizerParams.h +++ b/gtsam/nonlinear/NonlinearOptimizerParams.h @@ -113,6 +113,17 @@ public: virtual void print(const std::string& str = "") const; + bool equals(const NonlinearOptimizerParams& other, double tol = 1e-9) const { + return maxIterations == other.getMaxIterations() + && std::abs(relativeErrorTol - other.getRelativeErrorTol()) <= tol + && std::abs(absoluteErrorTol - other.getAbsoluteErrorTol()) <= tol + && std::abs(errorTol - other.getErrorTol()) <= tol + && verbosityTranslator(verbosity) == other.getVerbosity(); + // && orderingType.equals(other.getOrderingType()_; + // && linearSolverType == other.getLinearSolverType(); + // TODO: check ordering, iterativeParams, and iterationsHook + } + inline bool isMultifrontal() const { return (linearSolverType == MULTIFRONTAL_CHOLESKY) || (linearSolverType == MULTIFRONTAL_QR); diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h index 191a7eeaa..c745f7bd9 100644 --- a/gtsam/nonlinear/PriorFactor.h +++ b/gtsam/nonlinear/PriorFactor.h @@ -52,7 +52,7 @@ namespace gtsam { /** default constructor - only use for serialization */ PriorFactor() {} - virtual ~PriorFactor() {} + ~PriorFactor() override {} /** Constructor */ PriorFactor(Key key, const VALUE& prior, const SharedNoiseModel& model = nullptr) : diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h index d0f8a4790..8ebdcab17 100644 --- a/gtsam/nonlinear/Values-inl.h +++ b/gtsam/nonlinear/Values-inl.h @@ -26,6 +26,8 @@ #include +#include + #include // Only so Eclipse finds class definition namespace gtsam { @@ -101,7 +103,7 @@ namespace gtsam { boost::transform_iterator< KeyValuePair(*)(Values::KeyValuePair), boost::filter_iterator< - boost::function, + std::function, Values::iterator> > iterator; @@ -111,7 +113,7 @@ namespace gtsam { boost::transform_iterator< ConstKeyValuePair(*)(Values::ConstKeyValuePair), boost::filter_iterator< - boost::function, + std::function, Values::const_iterator> > const_const_iterator; @@ -132,7 +134,7 @@ namespace gtsam { private: Filtered( - const boost::function& filter, + const std::function& filter, Values& values) : begin_( boost::make_transform_iterator( @@ -203,7 +205,7 @@ namespace gtsam { const_iterator begin_; const_iterator end_; ConstFiltered( - const boost::function& filter, + const std::function& filter, const Values& values) { // We remove the const from values to create a non-const Filtered // view, then pull the const_iterators out of it. @@ -217,7 +219,7 @@ namespace gtsam { /** Constructor from a Filtered view copies out all values */ template Values::Values(const Values::Filtered& view) { - for(const typename Filtered::KeyValuePair& key_value: view) { + for(const auto key_value: view) { Key key = key_value.key; insert(key, static_cast(key_value.value)); } @@ -226,7 +228,7 @@ namespace gtsam { /* ************************************************************************* */ template Values::Values(const Values::ConstFiltered& view) { - for(const typename ConstFiltered::KeyValuePair& key_value: view) { + for(const auto key_value: view) { Key key = key_value.key; insert(key, static_cast(key_value.value)); } @@ -234,33 +236,35 @@ namespace gtsam { /* ************************************************************************* */ Values::Filtered - inline Values::filter(const boost::function& filterFcn) { + inline Values::filter(const std::function& filterFcn) { return filter(filterFcn); } /* ************************************************************************* */ template Values::Filtered - Values::filter(const boost::function& filterFcn) { - return Filtered(boost::bind(&filterHelper, filterFcn, _1), *this); + Values::filter(const std::function& filterFcn) { + return Filtered(std::bind(&filterHelper, filterFcn, + std::placeholders::_1), *this); } /* ************************************************************************* */ Values::ConstFiltered - inline Values::filter(const boost::function& filterFcn) const { + inline Values::filter(const std::function& filterFcn) const { return filter(filterFcn); } /* ************************************************************************* */ template Values::ConstFiltered - Values::filter(const boost::function& filterFcn) const { - return ConstFiltered(boost::bind(&filterHelper, filterFcn, _1), *this); + Values::filter(const std::function& filterFcn) const { + return ConstFiltered(std::bind(&filterHelper, + filterFcn, std::placeholders::_1), *this); } /* ************************************************************************* */ template<> - inline bool Values::filterHelper(const boost::function filter, + inline bool Values::filterHelper(const std::function filter, const ConstKeyValuePair& key_value) { // Filter and check the type return filter(key_value.key); @@ -338,19 +342,18 @@ namespace gtsam { } // internal /* ************************************************************************* */ - template - ValueType Values::at(Key j) const { + template + const ValueType Values::at(Key j) const { // Find the item KeyValueMap::const_iterator item = values_.find(j); // Throw exception if it does not exist - if(item == values_.end()) - throw ValuesKeyDoesNotExist("at", j); + if (item == values_.end()) throw ValuesKeyDoesNotExist("at", j); - // Check the type and throw exception if incorrect - // h() split in two lines to avoid internal compiler error (MSVC2017) - auto h = internal::handle(); - return h(j,item->second); + // Check the type and throw exception if incorrect + // h() split in two lines to avoid internal compiler error (MSVC2017) + auto h = internal::handle(); + return h(j, item->second); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp index b672031ca..ebc9c51f6 100644 --- a/gtsam/nonlinear/Values.cpp +++ b/gtsam/nonlinear/Values.cpp @@ -25,14 +25,6 @@ #include #include -#ifdef __GNUC__ -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wunused-variable" -#endif -#include -#ifdef __GNUC__ -#pragma GCC diagnostic pop -#endif #include #include @@ -75,7 +67,7 @@ namespace gtsam { /* ************************************************************************* */ void Values::print(const string& str, const KeyFormatter& keyFormatter) const { - cout << str << (str == "" ? "" : "\n"); + cout << str << (str.empty() ? "" : "\n"); cout << "Values with " << size() << " values:\n"; for(const_iterator key_value = begin(); key_value != end(); ++key_value) { cout << "Value " << keyFormatter(key_value->key) << ": "; @@ -206,7 +198,7 @@ namespace gtsam { /* ************************************************************************* */ size_t Values::dim() const { size_t result = 0; - for(const ConstKeyValuePair& key_value: *this) { + for(const auto key_value: *this) { result += key_value.value.dim(); } return result; @@ -215,7 +207,7 @@ namespace gtsam { /* ************************************************************************* */ VectorValues Values::zeroVectors() const { VectorValues result; - for(const ConstKeyValuePair& key_value: *this) + for(const auto key_value: *this) result.insert(key_value.key, Vector::Zero(key_value.value.dim())); return result; } diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index b49188b68..33e9e7d82 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -29,15 +29,6 @@ #include #include #include -#ifdef __GNUC__ -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wunused-variable" -#pragma GCC diagnostic ignored "-Wunused-local-typedefs" -#endif -#include -#ifdef __GNUC__ -#pragma GCC diagnostic pop -#endif #include #include @@ -117,19 +108,19 @@ namespace gtsam { /// Mutable forward iterator, with value type KeyValuePair typedef boost::transform_iterator< - boost::function1, KeyValueMap::iterator> iterator; + std::function, KeyValueMap::iterator> iterator; /// Const forward iterator, with value type ConstKeyValuePair typedef boost::transform_iterator< - boost::function1, KeyValueMap::const_iterator> const_iterator; + std::function, KeyValueMap::const_iterator> const_iterator; /// Mutable reverse iterator, with value type KeyValuePair typedef boost::transform_iterator< - boost::function1, KeyValueMap::reverse_iterator> reverse_iterator; + std::function, KeyValueMap::reverse_iterator> reverse_iterator; /// Const reverse iterator, with value type ConstKeyValuePair typedef boost::transform_iterator< - boost::function1, KeyValueMap::const_reverse_iterator> const_reverse_iterator; + std::function, KeyValueMap::const_reverse_iterator> const_reverse_iterator; typedef KeyValuePair value_type; @@ -187,8 +178,8 @@ namespace gtsam { * Dynamic matrices/vectors can be retrieved as fixed-size, but not vice-versa. * @return The stored value */ - template - ValueType at(Key j) const; + template + const ValueType at(Key j) const; /// version for double double atDouble(size_t key) const { return at(key);} @@ -330,7 +321,7 @@ namespace gtsam { * the original Values class. */ Filtered - filter(const boost::function& filterFcn); + filter(const std::function& filterFcn); /** * Return a filtered view of this Values class, without copying any data. @@ -353,7 +344,7 @@ namespace gtsam { */ template Filtered - filter(const boost::function& filterFcn = &_truePredicate); + filter(const std::function& filterFcn = &_truePredicate); /** * Return a filtered view of this Values class, without copying any data. @@ -369,7 +360,7 @@ namespace gtsam { * the original Values class. */ ConstFiltered - filter(const boost::function& filterFcn) const; + filter(const std::function& filterFcn) const; /** * Return a filtered view of this Values class, without copying any data. @@ -391,7 +382,7 @@ namespace gtsam { */ template ConstFiltered - filter(const boost::function& filterFcn = &_truePredicate) const; + filter(const std::function& filterFcn = &_truePredicate) const; // Count values of given type \c ValueType template @@ -408,7 +399,7 @@ namespace gtsam { // Filters based on ValueType (if not Value) and also based on the user- // supplied \c filter function. template - static bool filterHelper(const boost::function filter, const ConstKeyValuePair& key_value) { + static bool filterHelper(const std::function filter, const ConstKeyValuePair& key_value) { BOOST_STATIC_ASSERT((!boost::is_same::value)); // Filter and check the type return filter(key_value.key) && (dynamic_cast*>(&key_value.value)); @@ -442,7 +433,7 @@ namespace gtsam { ValuesKeyAlreadyExists(Key key) noexcept : key_(key) {} - virtual ~ValuesKeyAlreadyExists() noexcept {} + ~ValuesKeyAlreadyExists() noexcept override {} /// The duplicate key that was attempted to be added Key key() const noexcept { return key_; } @@ -465,7 +456,7 @@ namespace gtsam { ValuesKeyDoesNotExist(const char* operation, Key key) noexcept : operation_(operation), key_(key) {} - virtual ~ValuesKeyDoesNotExist() noexcept {} + ~ValuesKeyDoesNotExist() noexcept override {} /// The key that was attempted to be accessed that does not exist Key key() const noexcept { return key_; } @@ -490,7 +481,7 @@ namespace gtsam { const std::type_info& storedTypeId, const std::type_info& requestedTypeId) noexcept : key_(key), storedTypeId_(storedTypeId), requestedTypeId_(requestedTypeId) {} - virtual ~ValuesIncorrectType() noexcept {} + ~ValuesIncorrectType() noexcept override {} /// The key that was attempted to be accessed that does not exist Key key() const noexcept { return key_; } @@ -511,7 +502,7 @@ namespace gtsam { public: DynamicValuesMismatched() noexcept {} - virtual ~DynamicValuesMismatched() noexcept {} + ~DynamicValuesMismatched() noexcept override {} const char* what() const noexcept override { return "The Values 'this' and the argument passed to Values::localCoordinates have mismatched keys and values"; @@ -533,7 +524,7 @@ namespace gtsam { M1_(M1), N1_(N1), M2_(M2), N2_(N2) { } - virtual ~NoMatchFoundForFixed() noexcept { + ~NoMatchFoundForFixed() noexcept override { } GTSAM_EXPORT const char* what() const noexcept override; diff --git a/gtsam/nonlinear/WhiteNoiseFactor.h b/gtsam/nonlinear/WhiteNoiseFactor.h index 974998830..95f46ab6c 100644 --- a/gtsam/nonlinear/WhiteNoiseFactor.h +++ b/gtsam/nonlinear/WhiteNoiseFactor.h @@ -100,7 +100,7 @@ namespace gtsam { /// @{ /// Destructor - virtual ~WhiteNoiseFactor() { + ~WhiteNoiseFactor() override { } /// @} diff --git a/gtsam/nonlinear/internal/ExpressionNode.h b/gtsam/nonlinear/internal/ExpressionNode.h index ee3dc8929..f6afb287e 100644 --- a/gtsam/nonlinear/internal/ExpressionNode.h +++ b/gtsam/nonlinear/internal/ExpressionNode.h @@ -57,7 +57,7 @@ T upAligned(T value, unsigned requiredAlignment = TraceAlignment) { * Expression node. The superclass for objects that do the heavy lifting * An Expression has a pointer to an ExpressionNode underneath * allowing Expressions to have polymorphic behaviour even though they - * are passed by value. This is the same way boost::function works. + * are passed by value. This is the same way std::function works. * http://loki-lib.sourceforge.net/html/a00652.html */ template @@ -131,7 +131,7 @@ class ConstantExpression: public ExpressionNode { public: /// Destructor - virtual ~ConstantExpression() { + ~ConstantExpression() override { } /// Print @@ -172,7 +172,7 @@ class LeafExpression: public ExpressionNode { public: /// Destructor - virtual ~LeafExpression() { + ~LeafExpression() override { } /// Print @@ -244,7 +244,7 @@ class UnaryExpression: public ExpressionNode { public: /// Destructor - virtual ~UnaryExpression() { + ~UnaryExpression() override { } /// Print @@ -353,7 +353,7 @@ class BinaryExpression: public ExpressionNode { public: /// Destructor - virtual ~BinaryExpression() { + ~BinaryExpression() override { } /// Print @@ -460,7 +460,7 @@ class TernaryExpression: public ExpressionNode { public: /// Destructor - virtual ~TernaryExpression() { + ~TernaryExpression() override { } /// Print @@ -571,7 +571,7 @@ class ScalarMultiplyNode : public ExpressionNode { } /// Destructor - virtual ~ScalarMultiplyNode() {} + ~ScalarMultiplyNode() override {} /// Print void print(const std::string& indent = "") const override { @@ -659,7 +659,7 @@ class BinarySumNode : public ExpressionNode { } /// Destructor - virtual ~BinarySumNode() {} + ~BinarySumNode() override {} /// Print void print(const std::string& indent = "") const override { diff --git a/gtsam/nonlinear/internal/LevenbergMarquardtState.h b/gtsam/nonlinear/internal/LevenbergMarquardtState.h index 8ab2e7466..cee839540 100644 --- a/gtsam/nonlinear/internal/LevenbergMarquardtState.h +++ b/gtsam/nonlinear/internal/LevenbergMarquardtState.h @@ -126,7 +126,7 @@ struct LevenbergMarquardtState : public NonlinearOptimizerState { noiseModelCache.resize(0); // for each of the variables, add a prior damped.reserve(damped.size() + values.size()); - for (const auto& key_value : values) { + for (const auto key_value : values) { const Key key = key_value.key; const size_t dim = key_value.value.dim(); const CachedModel* item = getCachedModel(dim); diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i new file mode 100644 index 000000000..61f164b43 --- /dev/null +++ b/gtsam/nonlinear/nonlinear.i @@ -0,0 +1,840 @@ +//************************************************************************* +// nonlinear +//************************************************************************* + +namespace gtsam { + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class Symbol { + Symbol(); + Symbol(char c, uint64_t j); + Symbol(size_t key); + + size_t key() const; + void print(const string& s = "") const; + bool equals(const gtsam::Symbol& expected, double tol) const; + + char chr() const; + uint64_t index() const; + string string() const; +}; + +size_t symbol(char chr, size_t index); +char symbolChr(size_t key); +size_t symbolIndex(size_t key); + +namespace symbol_shorthand { +size_t A(size_t j); +size_t B(size_t j); +size_t C(size_t j); +size_t D(size_t j); +size_t E(size_t j); +size_t F(size_t j); +size_t G(size_t j); +size_t H(size_t j); +size_t I(size_t j); +size_t J(size_t j); +size_t K(size_t j); +size_t L(size_t j); +size_t M(size_t j); +size_t N(size_t j); +size_t O(size_t j); +size_t P(size_t j); +size_t Q(size_t j); +size_t R(size_t j); +size_t S(size_t j); +size_t T(size_t j); +size_t U(size_t j); +size_t V(size_t j); +size_t W(size_t j); +size_t X(size_t j); +size_t Y(size_t j); +size_t Z(size_t j); +} // namespace symbol_shorthand + +// Default keyformatter +void PrintKeyList(const gtsam::KeyList& keys); +void PrintKeyList(const gtsam::KeyList& keys, string s); +void PrintKeyVector(const gtsam::KeyVector& keys); +void PrintKeyVector(const gtsam::KeyVector& keys, string s); +void PrintKeySet(const gtsam::KeySet& keys); +void PrintKeySet(const gtsam::KeySet& keys, string s); + +#include +class LabeledSymbol { + LabeledSymbol(size_t full_key); + LabeledSymbol(const gtsam::LabeledSymbol& key); + LabeledSymbol(unsigned char valType, unsigned char label, size_t j); + + size_t key() const; + unsigned char label() const; + unsigned char chr() const; + size_t index() const; + + gtsam::LabeledSymbol upper() const; + gtsam::LabeledSymbol lower() const; + gtsam::LabeledSymbol newChr(unsigned char c) const; + gtsam::LabeledSymbol newLabel(unsigned char label) const; + + void print(string s = "") const; +}; + +size_t mrsymbol(unsigned char c, unsigned char label, size_t j); +unsigned char mrsymbolChr(size_t key); +unsigned char mrsymbolLabel(size_t key); +size_t mrsymbolIndex(size_t key); + +#include +class Ordering { + // Standard Constructors and Named Constructors + Ordering(); + Ordering(const gtsam::Ordering& other); + + // Testable + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::Ordering& ord, double tol) const; + + // Standard interface + size_t size() const; + size_t at(size_t key) const; + void push_back(size_t key); + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +class NonlinearFactorGraph { + NonlinearFactorGraph(); + NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph); + + // FactorGraph + void print(string s = "NonlinearFactorGraph: ", + const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const; + size_t size() const; + bool empty() const; + void remove(size_t i); + void replace(size_t i, gtsam::NonlinearFactor* factors); + void resize(size_t size); + size_t nrFactors() const; + gtsam::NonlinearFactor* at(size_t idx) const; + void push_back(const gtsam::NonlinearFactorGraph& factors); + void push_back(gtsam::NonlinearFactor* factor); + void add(gtsam::NonlinearFactor* factor); + bool exists(size_t idx) const; + gtsam::KeySet keys() const; + gtsam::KeyVector keyVector() const; + + template , + gtsam::PinholeCamera, + gtsam::PinholeCamera, + gtsam::PinholeCamera, + gtsam::imuBias::ConstantBias}> + void addPrior(size_t key, const T& prior, + const gtsam::noiseModel::Base* noiseModel); + + // NonlinearFactorGraph + void printErrors(const gtsam::Values& values) const; + double error(const gtsam::Values& values) const; + double probPrime(const gtsam::Values& values) const; + gtsam::Ordering orderingCOLAMD() const; + // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const + // std::map& constraints) const; + gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values) const; + gtsam::NonlinearFactorGraph clone() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; + + void saveGraph(const string& s) const; +}; + +#include +virtual class NonlinearFactor { + // Factor base class + size_t size() const; + gtsam::KeyVector keys() const; + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + void printKeys(string s) const; + // NonlinearFactor + bool equals(const gtsam::NonlinearFactor& other, double tol) const; + double error(const gtsam::Values& c) const; + size_t dim() const; + bool active(const gtsam::Values& c) const; + gtsam::GaussianFactor* linearize(const gtsam::Values& c) const; + gtsam::NonlinearFactor* clone() const; + gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; +}; + +#include +virtual class NoiseModelFactor : gtsam::NonlinearFactor { + bool equals(const gtsam::NoiseModelFactor& other, double tol) const; + gtsam::noiseModel::Base* noiseModel() const; + Vector unwhitenedError(const gtsam::Values& x) const; + Vector whitenedError(const gtsam::Values& x) const; +}; + +#include +virtual class CustomFactor : gtsam::NoiseModelFactor { + /* + * Note CustomFactor will not be wrapped for MATLAB, as there is no supporting + * machinery there. This is achieved by adding `gtsam::CustomFactor` to the + * ignore list in `matlab/CMakeLists.txt`. + */ + CustomFactor(); + /* + * Example: + * ``` + * def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]): + * + * if not H is None: + * + * H[0] = J1 # 2-d numpy array for a Jacobian block + * H[1] = J2 + * ... + * return error # 1-d numpy array + * + * cf = CustomFactor(noise_model, keys, error_func) + * ``` + */ + CustomFactor(const gtsam::SharedNoiseModel& noiseModel, + const gtsam::KeyVector& keys, + const gtsam::CustomErrorFunction& errorFunction); + + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter); +}; + +#include +class Values { + Values(); + Values(const gtsam::Values& other); + + size_t size() const; + bool empty() const; + void clear(); + size_t dim() const; + + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::Values& other, double tol) const; + + void insert(const gtsam::Values& values); + void update(const gtsam::Values& values); + void erase(size_t j); + void swap(gtsam::Values& values); + + bool exists(size_t j) const; + gtsam::KeyVector keys() const; + + gtsam::VectorValues zeroVectors() const; + + gtsam::Values retract(const gtsam::VectorValues& delta) const; + gtsam::VectorValues localCoordinates(const gtsam::Values& cp) const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; + + // New in 4.0, we have to specialize every insert/update/at to generate + // wrappers Instead of the old: void insert(size_t j, const gtsam::Value& + // value); void update(size_t j, const gtsam::Value& val); gtsam::Value + // at(size_t j) const; + + // The order is important: Vector has to precede Point2/Point3 so `atVector` + // can work for those fixed-size vectors. + void insert(size_t j, Vector vector); + void insert(size_t j, Matrix matrix); + void insert(size_t j, const gtsam::Point2& point2); + 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::SOn& P); + void insert(size_t j, const gtsam::Rot3& rot3); + void insert(size_t j, const gtsam::Pose3& pose3); + void insert(size_t j, const gtsam::Unit3& unit3); + void insert(size_t j, const gtsam::Cal3_S2& cal3_s2); + void insert(size_t j, const gtsam::Cal3DS2& cal3ds2); + void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler); + void insert(size_t j, const gtsam::Cal3Fisheye& cal3fisheye); + void insert(size_t j, const gtsam::Cal3Unified& cal3unified); + void insert(size_t j, const gtsam::EssentialMatrix& essential_matrix); + void insert(size_t j, const gtsam::PinholeCamera& camera); + void insert(size_t j, const gtsam::PinholeCamera& camera); + void insert(size_t j, const gtsam::PinholeCamera& camera); + void insert(size_t j, const gtsam::PinholeCamera& camera); + void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); + void insert(size_t j, const gtsam::NavState& nav_state); + void insert(size_t j, double c); + + void update(size_t j, const gtsam::Point2& point2); + 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::SOn& P); + void update(size_t j, const gtsam::Rot3& rot3); + void update(size_t j, const gtsam::Pose3& pose3); + void update(size_t j, const gtsam::Unit3& unit3); + void update(size_t j, const gtsam::Cal3_S2& cal3_s2); + void update(size_t j, const gtsam::Cal3DS2& cal3ds2); + void update(size_t j, const gtsam::Cal3Bundler& cal3bundler); + void update(size_t j, const gtsam::Cal3Fisheye& cal3fisheye); + void update(size_t j, const gtsam::Cal3Unified& cal3unified); + void update(size_t j, const gtsam::EssentialMatrix& essential_matrix); + void update(size_t j, const gtsam::PinholeCamera& camera); + void update(size_t j, const gtsam::PinholeCamera& camera); + void update(size_t j, const gtsam::PinholeCamera& camera); + void update(size_t j, const gtsam::PinholeCamera& camera); + void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); + void update(size_t j, const gtsam::NavState& nav_state); + void update(size_t j, Vector vector); + void update(size_t j, Matrix matrix); + void update(size_t j, double c); + + template , + gtsam::PinholeCamera, + gtsam::PinholeCamera, + gtsam::PinholeCamera, + gtsam::imuBias::ConstantBias, + gtsam::NavState, + Vector, + Matrix, + double}> + T at(size_t j); +}; + +#include +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 = "Marginals: ", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + Matrix marginalCovariance(size_t variable) const; + Matrix marginalInformation(size_t variable) const; + gtsam::JointMarginal jointMarginalCovariance( + const gtsam::KeyVector& variables) const; + gtsam::JointMarginal jointMarginalInformation( + const gtsam::KeyVector& variables) const; +}; + +class JointMarginal { + Matrix at(size_t iVariable, size_t jVariable) const; + Matrix fullMatrix() const; + void print(string s = "", gtsam::KeyFormatter keyFormatter = + gtsam::DefaultKeyFormatter) const; +}; + +#include +virtual class LinearContainerFactor : gtsam::NonlinearFactor { + LinearContainerFactor(gtsam::GaussianFactor* factor, + const gtsam::Values& linearizationPoint); + LinearContainerFactor(gtsam::GaussianFactor* factor); + + gtsam::GaussianFactor* factor() const; + // const boost::optional& linearizationPoint() const; + + bool isJacobian() const; + gtsam::JacobianFactor* toJacobian() const; + gtsam::HessianFactor* toHessian() const; + + static gtsam::NonlinearFactorGraph ConvertLinearGraph( + const gtsam::GaussianFactorGraph& linear_graph, + const gtsam::Values& linearizationPoint); + + static gtsam::NonlinearFactorGraph ConvertLinearGraph( + const gtsam::GaussianFactorGraph& linear_graph); + + // enabling serialization functionality + void serializable() const; +}; // \class LinearContainerFactor + +// Summarization functionality +//#include +// +//// Uses partial QR approach by default +// gtsam::GaussianFactorGraph summarize( +// const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values, +// const gtsam::KeySet& saved_keys); +// +// gtsam::NonlinearFactorGraph summarizeAsNonlinearContainer( +// const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values, +// const gtsam::KeySet& saved_keys); + +//************************************************************************* +// Nonlinear optimizers +//************************************************************************* +#include +virtual class NonlinearOptimizerParams { + NonlinearOptimizerParams(); + void print(string s = "") const; + + int getMaxIterations() const; + double getRelativeErrorTol() const; + double getAbsoluteErrorTol() const; + double getErrorTol() const; + string getVerbosity() const; + + void setMaxIterations(int value); + void setRelativeErrorTol(double value); + void setAbsoluteErrorTol(double value); + void setErrorTol(double value); + void setVerbosity(string s); + + string getLinearSolverType() const; + void setLinearSolverType(string solver); + + void setIterativeParams(gtsam::IterativeOptimizationParameters* params); + void setOrdering(const gtsam::Ordering& ordering); + string getOrderingType() const; + void setOrderingType(string ordering); + + bool isMultifrontal() const; + bool isSequential() const; + bool isCholmod() const; + bool isIterative() const; +}; + +bool checkConvergence(double relativeErrorTreshold, + double absoluteErrorTreshold, double errorThreshold, + double currentError, double newError); +bool checkConvergence(const gtsam::NonlinearOptimizerParams& params, + double currentError, double newError); + +#include +virtual class GaussNewtonParams : gtsam::NonlinearOptimizerParams { + GaussNewtonParams(); +}; + +#include +virtual class LevenbergMarquardtParams : gtsam::NonlinearOptimizerParams { + LevenbergMarquardtParams(); + + bool getDiagonalDamping() const; + double getlambdaFactor() const; + double getlambdaInitial() const; + double getlambdaLowerBound() const; + double getlambdaUpperBound() const; + bool getUseFixedLambdaFactor(); + string getLogFile() const; + string getVerbosityLM() const; + + void setDiagonalDamping(bool flag); + void setlambdaFactor(double value); + void setlambdaInitial(double value); + void setlambdaLowerBound(double value); + void setlambdaUpperBound(double value); + void setUseFixedLambdaFactor(bool flag); + void setLogFile(string s); + void setVerbosityLM(string s); + + static gtsam::LevenbergMarquardtParams LegacyDefaults(); + static gtsam::LevenbergMarquardtParams CeresDefaults(); + + static gtsam::LevenbergMarquardtParams EnsureHasOrdering( + gtsam::LevenbergMarquardtParams params, + const gtsam::NonlinearFactorGraph& graph); + static gtsam::LevenbergMarquardtParams ReplaceOrdering( + gtsam::LevenbergMarquardtParams params, const gtsam::Ordering& ordering); +}; + +#include +virtual class DoglegParams : gtsam::NonlinearOptimizerParams { + DoglegParams(); + + double getDeltaInitial() const; + string getVerbosityDL() const; + + void setDeltaInitial(double deltaInitial) const; + void setVerbosityDL(string verbosityDL) const; +}; + +#include +template +virtual class GncParams { + GncParams(const PARAMS& baseOptimizerParams); + GncParams(); + void print(const string& str) const; +}; + +typedef gtsam::GncParams GncGaussNewtonParams; +typedef gtsam::GncParams GncLMParams; + +#include +virtual class NonlinearOptimizer { + gtsam::Values optimize(); + gtsam::Values optimizeSafely(); + double error() const; + int iterations() const; + gtsam::Values values() const; + gtsam::NonlinearFactorGraph graph() const; + gtsam::GaussianFactorGraph* iterate() const; +}; + +#include +virtual class GaussNewtonOptimizer : gtsam::NonlinearOptimizer { + GaussNewtonOptimizer(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& initialValues); + GaussNewtonOptimizer(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& initialValues, + const gtsam::GaussNewtonParams& params); +}; + +#include +virtual class DoglegOptimizer : gtsam::NonlinearOptimizer { + DoglegOptimizer(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& initialValues); + DoglegOptimizer(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& initialValues, + const gtsam::DoglegParams& params); + double getDelta() const; +}; + +#include +template +virtual class GncOptimizer { + GncOptimizer(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& initialValues, + const PARAMS& params); + gtsam::Values optimize(); +}; + +typedef gtsam::GncOptimizer> GncGaussNewtonOptimizer; +typedef gtsam::GncOptimizer> GncLMOptimizer; + +#include +virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer { + LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& initialValues); + LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& initialValues, + const gtsam::LevenbergMarquardtParams& params); + double lambda() const; + void print(string s = "") const; +}; + +#include +class ISAM2GaussNewtonParams { + ISAM2GaussNewtonParams(); + + void print(string s = "") const; + + /** Getters and Setters for all properties */ + double getWildfireThreshold() const; + void setWildfireThreshold(double wildfireThreshold); +}; + +class ISAM2DoglegParams { + ISAM2DoglegParams(); + + void print(string s = "") const; + + /** Getters and Setters for all properties */ + double getWildfireThreshold() const; + void setWildfireThreshold(double wildfireThreshold); + double getInitialDelta() const; + void setInitialDelta(double initialDelta); + string getAdaptationMode() const; + void setAdaptationMode(string adaptationMode); + bool isVerbose() const; + void setVerbose(bool verbose); +}; + +class ISAM2ThresholdMapValue { + ISAM2ThresholdMapValue(char c, Vector thresholds); + ISAM2ThresholdMapValue(const gtsam::ISAM2ThresholdMapValue& other); +}; + +class ISAM2ThresholdMap { + ISAM2ThresholdMap(); + ISAM2ThresholdMap(const gtsam::ISAM2ThresholdMap& other); + + // Note: no print function + + // common STL methods + size_t size() const; + bool empty() const; + void clear(); + + // structure specific methods + void insert(const gtsam::ISAM2ThresholdMapValue& value) const; +}; + +class ISAM2Params { + ISAM2Params(); + + void print(string s = "") const; + + /** Getters and Setters for all properties */ + void setOptimizationParams( + const gtsam::ISAM2GaussNewtonParams& gauss_newton__params); + void setOptimizationParams(const gtsam::ISAM2DoglegParams& dogleg_params); + void setRelinearizeThreshold(double threshold); + void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& threshold_map); + int getRelinearizeSkip() const; + void setRelinearizeSkip(int relinearizeSkip); + bool isEnableRelinearization() const; + void setEnableRelinearization(bool enableRelinearization); + bool isEvaluateNonlinearError() const; + void setEvaluateNonlinearError(bool evaluateNonlinearError); + string getFactorization() const; + void setFactorization(string factorization); + bool isCacheLinearizedFactors() const; + void setCacheLinearizedFactors(bool cacheLinearizedFactors); + bool isEnableDetailedResults() const; + void setEnableDetailedResults(bool enableDetailedResults); + bool isEnablePartialRelinearizationCheck() const; + void setEnablePartialRelinearizationCheck( + bool enablePartialRelinearizationCheck); +}; + +class ISAM2Clique { + // Constructors + ISAM2Clique(); + + // Standard Interface + Vector gradientContribution() const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter); +}; + +class ISAM2Result { + ISAM2Result(); + + void print(string s = "") const; + + /** Getters and Setters for all properties */ + size_t getVariablesRelinearized() const; + size_t getVariablesReeliminated() const; + size_t getCliques() const; + double getErrorBefore() const; + double getErrorAfter() const; +}; + +class ISAM2 { + ISAM2(); + ISAM2(const gtsam::ISAM2Params& params); + ISAM2(const gtsam::ISAM2& other); + + bool equals(const gtsam::ISAM2& other, double tol) const; + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + void printStats() const; + void saveGraph(string s) const; + + gtsam::ISAM2Result update(); + gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, + const gtsam::Values& newTheta); + gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, + const gtsam::Values& newTheta, + const gtsam::FactorIndices& removeFactorIndices); + gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, + const gtsam::Values& newTheta, + const gtsam::FactorIndices& removeFactorIndices, + const gtsam::KeyGroupMap& constrainedKeys); + gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, + const gtsam::Values& newTheta, + const gtsam::FactorIndices& removeFactorIndices, + gtsam::KeyGroupMap& constrainedKeys, + const gtsam::KeyList& noRelinKeys); + gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, + const gtsam::Values& newTheta, + const gtsam::FactorIndices& removeFactorIndices, + gtsam::KeyGroupMap& constrainedKeys, + const gtsam::KeyList& noRelinKeys, + const gtsam::KeyList& extraReelimKeys); + gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, + const gtsam::Values& newTheta, + const gtsam::FactorIndices& removeFactorIndices, + gtsam::KeyGroupMap& constrainedKeys, + const gtsam::KeyList& noRelinKeys, + const gtsam::KeyList& extraReelimKeys, + bool force_relinearize); + + gtsam::Values getLinearizationPoint() const; + gtsam::Values calculateEstimate() const; + template , + gtsam::PinholeCamera, + gtsam::PinholeCamera, + gtsam::PinholeCamera, Vector, Matrix}> + VALUE calculateEstimate(size_t key) const; + gtsam::Values calculateBestEstimate() const; + Matrix marginalCovariance(size_t key) const; + gtsam::VectorValues getDelta() const; + gtsam::NonlinearFactorGraph getFactorsUnsafe() const; + gtsam::VariableIndex getVariableIndex() const; + gtsam::ISAM2Params params() const; +}; + +#include +class NonlinearISAM { + NonlinearISAM(); + NonlinearISAM(int reorderInterval); + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + void printStats() const; + void saveGraph(string s) const; + gtsam::Values estimate() const; + Matrix marginalCovariance(size_t key) const; + int reorderInterval() const; + int reorderCounter() const; + void update(const gtsam::NonlinearFactorGraph& newFactors, + const gtsam::Values& initialValues); + void reorder_relinearize(); + + // These might be expensive as instead of a reference the wrapper will make a + // copy + gtsam::GaussianISAM bayesTree() const; + gtsam::Values getLinearizationPoint() const; + gtsam::NonlinearFactorGraph getFactorsUnsafe() const; +}; + +//************************************************************************* +// Nonlinear factor types +//************************************************************************* +#include +template , + gtsam::PinholeCamera, + gtsam::PinholeCamera, + gtsam::PinholeCamera, + gtsam::imuBias::ConstantBias}> +virtual class PriorFactor : gtsam::NoiseModelFactor { + PriorFactor(size_t key, const T& prior, + const gtsam::noiseModel::Base* noiseModel); + T prior() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +template , + gtsam::PinholeCamera, + gtsam::PinholeCamera, + gtsam::PinholeCamera, + gtsam::imuBias::ConstantBias}> +virtual class NonlinearEquality : gtsam::NoiseModelFactor { + // Constructor - forces exact evaluation + NonlinearEquality(size_t j, const T& feasible); + // Constructor - allows inexact evaluation + NonlinearEquality(size_t j, const T& feasible, double error_gain); + + // enabling serialization functionality + void serialize() const; +}; + +template , + gtsam::PinholeCamera, + gtsam::PinholeCamera, + gtsam::PinholeCamera, + gtsam::imuBias::ConstantBias}> +virtual class NonlinearEquality2 : gtsam::NoiseModelFactor { + NonlinearEquality2(Key key1, Key key2, double mu = 1e4); + gtsam::Vector evaluateError(const T& x1, const T& x2); +}; + +} // namespace gtsam diff --git a/gtsam/nonlinear/tests/testCallRecord.cpp b/gtsam/nonlinear/tests/testCallRecord.cpp index 66c56e696..5d0d5d5f2 100644 --- a/gtsam/nonlinear/tests/testCallRecord.cpp +++ b/gtsam/nonlinear/tests/testCallRecord.cpp @@ -77,7 +77,7 @@ template<> struct traits : public Testable {}; struct Record: public internal::CallRecordImplementor { Record() : cc(0, 0) {} - virtual ~Record() { + ~Record() override { } void print(const std::string& indent) const { } diff --git a/gtsam/nonlinear/tests/testExpression.cpp b/gtsam/nonlinear/tests/testExpression.cpp index 8fcf84a11..80262ae3f 100644 --- a/gtsam/nonlinear/tests/testExpression.cpp +++ b/gtsam/nonlinear/tests/testExpression.cpp @@ -58,22 +58,23 @@ TEST(Expression, Constant) { /* ************************************************************************* */ // Leaf TEST(Expression, Leaf) { - Rot3_ R(100); + const Key key = 100; + Rot3_ R(key); Values values; - values.insert(100, someR); + values.insert(key, someR); Rot3 actual2 = R.value(values); EXPECT(assert_equal(someR, actual2)); } /* ************************************************************************* */ -// Many Leaves +// Test the function `createUnknowns` to create many leaves at once. TEST(Expression, Leaves) { Values values; - Point3 somePoint(1, 2, 3); + const Point3 somePoint(1, 2, 3); values.insert(Symbol('p', 10), somePoint); - std::vector points = createUnknowns(10, 'p', 1); - EXPECT(assert_equal(somePoint, points.back().value(values))); + std::vector pointExpressions = createUnknowns(10, 'p', 1); + EXPECT(assert_equal(somePoint, pointExpressions.back().value(values))); } /* ************************************************************************* */ @@ -88,29 +89,34 @@ double f2(const Point3& p, OptionalJacobian<1, 3> H) { Vector f3(const Point3& p, OptionalJacobian H) { return p; } -Point3_ p(1); +Point3_ pointExpression(1); set expected = list_of(1); } // namespace unary +// Create a unary expression that takes another expression as a single argument. TEST(Expression, Unary1) { using namespace unary; - Expression e(f1, p); - EXPECT(expected == e.keys()); -} -TEST(Expression, Unary2) { - using namespace unary; - Double_ e(f2, p); - EXPECT(expected == e.keys()); + Expression unaryExpression(f1, pointExpression); + EXPECT(expected == unaryExpression.keys()); +} + +// Check that also works with a scalar return value. +TEST(Expression, Unary2) { + using namespace unary; + Double_ unaryExpression(f2, pointExpression); + EXPECT(expected == unaryExpression.keys()); } -/* ************************************************************************* */ // Unary(Leaf), dynamic TEST(Expression, Unary3) { using namespace unary; - // Expression e(f3, p); + // TODO(yetongumich): dynamic output arguments do not work yet! + // Expression unaryExpression(f3, pointExpression); + // EXPECT(expected == unaryExpression.keys()); } /* ************************************************************************* */ +// Simple test class that implements the `VectorSpace` protocol. class Class : public Point3 { public: enum {dimension = 3}; @@ -133,16 +139,20 @@ template<> struct traits : public internal::VectorSpace {}; // Nullary Method TEST(Expression, NullaryMethod) { // Create expression - Expression p(67); - Expression norm_(p, &Class::norm); + const Key key(67); + Expression classExpression(key); + + // Make expression from a class method, note how it differs from the function + // expressions by leading with the class expression in the constructor. + Expression norm_(classExpression, &Class::norm); // Create Values Values values; - values.insert(67, Class(3, 4, 5)); + values.insert(key, Class(3, 4, 5)); // Check dims as map std::map map; - norm_.dims(map); + norm_.dims(map); // TODO(yetongumich): Change to google style pointer convention. LONGS_EQUAL(1, map.size()); // Get value and Jacobians @@ -150,9 +160,10 @@ TEST(Expression, NullaryMethod) { double actual = norm_.value(values, H); // Check all - EXPECT(actual == sqrt(50)); + const double norm = sqrt(3*3 + 4*4 + 5*5); + EXPECT(actual == norm); Matrix expected(1, 3); - expected << 3.0 / sqrt(50.0), 4.0 / sqrt(50.0), 5.0 / sqrt(50.0); + expected << 3.0 / norm, 4.0 / norm, 5.0 / norm; EXPECT(assert_equal(expected, H[0])); } @@ -170,21 +181,21 @@ Point3_ p_cam(x, &Pose3::transformTo, p); } /* ************************************************************************* */ -// Check that creating an expression to double compiles +// Check that creating an expression to double compiles. TEST(Expression, BinaryToDouble) { using namespace binary; Double_ p_cam(doubleF, x, p); } /* ************************************************************************* */ -// keys +// Check keys of an expression created from class method. TEST(Expression, BinaryKeys) { set expected = list_of(1)(2); EXPECT(expected == binary::p_cam.keys()); } /* ************************************************************************* */ -// dimensions +// Check dimensions by calling `dims` method. TEST(Expression, BinaryDimensions) { map actual, expected = map_list_of(1, 6)(2, 3); binary::p_cam.dims(actual); @@ -192,7 +203,7 @@ TEST(Expression, BinaryDimensions) { } /* ************************************************************************* */ -// dimensions +// Check dimensions of execution trace. TEST(Expression, BinaryTraceSize) { typedef internal::BinaryExpression Binary; size_t expectedTraceSize = sizeof(Binary::Record); @@ -247,6 +258,7 @@ TEST(Expression, TreeTraceSize) { } /* ************************************************************************* */ +// Test compose operation with * operator. TEST(Expression, compose1) { // Create expression Rot3_ R1(1), R2(2); @@ -258,7 +270,7 @@ TEST(Expression, compose1) { } /* ************************************************************************* */ -// Test compose with arguments referring to the same rotation +// Test compose with arguments referring to the same rotation. TEST(Expression, compose2) { // Create expression Rot3_ R1(1), R2(1); @@ -270,7 +282,7 @@ TEST(Expression, compose2) { } /* ************************************************************************* */ -// Test compose with one arguments referring to constant rotation +// Test compose with one arguments referring to constant rotation. TEST(Expression, compose3) { // Create expression Rot3_ R1(Rot3::identity()), R2(3); @@ -282,7 +294,7 @@ TEST(Expression, compose3) { } /* ************************************************************************* */ -// Test with ternary function +// Test with ternary function. Rot3 composeThree(const Rot3& R1, const Rot3& R2, const Rot3& R3, OptionalJacobian<3, 3> H1, OptionalJacobian<3, 3> H2, OptionalJacobian<3, 3> H3) { // return dummy derivatives (not correct, but that's ok for testing here) @@ -306,6 +318,7 @@ TEST(Expression, ternary) { } /* ************************************************************************* */ +// Test scalar multiplication with * operator. TEST(Expression, ScalarMultiply) { const Key key(67); const Point3_ expr = 23 * Point3_(key); @@ -336,6 +349,7 @@ TEST(Expression, ScalarMultiply) { } /* ************************************************************************* */ +// Test sum with + operator. TEST(Expression, BinarySum) { const Key key(67); const Point3_ sum_ = Point3_(key) + Point3_(Point3(1, 1, 1)); @@ -366,6 +380,7 @@ TEST(Expression, BinarySum) { } /* ************************************************************************* */ +// Test sum of 3 variables with + operator. TEST(Expression, TripleSum) { const Key key(67); const Point3_ p1_(Point3(1, 1, 1)), p2_(key); @@ -387,6 +402,7 @@ TEST(Expression, TripleSum) { } /* ************************************************************************* */ +// Test sum with += operator. TEST(Expression, PlusEqual) { const Key key(67); const Point3_ p1_(Point3(1, 1, 1)), p2_(key); @@ -461,11 +477,12 @@ TEST(Expression, WeightedSum) { EXPECT(actual_dims == expected_dims); Values values; - values.insert(key1, Point3(1, 0, 0)); - values.insert(key2, Point3(0, 1, 0)); + const Point3 point1(1, 0, 0), point2(0, 1, 0); + values.insert(key1, point1); + values.insert(key2, point2); // Check value - const Point3 expected = 17 * Point3(1, 0, 0) + 23 * Point3(0, 1, 0); + const Point3 expected = 17 * point1 + 23 * point2; EXPECT(assert_equal(expected, weighted_sum_.value(values))); // Check value + Jacobians @@ -495,7 +512,7 @@ TEST(Expression, Subtract) { /* ************************************************************************* */ TEST(Expression, LinearExpression) { const Key key(67); - const boost::function f = [](const Point3& p) { return (Vector3)p; }; + const std::function f = [](const Point3& p) { return (Vector3)p; }; const Matrix3 kIdentity = I_3x3; const Expression linear_ = linearExpression(f, Point3_(key), kIdentity); diff --git a/gtsam/nonlinear/tests/testFunctorizedFactor.cpp b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp index cb91320cf..b0ec5e722 100644 --- a/gtsam/nonlinear/tests/testFunctorizedFactor.cpp +++ b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp @@ -27,8 +27,15 @@ using namespace std; using namespace gtsam; +// Key for FunctorizedFactor Key key = Symbol('X', 0); + +// Keys for FunctorizedFactor2 +Key keyA = Symbol('A', 0); +Key keyx = Symbol('x', 0); + auto model = noiseModel::Isotropic::Sigma(9, 1); +auto model2 = noiseModel::Isotropic::Sigma(3, 1); /// Functor that takes a matrix and multiplies every element by m class MultiplyFunctor { @@ -44,6 +51,21 @@ class MultiplyFunctor { } }; +/// Functor that performs Ax where A is a matrix and x is a vector. +class ProjectionFunctor { + public: + Vector operator()(const Matrix &A, const Vector &x, + OptionalJacobian<-1, -1> H1 = boost::none, + OptionalJacobian<-1, -1> H2 = boost::none) const { + if (H1) { + H1->resize(x.size(), A.size()); + *H1 << I_3x3, I_3x3, I_3x3; + } + if (H2) *H2 = A; + return A * x; + } +}; + /* ************************************************************************* */ // Test identity operation for FunctorizedFactor. TEST(FunctorizedFactor, Identity) { @@ -88,7 +110,7 @@ TEST(FunctorizedFactor, Equality) { EXPECT(factor1.equals(factor2)); } -/* *************************************************************************** */ +/* ************************************************************************* */ // Test Jacobians of FunctorizedFactor. TEST(FunctorizedFactor, Jacobians) { Matrix X = Matrix::Identity(3, 3); @@ -168,6 +190,83 @@ TEST(FunctorizedFactor, Lambda) { EXPECT(assert_equal(Vector::Zero(9), error, 1e-9)); } +/* ************************************************************************* */ +// Test identity operation for FunctorizedFactor2. +TEST(FunctorizedFactor, Identity2) { + // x = Ax since A is I_3x3 + Matrix A = Matrix::Identity(3, 3); + Vector x = Vector::Ones(3); + + auto functor = ProjectionFunctor(); + auto factor = + MakeFunctorizedFactor2(keyA, keyx, x, model2, functor); + + Vector error = factor.evaluateError(A, x); + + EXPECT(assert_equal(Vector::Zero(3), error, 1e-9)); +} + +/* ************************************************************************* */ +// Test Jacobians of FunctorizedFactor2. +TEST(FunctorizedFactor, Jacobians2) { + Matrix A = Matrix::Identity(3, 3); + Vector x = Vector::Ones(3); + Matrix actualH1, actualH2; + + auto factor = MakeFunctorizedFactor2(keyA, keyx, x, model2, + ProjectionFunctor()); + + Values values; + values.insert(keyA, A); + values.insert(keyx, x); + + // Check Jacobians + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); +} + +/* ************************************************************************* */ +// Test FunctorizedFactor2 using a std::function type. +TEST(FunctorizedFactor, Functional2) { + Matrix A = Matrix::Identity(3, 3); + Vector3 x(1, 2, 3); + Vector measurement = A * x; + + std::function, + boost::optional)> + functional = ProjectionFunctor(); + auto factor = MakeFunctorizedFactor2(keyA, keyx, measurement, + model2, functional); + + Vector error = factor.evaluateError(A, x); + + EXPECT(assert_equal(Vector::Zero(3), error, 1e-9)); +} + +/* ************************************************************************* */ +// Test FunctorizedFactor2 with a lambda function. +TEST(FunctorizedFactor, Lambda2) { + Matrix A = Matrix::Identity(3, 3); + Vector3 x = Vector3(1, 2, 3); + Matrix measurement = A * x; + + auto lambda = [](const Matrix &A, const Vector &x, + OptionalJacobian<-1, -1> H1 = boost::none, + OptionalJacobian<-1, -1> H2 = boost::none) { + if (H1) { + H1->resize(x.size(), A.size()); + *H1 << I_3x3, I_3x3, I_3x3; + } + if (H2) *H2 = A; + return A * x; + }; + // FunctorizedFactor factor(key, measurement, model, lambda); + auto factor = MakeFunctorizedFactor2(keyA, keyx, measurement, model2, lambda); + + Vector error = factor.evaluateError(A, x); + + EXPECT(assert_equal(Vector::Zero(3), error, 1e-9)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/nonlinear/tests/testLinearContainerFactor.cpp b/gtsam/nonlinear/tests/testLinearContainerFactor.cpp index 9e5e08e92..a5015546f 100644 --- a/gtsam/nonlinear/tests/testLinearContainerFactor.cpp +++ b/gtsam/nonlinear/tests/testLinearContainerFactor.cpp @@ -6,13 +6,15 @@ */ #include -#include -#include -#include -#include -#include -#include #include +#include +#include +#include +#include +#include +#include +#include + #include using namespace std; @@ -28,7 +30,7 @@ Point2 landmark1(5.0, 1.5), landmark2(7.0, 1.5); Pose2 poseA1(0.0, 0.0, 0.0), poseA2(2.0, 0.0, 0.0); /* ************************************************************************* */ -TEST( testLinearContainerFactor, generic_jacobian_factor ) { +TEST(TestLinearContainerFactor, generic_jacobian_factor) { Matrix A1 = (Matrix(2, 2) << 2.74222, -0.0067457, @@ -61,7 +63,7 @@ TEST( testLinearContainerFactor, generic_jacobian_factor ) { } /* ************************************************************************* */ -TEST( testLinearContainerFactor, jacobian_factor_withlinpoints ) { +TEST(TestLinearContainerFactor, jacobian_factor_withlinpoints) { Matrix A1 = (Matrix(2, 2) << 2.74222, -0.0067457, @@ -115,7 +117,7 @@ TEST( testLinearContainerFactor, jacobian_factor_withlinpoints ) { } /* ************************************************************************* */ -TEST( testLinearContainerFactor, generic_hessian_factor ) { +TEST(TestLinearContainerFactor, generic_hessian_factor) { Matrix G11 = (Matrix(1, 1) << 1.0).finished(); Matrix G12 = (Matrix(1, 2) << 2.0, 4.0).finished(); Matrix G13 = (Matrix(1, 3) << 3.0, 6.0, 9.0).finished(); @@ -153,7 +155,7 @@ TEST( testLinearContainerFactor, generic_hessian_factor ) { } /* ************************************************************************* */ -TEST( testLinearContainerFactor, hessian_factor_withlinpoints ) { +TEST(TestLinearContainerFactor, hessian_factor_withlinpoints) { // 2 variable example, one pose, one landmark (planar) // Initial ordering: x1, l1 @@ -226,7 +228,7 @@ TEST( testLinearContainerFactor, hessian_factor_withlinpoints ) { } /* ************************************************************************* */ -TEST( testLinearContainerFactor, creation ) { +TEST(TestLinearContainerFactor, Creation) { // Create a set of local keys (No robot label) Key l1 = 11, l3 = 13, l5 = 15; @@ -252,7 +254,7 @@ TEST( testLinearContainerFactor, creation ) { } /* ************************************************************************* */ -TEST( testLinearContainerFactor, jacobian_relinearize ) +TEST(TestLinearContainerFactor, jacobian_relinearize) { // Create a Between Factor from a Point3. This is actually a linear factor. gtsam::Key key1(1); @@ -286,7 +288,7 @@ TEST( testLinearContainerFactor, jacobian_relinearize ) } /* ************************************************************************* */ -TEST( testLinearContainerFactor, hessian_relinearize ) +TEST(TestLinearContainerFactor, hessian_relinearize) { // Create a Between Factor from a Point3. This is actually a linear factor. gtsam::Key key1(1); @@ -319,6 +321,76 @@ TEST( testLinearContainerFactor, hessian_relinearize ) CHECK(gtsam::assert_equal(*expected_factor, *actual_factor)); } +/* ************************************************************************* */ +TEST(TestLinearContainerFactor, Rekey) { + // Make an example factor + auto nonlinear_factor = + boost::make_shared>( + gtsam::Symbol('x', 0), gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0), + gtsam::noiseModel::Isotropic::Sigma(3, 1)); + + // Linearize and create an LCF + gtsam::Values linearization_pt; + linearization_pt.insert(gtsam::Symbol('x', 0), gtsam::Point3(0, 0, 0)); + linearization_pt.insert(gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0)); + + LinearContainerFactor lcf_factor( + nonlinear_factor->linearize(linearization_pt), linearization_pt); + + // Define a key mapping + std::map key_map; + key_map[gtsam::Symbol('x', 0)] = gtsam::Symbol('x', 4); + key_map[gtsam::Symbol('l', 0)] = gtsam::Symbol('l', 4); + + // Rekey (Calls NonlinearFactor::rekey() which should probably be overriden) + // This of type boost_ptr + auto lcf_factor_rekeyed = lcf_factor.rekey(key_map); + + // Cast back to LCF ptr + LinearContainerFactor::shared_ptr lcf_factor_rekey_ptr = + boost::static_pointer_cast(lcf_factor_rekeyed); + CHECK(lcf_factor_rekey_ptr); + + // For extra fun lets try linearizing this LCF + gtsam::Values linearization_pt_rekeyed; + for (auto key_val : linearization_pt) { + linearization_pt_rekeyed.insert(key_map.at(key_val.key), key_val.value); + } + + // Check independent values since we don't want to unnecessarily sort + // The keys are just in the reverse order wrt the other container + CHECK(assert_equal(linearization_pt_rekeyed.keys()[1], lcf_factor_rekey_ptr->keys()[0])); + CHECK(assert_equal(linearization_pt_rekeyed.keys()[0], lcf_factor_rekey_ptr->keys()[1])); +} + +/* ************************************************************************* */ +TEST(TestLinearContainerFactor, Rekey2) { + // Make an example factor + auto nonlinear_factor = + boost::make_shared>( + gtsam::Symbol('x', 0), gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0), + gtsam::noiseModel::Isotropic::Sigma(3, 1)); + + // Linearize and create an LCF + gtsam::Values linearization_pt; + linearization_pt.insert(gtsam::Symbol('x', 0), gtsam::Point3(0, 0, 0)); + linearization_pt.insert(gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0)); + + LinearContainerFactor lcf_factor( + nonlinear_factor->linearize(linearization_pt), linearization_pt); + + // Define a key mapping with only a single key remapped. + // This should throw an exception if there is a bug. + std::map key_map; + key_map[gtsam::Symbol('x', 0)] = gtsam::Symbol('x', 4); + + // Cast back to LCF ptr + LinearContainerFactor::shared_ptr lcf_factor_rekey_ptr = + boost::static_pointer_cast( + lcf_factor.rekey(key_map)); + CHECK(lcf_factor_rekey_ptr); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp index 90ebcbbba..f4bb5f4f6 100644 --- a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp +++ b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp @@ -17,6 +17,7 @@ */ #include +#include #include #include #include @@ -31,6 +32,30 @@ using namespace std; using namespace gtsam; using namespace gtsam::serializationTestHelpers; + +/* ************************************************************************* */ +// Create GUIDs for Noisemodels +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Base , "gtsam_noiseModel_mEstimator_Base"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Null , "gtsam_noiseModel_mEstimator_Null"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Fair , "gtsam_noiseModel_mEstimator_Fair"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Huber, "gtsam_noiseModel_mEstimator_Huber"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Tukey, "gtsam_noiseModel_mEstimator_Tukey"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic,"gtsam_noiseModel_Isotropic"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Robust, "gtsam_noiseModel_Robust"); +BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); +BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); + +/* ************************************************************************* */ +// Create GUIDs for factors +BOOST_CLASS_EXPORT_GUID(gtsam::PriorFactor, "gtsam::PriorFactor"); +BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor"); +BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor"); +BOOST_CLASS_EXPORT_GUID(gtsam::GaussianConditional , "gtsam::GaussianConditional"); + + /* ************************************************************************* */ // Export all classes derived from Value GTSAM_VALUE_EXPORT(gtsam::Cal3_S2); @@ -82,6 +107,61 @@ TEST (Serialization, TemplatedValues) { EXPECT(equalsBinary(values)); } +TEST(Serialization, ISAM2) { + + gtsam::ISAM2Params parameters; + gtsam::ISAM2 solver(parameters); + gtsam::NonlinearFactorGraph graph; + gtsam::Values initialValues; + initialValues.clear(); + + gtsam::Vector6 temp6; + for (int i = 0; i < 6; ++i) { + temp6[i] = 0.0001; + } + gtsam::noiseModel::Diagonal::shared_ptr noiseModel = gtsam::noiseModel::Diagonal::Sigmas(temp6); + + gtsam::Pose3 pose0(gtsam::Rot3(), gtsam::Point3(0, 0, 0)); + gtsam::Symbol symbol0('x', 0); + graph.add(gtsam::PriorFactor(symbol0, pose0, noiseModel)); + initialValues.insert(symbol0, pose0); + + solver.update(graph, initialValues, + gtsam::FastVector()); + + std::string binaryPath = "saved_solver.dat"; + try { + std::ofstream outputStream(binaryPath); + boost::archive::binary_oarchive outputArchive(outputStream); + outputArchive << solver; + } catch(...) { + EXPECT(false); + } + + gtsam::ISAM2 solverFromDisk; + try { + std::ifstream ifs(binaryPath); + boost::archive::binary_iarchive inputArchive(ifs); + inputArchive >> solverFromDisk; + } catch(...) { + EXPECT(false); + } + + gtsam::Pose3 p1, p2; + try { + p1 = solver.calculateEstimate(symbol0); + } catch(std::exception &e) { + EXPECT(false); + } + + try { + p2 = solverFromDisk.calculateEstimate(symbol0); + } catch(std::exception &e) { + EXPECT(false); + } + EXPECT(assert_equal(p1, p2)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp index 88cfb666f..b894f4816 100644 --- a/gtsam/nonlinear/tests/testValues.cpp +++ b/gtsam/nonlinear/tests/testValues.cpp @@ -28,11 +28,13 @@ #include // for operator += #include #include -using namespace boost::assign; +#include #include #include #include +using namespace boost::assign; +using namespace std::placeholders; using namespace gtsam; using namespace std; static double inf = std::numeric_limits::infinity(); @@ -175,10 +177,11 @@ TEST(Values, basic_functions) { Values values; const Values& values_c = values; - values.insert(2, Vector3()); - values.insert(4, Vector3()); - values.insert(6, Matrix23()); - values.insert(8, Matrix23()); + Matrix23 M1 = Matrix23::Zero(), M2 = Matrix23::Zero(); + values.insert(2, Vector3(0, 0, 0)); + values.insert(4, Vector3(0, 0, 0)); + values.insert(6, M1); + values.insert(8, M2); // find EXPECT_LONGS_EQUAL(4, values.find(4)->key); @@ -333,9 +336,9 @@ TEST(Values, filter) { // Filter by key int i = 0; - Values::Filtered filtered = values.filter(boost::bind(std::greater_equal(), _1, 2)); + Values::Filtered filtered = values.filter(std::bind(std::greater_equal(), std::placeholders::_1, 2)); EXPECT_LONGS_EQUAL(2, (long)filtered.size()); - for(const Values::Filtered<>::KeyValuePair& key_value: filtered) { + for(const auto key_value: filtered) { if(i == 0) { LONGS_EQUAL(2, (long)key_value.key); try {key_value.value.cast();} catch (const std::bad_cast& e) { FAIL("can't cast Value to Pose2");} @@ -361,7 +364,7 @@ TEST(Values, filter) { EXPECT(assert_equal(expectedSubValues1, actualSubValues1)); // ConstFilter by Key - Values::ConstFiltered constfiltered = values.filter(boost::bind(std::greater_equal(), _1, 2)); + Values::ConstFiltered constfiltered = values.filter(std::bind(std::greater_equal(), std::placeholders::_1, 2)); EXPECT_LONGS_EQUAL(2, (long)constfiltered.size()); Values fromconstfiltered(constfiltered); EXPECT(assert_equal(expectedSubValues1, fromconstfiltered)); @@ -370,7 +373,7 @@ TEST(Values, filter) { i = 0; Values::ConstFiltered pose_filtered = values.filter(); EXPECT_LONGS_EQUAL(2, (long)pose_filtered.size()); - for(const Values::ConstFiltered::KeyValuePair& key_value: pose_filtered) { + for(const auto key_value: pose_filtered) { if(i == 0) { EXPECT_LONGS_EQUAL(1, (long)key_value.key); EXPECT(assert_equal(pose1, key_value.value)); @@ -408,7 +411,7 @@ TEST(Values, Symbol_filter) { values.insert(Symbol('y', 3), pose3); int i = 0; - for(const Values::Filtered::KeyValuePair& key_value: values.filter(Symbol::ChrTest('y'))) { + for(const auto key_value: values.filter(Symbol::ChrTest('y'))) { if(i == 0) { LONGS_EQUAL(Symbol('y', 1), (long)key_value.key); EXPECT(assert_equal(pose1, key_value.value.cast())); diff --git a/gtsam/nonlinear/utilities.h b/gtsam/nonlinear/utilities.h index ffc279872..fdc1da2c4 100644 --- a/gtsam/nonlinear/utilities.h +++ b/gtsam/nonlinear/utilities.h @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file matlab.h + * @file utilities.h * @brief Contains *generic* global functions designed particularly for the matlab interface * @author Stephen Williams */ @@ -89,21 +89,41 @@ KeySet createKeySet(std::string s, const Vector& I) { /// Extract all Point2 values into a single matrix [x y] Matrix extractPoint2(const Values& values) { + Values::ConstFiltered points = values.filter(); + // Point2 is aliased as a gtsam::Vector in the wrapper + Values::ConstFiltered points2 = values.filter(); + + Matrix result(points.size() + points2.size(), 2); + size_t j = 0; - Values::ConstFiltered points = values.filter(); - Matrix result(points.size(), 2); - for(const auto& key_value: points) + for (const auto& key_value : points) { result.row(j++) = key_value.value; + } + for (const auto& key_value : points2) { + if (key_value.value.rows() == 2) { + result.row(j++) = key_value.value; + } + } return result; } /// Extract all Point3 values into a single matrix [x y z] Matrix extractPoint3(const Values& values) { - Values::ConstFiltered points = values.filter(); - Matrix result(points.size(), 3); + Values::ConstFiltered points = values.filter(); + // Point3 is aliased as a gtsam::Vector in the wrapper + Values::ConstFiltered points2 = values.filter(); + + Matrix result(points.size() + points2.size(), 3); + size_t j = 0; - for(const auto& key_value: points) + for (const auto& key_value : points) { result.row(j++) = key_value.value; + } + for (const auto& key_value : points2) { + if (key_value.value.rows() == 3) { + result.row(j++) = key_value.value; + } + } return result; } @@ -144,11 +164,18 @@ Matrix extractPose3(const Values& values) { /// Perturb all Point2 values using normally distributed noise void perturbPoint2(Values& values, double sigma, int32_t seed = 42u) { - noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(2, - sigma); + noiseModel::Isotropic::shared_ptr model = + noiseModel::Isotropic::Sigma(2, sigma); Sampler sampler(model, seed); - for(const auto& key_value: values.filter()) { - values.update(key_value.key, key_value.value + Point2(sampler.sample())); + for (const auto& key_value : values.filter()) { + values.update(key_value.key, + key_value.value + Point2(sampler.sample())); + } + for (const auto& key_value : values.filter()) { + if (key_value.value.rows() == 2) { + values.update(key_value.key, + key_value.value + Point2(sampler.sample())); + } } } @@ -165,19 +192,34 @@ void perturbPose2(Values& values, double sigmaT, double sigmaR, int32_t seed = /// Perturb all Point3 values using normally distributed noise void perturbPoint3(Values& values, double sigma, int32_t seed = 42u) { - noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3, - sigma); + noiseModel::Isotropic::shared_ptr model = + noiseModel::Isotropic::Sigma(3, sigma); Sampler sampler(model, seed); - for(const auto& key_value: values.filter()) { - values.update(key_value.key, key_value.value + Point3(sampler.sample())); + for (const auto& key_value : values.filter()) { + values.update(key_value.key, + key_value.value + Point3(sampler.sample())); + } + for (const auto& key_value : values.filter()) { + if (key_value.value.rows() == 3) { + values.update(key_value.key, + key_value.value + Point3(sampler.sample())); + } } } -/// Insert a number of initial point values by backprojecting +/** + * @brief Insert a number of initial point values by backprojecting + * + * @param values The values dict to insert the backprojections to. + * @param camera The camera model. + * @param J Vector of key indices. + * @param Z 2*J matrix of pixel values. + * @param depth Initial depth value. + */ 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"); + throw std::invalid_argument("insertBackProjections: Z must be 2*J"); if (Z.cols() != J.size()) throw std::invalid_argument( "insertBackProjections: J and Z must have same number of entries"); @@ -188,7 +230,17 @@ void insertBackprojections(Values& values, const PinholeCamera& camera, } } -/// Insert multiple projection factors for a single pose key +/** + * @brief Insert multiple projection factors for a single pose key + * + * @param graph The nonlinear factor graph to add the factors to. + * @param i Camera key. + * @param J Vector of key indices. + * @param Z 2*J matrix of pixel values. + * @param model Factor noise model. + * @param K Calibration matrix. + * @param body_P_sensor Pose of the camera sensor in the body frame. + */ void insertProjectionFactors(NonlinearFactorGraph& graph, Key i, const Vector& J, const Matrix& Z, const SharedNoiseModel& model, const Cal3_S2::shared_ptr K, const Pose3& body_P_sensor = Pose3()) { @@ -260,30 +312,5 @@ Values localToWorld(const Values& local, const Pose2& base, } // namespace utilities -/** - * For Python __str__(). - * Redirect std cout to a string stream so we can return a string representation - * of an object when it prints to cout. - * https://stackoverflow.com/questions/5419356/redirect-stdout-stderr-to-a-string - */ -struct RedirectCout { - /// constructor -- redirect stdout buffer to a stringstream buffer - RedirectCout() : ssBuffer_(), coutBuffer_(std::cout.rdbuf(ssBuffer_.rdbuf())) {} - - /// return the string - std::string str() const { - return ssBuffer_.str(); - } - - /// destructor -- redirect stdout buffer to its original buffer - ~RedirectCout() { - std::cout.rdbuf(coutBuffer_); - } - -private: - std::stringstream ssBuffer_; - std::streambuf* coutBuffer_; -}; - } diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h index 482dbb974..da352f2e9 100644 --- a/gtsam/sam/BearingRangeFactor.h +++ b/gtsam/sam/BearingRangeFactor.h @@ -59,7 +59,7 @@ class BearingRangeFactor this->initialize(expression({{key1, key2}})); } - virtual ~BearingRangeFactor() {} + ~BearingRangeFactor() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam/sam/RangeFactor.h b/gtsam/sam/RangeFactor.h index d9890d2ef..2db659947 100644 --- a/gtsam/sam/RangeFactor.h +++ b/gtsam/sam/RangeFactor.h @@ -118,7 +118,7 @@ class RangeFactorWithTransform : public ExpressionFactorN { this->initialize(expression({key1, key2})); } - virtual ~RangeFactorWithTransform() {} + ~RangeFactorWithTransform() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam/sam/sam.i b/gtsam/sam/sam.i new file mode 100644 index 000000000..370e1c3ea --- /dev/null +++ b/gtsam/sam/sam.i @@ -0,0 +1,96 @@ +//************************************************************************* +// sam +//************************************************************************* + +namespace gtsam { + +#include +#include +#include +#include +#include + +// ##### + +#include +template +virtual class RangeFactor : gtsam::NoiseModelFactor { + RangeFactor(size_t key1, size_t key2, double measured, + const gtsam::noiseModel::Base* noiseModel); + + // enabling serialization functionality + void serialize() const; +}; + +typedef gtsam::RangeFactor RangeFactor2D; +typedef gtsam::RangeFactor RangeFactor3D; +typedef gtsam::RangeFactor RangeFactorPose2; +typedef gtsam::RangeFactor RangeFactorPose3; +typedef gtsam::RangeFactor + RangeFactorCalibratedCameraPoint; +typedef gtsam::RangeFactor, gtsam::Point3> + RangeFactorSimpleCameraPoint; +typedef gtsam::RangeFactor + RangeFactorCalibratedCamera; +typedef gtsam::RangeFactor, + gtsam::PinholeCamera> + RangeFactorSimpleCamera; + +#include +template +virtual class RangeFactorWithTransform : gtsam::NoiseModelFactor { + RangeFactorWithTransform(size_t key1, size_t key2, double measured, + const gtsam::noiseModel::Base* noiseModel, + const POSE& body_T_sensor); + + // enabling serialization functionality + void serialize() const; +}; + +typedef gtsam::RangeFactorWithTransform + RangeFactorWithTransform2D; +typedef gtsam::RangeFactorWithTransform + RangeFactorWithTransform3D; +typedef gtsam::RangeFactorWithTransform + RangeFactorWithTransformPose2; +typedef gtsam::RangeFactorWithTransform + RangeFactorWithTransformPose3; + +#include +template +virtual class BearingFactor : gtsam::NoiseModelFactor { + BearingFactor(size_t key1, size_t key2, const BEARING& measured, + const gtsam::noiseModel::Base* noiseModel); + + // enabling serialization functionality + void serialize() const; +}; + +typedef gtsam::BearingFactor + BearingFactor2D; +typedef gtsam::BearingFactor + BearingFactor3D; +typedef gtsam::BearingFactor + BearingFactorPose2; + +#include +template +virtual class BearingRangeFactor : gtsam::NoiseModelFactor { + BearingRangeFactor(size_t poseKey, size_t pointKey, + const BEARING& measuredBearing, const RANGE& measuredRange, + const gtsam::noiseModel::Base* noiseModel); + + gtsam::BearingRange measured() const; + + // enabling serialization functionality + void serialize() const; +}; + +typedef gtsam::BearingRangeFactor + BearingRangeFactor2D; +typedef gtsam::BearingRangeFactor + BearingRangeFactorPose2; + +} // namespace gtsam diff --git a/gtsam/sam/tests/testRangeFactor.cpp b/gtsam/sam/tests/testRangeFactor.cpp index 8ae3d818b..5f5d4f4dd 100644 --- a/gtsam/sam/tests/testRangeFactor.cpp +++ b/gtsam/sam/tests/testRangeFactor.cpp @@ -26,8 +26,9 @@ #include #include -#include +#include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -40,9 +41,9 @@ typedef RangeFactorWithTransform RangeFactorWithTransform2D; typedef RangeFactorWithTransform RangeFactorWithTransform3D; // Keys are deliberately *not* in sorted order to test that case. -Key poseKey(2); -Key pointKey(1); -double measurement(10.0); +constexpr Key poseKey(2); +constexpr Key pointKey(1); +constexpr double measurement(10.0); /* ************************************************************************* */ Vector factorError2D(const Pose2& pose, const Point2& point, @@ -264,9 +265,9 @@ TEST( RangeFactor, Jacobian2D ) { // Use numerical derivatives to calculate the Jacobians Matrix H1Expected, H2Expected; H1Expected = numericalDerivative11( - boost::bind(&factorError2D, _1, point, factor), pose); + std::bind(&factorError2D, std::placeholders::_1, point, factor), pose); H2Expected = numericalDerivative11( - boost::bind(&factorError2D, pose, _1, factor), point); + std::bind(&factorError2D, pose, std::placeholders::_1, factor), point); // Verify the Jacobians are correct CHECK(assert_equal(H1Expected, H1Actual, 1e-9)); @@ -295,9 +296,9 @@ TEST( RangeFactor, Jacobian2DWithTransform ) { // Use numerical derivatives to calculate the Jacobians Matrix H1Expected, H2Expected; H1Expected = numericalDerivative11( - boost::bind(&factorErrorWithTransform2D, _1, point, factor), pose); + std::bind(&factorErrorWithTransform2D, std::placeholders::_1, point, factor), pose); H2Expected = numericalDerivative11( - boost::bind(&factorErrorWithTransform2D, pose, _1, factor), point); + std::bind(&factorErrorWithTransform2D, pose, std::placeholders::_1, factor), point); // Verify the Jacobians are correct CHECK(assert_equal(H1Expected, H1Actual, 1e-9)); @@ -322,9 +323,9 @@ TEST( RangeFactor, Jacobian3D ) { // Use numerical derivatives to calculate the Jacobians Matrix H1Expected, H2Expected; H1Expected = numericalDerivative11( - boost::bind(&factorError3D, _1, point, factor), pose); + std::bind(&factorError3D, std::placeholders::_1, point, factor), pose); H2Expected = numericalDerivative11( - boost::bind(&factorError3D, pose, _1, factor), point); + std::bind(&factorError3D, pose, std::placeholders::_1, factor), point); // Verify the Jacobians are correct CHECK(assert_equal(H1Expected, H1Actual, 1e-9)); @@ -354,9 +355,9 @@ TEST( RangeFactor, Jacobian3DWithTransform ) { // Use numerical derivatives to calculate the Jacobians Matrix H1Expected, H2Expected; H1Expected = numericalDerivative11( - boost::bind(&factorErrorWithTransform3D, _1, point, factor), pose); + std::bind(&factorErrorWithTransform3D, std::placeholders::_1, point, factor), pose); H2Expected = numericalDerivative11( - boost::bind(&factorErrorWithTransform3D, pose, _1, factor), point); + std::bind(&factorErrorWithTransform3D, pose, std::placeholders::_1, factor), point); // Verify the Jacobians are correct CHECK(assert_equal(H1Expected, H1Actual, 1e-9)); @@ -364,20 +365,37 @@ TEST( RangeFactor, Jacobian3DWithTransform ) { } /* ************************************************************************* */ -// Do a test with Point3 -TEST(RangeFactor, Point3) { +// Do a test with Point2 +TEST(RangeFactor, Point2) { // Create a factor - RangeFactor factor(poseKey, pointKey, measurement, model); + RangeFactor factor(11, 22, measurement, model); // Set the linearization point - Point3 pose(1.0, 2.0, 00); - Point3 point(-4.0, 11.0, 0); + Point2 p11(1.0, 2.0), p22(-4.0, 11.0); - // The expected error is ||(5.0, 9.0)|| - 10.0 = 0.295630141 meter / UnitCovariance + // The expected error is ||(5.0, 9.0)|| - 10.0 = 0.295630141 meter Vector expectedError = (Vector(1) << 0.295630141).finished(); // Verify we get the expected error - CHECK(assert_equal(expectedError, factor.unwhitenedError({{poseKey, genericValue(pose)}, {pointKey, genericValue(point)}}), 1e-9)); + Values values {{11, genericValue(p11)}, {22, genericValue(p22)}}; + CHECK(assert_equal(expectedError, factor.unwhitenedError(values), 1e-9)); +} + +/* ************************************************************************* */ +// Do a test with Point3 +TEST(RangeFactor, Point3) { + // Create a factor + RangeFactor factor(11, 22, measurement, model); + + // Set the linearization point + Point3 p11(1.0, 2.0, 0.0), p22(-4.0, 11.0, 0); + + // The expected error is ||(5.0, 9.0)|| - 10.0 = 0.295630141 meter + Vector expectedError = (Vector(1) << 0.295630141).finished(); + + // Verify we get the expected error + Values values {{11, genericValue(p11)}, {22, genericValue(p22)}}; + CHECK(assert_equal(expectedError, factor.unwhitenedError(values), 1e-9)); } /* ************************************************************************* */ diff --git a/gtsam/sfm/BinaryMeasurement.h b/gtsam/sfm/BinaryMeasurement.h index c525c1b9e..bdb45d622 100644 --- a/gtsam/sfm/BinaryMeasurement.h +++ b/gtsam/sfm/BinaryMeasurement.h @@ -45,12 +45,16 @@ private: T measured_; ///< The measurement SharedNoiseModel noiseModel_; ///< Noise model -public: + public: BinaryMeasurement(Key key1, Key key2, const T &measured, const SharedNoiseModel &model = nullptr) - : Factor(std::vector({key1, key2})), measured_(measured), + : Factor(std::vector({key1, key2})), + measured_(measured), noiseModel_(model) {} + /// Destructor + virtual ~BinaryMeasurement() {} + /// @name Standard Interface /// @{ @@ -63,8 +67,8 @@ public: /// @name Testable /// @{ - void print(const std::string &s, - const KeyFormatter &keyFormatter = DefaultKeyFormatter) const { + void print(const std::string &s, const KeyFormatter &keyFormatter = + DefaultKeyFormatter) const override { std::cout << s << "BinaryMeasurement(" << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << ")\n"; traits::Print(measured_, " measured: "); @@ -80,4 +84,4 @@ public: } /// @} }; -} // namespace gtsam \ No newline at end of file +} // namespace gtsam diff --git a/gtsam/sfm/ShonanAveraging.cpp b/gtsam/sfm/ShonanAveraging.cpp index df2d72c28..58e98ebfa 100644 --- a/gtsam/sfm/ShonanAveraging.cpp +++ b/gtsam/sfm/ShonanAveraging.cpp @@ -17,6 +17,7 @@ */ #include +#include #include #include #include @@ -53,7 +54,9 @@ ShonanAveragingParameters::ShonanAveragingParameters( optimalityThreshold(optimalityThreshold), alpha(alpha), beta(beta), - gamma(gamma) { + gamma(gamma), + useHuber(false), + certifyOptimality(true) { // By default, we will do conjugate gradient lm.linearSolverType = LevenbergMarquardtParams::Iterative; @@ -140,25 +143,23 @@ template NonlinearFactorGraph ShonanAveraging::buildGraphAt(size_t p) const { NonlinearFactorGraph graph; auto G = boost::make_shared(SO<-1>::VectorizedGenerators(p)); + for (const auto &measurement : measurements_) { const auto &keys = measurement.keys(); const auto &Rij = measurement.measured(); const auto &model = measurement.noiseModel(); graph.emplace_shared>(keys[0], keys[1], Rij, p, model, G); } - // Possibly add Karcher prior if (parameters_.beta > 0) { const size_t dim = SOn::Dimension(p); graph.emplace_shared>(graph.keys(), dim); } - // Possibly add gauge factors - they are probably useless as gradient is zero if (parameters_.gamma > 0 && p > d + 1) { for (auto key : graph.keys()) graph.emplace_shared(key, p, d, parameters_.gamma); } - return graph; } @@ -186,7 +187,6 @@ ShonanAveraging::createOptimizerAt(size_t p, const Values &initial) const { graph.emplace_shared>(i, SOn::Lift(p, value.matrix()), model); } - // Optimize return boost::make_shared(graph, initial, parameters_.lm); @@ -334,15 +334,33 @@ double ShonanAveraging::cost(const Values &values) const { /* ************************************************************************* */ // Get kappa from noise model -template -static double Kappa(const BinaryMeasurement &measurement) { +template +static double Kappa(const BinaryMeasurement &measurement, + const ShonanAveragingParameters ¶meters) { const auto &isotropic = boost::dynamic_pointer_cast( measurement.noiseModel()); - if (!isotropic) { - throw std::invalid_argument( - "Shonan averaging noise models must be isotropic."); + double sigma; + if (isotropic) { + sigma = isotropic->sigma(); + } else { + const auto &robust = boost::dynamic_pointer_cast( + measurement.noiseModel()); + // Check if noise model is robust + if (robust) { + // If robust, check if optimality certificate is expected + if (parameters.getCertifyOptimality()) { + throw std::invalid_argument( + "Certification of optimality does not work with robust cost."); + } else { + // Optimality certificate not required, so setting default sigma + sigma = 1; + } + } else { + throw std::invalid_argument( + "Shonan averaging noise models must be isotropic (but robust losses " + "are allowed)."); + } } - const double sigma = isotropic->sigma(); return 1.0 / (sigma * sigma); } @@ -362,7 +380,7 @@ Sparse ShonanAveraging::buildD() const { const auto &keys = measurement.keys(); // Get kappa from noise model - double kappa = Kappa(measurement); + double kappa = Kappa(measurement, parameters_); const size_t di = d * keys[0], dj = d * keys[1]; for (size_t k = 0; k < d; k++) { @@ -400,7 +418,7 @@ Sparse ShonanAveraging::buildQ() const { const auto Rij = measurement.measured().matrix(); // Get kappa from noise model - double kappa = Kappa(measurement); + double kappa = Kappa(measurement, parameters_); const size_t di = d * keys[0], dj = d * keys[1]; for (size_t r = 0; r < d; r++) { @@ -470,8 +488,88 @@ Sparse ShonanAveraging::computeA(const Values &values) const { return Lambda - Q_; } +/* ************************************************************************* */ +template +Sparse ShonanAveraging::computeA(const Matrix &S) const { + auto Lambda = computeLambda(S); + return Lambda - Q_; +} + +/* ************************************************************************* */ +// Perturb the initial initialVector by adding a spherically-uniformly +// distributed random vector with 0.03*||initialVector||_2 magnitude to +// initialVector +// ref : Part III. C, Rosen, D. and Carlone, L., 2017, September. Computational +// enhancements for certifiably correct SLAM. In Proceedings of the +// International Conference on Intelligent Robots and Systems. +static Vector perturb(const Vector &initialVector) { + // generate a 0.03*||x_0||_2 as stated in David's paper + int n = initialVector.rows(); + Vector disturb = Vector::Random(n); + disturb.normalize(); + + double magnitude = initialVector.norm(); + Vector perturbedVector = initialVector + 0.03 * magnitude * disturb; + perturbedVector.normalize(); + return perturbedVector; +} + /* ************************************************************************* */ /// MINIMUM EIGENVALUE COMPUTATIONS +// Alg.6 from paper Distributed Certifiably Correct Pose-Graph Optimization, +// it takes in the certificate matrix A as input, the maxIterations and the +// minEigenvalueNonnegativityTolerance is set to 1000 and 10e-4 ad default, +// there are two parts +// in this algorithm: +// (1) compute the maximum eigenpair (\lamda_dom, \vect{v}_dom) of A by power +// method. if \lamda_dom is less than zero, then return the eigenpair. (2) +// compute the maximum eigenpair (\theta, \vect{v}) of C = \lamda_dom * I - A by +// accelerated power method. Then return (\lamda_dom - \theta, \vect{v}). +static bool PowerMinimumEigenValue( + const Sparse &A, const Matrix &S, double &minEigenValue, + Vector *minEigenVector = 0, size_t *numIterations = 0, + size_t maxIterations = 1000, + double minEigenvalueNonnegativityTolerance = 10e-4) { + + // a. Compute dominant eigenpair of S using power method + PowerMethod pmOperator(A); + + const bool pmConverged = pmOperator.compute( + maxIterations, 1e-5); + + // Check convergence and bail out if necessary + if (!pmConverged) return false; + + const double pmEigenValue = pmOperator.eigenvalue(); + + if (pmEigenValue < 0) { + // The largest-magnitude eigenvalue is negative, and therefore also the + // minimum eigenvalue, so just return this solution + minEigenValue = pmEigenValue; + if (minEigenVector) { + *minEigenVector = pmOperator.eigenvector(); + minEigenVector->normalize(); // Ensure that this is a unit vector + } + return true; + } + + const Sparse C = pmEigenValue * Matrix::Identity(A.rows(), A.cols()).sparseView() - A; + const boost::optional initial = perturb(S.row(0)); + AcceleratedPowerMethod apmShiftedOperator(C, initial); + + const bool minConverged = apmShiftedOperator.compute( + maxIterations, minEigenvalueNonnegativityTolerance / pmEigenValue); + + if (!minConverged) return false; + + minEigenValue = pmEigenValue - apmShiftedOperator.eigenvalue(); + if (minEigenVector) { + *minEigenVector = apmShiftedOperator.eigenvector(); + minEigenVector->normalize(); // Ensure that this is a unit vector + } + if (numIterations) *numIterations = apmShiftedOperator.nrIterations(); + return true; +} /** This is a lightweight struct used in conjunction with Spectra to compute * the minimum eigenvalue and eigenvector of a sparse matrix A; it has a single @@ -617,13 +715,6 @@ static bool SparseMinimumEigenValue( return true; } -/* ************************************************************************* */ -template -Sparse ShonanAveraging::computeA(const Matrix &S) const { - auto Lambda = computeLambda(S); - return Lambda - Q_; -} - /* ************************************************************************* */ template double ShonanAveraging::computeMinEigenValue(const Values &values, @@ -641,6 +732,23 @@ double ShonanAveraging::computeMinEigenValue(const Values &values, return minEigenValue; } +/* ************************************************************************* */ +template +double ShonanAveraging::computeMinEigenValueAP(const Values &values, + Vector *minEigenVector) const { + assert(values.size() == nrUnknowns()); + const Matrix S = StiefelElementMatrix(values); + auto A = computeA(S); + + double minEigenValue = 0; + bool success = PowerMinimumEigenValue(A, S, minEigenValue, minEigenVector); + if (!success) { + throw std::runtime_error( + "PowerMinimumEigenValue failed to compute minimum eigenvalue."); + } + return minEigenValue; +} + /* ************************************************************************* */ template std::pair ShonanAveraging::computeMinEigenVector( @@ -793,21 +901,30 @@ std::pair ShonanAveraging::run(const Values &initialEstimate, for (size_t p = pMin; p <= pMax; p++) { // Optimize until convergence at this level Qstar = tryOptimizingAt(p, initialSOp); - - // Check certificate of global optimzality - Vector minEigenVector; - double minEigenValue = computeMinEigenValue(Qstar, &minEigenVector); - if (minEigenValue > parameters_.optimalityThreshold) { - // If at global optimum, round and return solution + if (parameters_.getUseHuber() || !parameters_.getCertifyOptimality()) { + // in this case, there is no optimality certification + if (pMin != pMax) { + throw std::runtime_error( + "When using robust norm, Shonan only tests a single rank. Set pMin = pMax"); + } const Values SO3Values = roundSolution(Qstar); - return std::make_pair(SO3Values, minEigenValue); - } + return std::make_pair(SO3Values, 0); + } else { + // Check certificate of global optimality + Vector minEigenVector; + double minEigenValue = computeMinEigenValue(Qstar, &minEigenVector); + if (minEigenValue > parameters_.optimalityThreshold) { + // If at global optimum, round and return solution + const Values SO3Values = roundSolution(Qstar); + return std::make_pair(SO3Values, minEigenValue); + } - // Not at global optimimum yet, so check whether we will go to next level - if (p != pMax) { - // Calculate initial estimate for next level by following minEigenVector - initialSOp = - initializeWithDescent(p + 1, Qstar, minEigenVector, minEigenValue); + // Not at global optimimum yet, so check whether we will go to next level + if (p != pMax) { + // Calculate initial estimate for next level by following minEigenVector + initialSOp = + initializeWithDescent(p + 1, Qstar, minEigenVector, minEigenValue); + } } } throw std::runtime_error("Shonan::run did not converge for given pMax"); @@ -819,20 +936,59 @@ template class ShonanAveraging<2>; ShonanAveraging2::ShonanAveraging2(const Measurements &measurements, const Parameters ¶meters) - : ShonanAveraging<2>(measurements, parameters) {} -ShonanAveraging2::ShonanAveraging2(string g2oFile, const Parameters ¶meters) - : ShonanAveraging<2>(parseMeasurements(g2oFile), parameters) {} + : ShonanAveraging<2>(maybeRobust(measurements, parameters.getUseHuber()), + parameters) {} +ShonanAveraging2::ShonanAveraging2(string g2oFile, const Parameters ¶meters) + : ShonanAveraging<2>(maybeRobust(parseMeasurements(g2oFile), + parameters.getUseHuber()), + parameters) {} + +// Extract Rot2 measurement from Pose2 betweenfactors +// Modeled after similar function in dataset.cpp +static BinaryMeasurement convertPose2ToBinaryMeasurementRot2( + const BetweenFactor::shared_ptr &f) { + auto gaussian = + boost::dynamic_pointer_cast(f->noiseModel()); + if (!gaussian) + throw std::invalid_argument( + "parseMeasurements can only convert Pose2 measurements " + "with Gaussian noise models."); + const Matrix3 M = gaussian->covariance(); + // the (2,2) entry of Pose2's covariance corresponds to Rot2's covariance + // because the tangent space of Pose2 is ordered as (vx, vy, w) + auto model = noiseModel::Isotropic::Variance(1, M(2, 2)); + return BinaryMeasurement(f->key1(), f->key2(), f->measured().rotation(), + model); +} + +static ShonanAveraging2::Measurements extractRot2Measurements( + const BetweenFactorPose2s &factors) { + ShonanAveraging2::Measurements result; + result.reserve(factors.size()); + for (auto f : factors) result.push_back(convertPose2ToBinaryMeasurementRot2(f)); + return result; +} + +ShonanAveraging2::ShonanAveraging2(const BetweenFactorPose2s &factors, + const Parameters ¶meters) + : ShonanAveraging<2>(maybeRobust(extractRot2Measurements(factors), + parameters.getUseHuber()), + parameters) {} + /* ************************************************************************* */ // Explicit instantiation for d=3 template class ShonanAveraging<3>; ShonanAveraging3::ShonanAveraging3(const Measurements &measurements, const Parameters ¶meters) - : ShonanAveraging<3>(measurements, parameters) {} + : ShonanAveraging<3>(maybeRobust(measurements, parameters.getUseHuber()), + parameters) {} ShonanAveraging3::ShonanAveraging3(string g2oFile, const Parameters ¶meters) - : ShonanAveraging<3>(parseMeasurements(g2oFile), parameters) {} + : ShonanAveraging<3>(maybeRobust(parseMeasurements(g2oFile), + parameters.getUseHuber()), + parameters) {} // TODO(frank): Deprecate after we land pybind wrapper @@ -847,9 +1003,11 @@ static BinaryMeasurement convert( "parseMeasurements can only convert Pose3 measurements " "with Gaussian noise models."); const Matrix6 M = gaussian->covariance(); - return BinaryMeasurement( - f->key1(), f->key2(), f->measured().rotation(), - noiseModel::Gaussian::Covariance(M.block<3, 3>(3, 3), true)); + // the upper-left 3x3 sub-block of Pose3's covariance corresponds to Rot3's covariance + // because the tangent space of Pose3 is ordered as (w,T) where w and T are both Vector3's + auto model = noiseModel::Gaussian::Covariance(M.block<3, 3>(0, 0)); + return BinaryMeasurement(f->key1(), f->key2(), f->measured().rotation(), + model); } static ShonanAveraging3::Measurements extractRot3Measurements( @@ -862,7 +1020,9 @@ static ShonanAveraging3::Measurements extractRot3Measurements( ShonanAveraging3::ShonanAveraging3(const BetweenFactorPose3s &factors, const Parameters ¶meters) - : ShonanAveraging<3>(extractRot3Measurements(factors), parameters) {} + : ShonanAveraging<3>(maybeRobust(extractRot3Measurements(factors), + parameters.getUseHuber()), + parameters) {} /* ************************************************************************* */ } // namespace gtsam diff --git a/gtsam/sfm/ShonanAveraging.h b/gtsam/sfm/ShonanAveraging.h index edd9f33a2..de12de478 100644 --- a/gtsam/sfm/ShonanAveraging.h +++ b/gtsam/sfm/ShonanAveraging.h @@ -26,6 +26,8 @@ #include #include #include +#include +#include #include #include @@ -46,13 +48,17 @@ struct GTSAM_EXPORT ShonanAveragingParameters { using Rot = typename std::conditional::type; using Anchor = std::pair; - // Paremeters themselves: - LevenbergMarquardtParams lm; // LM parameters - double optimalityThreshold; // threshold used in checkOptimality - Anchor anchor; // pose to use as anchor if not Karcher - double alpha; // weight of anchor-based prior (default 0) - double beta; // weight of Karcher-based prior (default 1) - double gamma; // weight of gauge-fixing factors (default 0) + // Parameters themselves: + LevenbergMarquardtParams lm; ///< LM parameters + double optimalityThreshold; ///< threshold used in checkOptimality + Anchor anchor; ///< pose to use as anchor if not Karcher + double alpha; ///< weight of anchor-based prior (default 0) + double beta; ///< weight of Karcher-based prior (default 1) + double gamma; ///< weight of gauge-fixing factors (default 0) + /// if enabled, the Huber loss is used (default false) + bool useHuber; + /// if enabled solution optimality is certified (default true) + bool certifyOptimality; ShonanAveragingParameters(const LevenbergMarquardtParams &lm = LevenbergMarquardtParams::CeresDefaults(), @@ -67,16 +73,32 @@ struct GTSAM_EXPORT ShonanAveragingParameters { double getOptimalityThreshold() const { return optimalityThreshold; } void setAnchor(size_t index, const Rot &value) { anchor = {index, value}; } - std::pair getAnchor() { return anchor; } + std::pair getAnchor() const { return anchor; } void setAnchorWeight(double value) { alpha = value; } - double getAnchorWeight() { return alpha; } + double getAnchorWeight() const { return alpha; } void setKarcherWeight(double value) { beta = value; } - double getKarcherWeight() { return beta; } + double getKarcherWeight() const { return beta; } void setGaugesWeight(double value) { gamma = value; } - double getGaugesWeight() { return gamma; } + double getGaugesWeight() const { return gamma; } + + void setUseHuber(bool value) { useHuber = value; } + bool getUseHuber() const { return useHuber; } + + void setCertifyOptimality(bool value) { certifyOptimality = value; } + bool getCertifyOptimality() const { return certifyOptimality; } + + /// Print the parameters and flags used for rotation averaging. + void print(const std::string &s = "") const { + std::cout << (s.empty() ? s : s + " "); + std::cout << " ShonanAveragingParameters: " << std::endl; + std::cout << " alpha: " << alpha << std::endl; + std::cout << " beta: " << beta << std::endl; + std::cout << " gamma: " << gamma << std::endl; + std::cout << " useHuber: " << useHuber << std::endl; + } }; using ShonanAveragingParameters2 = ShonanAveragingParameters<2>; @@ -107,7 +129,6 @@ class GTSAM_EXPORT ShonanAveraging { using Rot = typename Parameters::Rot; // We store SO(d) BetweenFactors to get noise model - // TODO(frank): use BinaryMeasurement? using Measurements = std::vector>; private: @@ -151,6 +172,36 @@ class GTSAM_EXPORT ShonanAveraging { return measurements_[k]; } + /** + * Update factors to use robust Huber loss. + * + * @param measurements Vector of BinaryMeasurements. + * @param k Huber noise model threshold. + */ + Measurements makeNoiseModelRobust(const Measurements &measurements, + double k = 1.345) const { + Measurements robustMeasurements; + for (auto &measurement : measurements) { + auto model = measurement.noiseModel(); + const auto &robust = + boost::dynamic_pointer_cast(model); + + SharedNoiseModel robust_model; + // Check if the noise model is already robust + if (robust) { + robust_model = model; + } else { + // make robust + robust_model = noiseModel::Robust::Create( + noiseModel::mEstimator::Huber::Create(k), model); + } + BinaryMeasurement meas(measurement.key1(), measurement.key2(), + measurement.measured(), robust_model); + robustMeasurements.push_back(meas); + } + return robustMeasurements; + } + /// k^th measurement, as a Rot. const Rot &measured(size_t k) const { return measurements_[k].measured(); } @@ -202,6 +253,13 @@ class GTSAM_EXPORT ShonanAveraging { double computeMinEigenValue(const Values &values, Vector *minEigenVector = nullptr) const; + /** + * Compute minimum eigenvalue with accelerated power method. + * @param values: should be of type SOn + */ + double computeMinEigenValueAP(const Values &values, + Vector *minEigenVector = nullptr) const; + /// Project pxdN Stiefel manifold matrix S to Rot3^N Values roundSolutionS(const Matrix &S) const; @@ -345,24 +403,42 @@ class GTSAM_EXPORT ShonanAveraging { std::pair run(const Values &initialEstimate, size_t pMin = d, size_t pMax = 10) const; /// @} + + /** + * Helper function to convert measurements to robust noise model + * if flag is set. + * + * @tparam T the type of measurement, e.g. Rot3. + * @param measurements vector of BinaryMeasurements of type T. + * @param useRobustModel flag indicating whether use robust noise model + * instead. + */ + template + inline std::vector> maybeRobust( + const std::vector> &measurements, + bool useRobustModel = false) const { + return useRobustModel ? makeNoiseModelRobust(measurements) : measurements; + } }; // Subclasses for d=2 and d=3 that explicitly instantiate, as well as provide a // convenience interface with file access. -class ShonanAveraging2 : public ShonanAveraging<2> { +class GTSAM_EXPORT ShonanAveraging2 : public ShonanAveraging<2> { public: ShonanAveraging2(const Measurements &measurements, const Parameters ¶meters = Parameters()); - explicit ShonanAveraging2(string g2oFile, + explicit ShonanAveraging2(std::string g2oFile, const Parameters ¶meters = Parameters()); + ShonanAveraging2(const BetweenFactorPose2s &factors, + const Parameters ¶meters = Parameters()); }; -class ShonanAveraging3 : public ShonanAveraging<3> { +class GTSAM_EXPORT ShonanAveraging3 : public ShonanAveraging<3> { public: ShonanAveraging3(const Measurements &measurements, const Parameters ¶meters = Parameters()); - explicit ShonanAveraging3(string g2oFile, + explicit ShonanAveraging3(std::string g2oFile, const Parameters ¶meters = Parameters()); // TODO(frank): Deprecate after we land pybind wrapper diff --git a/gtsam/sfm/ShonanGaugeFactor.h b/gtsam/sfm/ShonanGaugeFactor.h index 4847c5d58..d6240b1c4 100644 --- a/gtsam/sfm/ShonanGaugeFactor.h +++ b/gtsam/sfm/ShonanGaugeFactor.h @@ -90,7 +90,7 @@ public: } /// Destructor - virtual ~ShonanGaugeFactor() {} + ~ShonanGaugeFactor() override {} /// Calculate the error of the factor: always zero double error(const Values &c) const override { return 0; } diff --git a/gtsam/sfm/TranslationRecovery.cpp b/gtsam/sfm/TranslationRecovery.cpp index 319129840..f38c14ba7 100644 --- a/gtsam/sfm/TranslationRecovery.cpp +++ b/gtsam/sfm/TranslationRecovery.cpp @@ -11,13 +11,12 @@ /** * @file TranslationRecovery.cpp - * @author Frank Dellaert + * @author Frank Dellaert, Akshay Krishnan * @date March 2020 * @brief Source code for recovering translations when rotations are given */ -#include - +#include #include #include #include @@ -27,11 +26,45 @@ #include #include #include +#include #include +#include +#include + using namespace gtsam; using namespace std; +TranslationRecovery::TranslationRecovery( + const TranslationRecovery::TranslationEdges &relativeTranslations, + const LevenbergMarquardtParams &lmParams) + : params_(lmParams) { + // Some relative translations may be zero. We treat nodes that have a zero + // relativeTranslation as a single node. + + // A DSFMap is used to find sets of nodes that have a zero relative + // translation. Add the nodes in each edge to the DSFMap, and merge nodes that + // are connected by a zero relative translation. + DSFMap sameTranslationDSF; + for (const auto &edge : relativeTranslations) { + Key key1 = sameTranslationDSF.find(edge.key1()); + Key key2 = sameTranslationDSF.find(edge.key2()); + if (key1 != key2 && edge.measured().equals(Unit3(0.0, 0.0, 0.0))) { + sameTranslationDSF.merge(key1, key2); + } + } + // Use only those edges for which two keys have a distinct root in the DSFMap. + for (const auto &edge : relativeTranslations) { + Key key1 = sameTranslationDSF.find(edge.key1()); + Key key2 = sameTranslationDSF.find(edge.key2()); + if (key1 == key2) continue; + relativeTranslations_.emplace_back(key1, key2, edge.measured(), + edge.noiseModel()); + } + // Store the DSF map for post-processing results. + sameTranslationNodes_ = sameTranslationDSF.sets(); +} + NonlinearFactorGraph TranslationRecovery::buildGraph() const { NonlinearFactorGraph graph; @@ -44,13 +77,15 @@ NonlinearFactorGraph TranslationRecovery::buildGraph() const { return graph; } -void TranslationRecovery::addPrior(const double scale, - NonlinearFactorGraph *graph, - const SharedNoiseModel &priorNoiseModel) const { +void TranslationRecovery::addPrior( + const double scale, NonlinearFactorGraph *graph, + const SharedNoiseModel &priorNoiseModel) const { auto edge = relativeTranslations_.begin(); - graph->emplace_shared >(edge->key1(), Point3(0, 0, 0), priorNoiseModel); - graph->emplace_shared >(edge->key2(), scale * edge->measured().point3(), - edge->noiseModel()); + if (edge == relativeTranslations_.end()) return; + graph->emplace_shared >(edge->key1(), Point3(0, 0, 0), + priorNoiseModel); + graph->emplace_shared >( + edge->key2(), scale * edge->measured().point3(), edge->noiseModel()); } Values TranslationRecovery::initalizeRandomly() const { @@ -68,6 +103,15 @@ Values TranslationRecovery::initalizeRandomly() const { insert(edge.key1()); insert(edge.key2()); } + + // If there are no valid edges, but zero-distance edges exist, initialize one + // of the nodes in a connected component of zero-distance edges. + if (initial.empty() && !sameTranslationNodes_.empty()) { + for (const auto &optimizedAndDuplicateKeys : sameTranslationNodes_) { + Key optimizedKey = optimizedAndDuplicateKeys.first; + initial.insert(optimizedKey, Point3(0, 0, 0)); + } + } return initial; } @@ -77,6 +121,19 @@ Values TranslationRecovery::run(const double scale) const { const Values initial = initalizeRandomly(); LevenbergMarquardtOptimizer lm(graph, initial, params_); Values result = lm.optimize(); + + // Nodes that were not optimized are stored in sameTranslationNodes_ as a map + // from a key that was optimized to keys that were not optimized. Iterate over + // map and add results for keys not optimized. + for (const auto &optimizedAndDuplicateKeys : sameTranslationNodes_) { + Key optimizedKey = optimizedAndDuplicateKeys.first; + std::set duplicateKeys = optimizedAndDuplicateKeys.second; + // Add the result for the duplicate key if it does not already exist. + for (const Key duplicateKey : duplicateKeys) { + if (result.exists(duplicateKey)) continue; + result.insert(duplicateKey, result.at(optimizedKey)); + } + } return result; } diff --git a/gtsam/sfm/TranslationRecovery.h b/gtsam/sfm/TranslationRecovery.h index d5538f91b..c99836853 100644 --- a/gtsam/sfm/TranslationRecovery.h +++ b/gtsam/sfm/TranslationRecovery.h @@ -16,14 +16,16 @@ * @brief Recovering translations in an epipolar graph when rotations are given. */ +#include +#include +#include +#include + #include #include #include #include -#include -#include - namespace gtsam { // Set up an optimization problem for the unknown translations Ti in the world @@ -52,23 +54,30 @@ class TranslationRecovery { using TranslationEdges = std::vector>; private: + // Translation directions between camera pairs. TranslationEdges relativeTranslations_; + + // Parameters used by the LM Optimizer. LevenbergMarquardtParams params_; + // Map from a key in the graph to a set of keys that share the same + // translation. + std::map> sameTranslationNodes_; + public: /** * @brief Construct a new Translation Recovery object * * @param relativeTranslations the relative translations, in world coordinate - * frames, vector of BinaryMeasurements of Unit3, where each key of a measurement - * is a point in 3D. + * frames, vector of BinaryMeasurements of Unit3, where each key of a + * measurement is a point in 3D. * @param lmParams (optional) gtsam::LavenbergMarquardtParams that can be * used to modify the parameters for the LM optimizer. By default, uses the - * default LM parameters. + * default LM parameters. */ - TranslationRecovery(const TranslationEdges &relativeTranslations, - const LevenbergMarquardtParams &lmParams = LevenbergMarquardtParams()) - : relativeTranslations_(relativeTranslations), params_(lmParams) {} + TranslationRecovery( + const TranslationEdges &relativeTranslations, + const LevenbergMarquardtParams &lmParams = LevenbergMarquardtParams()); /** * @brief Build the factor graph to do the optimization. @@ -108,8 +117,8 @@ class TranslationRecovery { * * @param poses SE(3) ground truth poses stored as Values * @param edges pairs (a,b) for which a measurement w_aZb will be generated. - * @return TranslationEdges vector of binary measurements where the keys are - * the cameras and the measurement is the simulated Unit3 translation + * @return TranslationEdges vector of binary measurements where the keys are + * the cameras and the measurement is the simulated Unit3 translation * direction between the cameras. */ static TranslationEdges SimulateMeasurements( diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i new file mode 100644 index 000000000..705892e60 --- /dev/null +++ b/gtsam/sfm/sfm.i @@ -0,0 +1,211 @@ +//************************************************************************* +// sfm +//************************************************************************* + +namespace gtsam { + +// ##### + +#include + +virtual class ShonanFactor3 : gtsam::NoiseModelFactor { + ShonanFactor3(size_t key1, size_t key2, const gtsam::Rot3& R12, size_t p); + ShonanFactor3(size_t key1, size_t key2, const gtsam::Rot3& R12, size_t p, + gtsam::noiseModel::Base* model); + Vector evaluateError(const gtsam::SOn& Q1, const gtsam::SOn& Q2); +}; + +#include +template +class BinaryMeasurement { + BinaryMeasurement(size_t key1, size_t key2, const T& measured, + const gtsam::noiseModel::Base* model); + size_t key1() const; + size_t key2() const; + T measured() const; + gtsam::noiseModel::Base* noiseModel() const; +}; + +typedef gtsam::BinaryMeasurement BinaryMeasurementUnit3; +typedef gtsam::BinaryMeasurement BinaryMeasurementRot3; + +class BinaryMeasurementsUnit3 { + BinaryMeasurementsUnit3(); + size_t size() const; + gtsam::BinaryMeasurement at(size_t idx) const; + void push_back(const gtsam::BinaryMeasurement& measurement); +}; + +#include + +// TODO(frank): copy/pasta below until we have integer template paremeters in +// wrap! + +class ShonanAveragingParameters2 { + ShonanAveragingParameters2(const gtsam::LevenbergMarquardtParams& lm); + ShonanAveragingParameters2(const gtsam::LevenbergMarquardtParams& lm, + string method); + gtsam::LevenbergMarquardtParams getLMParams() const; + void setOptimalityThreshold(double value); + double getOptimalityThreshold() const; + void setAnchor(size_t index, const gtsam::Rot2& value); + pair getAnchor(); + void setAnchorWeight(double value); + double getAnchorWeight() const; + void setKarcherWeight(double value); + double getKarcherWeight() const; + void setGaugesWeight(double value); + double getGaugesWeight() const; + void setUseHuber(bool value); + bool getUseHuber() const; + void setCertifyOptimality(bool value); + bool getCertifyOptimality() const; +}; + +class ShonanAveragingParameters3 { + ShonanAveragingParameters3(const gtsam::LevenbergMarquardtParams& lm); + ShonanAveragingParameters3(const gtsam::LevenbergMarquardtParams& lm, + string method); + gtsam::LevenbergMarquardtParams getLMParams() const; + void setOptimalityThreshold(double value); + double getOptimalityThreshold() const; + void setAnchor(size_t index, const gtsam::Rot3& value); + pair getAnchor(); + void setAnchorWeight(double value); + double getAnchorWeight() const; + void setKarcherWeight(double value); + double getKarcherWeight() const; + void setGaugesWeight(double value); + double getGaugesWeight() const; + void setUseHuber(bool value); + bool getUseHuber() const; + void setCertifyOptimality(bool value); + bool getCertifyOptimality() const; +}; + +class ShonanAveraging2 { + ShonanAveraging2(string g2oFile); + ShonanAveraging2(string g2oFile, + const gtsam::ShonanAveragingParameters2& parameters); + ShonanAveraging2(const gtsam::BetweenFactorPose2s &factors, + const gtsam::ShonanAveragingParameters2 ¶meters); + + // Query properties + size_t nrUnknowns() const; + size_t nrMeasurements() const; + gtsam::Rot2 measured(size_t i); + gtsam::KeyVector keys(size_t i); + + // Matrix API (advanced use, debugging) + Matrix denseD() const; + Matrix denseQ() const; + Matrix denseL() const; + // Matrix computeLambda_(Matrix S) const; + Matrix computeLambda_(const gtsam::Values& values) const; + Matrix computeA_(const gtsam::Values& values) const; + double computeMinEigenValue(const gtsam::Values& values) const; + gtsam::Values initializeWithDescent(size_t p, const gtsam::Values& values, + const Vector& minEigenVector, + double minEigenValue) const; + + // Advanced API + gtsam::NonlinearFactorGraph buildGraphAt(size_t p) const; + gtsam::Values initializeRandomlyAt(size_t p) const; + double costAt(size_t p, const gtsam::Values& values) const; + pair computeMinEigenVector(const gtsam::Values& values) const; + bool checkOptimality(const gtsam::Values& values) const; + gtsam::LevenbergMarquardtOptimizer* createOptimizerAt( + size_t p, const gtsam::Values& initial); + // gtsam::Values tryOptimizingAt(size_t p) const; + gtsam::Values tryOptimizingAt(size_t p, const gtsam::Values& initial) const; + gtsam::Values projectFrom(size_t p, const gtsam::Values& values) const; + gtsam::Values roundSolution(const gtsam::Values& values) const; + + // Basic API + double cost(const gtsam::Values& values) const; + gtsam::Values initializeRandomly() const; + pair run(const gtsam::Values& initial, size_t min_p, + size_t max_p) const; +}; + +class ShonanAveraging3 { + ShonanAveraging3(string g2oFile); + ShonanAveraging3(string g2oFile, + const gtsam::ShonanAveragingParameters3& parameters); + + // TODO(frank): deprecate once we land pybind wrapper + ShonanAveraging3(const gtsam::BetweenFactorPose3s& factors); + ShonanAveraging3(const gtsam::BetweenFactorPose3s& factors, + const gtsam::ShonanAveragingParameters3& parameters); + + // Query properties + size_t nrUnknowns() const; + size_t nrMeasurements() const; + gtsam::Rot3 measured(size_t i); + gtsam::KeyVector keys(size_t i); + + // Matrix API (advanced use, debugging) + Matrix denseD() const; + Matrix denseQ() const; + Matrix denseL() const; + // Matrix computeLambda_(Matrix S) const; + Matrix computeLambda_(const gtsam::Values& values) const; + Matrix computeA_(const gtsam::Values& values) const; + double computeMinEigenValue(const gtsam::Values& values) const; + gtsam::Values initializeWithDescent(size_t p, const gtsam::Values& values, + const Vector& minEigenVector, + double minEigenValue) const; + + // Advanced API + gtsam::NonlinearFactorGraph buildGraphAt(size_t p) const; + gtsam::Values initializeRandomlyAt(size_t p) const; + double costAt(size_t p, const gtsam::Values& values) const; + pair computeMinEigenVector(const gtsam::Values& values) const; + bool checkOptimality(const gtsam::Values& values) const; + gtsam::LevenbergMarquardtOptimizer* createOptimizerAt( + size_t p, const gtsam::Values& initial); + // gtsam::Values tryOptimizingAt(size_t p) const; + gtsam::Values tryOptimizingAt(size_t p, const gtsam::Values& initial) const; + gtsam::Values projectFrom(size_t p, const gtsam::Values& values) const; + gtsam::Values roundSolution(const gtsam::Values& values) const; + + // Basic API + double cost(const gtsam::Values& values) const; + gtsam::Values initializeRandomly() const; + pair run(const gtsam::Values& initial, size_t min_p, + size_t max_p) const; +}; + +#include + +class KeyPairDoubleMap { + KeyPairDoubleMap(); + KeyPairDoubleMap(const gtsam::KeyPairDoubleMap& other); + + size_t size() const; + bool empty() const; + void clear(); + size_t at(const pair& keypair) const; +}; + +class MFAS { + MFAS(const gtsam::BinaryMeasurementsUnit3& relativeTranslations, + const gtsam::Unit3& projectionDirection); + + gtsam::KeyPairDoubleMap computeOutlierWeights() const; + gtsam::KeyVector computeOrdering() const; +}; + +#include +class TranslationRecovery { + TranslationRecovery( + const gtsam::BinaryMeasurementsUnit3& relativeTranslations, + const gtsam::LevenbergMarquardtParams& lmParams); + TranslationRecovery( + const gtsam::BinaryMeasurementsUnit3& + relativeTranslations); // default LevenbergMarquardtParams + gtsam::Values run(const double scale) const; + gtsam::Values run() const; // default scale = 1.0 +}; + +} // namespace gtsam diff --git a/gtsam/sfm/tests/testBinaryMeasurement.cpp b/gtsam/sfm/tests/testBinaryMeasurement.cpp index 3dd81c2c1..ae13e54c4 100644 --- a/gtsam/sfm/tests/testBinaryMeasurement.cpp +++ b/gtsam/sfm/tests/testBinaryMeasurement.cpp @@ -36,6 +36,7 @@ static SharedNoiseModel rot3_model(noiseModel::Isotropic::Sigma(3, 0.05)); const Unit3 unit3Measured(Vector3(1, 1, 1)); const Rot3 rot3Measured; +/* ************************************************************************* */ TEST(BinaryMeasurement, Unit3) { BinaryMeasurement unit3Measurement(kKey1, kKey2, unit3Measured, unit3_model); @@ -48,6 +49,7 @@ TEST(BinaryMeasurement, Unit3) { EXPECT(unit3Measurement.equals(unit3MeasurementCopy)); } +/* ************************************************************************* */ TEST(BinaryMeasurement, Rot3) { // testing the accessors BinaryMeasurement rot3Measurement(kKey1, kKey2, rot3Measured, @@ -62,6 +64,21 @@ TEST(BinaryMeasurement, Rot3) { EXPECT(rot3Measurement.equals(rot3MeasurementCopy)); } +/* ************************************************************************* */ +TEST(BinaryMeasurement, Rot3MakeRobust) { + auto huber_model = noiseModel::Robust::Create( + noiseModel::mEstimator::Huber::Create(1.345), rot3_model); + BinaryMeasurement rot3Measurement(kKey1, kKey2, rot3Measured, + huber_model); + + EXPECT_LONGS_EQUAL(rot3Measurement.key1(), kKey1); + EXPECT_LONGS_EQUAL(rot3Measurement.key2(), kKey2); + EXPECT(rot3Measurement.measured().equals(rot3Measured)); + const auto &robust = boost::dynamic_pointer_cast( + rot3Measurement.noiseModel()); + EXPECT(robust); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/sfm/tests/testShonanAveraging.cpp b/gtsam/sfm/tests/testShonanAveraging.cpp index 1200c8ebb..556289d22 100644 --- a/gtsam/sfm/tests/testShonanAveraging.cpp +++ b/gtsam/sfm/tests/testShonanAveraging.cpp @@ -17,6 +17,7 @@ */ #include +#include #include #include #include @@ -91,6 +92,27 @@ TEST(ShonanAveraging3, checkOptimality) { EXPECT(!kShonan.checkOptimality(random)); } +/* ************************************************************************* */ +TEST(ShonanAveraging3, checkSubgraph) { + // Create parameter with solver set to SUBGRAPH + auto params = ShonanAveragingParameters3( + gtsam::LevenbergMarquardtParams::CeresDefaults(), "SUBGRAPH"); + ShonanAveraging3::Measurements measurements; + + // The toyExample.g2o has 5 vertices, from 0-4 + // The edges are: 1-2, 2-3, 3-4, 3-1, 1-4, 0-1, + // which can build a connected graph + auto subgraphShonan = fromExampleName("toyExample.g2o", params); + + // Create initial random estimation + Values initial; + initial = subgraphShonan.initializeRandomly(kRandomNumberGenerator); + + // Run Shonan with SUBGRAPH solver + auto result = subgraphShonan.run(initial, 3, 3); + EXPECT_DOUBLES_EQUAL(1e-11, subgraphShonan.cost(result.first), 1e-4); +} + /* ************************************************************************* */ TEST(ShonanAveraging3, tryOptimizingAt3) { const Values randomRotations = kShonan.initializeRandomly(kRandomNumberGenerator); @@ -166,9 +188,14 @@ TEST(ShonanAveraging3, CheckWithEigen) { for (int i = 1; i < lambdas.size(); i++) minEigenValue = min(lambdas(i), minEigenValue); + // Compute Eigenvalue with Accelerated Power method + double lambdaAP = kShonan.computeMinEigenValueAP(Qstar3); + // Actual check EXPECT_DOUBLES_EQUAL(0, lambda, 1e-11); EXPECT_DOUBLES_EQUAL(0, minEigenValue, 1e-11); + EXPECT_DOUBLES_EQUAL(0, lambdaAP, 1e-11); + // Construct test descent direction (as minEigenVector is not predictable // across platforms, being one from a basically flat 3d- subspace) @@ -321,6 +348,42 @@ TEST(ShonanAveraging2, noisyToyGraph) { EXPECT_DOUBLES_EQUAL(0, result.second, 1e-10); // certificate! } +/* ************************************************************************* */ +TEST(ShonanAveraging2, noisyToyGraphWithHuber) { + // Load 2D toy example + auto lmParams = LevenbergMarquardtParams::CeresDefaults(); + string g2oFile = findExampleDataFile("noisyToyGraph.txt"); + ShonanAveraging2::Parameters parameters(lmParams); + auto measurements = parseMeasurements(g2oFile); + parameters.setUseHuber(true); + parameters.setCertifyOptimality(false); + + string parameters_print = + " ShonanAveragingParameters: \n alpha: 0\n beta: 1\n gamma: 0\n " + "useHuber: 1\n"; + assert_print_equal(parameters_print, parameters); + + ShonanAveraging2 shonan(measurements, parameters); + EXPECT_LONGS_EQUAL(4, shonan.nrUnknowns()); + + // Check graph building + NonlinearFactorGraph graph = shonan.buildGraphAt(2); + EXPECT_LONGS_EQUAL(6, graph.size()); + + // test that each factor is actually robust + for (size_t i=0; i<=4; i++) { // note: last is the Gauge factor and is not robust + const auto &robust = boost::dynamic_pointer_cast( + boost::dynamic_pointer_cast(graph[i])->noiseModel()); + EXPECT(robust); // we expect the factors to be use a robust noise model (in particular, Huber) + } + + // test result + auto initial = shonan.initializeRandomly(kRandomNumberGenerator); + auto result = shonan.run(initial, 2,2); + EXPECT_DOUBLES_EQUAL(0.0008211, shonan.cost(result.first), 1e-6); + EXPECT_DOUBLES_EQUAL(0, result.second, 1e-10); // certificate! +} + /* ************************************************************************* */ // Test alpha/beta/gamma prior weighting. TEST(ShonanAveraging3, PriorWeights) { diff --git a/gtsam/sfm/tests/testTranslationFactor.cpp b/gtsam/sfm/tests/testTranslationFactor.cpp index 3ff76ac5c..818f2bce5 100644 --- a/gtsam/sfm/tests/testTranslationFactor.cpp +++ b/gtsam/sfm/tests/testTranslationFactor.cpp @@ -22,6 +22,7 @@ #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -89,9 +90,9 @@ TEST(TranslationFactor, Jacobian) { // Use numerical derivatives to calculate the Jacobians Matrix H1Expected, H2Expected; H1Expected = numericalDerivative11( - boost::bind(&factorError, _1, T2, factor), T1); + std::bind(&factorError, std::placeholders::_1, T2, factor), T1); H2Expected = numericalDerivative11( - boost::bind(&factorError, T1, _1, factor), T2); + std::bind(&factorError, T1, std::placeholders::_1, factor), T2); // Verify the Jacobians are correct EXPECT(assert_equal(H1Expected, H1Actual, 1e-9)); diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index 277080b6b..3b559fe79 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -49,7 +49,7 @@ namespace gtsam { /** constructor - Creates the equivalent AntiFactor from an existing factor */ AntiFactor(NonlinearFactor::shared_ptr factor) : Base(factor->keys()), factor_(factor) {} - virtual ~AntiFactor() {} + ~AntiFactor() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h index a594e95d5..aef41d5fd 100644 --- a/gtsam/slam/BetweenFactor.h +++ b/gtsam/slam/BetweenFactor.h @@ -68,7 +68,7 @@ namespace gtsam { Base(model, key1, key2), measured_(measured) { } - virtual ~BetweenFactor() {} + ~BetweenFactor() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam/slam/BoundingConstraint.h b/gtsam/slam/BoundingConstraint.h index 43cc6d292..3d5842fa2 100644 --- a/gtsam/slam/BoundingConstraint.h +++ b/gtsam/slam/BoundingConstraint.h @@ -44,7 +44,7 @@ struct BoundingConstraint1: public NoiseModelFactor1 { threshold_(threshold), isGreaterThan_(isGreaterThan) { } - virtual ~BoundingConstraint1() {} + ~BoundingConstraint1() override {} inline double threshold() const { return threshold_; } inline bool isGreaterThan() const { return isGreaterThan_; } @@ -112,7 +112,7 @@ struct BoundingConstraint2: public NoiseModelFactor2 { : Base(noiseModel::Constrained::All(1, mu), key1, key2), threshold_(threshold), isGreaterThan_(isGreaterThan) {} - virtual ~BoundingConstraint2() {} + ~BoundingConstraint2() override {} inline double threshold() const { return threshold_; } inline bool isGreaterThan() const { return isGreaterThan_; } diff --git a/gtsam/slam/EssentialMatrixConstraint.h b/gtsam/slam/EssentialMatrixConstraint.h index d21ead31f..6274be963 100644 --- a/gtsam/slam/EssentialMatrixConstraint.h +++ b/gtsam/slam/EssentialMatrixConstraint.h @@ -57,7 +57,7 @@ public: Base(model, key1, key2), measuredE_(measuredE) { } - virtual ~EssentialMatrixConstraint() { + ~EssentialMatrixConstraint() override { } /// @return a deep copy of this factor diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h index a99ac9512..787efac51 100644 --- a/gtsam/slam/EssentialMatrixFactor.h +++ b/gtsam/slam/EssentialMatrixFactor.h @@ -7,9 +7,10 @@ #pragma once -#include #include #include +#include + #include namespace gtsam { @@ -17,25 +18,24 @@ namespace gtsam { /** * Factor that evaluates epipolar error p'Ep for given essential matrix */ -class EssentialMatrixFactor: public NoiseModelFactor1 { - - Vector3 vA_, vB_; ///< Homogeneous versions, in ideal coordinates +class EssentialMatrixFactor : public NoiseModelFactor1 { + Vector3 vA_, vB_; ///< Homogeneous versions, in ideal coordinates typedef NoiseModelFactor1 Base; typedef EssentialMatrixFactor This; -public: - + public: /** * Constructor * @param key Essential Matrix variable key * @param pA point in first camera, in calibrated coordinates * @param pB point in second camera, in calibrated coordinates - * @param model noise model is about dot product in ideal, homogeneous coordinates + * @param model noise model is about dot product in ideal, homogeneous + * coordinates */ EssentialMatrixFactor(Key key, const Point2& pA, const Point2& pB, - const SharedNoiseModel& model) : - Base(model, key) { + const SharedNoiseModel& model) + : Base(model, key) { vA_ = EssentialMatrix::Homogeneous(pA); vB_ = EssentialMatrix::Homogeneous(pB); } @@ -45,13 +45,15 @@ public: * @param key Essential Matrix variable key * @param pA point in first camera, in pixel coordinates * @param pB point in second camera, in pixel coordinates - * @param model noise model is about dot product in ideal, homogeneous coordinates + * @param model noise model is about dot product in ideal, homogeneous + * coordinates * @param K calibration object, will be used only in constructor */ - template + template EssentialMatrixFactor(Key key, const Point2& pA, const Point2& pB, - const SharedNoiseModel& model, boost::shared_ptr K) : - Base(model, key) { + const SharedNoiseModel& model, + boost::shared_ptr K) + : Base(model, key) { assert(K); vA_ = EssentialMatrix::Homogeneous(K->calibrate(pA)); vB_ = EssentialMatrix::Homogeneous(K->calibrate(pB)); @@ -64,23 +66,25 @@ public: } /// print - void print(const std::string& s = "", + void print( + const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { Base::print(s); std::cout << " EssentialMatrixFactor with measurements\n (" - << vA_.transpose() << ")' and (" << vB_.transpose() << ")'" - << std::endl; + << vA_.transpose() << ")' and (" << vB_.transpose() << ")'" + << std::endl; } /// vector of errors returns 1D vector - Vector evaluateError(const EssentialMatrix& E, boost::optional H = - boost::none) const override { + Vector evaluateError( + const EssentialMatrix& E, + boost::optional H = boost::none) const override { Vector error(1); error << E.error(vA_, vB_, H); return error; } -public: + public: GTSAM_MAKE_ALIGNED_OPERATOR_NEW }; @@ -88,17 +92,16 @@ public: * Binary factor that optimizes for E and inverse depth d: assumes measurement * in image 2 is perfect, and returns re-projection error in image 1 */ -class EssentialMatrixFactor2: public NoiseModelFactor2 { - - Point3 dP1_; ///< 3D point corresponding to measurement in image 1 - Point2 pn_; ///< Measurement in image 2, in ideal coordinates - double f_; ///< approximate conversion factor for error scaling +class EssentialMatrixFactor2 + : public NoiseModelFactor2 { + Point3 dP1_; ///< 3D point corresponding to measurement in image 1 + Point2 pn_; ///< Measurement in image 2, in ideal coordinates + double f_; ///< approximate conversion factor for error scaling typedef NoiseModelFactor2 Base; typedef EssentialMatrixFactor2 This; -public: - + public: /** * Constructor * @param key1 Essential Matrix variable key @@ -108,8 +111,10 @@ public: * @param model noise model should be in pixels, as well */ EssentialMatrixFactor2(Key key1, Key key2, const Point2& pA, const Point2& pB, - const SharedNoiseModel& model) : - Base(model, key1, key2), dP1_(EssentialMatrix::Homogeneous(pA)), pn_(pB) { + const SharedNoiseModel& model) + : Base(model, key1, key2), + dP1_(EssentialMatrix::Homogeneous(pA)), + pn_(pB) { f_ = 1.0; } @@ -122,11 +127,13 @@ public: * @param K calibration object, will be used only in constructor * @param model noise model should be in pixels, as well */ - template + template EssentialMatrixFactor2(Key key1, Key key2, const Point2& pA, const Point2& pB, - const SharedNoiseModel& model, boost::shared_ptr K) : - Base(model, key1, key2), dP1_( - EssentialMatrix::Homogeneous(K->calibrate(pA))), pn_(K->calibrate(pB)) { + const SharedNoiseModel& model, + boost::shared_ptr K) + : Base(model, key1, key2), + dP1_(EssentialMatrix::Homogeneous(K->calibrate(pA))), + pn_(K->calibrate(pB)) { f_ = 0.5 * (K->fx() + K->fy()); } @@ -137,12 +144,13 @@ public: } /// print - void print(const std::string& s = "", + void print( + const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { Base::print(s); std::cout << " EssentialMatrixFactor2 with measurements\n (" - << dP1_.transpose() << ")' and (" << pn_.transpose() - << ")'" << std::endl; + << dP1_.transpose() << ")' and (" << pn_.transpose() << ")'" + << std::endl; } /* @@ -150,30 +158,28 @@ public: * @param E essential matrix * @param d inverse depth d */ - Vector evaluateError(const EssentialMatrix& E, const double& d, - boost::optional DE = boost::none, boost::optional Dd = - boost::none) const override { - + Vector evaluateError( + const EssentialMatrix& E, const double& d, + boost::optional DE = boost::none, + boost::optional Dd = boost::none) const override { // We have point x,y in image 1 // Given a depth Z, the corresponding 3D point P1 = Z*(x,y,1) = (x,y,1)/d // We then convert to second camera by P2 = 1R2'*(P1-1T2) // The homogeneous coordinates of can be written as // 2R1*(P1-1T2) == 2R1*d*(P1-1T2) == 2R1*((x,y,1)-d*1T2) - // where we multiplied with d which yields equivalent homogeneous coordinates. - // Note that this is just the homography 2R1 for d==0 - // The point d*P1 = (x,y,1) is computed in constructor as dP1_ + // where we multiplied with d which yields equivalent homogeneous + // coordinates. Note that this is just the homography 2R1 for d==0 The point + // d*P1 = (x,y,1) is computed in constructor as dP1_ // Project to normalized image coordinates, then uncalibrate - Point2 pn(0,0); + Point2 pn(0, 0); if (!DE && !Dd) { - Point3 _1T2 = E.direction().point3(); Point3 d1T2 = d * _1T2; - Point3 dP2 = E.rotation().unrotate(dP1_ - d1T2); // 2R1*((x,y,1)-d*1T2) + Point3 dP2 = E.rotation().unrotate(dP1_ - d1T2); // 2R1*((x,y,1)-d*1T2) pn = PinholeBase::Project(dP2); } else { - // Calculate derivatives. TODO if slow: optimize with Mathematica // 3*2 3*3 3*3 Matrix D_1T2_dir, DdP2_rot, DP2_point; @@ -187,20 +193,19 @@ public: if (DE) { Matrix DdP2_E(3, 5); - DdP2_E << DdP2_rot, -DP2_point * d * D_1T2_dir; // (3*3), (3*3) * (3*2) - *DE = f_ * Dpn_dP2 * DdP2_E; // (2*3) * (3*5) + DdP2_E << DdP2_rot, -DP2_point * d * D_1T2_dir; // (3*3), (3*3) * (3*2) + *DE = f_ * Dpn_dP2 * DdP2_E; // (2*3) * (3*5) } - if (Dd) // efficient backwards computation: + if (Dd) // efficient backwards computation: // (2*3) * (3*3) * (3*1) *Dd = -f_ * (Dpn_dP2 * (DP2_point * _1T2)); - } Point2 reprojectionError = pn - pn_; return f_ * reprojectionError; } -public: + public: GTSAM_MAKE_ALIGNED_OPERATOR_NEW }; // EssentialMatrixFactor2 @@ -210,15 +215,13 @@ public: * in image 2 is perfect, and returns re-projection error in image 1 * This version takes an extrinsic rotation to allow for omni-directional rigs */ -class EssentialMatrixFactor3: public EssentialMatrixFactor2 { - +class EssentialMatrixFactor3 : public EssentialMatrixFactor2 { typedef EssentialMatrixFactor2 Base; typedef EssentialMatrixFactor3 This; - Rot3 cRb_; ///< Rotation from body to camera frame - -public: + Rot3 cRb_; ///< Rotation from body to camera frame + public: /** * Constructor * @param key1 Essential Matrix variable key @@ -229,9 +232,8 @@ public: * @param model noise model should be in calibrated coordinates, as well */ EssentialMatrixFactor3(Key key1, Key key2, const Point2& pA, const Point2& pB, - const Rot3& cRb, const SharedNoiseModel& model) : - EssentialMatrixFactor2(key1, key2, pA, pB, model), cRb_(cRb) { - } + const Rot3& cRb, const SharedNoiseModel& model) + : EssentialMatrixFactor2(key1, key2, pA, pB, model), cRb_(cRb) {} /** * Constructor @@ -242,12 +244,11 @@ public: * @param K calibration object, will be used only in constructor * @param model noise model should be in pixels, as well */ - template + template EssentialMatrixFactor3(Key key1, Key key2, const Point2& pA, const Point2& pB, - const Rot3& cRb, const SharedNoiseModel& model, - boost::shared_ptr K) : - EssentialMatrixFactor2(key1, key2, pA, pB, model, K), cRb_(cRb) { - } + const Rot3& cRb, const SharedNoiseModel& model, + boost::shared_ptr K) + : EssentialMatrixFactor2(key1, key2, pA, pB, model, K), cRb_(cRb) {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -256,7 +257,8 @@ public: } /// print - void print(const std::string& s = "", + void print( + const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { Base::print(s); std::cout << " EssentialMatrixFactor3 with rotation " << cRb_ << std::endl; @@ -267,9 +269,10 @@ public: * @param E essential matrix * @param d inverse depth d */ - Vector evaluateError(const EssentialMatrix& E, const double& d, - boost::optional DE = boost::none, boost::optional Dd = - boost::none) const override { + Vector evaluateError( + const EssentialMatrix& E, const double& d, + boost::optional DE = boost::none, + boost::optional Dd = boost::none) const override { if (!DE) { // Convert E from body to camera frame EssentialMatrix cameraE = cRb_ * E; @@ -277,18 +280,117 @@ public: return Base::evaluateError(cameraE, d, boost::none, Dd); } else { // Version with derivatives - Matrix D_e_cameraE, D_cameraE_E; // 2*5, 5*5 + Matrix D_e_cameraE, D_cameraE_E; // 2*5, 5*5 EssentialMatrix cameraE = E.rotate(cRb_, D_cameraE_E); Vector e = Base::evaluateError(cameraE, d, D_e_cameraE, Dd); - *DE = D_e_cameraE * D_cameraE_E; // (2*5) * (5*5) + *DE = D_e_cameraE * D_cameraE_E; // (2*5) * (5*5) return e; } } -public: + public: GTSAM_MAKE_ALIGNED_OPERATOR_NEW }; // EssentialMatrixFactor3 -}// gtsam +/** + * Binary factor that optimizes for E and calibration K using the algebraic + * epipolar error (K^-1 pA)'E (K^-1 pB). The calibration is shared between two + * images. + * + * Note: As correspondences between 2d coordinates can only recover 7 DoF, + * this factor should always be used with a prior factor on calibration. + * Even with a prior, we can only optimize 2 DoF in the calibration. So the + * prior should have a noise model with very low sigma in the remaining + * dimensions. This has been tested to work on Cal3_S2. With Cal3Bundler, it + * works only with a strong prior (low sigma noisemodel) on all degrees of + * freedom. + */ +template +class EssentialMatrixFactor4 + : public NoiseModelFactor2 { + private: + Point2 pA_, pB_; ///< points in pixel coordinates + typedef NoiseModelFactor2 Base; + typedef EssentialMatrixFactor4 This; + + static constexpr int DimK = FixedDimension::value; + typedef Eigen::Matrix JacobianCalibration; + + public: + /** + * Constructor + * @param keyE Essential Matrix (from camera B to A) variable key + * @param keyK Calibration variable key (common for both cameras) + * @param pA point in first camera, in pixel coordinates + * @param pB point in second camera, in pixel coordinates + * @param model noise model is about dot product in ideal, homogeneous + * coordinates + */ + EssentialMatrixFactor4(Key keyE, Key keyK, const Point2& pA, const Point2& pB, + const SharedNoiseModel& model) + : Base(model, keyE, keyK), pA_(pA), pB_(pB) {} + + /// @return a deep copy of this factor + gtsam::NonlinearFactor::shared_ptr clone() const override { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); + } + + /// print + void print( + const std::string& s = "", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { + Base::print(s); + std::cout << " EssentialMatrixFactor4 with measurements\n (" + << pA_.transpose() << ")' and (" << pB_.transpose() << ")'" + << std::endl; + } + + /** + * @brief Calculate the algebraic epipolar error pA' (K^-1)' E K pB. + * + * @param E essential matrix for key keyE + * @param K calibration (common for both images) for key keyK + * @param H1 optional jacobian of error w.r.t E + * @param H2 optional jacobian of error w.r.t K + * @return * Vector 1D vector of algebraic error + */ + Vector evaluateError( + const EssentialMatrix& E, const CALIBRATION& K, + boost::optional H1 = boost::none, + boost::optional H2 = boost::none) const override { + // converting from pixel coordinates to normalized coordinates cA and cB + JacobianCalibration cA_H_K; // dcA/dK + JacobianCalibration cB_H_K; // dcB/dK + Point2 cA = K.calibrate(pA_, H2 ? &cA_H_K : 0, boost::none); + Point2 cB = K.calibrate(pB_, H2 ? &cB_H_K : 0, boost::none); + + // convert to homogeneous coordinates + Vector3 vA = EssentialMatrix::Homogeneous(cA); + Vector3 vB = EssentialMatrix::Homogeneous(cB); + + if (H2) { + // compute the jacobian of error w.r.t K + + // error function f = vA.T * E * vB + // H2 = df/dK = vB.T * E.T * dvA/dK + vA.T * E * dvB/dK + // where dvA/dK = dvA/dcA * dcA/dK, dVB/dK = dvB/dcB * dcB/dK + // and dvA/dcA = dvB/dcB = [[1, 0], [0, 1], [0, 0]] + *H2 = vB.transpose() * E.matrix().transpose().leftCols<2>() * cA_H_K + + vA.transpose() * E.matrix().leftCols<2>() * cB_H_K; + } + + Vector error(1); + error << E.error(vA, vB, H1); + + return error; + } + + public: + GTSAM_MAKE_ALIGNED_OPERATOR_NEW +}; +// EssentialMatrixFactor4 + +} // namespace gtsam diff --git a/gtsam/slam/FrobeniusFactor.cpp b/gtsam/slam/FrobeniusFactor.cpp index 5697a0cd6..8c0baaf38 100644 --- a/gtsam/slam/FrobeniusFactor.cpp +++ b/gtsam/slam/FrobeniusFactor.cpp @@ -23,17 +23,25 @@ using namespace std; namespace gtsam { //****************************************************************************** -boost::shared_ptr +SharedNoiseModel ConvertNoiseModel(const SharedNoiseModel &model, size_t d, bool defaultToUnit) { double sigma = 1.0; + if (model != nullptr) { - auto sigmas = model->sigmas(); + const auto &robust = boost::dynamic_pointer_cast(model); + Vector sigmas; + if (robust) { + sigmas = robust->noise()->sigmas(); + } else { + sigmas = model->sigmas(); + } + size_t n = sigmas.size(); if (n == 1) { sigma = sigmas(0); // Rot2 goto exit; } - if (n == 3 || n == 6) { + else if (n == 3 || n == 6) { sigma = sigmas(2); // Pose2, Rot3, or Pose3 if (sigmas(0) != sigma || sigmas(1) != sigma) { if (!defaultToUnit) { @@ -46,8 +54,15 @@ ConvertNoiseModel(const SharedNoiseModel &model, size_t d, bool defaultToUnit) { throw std::runtime_error("Can only convert Pose2/Pose3 noise models"); } } -exit: - return noiseModel::Isotropic::Sigma(d, sigma); + exit: + auto isoModel = noiseModel::Isotropic::Sigma(d, sigma); + const auto &robust = boost::dynamic_pointer_cast(model); + if (robust) { + return noiseModel::Robust::Create( + noiseModel::mEstimator::Huber::Create(1.345), isoModel); + } else { + return isoModel; + } } //****************************************************************************** diff --git a/gtsam/slam/FrobeniusFactor.h b/gtsam/slam/FrobeniusFactor.h index 1fc37c785..f17a9e421 100644 --- a/gtsam/slam/FrobeniusFactor.h +++ b/gtsam/slam/FrobeniusFactor.h @@ -26,15 +26,20 @@ namespace gtsam { /** - * When creating (any) FrobeniusFactor we can convert a Rot/Pose - * BetweenFactor noise model into a n-dimensional isotropic noise - * model used to weight the Frobenius norm. If the noise model passed is - * null we return a n-dimensional isotropic noise model with sigma=1.0. If - * not, we we check if the d-dimensional noise model on rotations is + * When creating (any) FrobeniusFactor we can convert a Rot/Pose BetweenFactor + * noise model into a n-dimensional isotropic noise + * model used to weight the Frobenius norm. + * If the noise model passed is null we return a n-dimensional isotropic noise + * model with sigma=1.0. + * If not, we we check if the d-dimensional noise model on rotations is * isotropic. If it is, we extend to 'n' dimensions, otherwise we throw an - * error. If defaultToUnit == false throws an exception on unexepcted input. + * error. + * If the noise model is a robust error model, we use the sigmas of the + * underlying noise model. + * + * If defaultToUnit == false throws an exception on unexepcted input. */ -GTSAM_EXPORT boost::shared_ptr +GTSAM_EXPORT SharedNoiseModel ConvertNoiseModel(const SharedNoiseModel &model, size_t n, bool defaultToUnit = true); diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index f848a56ca..2e4543177 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -86,14 +86,17 @@ public: * @param cameraKey is the index of the camera * @param landmarkKey is the index of the landmark */ - GeneralSFMFactor(const Point2& measured, const SharedNoiseModel& model, Key cameraKey, Key landmarkKey) : - Base(model, cameraKey, landmarkKey), measured_(measured) {} + GeneralSFMFactor(const Point2& measured, const SharedNoiseModel& model, + Key cameraKey, Key landmarkKey) + : Base(model, cameraKey, landmarkKey), measured_(measured) {} - GeneralSFMFactor():measured_(0.0,0.0) {} ///< default constructor - GeneralSFMFactor(const Point2 & p):measured_(p) {} ///< constructor that takes a Point2 - GeneralSFMFactor(double x, double y):measured_(x,y) {} ///< constructor that takes doubles x,y to make a Point2 + GeneralSFMFactor() : measured_(0.0, 0.0) {} ///< default constructor + ///< constructor that takes a Point2 + GeneralSFMFactor(const Point2& p) : measured_(p) {} + ///< constructor that takes doubles x,y to make a Point2 + GeneralSFMFactor(double x, double y) : measured_(x, y) {} - virtual ~GeneralSFMFactor() {} ///< destructor + ~GeneralSFMFactor() override {} ///< destructor /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -127,7 +130,7 @@ public: catch( CheiralityException& e) { if (H1) *H1 = JacobianC::Zero(); if (H2) *H2 = JacobianL::Zero(); - // TODO warn if verbose output asked for + //TODO Print the exception via logging return Z_2x1; } } @@ -149,7 +152,7 @@ public: H1.setZero(); H2.setZero(); b.setZero(); - // TODO warn if verbose output asked for + //TODO Print the exception via logging } // Whiten the system if needed @@ -227,7 +230,7 @@ public: Base(model, poseKey, landmarkKey, calibKey), measured_(measured) {} GeneralSFMFactor2():measured_(0.0,0.0) {} ///< default constructor - virtual ~GeneralSFMFactor2() {} ///< destructor + ~GeneralSFMFactor2() override {} ///< destructor /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam/slam/InitializePose.h b/gtsam/slam/InitializePose.h index be249b0b5..f9b99e47e 100644 --- a/gtsam/slam/InitializePose.h +++ b/gtsam/slam/InitializePose.h @@ -62,7 +62,7 @@ static Values computePoses(const Values& initialRot, // Upgrade rotations to full poses Values initialPose; - for (const auto& key_value : initialRot) { + for (const auto key_value : initialRot) { Key key = key_value.key; const auto& rot = initialRot.at(key); Pose initializedPose = Pose(rot, origin); @@ -86,7 +86,7 @@ static Values computePoses(const Values& initialRot, // put into Values structure Values estimate; - for (const auto& key_value : GNresult) { + for (const auto key_value : GNresult) { Key key = key_value.key; if (key != kAnchorKey) { const Pose& pose = GNresult.at(key); diff --git a/gtsam/slam/InitializePose3.cpp b/gtsam/slam/InitializePose3.cpp index af1fc609e..43404df53 100644 --- a/gtsam/slam/InitializePose3.cpp +++ b/gtsam/slam/InitializePose3.cpp @@ -124,7 +124,7 @@ Values InitializePose3::computeOrientationsGradient( // this works on the inverse rotations, according to Tron&Vidal,2011 Values inverseRot; inverseRot.insert(initialize::kAnchorKey, Rot3()); - for(const auto& key_value: givenGuess) { + for(const auto key_value: givenGuess) { Key key = key_value.key; const Pose3& pose = givenGuess.at(key); inverseRot.insert(key, pose.rotation().inverse()); @@ -139,7 +139,7 @@ Values InitializePose3::computeOrientationsGradient( // calculate max node degree & allocate gradient size_t maxNodeDeg = 0; VectorValues grad; - for(const auto& key_value: inverseRot) { + for(const auto key_value: inverseRot) { Key key = key_value.key; grad.insert(key,Z_3x1); size_t currNodeDeg = (adjEdgesMap.at(key)).size(); @@ -162,7 +162,7 @@ Values InitializePose3::computeOrientationsGradient( ////////////////////////////////////////////////////////////////////////// // compute the gradient at each node maxGrad = 0; - for (const auto& key_value : inverseRot) { + for (const auto key_value : inverseRot) { Key key = key_value.key; Vector gradKey = Z_3x1; // collect the gradient for each edge incident on key @@ -203,7 +203,7 @@ Values InitializePose3::computeOrientationsGradient( // Return correct rotations const Rot3& Rref = inverseRot.at(initialize::kAnchorKey); // This will be set to the identity as so far we included no prior Values estimateRot; - for(const auto& key_value: inverseRot) { + for(const auto key_value: inverseRot) { Key key = key_value.key; if (key != initialize::kAnchorKey) { const Rot3& R = inverseRot.at(key); diff --git a/gtsam/slam/KarcherMeanFactor.h b/gtsam/slam/KarcherMeanFactor.h index b7cd3b11a..964cd598f 100644 --- a/gtsam/slam/KarcherMeanFactor.h +++ b/gtsam/slam/KarcherMeanFactor.h @@ -63,7 +63,7 @@ public: boost::optional beta = boost::none); /// Destructor - virtual ~KarcherMeanFactor() {} + ~KarcherMeanFactor() override {} /// Calculate the error of the factor: always zero double error(const Values &c) const override { return 0; } diff --git a/gtsam/slam/OrientedPlane3Factor.cpp b/gtsam/slam/OrientedPlane3Factor.cpp index 56968301a..d7508f6b8 100644 --- a/gtsam/slam/OrientedPlane3Factor.cpp +++ b/gtsam/slam/OrientedPlane3Factor.cpp @@ -2,7 +2,7 @@ * OrientedPlane3Factor.cpp * * Created on: Jan 29, 2014 - * Author: Natesh Srinivasan + * Author: Natesh Srinivasan */ #include "OrientedPlane3Factor.h" @@ -14,15 +14,42 @@ namespace gtsam { //*************************************************************************** void OrientedPlane3Factor::print(const string& s, const KeyFormatter& keyFormatter) const { - cout << "OrientedPlane3Factor Factor on " << landmarkKey_ << "\n"; + cout << s << (s == "" ? "" : "\n"); + cout << "OrientedPlane3Factor Factor (" << keyFormatter(key1()) << ", " + << keyFormatter(key2()) << ")\n"; measured_p_.print("Measured Plane"); this->noiseModel_->print(" noise model: "); } +//*************************************************************************** +Vector OrientedPlane3Factor::evaluateError(const Pose3& pose, + const OrientedPlane3& plane, boost::optional H1, + boost::optional H2) const { + Matrix36 predicted_H_pose; + Matrix33 predicted_H_plane, error_H_predicted; + + OrientedPlane3 predicted_plane = plane.transform(pose, + H2 ? &predicted_H_plane : nullptr, H1 ? &predicted_H_pose : nullptr); + + Vector3 err = predicted_plane.errorVector( + measured_p_, (H1 || H2) ? &error_H_predicted : nullptr); + + // Apply the chain rule to calculate the derivatives. + if (H1) { + *H1 = error_H_predicted * predicted_H_pose; + } + if (H2) { + *H2 = error_H_predicted * predicted_H_plane; + } + + return err; +} + //*************************************************************************** void OrientedPlane3DirectionPrior::print(const string& s, const KeyFormatter& keyFormatter) const { - cout << "Prior Factor on " << landmarkKey_ << "\n"; + cout << s << (s == "" ? "" : "\n"); + cout << s << "Prior Factor on " << keyFormatter(key()) << "\n"; measured_p_.print("Measured Plane"); this->noiseModel_->print(" noise model: "); } @@ -36,26 +63,17 @@ bool OrientedPlane3DirectionPrior::equals(const NonlinearFactor& expected, } //*************************************************************************** - -Vector OrientedPlane3DirectionPrior::evaluateError(const OrientedPlane3& plane, - boost::optional H) const { - +Vector OrientedPlane3DirectionPrior::evaluateError( + const OrientedPlane3& plane, boost::optional H) const { + Unit3 n_hat_p = measured_p_.normal(); + Unit3 n_hat_q = plane.normal(); + Matrix2 H_p; + Vector e = n_hat_p.error(n_hat_q, H ? &H_p : nullptr); if (H) { - Matrix H_p; - Unit3 n_hat_p = measured_p_.normal(); - Unit3 n_hat_q = plane.normal(); - Vector e = n_hat_p.error(n_hat_q, H_p); H->resize(2, 3); - H->block<2, 2>(0, 0) << H_p; - H->block<2, 1>(0, 2) << Z_2x1; - return e; - } else { - Unit3 n_hat_p = measured_p_.normal(); - Unit3 n_hat_q = plane.normal(); - Vector e = n_hat_p.error(n_hat_q); - return e; + *H << H_p, Z_2x1; } - -} + return e; } +} // namespace gtsam diff --git a/gtsam/slam/OrientedPlane3Factor.h b/gtsam/slam/OrientedPlane3Factor.h index e83464b1e..d7b836dec 100644 --- a/gtsam/slam/OrientedPlane3Factor.h +++ b/gtsam/slam/OrientedPlane3Factor.h @@ -16,66 +16,54 @@ namespace gtsam { * Factor to measure a planar landmark from a given pose */ class OrientedPlane3Factor: public NoiseModelFactor2 { - -protected: - Key poseKey_; - Key landmarkKey_; - Vector measured_coeffs_; + protected: OrientedPlane3 measured_p_; - typedef NoiseModelFactor2 Base; -public: - + public: /// Constructor OrientedPlane3Factor() { } - virtual ~OrientedPlane3Factor() {} + ~OrientedPlane3Factor() override {} - /// Constructor with measured plane coefficients (a,b,c,d), noise model, pose symbol - OrientedPlane3Factor(const Vector&z, const SharedGaussian& noiseModel, - const Key& pose, const Key& landmark) : - Base(noiseModel, pose, landmark), poseKey_(pose), landmarkKey_(landmark), measured_coeffs_( - z) { - measured_p_ = OrientedPlane3(Unit3(z(0), z(1), z(2)), z(3)); - } + /** Constructor with measured plane (a,b,c,d) coefficients + * @param z measured plane (a,b,c,d) coefficients as 4D vector + * @param noiseModel noiseModel Gaussian noise model + * @param poseKey Key or symbol for unknown pose + * @param landmarkKey Key or symbol for unknown planar landmark + * @return the transformed plane + */ + OrientedPlane3Factor(const Vector4& z, const SharedGaussian& noiseModel, + Key poseKey, Key landmarkKey) + : Base(noiseModel, poseKey, landmarkKey), measured_p_(z) {} /// print void print(const std::string& s = "OrientedPlane3Factor", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override; /// evaluateError - Vector evaluateError(const Pose3& pose, const OrientedPlane3& plane, - boost::optional H1 = boost::none, boost::optional H2 = - boost::none) const override { - OrientedPlane3 predicted_plane = OrientedPlane3::Transform(plane, pose, H1, - H2); - Vector err(3); - err << predicted_plane.error(measured_p_); - return (err); - } - ; + Vector evaluateError( + const Pose3& pose, const OrientedPlane3& plane, + boost::optional H1 = boost::none, + boost::optional H2 = boost::none) const override; }; // TODO: Convert this factor to dimension two, three dimensions is redundant for direction prior -class OrientedPlane3DirectionPrior: public NoiseModelFactor1 { -protected: - OrientedPlane3 measured_p_; /// measured plane parameters - Key landmarkKey_; +class OrientedPlane3DirectionPrior : public NoiseModelFactor1 { + protected: + OrientedPlane3 measured_p_; /// measured plane parameters typedef NoiseModelFactor1 Base; -public: + public: typedef OrientedPlane3DirectionPrior This; /// Constructor OrientedPlane3DirectionPrior() { } /// Constructor with measured plane coefficients (a,b,c,d), noise model, landmark symbol - OrientedPlane3DirectionPrior(Key key, const Vector&z, - const SharedGaussian& noiseModel) : - Base(noiseModel, key), landmarkKey_(key) { - measured_p_ = OrientedPlane3(Unit3(z(0), z(1), z(2)), z(3)); - } + OrientedPlane3DirectionPrior(Key key, const Vector4& z, + const SharedGaussian& noiseModel) + : Base(noiseModel, key), measured_p_(z) {} /// print void print(const std::string& s = "OrientedPlane3DirectionPrior", diff --git a/gtsam/slam/PoseRotationPrior.h b/gtsam/slam/PoseRotationPrior.h index 7e8bdaa46..ba4d12a25 100644 --- a/gtsam/slam/PoseRotationPrior.h +++ b/gtsam/slam/PoseRotationPrior.h @@ -47,7 +47,7 @@ public: PoseRotationPrior(Key key, const POSE& pose_z, const SharedNoiseModel& model) : Base(model, key), measured_(pose_z.rotation()) {} - virtual ~PoseRotationPrior() {} + ~PoseRotationPrior() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam/slam/PoseTranslationPrior.h b/gtsam/slam/PoseTranslationPrior.h index 0c029c501..5bb3745e9 100644 --- a/gtsam/slam/PoseTranslationPrior.h +++ b/gtsam/slam/PoseTranslationPrior.h @@ -49,7 +49,7 @@ public: : Base(model, key), measured_(pose_z.translation()) { } - virtual ~PoseTranslationPrior() {} + ~PoseTranslationPrior() override {} const Translation& measured() const { return measured_; } diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index 266037469..ada304f27 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -97,7 +97,7 @@ namespace gtsam { throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {} /** Virtual destructor */ - virtual ~GenericProjectionFactor() {} + ~GenericProjectionFactor() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -164,10 +164,15 @@ namespace gtsam { } /** return the calibration object */ - inline const boost::shared_ptr calibration() const { + const boost::shared_ptr calibration() const { return K_; } + /** return the (optional) sensor pose with respect to the vehicle frame */ + const boost::optional& body_P_sensor() const { + return body_P_sensor_; + } + /** return verbosity */ inline bool verboseCheirality() const { return verboseCheirality_; } diff --git a/gtsam/slam/ReferenceFrameFactor.h b/gtsam/slam/ReferenceFrameFactor.h index e41b5f908..40c8e29b7 100644 --- a/gtsam/slam/ReferenceFrameFactor.h +++ b/gtsam/slam/ReferenceFrameFactor.h @@ -87,7 +87,7 @@ public: : Base(noiseModel::Isotropic::Sigma(traits::dimension, sigma), globalKey, transKey, localKey) {} - virtual ~ReferenceFrameFactor(){} + ~ReferenceFrameFactor() override{} NonlinearFactor::shared_ptr clone() const override { return boost::static_pointer_cast( diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index 71474a8ab..2ed6aa491 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -59,7 +59,7 @@ public: } /// Destructor - virtual ~RegularImplicitSchurFactor() { + ~RegularImplicitSchurFactor() override { } std::vector >& FBlocks() const { diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index d9f2b9c3d..0b0308c5c 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -13,6 +13,7 @@ * @file SmartFactorBase.h * @brief Base class to create smart factors on poses or cameras * @author Luca Carlone + * @author Antoni Rosinol * @author Zsolt Kira * @author Frank Dellaert * @author Chris Beall @@ -111,7 +112,7 @@ protected: } /// Virtual destructor, subclasses from NonlinearFactor - virtual ~SmartFactorBase() { + ~SmartFactorBase() override { } /** @@ -131,9 +132,10 @@ protected: /** * Add a bunch of measurements, together with the camera keys */ - void add(ZVector& measurements, KeyVector& cameraKeys) { + void add(const ZVector& measurements, const KeyVector& cameraKeys) { + assert(measurements.size() == cameraKeys.size()); for (size_t i = 0; i < measurements.size(); i++) { - this->add(measurements.at(i), cameraKeys.at(i)); + this->add(measurements[i], cameraKeys[i]); } } diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index bc01f5d85..475a9e829 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -90,7 +90,7 @@ public: result_(TriangulationResult::Degenerate()) {} /** Virtual destructor */ - virtual ~SmartProjectionFactor() { + ~SmartProjectionFactor() override { } /** diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index cccdf20d6..c7b1d5424 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -94,7 +94,7 @@ public: } /** Virtual destructor */ - virtual ~SmartProjectionPoseFactor() { + ~SmartProjectionPoseFactor() override { } /** diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h index 6556723bd..de084c762 100644 --- a/gtsam/slam/StereoFactor.h +++ b/gtsam/slam/StereoFactor.h @@ -88,7 +88,7 @@ public: throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {} /** Virtual destructor */ - virtual ~GenericStereoFactor() {} + ~GenericStereoFactor() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h index 9d02ad321..f12053d29 100644 --- a/gtsam/slam/TriangulationFactor.h +++ b/gtsam/slam/TriangulationFactor.h @@ -86,7 +86,7 @@ public: } /** Virtual destructor */ - virtual ~TriangulationFactor() { + ~TriangulationFactor() override { } /// @return a deep copy of this factor diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 74e074c9e..c8a8b15c5 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -586,7 +586,7 @@ void save2D(const NonlinearFactorGraph &graph, const Values &config, fstream stream(filename.c_str(), fstream::out); // save poses - for (const Values::ConstKeyValuePair key_value : config) { + for (const auto key_value : config) { const Pose2 &pose = key_value.value.cast(); stream << "VERTEX2 " << key_value.key << " " << pose.x() << " " << pose.y() << " " << pose.theta() << endl; diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h index 93bd2b2ee..ec5d6dce9 100644 --- a/gtsam/slam/dataset.h +++ b/gtsam/slam/dataset.h @@ -29,6 +29,8 @@ #include #include #include +#include +#include #include #include @@ -216,13 +218,17 @@ typedef std::pair SiftIndex; /// Define the structure for the 3D points struct SfmTrack { - SfmTrack(): p(0,0,0) {} - SfmTrack(const gtsam::Point3& pt) : p(pt) {} + SfmTrack(float r = 0, float g = 0, float b = 0): p(0,0,0), r(r), g(g), b(b) {} + SfmTrack(const gtsam::Point3& pt, float r = 0, float g = 0, float b = 0) : p(pt), r(r), g(g), b(b) {} + 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; + /// Get RGB values describing 3d point + const Point3 rgb() const { return Point3(r, g, b); } + /// Total number of measurements in this track size_t number_measurements() const { return measurements.size(); @@ -243,6 +249,73 @@ struct SfmTrack { void add_measurement(size_t idx, const gtsam::Point2& m) { measurements.emplace_back(idx, m); } + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + ar & BOOST_SERIALIZATION_NVP(p); + ar & BOOST_SERIALIZATION_NVP(r); + ar & BOOST_SERIALIZATION_NVP(g); + ar & BOOST_SERIALIZATION_NVP(b); + ar & BOOST_SERIALIZATION_NVP(measurements); + ar & BOOST_SERIALIZATION_NVP(siftIndices); + } + + /// assert equality up to a tolerance + bool equals(const SfmTrack &sfmTrack, double tol = 1e-9) const { + // check the 3D point + if (!p.isApprox(sfmTrack.p)) { + return false; + } + + // check the RGB values + if (r!=sfmTrack.r || g!=sfmTrack.g || b!=sfmTrack.b) { + return false; + } + + // compare size of vectors for measurements and siftIndices + if (number_measurements() != sfmTrack.number_measurements() || + siftIndices.size() != sfmTrack.siftIndices.size()) { + return false; + } + + // compare measurements (order sensitive) + for (size_t idx = 0; idx < number_measurements(); ++idx) { + SfmMeasurement measurement = measurements[idx]; + SfmMeasurement otherMeasurement = sfmTrack.measurements[idx]; + + if (measurement.first != otherMeasurement.first || + !measurement.second.isApprox(otherMeasurement.second)) { + return false; + } + } + + // compare sift indices (order sensitive) + for (size_t idx = 0; idx < siftIndices.size(); ++idx) { + SiftIndex index = siftIndices[idx]; + SiftIndex otherIndex = sfmTrack.siftIndices[idx]; + + if (index.first != otherIndex.first || + index.second != otherIndex.second) { + return false; + } + } + + return true; + } + + /// print + void print(const std::string& s = "") const { + std::cout << "Track with " << measurements.size(); + std::cout << " measurements of point " << p << std::endl; + } +}; + +/* ************************************************************************* */ +/// traits +template<> +struct traits : public Testable { }; @@ -269,13 +342,62 @@ struct SfmData { return tracks[idx]; } /// Add a track to SfmData - void add_track(const SfmTrack& t) { + void add_track(const SfmTrack& t) { tracks.push_back(t); } /// Add a camera to SfmData - void add_camera(const SfmCamera& cam){ + void add_camera(const SfmCamera& cam) { cameras.push_back(cam); } + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(Archive & ar, const unsigned int /*version*/) { + ar & BOOST_SERIALIZATION_NVP(cameras); + ar & BOOST_SERIALIZATION_NVP(tracks); + } + + /// @} + /// @name Testable + /// @{ + + /// assert equality up to a tolerance + bool equals(const SfmData &sfmData, double tol = 1e-9) const { + // check number of cameras and tracks + if (number_cameras() != sfmData.number_cameras() || + number_tracks() != sfmData.number_tracks()) { + return false; + } + + // check each camera + for (size_t i = 0; i < number_cameras(); ++i) { + if (!camera(i).equals(sfmData.camera(i), tol)) { + return false; + } + } + + // check each track + for (size_t j = 0; j < number_tracks(); ++j) { + if (!track(j).equals(sfmData.track(j), tol)) { + return false; + } + } + + return true; + } + + /// print + void print(const std::string& s = "") const { + std::cout << "Number of cameras = " << number_cameras() << std::endl; + std::cout << "Number of tracks = " << number_tracks() << std::endl; + } +}; + +/* ************************************************************************* */ +/// traits +template<> +struct traits : public Testable { }; /** diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h index 680f2d175..c6aa02774 100644 --- a/gtsam/slam/expressions.h +++ b/gtsam/slam/expressions.h @@ -48,6 +48,18 @@ inline Line3_ transformTo(const Pose3_ &wTc, const Line3_ &wL) { return Line3_(f, wTc, wL); } +inline Point3_ cross(const Point3_& a, const Point3_& b) { + Point3 (*f)(const Point3 &, const Point3 &, + OptionalJacobian<3, 3>, OptionalJacobian<3, 3>) = ✗ + return Point3_(f, a, b); +} + +inline Double_ dot(const Point3_& a, const Point3_& b) { + double (*f)(const Point3 &, const Point3 &, + OptionalJacobian<1, 3>, OptionalJacobian<1, 3>) = ˙ + return Double_(f, a, b); +} + namespace internal { // define getter that returns value rather than reference inline Rot3 rotation(const Pose3& pose, OptionalJacobian<3, 6> H) { diff --git a/gtsam/slam/slam.i b/gtsam/slam/slam.i new file mode 100644 index 000000000..1c04fd14c --- /dev/null +++ b/gtsam/slam/slam.i @@ -0,0 +1,338 @@ +//************************************************************************* +// slam +//************************************************************************* + +namespace gtsam { + +#include +#include +#include + +// ###### + +#include +template +virtual class BetweenFactor : gtsam::NoiseModelFactor { + BetweenFactor(size_t key1, size_t key2, const T& relativePose, + const gtsam::noiseModel::Base* noiseModel); + T measured() const; + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; +}; + +#include +template +virtual class GenericProjectionFactor : gtsam::NoiseModelFactor { + GenericProjectionFactor(const gtsam::Point2& measured, + const gtsam::noiseModel::Base* noiseModel, + size_t poseKey, size_t pointKey, + const CALIBRATION* k); + GenericProjectionFactor(const gtsam::Point2& measured, + const gtsam::noiseModel::Base* noiseModel, + size_t poseKey, size_t pointKey, const CALIBRATION* k, + const POSE& body_P_sensor); + + GenericProjectionFactor(const gtsam::Point2& measured, + const gtsam::noiseModel::Base* noiseModel, + size_t poseKey, size_t pointKey, const CALIBRATION* k, + bool throwCheirality, bool verboseCheirality); + GenericProjectionFactor(const gtsam::Point2& measured, + const gtsam::noiseModel::Base* noiseModel, + size_t poseKey, size_t pointKey, const CALIBRATION* k, + bool throwCheirality, bool verboseCheirality, + const POSE& body_P_sensor); + + gtsam::Point2 measured() const; + CALIBRATION* calibration() const; + bool verboseCheirality() const; + bool throwCheirality() const; + + // enabling serialization functionality + void serialize() const; +}; +typedef gtsam::GenericProjectionFactor + GenericProjectionFactorCal3_S2; +typedef gtsam::GenericProjectionFactor + GenericProjectionFactorCal3DS2; +typedef gtsam::GenericProjectionFactor + GenericProjectionFactorCal3Fisheye; +typedef gtsam::GenericProjectionFactor + GenericProjectionFactorCal3Unified; + +#include +template +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, + gtsam::Point3> + GeneralSFMFactorCal3_S2; +typedef gtsam::GeneralSFMFactor, + gtsam::Point3> + GeneralSFMFactorCal3DS2; +typedef gtsam::GeneralSFMFactor, + gtsam::Point3> + GeneralSFMFactorCal3Bundler; +typedef gtsam::GeneralSFMFactor, + gtsam::Point3> + GeneralSFMFactorCal3Fisheye; +typedef gtsam::GeneralSFMFactor, + gtsam::Point3> + GeneralSFMFactorCal3Unified; + +template +virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor { + GeneralSFMFactor2(const gtsam::Point2& measured, + const gtsam::noiseModel::Base* model, size_t poseKey, + size_t landmarkKey, size_t calibKey); + gtsam::Point2 measured() const; + + // enabling serialization functionality + void serialize() const; +}; + +#include + +/// Linearization mode: what factor to linearize to +enum LinearizationMode { HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD }; + +/// How to manage degeneracy +enum DegeneracyMode { IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY }; + +class SmartProjectionParams { + SmartProjectionParams(); + void setLinearizationMode(gtsam::LinearizationMode linMode); + void setDegeneracyMode(gtsam::DegeneracyMode degMode); + void setRankTolerance(double rankTol); + void setEnableEPI(bool enableEPI); + void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold); + void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold); +}; + +#include +template +virtual class SmartProjectionPoseFactor : gtsam::NonlinearFactor { + SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, + const CALIBRATION* K); + SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, + const CALIBRATION* K, + const gtsam::Pose3& body_P_sensor); + SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, + const CALIBRATION* K, + const gtsam::SmartProjectionParams& params); + SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, + const CALIBRATION* K, + const gtsam::Pose3& body_P_sensor, + const gtsam::SmartProjectionParams& params); + + void add(const gtsam::Point2& measured_i, size_t poseKey_i); + + // enabling serialization functionality + void serialize() const; +}; + +typedef gtsam::SmartProjectionPoseFactor + SmartProjectionPose3Factor; + +#include +template +virtual class GenericStereoFactor : gtsam::NoiseModelFactor { + GenericStereoFactor(const gtsam::StereoPoint2& measured, + const gtsam::noiseModel::Base* noiseModel, size_t poseKey, + size_t landmarkKey, const gtsam::Cal3_S2Stereo* K); + gtsam::StereoPoint2 measured() const; + gtsam::Cal3_S2Stereo* calibration() const; + + // enabling serialization functionality + void serialize() const; +}; +typedef gtsam::GenericStereoFactor + GenericStereoFactor3D; + +#include +template +virtual class PoseTranslationPrior : gtsam::NoiseModelFactor { + PoseTranslationPrior(size_t key, const POSE& pose_z, + const gtsam::noiseModel::Base* noiseModel); +}; + +typedef gtsam::PoseTranslationPrior PoseTranslationPrior2D; +typedef gtsam::PoseTranslationPrior PoseTranslationPrior3D; + +#include +template +virtual class PoseRotationPrior : gtsam::NoiseModelFactor { + PoseRotationPrior(size_t key, const POSE& pose_z, + const gtsam::noiseModel::Base* noiseModel); +}; + +typedef gtsam::PoseRotationPrior PoseRotationPrior2D; +typedef gtsam::PoseRotationPrior PoseRotationPrior3D; + +#include +virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor { + EssentialMatrixFactor(size_t key, const gtsam::Point2& pA, + const gtsam::Point2& pB, + const gtsam::noiseModel::Base* noiseModel); +}; + +#include + +class SfmTrack { + SfmTrack(); + SfmTrack(const gtsam::Point3& pt); + const Point3& point3() const; + + double r; + double g; + double b; + + std::vector> measurements; + + size_t number_measurements() const; + pair measurement(size_t idx) const; + pair siftIndex(size_t idx) const; + void add_measurement(size_t idx, const gtsam::Point2& m); + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; + + // enabling function to compare objects + bool equals(const gtsam::SfmTrack& expected, double tol) const; +}; + +class SfmData { + SfmData(); + size_t number_cameras() const; + size_t number_tracks() const; + gtsam::PinholeCamera camera(size_t idx) const; + gtsam::SfmTrack track(size_t idx) const; + void add_track(const gtsam::SfmTrack& t); + void add_camera(const gtsam::SfmCamera& cam); + + // enabling serialization functionality + void serialize() const; + + // enable pickling in python + void pickle() const; + + // enabling function to compare objects + bool equals(const gtsam::SfmData& expected, double tol) const; +}; + +gtsam::SfmData readBal(string filename); +bool writeBAL(string filename, gtsam::SfmData& data); +gtsam::Values initialCamerasEstimate(const gtsam::SfmData& db); +gtsam::Values initialCamerasAndPointsEstimate(const gtsam::SfmData& db); + +pair load2D( + string filename, gtsam::noiseModel::Diagonal* model, int maxIndex, + bool addNoise, bool smart); +pair load2D( + string filename, gtsam::noiseModel::Diagonal* model, int maxIndex, + bool addNoise); +pair load2D( + string filename, gtsam::noiseModel::Diagonal* model, int maxIndex); +pair load2D( + string filename, gtsam::noiseModel::Diagonal* model); +pair load2D(string filename); +pair load2D_robust( + string filename, gtsam::noiseModel::Base* model, int maxIndex); +void save2D(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& config, gtsam::noiseModel::Diagonal* model, + string filename); + +// std::vector::shared_ptr> +// Ignored by pybind -> will be List[BetweenFactorPose2] +class BetweenFactorPose2s { + BetweenFactorPose2s(); + size_t size() const; + gtsam::BetweenFactor* at(size_t i) const; + void push_back(const gtsam::BetweenFactor* factor); +}; +gtsam::BetweenFactorPose2s parse2DFactors(string filename); + +// std::vector::shared_ptr> +// Ignored by pybind -> will be List[BetweenFactorPose3] +class BetweenFactorPose3s { + BetweenFactorPose3s(); + size_t size() const; + gtsam::BetweenFactor* at(size_t i) const; + void push_back(const gtsam::BetweenFactor* factor); +}; +gtsam::BetweenFactorPose3s parse3DFactors(string filename); + +pair load3D(string filename); + +pair readG2o(string filename); +pair readG2o(string filename, + bool is3D); +void writeG2o(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& estimate, string filename); + +#include +class InitializePose3 { + static gtsam::Values computeOrientationsChordal( + const gtsam::NonlinearFactorGraph& pose3Graph); + static gtsam::Values computeOrientationsGradient( + const gtsam::NonlinearFactorGraph& pose3Graph, + const gtsam::Values& givenGuess, size_t maxIter, const bool setRefFrame); + static gtsam::Values computeOrientationsGradient( + const gtsam::NonlinearFactorGraph& pose3Graph, + const gtsam::Values& givenGuess); + static gtsam::NonlinearFactorGraph buildPose3graph( + const gtsam::NonlinearFactorGraph& graph); + static gtsam::Values initializeOrientations( + const gtsam::NonlinearFactorGraph& graph); + static gtsam::Values initialize(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& givenGuess, + bool useGradient); + static gtsam::Values initialize(const gtsam::NonlinearFactorGraph& graph); +}; + +#include +template +virtual class KarcherMeanFactor : gtsam::NonlinearFactor { + KarcherMeanFactor(const gtsam::KeyVector& keys); +}; + +#include +gtsam::noiseModel::Isotropic* ConvertNoiseModel(gtsam::noiseModel::Base* model, + size_t d); + +template +virtual class FrobeniusFactor : gtsam::NoiseModelFactor { + FrobeniusFactor(size_t key1, size_t key2); + FrobeniusFactor(size_t key1, size_t key2, gtsam::noiseModel::Base* model); + + Vector evaluateError(const T& R1, const T& R2); +}; + +template +virtual class FrobeniusBetweenFactor : gtsam::NoiseModelFactor { + FrobeniusBetweenFactor(size_t key1, size_t key2, const T& R12); + FrobeniusBetweenFactor(size_t key1, size_t key2, const T& R12, + gtsam::noiseModel::Base* model); + + Vector evaluateError(const T& R1, const T& R2); +}; + +} // namespace gtsam diff --git a/gtsam/slam/tests/testBetweenFactor.cpp b/gtsam/slam/tests/testBetweenFactor.cpp index d995bf8e7..6897943ec 100644 --- a/gtsam/slam/tests/testBetweenFactor.cpp +++ b/gtsam/slam/tests/testBetweenFactor.cpp @@ -1,16 +1,20 @@ /** - * @file testBetweenFactor.cpp + * @file testBetweenFactor.cpp * @brief - * @author Duy-Nguyen Ta - * @date Aug 2, 2013 + * @author Duy-Nguyen Ta, Varun Agrawal + * @date Aug 2, 2013 */ +#include +#include #include +#include #include #include +#include #include -#include +using namespace std::placeholders; using namespace gtsam; using namespace gtsam::symbol_shorthand; using namespace gtsam::noiseModel; @@ -31,42 +35,86 @@ TEST(BetweenFactor, Rot3) { Vector expected = Rot3::Logmap(measured.inverse() * R1.between(R2)); EXPECT(assert_equal(expected,actual/*, 1e-100*/)); // Uncomment to make unit test fail - Matrix numericalH1 = numericalDerivative21( - boost::function(boost::bind( - &BetweenFactor::evaluateError, factor, _1, _2, boost::none, - boost::none)), R1, R2, 1e-5); + Matrix numericalH1 = numericalDerivative21( + std::function(std::bind( + &BetweenFactor::evaluateError, factor, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none)), + R1, R2, 1e-5); EXPECT(assert_equal(numericalH1,actualH1, 1E-5)); Matrix numericalH2 = numericalDerivative22( - boost::function(boost::bind( - &BetweenFactor::evaluateError, factor, _1, _2, boost::none, + std::function(std::bind( + &BetweenFactor::evaluateError, factor, std::placeholders::_1, std::placeholders::_2, boost::none, boost::none)), R1, R2, 1e-5); EXPECT(assert_equal(numericalH2,actualH2, 1E-5)); } /* ************************************************************************* */ -/* // Constructor scalar TEST(BetweenFactor, ConstructorScalar) { SharedNoiseModel model; - double measured_value = 0.0; - BetweenFactor factor(1, 2, measured_value, model); + double measured = 0.0; + BetweenFactor factor(1, 2, measured, model); } +/* ************************************************************************* */ // Constructor vector3 TEST(BetweenFactor, ConstructorVector3) { SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0); - Vector3 measured_value(1, 2, 3); - BetweenFactor factor(1, 2, measured_value, model); + Vector3 measured(1, 2, 3); + BetweenFactor factor(1, 2, measured, model); } +/* ************************************************************************* */ // Constructor dynamic sized vector TEST(BetweenFactor, ConstructorDynamicSizeVector) { SharedNoiseModel model = noiseModel::Isotropic::Sigma(5, 1.0); - Vector measured_value(5); measured_value << 1, 2, 3, 4, 5; - BetweenFactor factor(1, 2, measured_value, model); + Vector measured(5); measured << 1, 2, 3, 4, 5; + BetweenFactor factor(1, 2, measured, model); +} + +/* ************************************************************************* */ +TEST(BetweenFactor, Point3Jacobians) { + SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0); + Point3 measured(1, 2, 3); + BetweenFactor factor(1, 2, measured, model); + + Values values; + values.insert(1, Point3(0, 0, 0)); + values.insert(2, Point3(1, 2, 3)); + Vector3 error = factor.evaluateError(Point3(0, 0, 0), Point3(1, 2, 3)); + EXPECT(assert_equal(Vector3::Zero(), error, 1e-9)); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); +} + +/* ************************************************************************* */ +TEST(BetweenFactor, Rot3Jacobians) { + SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0); + Rot3 measured = Rot3::Ry(M_PI_2); + BetweenFactor factor(1, 2, measured, model); + + Values values; + values.insert(1, Rot3()); + values.insert(2, Rot3::Ry(M_PI_2)); + Vector3 error = factor.evaluateError(Rot3(), Rot3::Ry(M_PI_2)); + EXPECT(assert_equal(Vector3::Zero(), error, 1e-9)); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); +} + +/* ************************************************************************* */ +TEST(BetweenFactor, Pose3Jacobians) { + SharedNoiseModel model = noiseModel::Isotropic::Sigma(6, 1.0); + Pose3 measured(Rot3(), Point3(1, 2, 3)); + BetweenFactor factor(1, 2, measured, model); + + Pose3 pose1, pose2(Rot3(), Point3(1, 2, 3)); + Values values; + values.insert(1, pose1); + values.insert(2, pose2); + Vector6 error = factor.evaluateError(pose1, pose2); + EXPECT(assert_equal(Vector6::Zero(), error, 1e-9)); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); } -*/ /* ************************************************************************* */ int main() { diff --git a/gtsam/slam/tests/testEssentialMatrixConstraint.cpp b/gtsam/slam/tests/testEssentialMatrixConstraint.cpp index 16197ab03..080239b35 100644 --- a/gtsam/slam/tests/testEssentialMatrixConstraint.cpp +++ b/gtsam/slam/tests/testEssentialMatrixConstraint.cpp @@ -22,8 +22,10 @@ #include #include #include + #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -50,12 +52,14 @@ TEST( EssentialMatrixConstraint, test ) { CHECK(assert_equal(expected, actual, 1e-8)); // Calculate numerical derivatives - Matrix expectedH1 = numericalDerivative11( - boost::bind(&EssentialMatrixConstraint::evaluateError, &factor, _1, pose2, - boost::none, boost::none), pose1); - Matrix expectedH2 = numericalDerivative11( - boost::bind(&EssentialMatrixConstraint::evaluateError, &factor, pose1, _1, - boost::none, boost::none), pose2); + Matrix expectedH1 = numericalDerivative11( + std::bind(&EssentialMatrixConstraint::evaluateError, &factor, + std::placeholders::_1, pose2, boost::none, boost::none), + pose1); + Matrix expectedH2 = numericalDerivative11( + std::bind(&EssentialMatrixConstraint::evaluateError, &factor, pose1, + std::placeholders::_1, boost::none, boost::none), + pose2); // Use the factor to calculate the derivative Matrix actualH1; diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp index 95db611d7..03775a70f 100644 --- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp +++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp @@ -5,26 +5,25 @@ * @date December 17, 2013 */ -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - #include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +using namespace std::placeholders; using namespace std; using namespace gtsam; // Noise model for first type of factor is evaluating algebraic error -noiseModel::Isotropic::shared_ptr model1 = noiseModel::Isotropic::Sigma(1, - 0.01); +noiseModel::Isotropic::shared_ptr model1 = + noiseModel::Isotropic::Sigma(1, 0.01); // Noise model for second type of factor is evaluating pixel coordinates noiseModel::Unit::shared_ptr model2 = noiseModel::Unit::Create(2); @@ -34,39 +33,33 @@ gtsam::Rot3 cRb = gtsam::Rot3(bX, bZ, -bY).inverse(); namespace example1 { -const string filename = findExampleDataFile("5pointExample1.txt"); +const string filename = findExampleDataFile("18pointExample1.txt"); SfmData data; bool readOK = readBAL(filename, data); Rot3 c1Rc2 = data.cameras[1].pose().rotation(); Point3 c1Tc2 = data.cameras[1].pose().translation(); -PinholeCamera camera2(data.cameras[1].pose(), Cal3_S2()); +// TODO: maybe default value not good; assert with 0th +Cal3_S2 trueK = Cal3_S2(); +PinholeCamera camera2(data.cameras[1].pose(), trueK); Rot3 trueRotation(c1Rc2); Unit3 trueDirection(c1Tc2); EssentialMatrix trueE(trueRotation, trueDirection); -double baseline = 0.1; // actual baseline of the camera +double baseline = 0.1; // actual baseline of the camera -Point2 pA(size_t i) { - return data.tracks[i].measurements[0].second; -} -Point2 pB(size_t i) { - return data.tracks[i].measurements[1].second; -} -Vector vA(size_t i) { - return EssentialMatrix::Homogeneous(pA(i)); -} -Vector vB(size_t i) { - return EssentialMatrix::Homogeneous(pB(i)); -} +Point2 pA(size_t i) { return data.tracks[i].measurements[0].second; } +Point2 pB(size_t i) { return data.tracks[i].measurements[1].second; } +Vector vA(size_t i) { return EssentialMatrix::Homogeneous(pA(i)); } +Vector vB(size_t i) { return EssentialMatrix::Homogeneous(pB(i)); } //************************************************************************* -TEST (EssentialMatrixFactor, testData) { +TEST(EssentialMatrixFactor, testData) { CHECK(readOK); // Check E matrix Matrix expected(3, 3); expected << 0, 0, 0, 0, 0, -0.1, 0.1, 0, 0; - Matrix aEb_matrix = skewSymmetric(c1Tc2.x(), c1Tc2.y(), c1Tc2.z()) - * c1Rc2.matrix(); + Matrix aEb_matrix = + skewSymmetric(c1Tc2.x(), c1Tc2.y(), c1Tc2.z()) * c1Rc2.matrix(); EXPECT(assert_equal(expected, aEb_matrix, 1e-8)); // Check some projections @@ -88,7 +81,7 @@ TEST (EssentialMatrixFactor, testData) { } //************************************************************************* -TEST (EssentialMatrixFactor, factor) { +TEST(EssentialMatrixFactor, factor) { Key key(1); for (size_t i = 0; i < 5; i++) { EssentialMatrixFactor factor(key, pA(i), pB(i), model1); @@ -96,19 +89,12 @@ TEST (EssentialMatrixFactor, factor) { // Check evaluation Vector expected(1); expected << 0; - Matrix Hactual; - Vector actual = factor.evaluateError(trueE, Hactual); + Vector actual = factor.evaluateError(trueE); EXPECT(assert_equal(expected, actual, 1e-7)); - // Use numerical derivatives to calculate the expected Jacobian - Matrix Hexpected; - typedef Eigen::Matrix Vector1; - Hexpected = numericalDerivative11( - boost::bind(&EssentialMatrixFactor::evaluateError, &factor, _1, - boost::none), trueE); - - // Verify the Jacobian is correct - EXPECT(assert_equal(Hexpected, Hactual, 1e-8)); + Values val; + val.insert(key, trueE); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, val, 1e-5, 1e-7); } } @@ -116,10 +102,10 @@ TEST (EssentialMatrixFactor, factor) { TEST(EssentialMatrixFactor, ExpressionFactor) { Key key(1); for (size_t i = 0; i < 5; i++) { - boost::function)> f = - boost::bind(&EssentialMatrix::error, _1, vA(i), vB(i), _2); - Expression E_(key); // leaf expression - Expression expr(f, E_); // unary expression + std::function)> f = + std::bind(&EssentialMatrix::error, std::placeholders::_1, vA(i), vB(i), std::placeholders::_2); + Expression E_(key); // leaf expression + Expression expr(f, E_); // unary expression // Test the derivatives using Paul's magic Values values; @@ -142,13 +128,16 @@ TEST(EssentialMatrixFactor, ExpressionFactor) { TEST(EssentialMatrixFactor, ExpressionFactorRotationOnly) { Key key(1); for (size_t i = 0; i < 5; i++) { - boost::function)> f = - boost::bind(&EssentialMatrix::error, _1, vA(i), vB(i), _2); - boost::function, - OptionalJacobian<5, 2>)> g; + std::function)> f = + std::bind(&EssentialMatrix::error, std::placeholders::_1, vA(i), vB(i), std::placeholders::_2); + std::function, + OptionalJacobian<5, 2>)> + g; Expression R_(key); Expression d_(trueDirection); - Expression E_(&EssentialMatrix::FromRotationAndDirection, R_, d_); + Expression E_(&EssentialMatrix::FromRotationAndDirection, + R_, d_); Expression expr(f, E_); // Test the derivatives using Paul's magic @@ -169,7 +158,7 @@ TEST(EssentialMatrixFactor, ExpressionFactorRotationOnly) { } //************************************************************************* -TEST (EssentialMatrixFactor, minimization) { +TEST(EssentialMatrixFactor, minimization) { // Here we want to optimize directly on essential matrix constraints // Yi Ma's algorithm (Ma01ijcv) is a bit cumbersome to implement, // but GTSAM does the equivalent anyway, provided we give the right @@ -188,8 +177,8 @@ TEST (EssentialMatrixFactor, minimization) { // Check error at initial estimate Values initial; - EssentialMatrix initialE = trueE.retract( - (Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1).finished()); + EssentialMatrix initialE = + trueE.retract((Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1).finished()); initial.insert(1, initialE); #if defined(GTSAM_ROT3_EXPMAP) || defined(GTSAM_USE_QUATERNIONS) EXPECT_DOUBLES_EQUAL(643.26, graph.error(initial), 1e-2); @@ -212,11 +201,10 @@ TEST (EssentialMatrixFactor, minimization) { // Check errors individually for (size_t i = 0; i < 5; i++) EXPECT_DOUBLES_EQUAL(0, actual.error(vA(i), vB(i)), 1e-6); - } //************************************************************************* -TEST (EssentialMatrixFactor2, factor) { +TEST(EssentialMatrixFactor2, factor) { for (size_t i = 0; i < 5; i++) { EssentialMatrixFactor2 factor(100, i, pA(i), pB(i), model2); @@ -230,22 +218,15 @@ TEST (EssentialMatrixFactor2, factor) { Vector actual = factor.evaluateError(trueE, d, Hactual1, Hactual2); EXPECT(assert_equal(expected, actual, 1e-7)); - // Use numerical derivatives to calculate the expected Jacobian - Matrix Hexpected1, Hexpected2; - boost::function f = boost::bind( - &EssentialMatrixFactor2::evaluateError, &factor, _1, _2, boost::none, - boost::none); - Hexpected1 = numericalDerivative21(f, trueE, d); - Hexpected2 = numericalDerivative22(f, trueE, d); - - // Verify the Jacobian is correct - EXPECT(assert_equal(Hexpected1, Hactual1, 1e-8)); - EXPECT(assert_equal(Hexpected2, Hactual2, 1e-8)); + Values val; + val.insert(100, trueE); + val.insert(i, d); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, val, 1e-5, 1e-7); } } //************************************************************************* -TEST (EssentialMatrixFactor2, minimization) { +TEST(EssentialMatrixFactor2, minimization) { // Here we want to optimize for E and inverse depths at the same time // We start with a factor graph and add constraints to it @@ -288,8 +269,7 @@ TEST (EssentialMatrixFactor2, minimization) { EssentialMatrix bodyE = cRb.inverse() * trueE; //************************************************************************* -TEST (EssentialMatrixFactor3, factor) { - +TEST(EssentialMatrixFactor3, factor) { for (size_t i = 0; i < 5; i++) { EssentialMatrixFactor3 factor(100, i, pA(i), pB(i), cRb, model2); @@ -303,28 +283,21 @@ TEST (EssentialMatrixFactor3, factor) { Vector actual = factor.evaluateError(bodyE, d, Hactual1, Hactual2); EXPECT(assert_equal(expected, actual, 1e-7)); - // Use numerical derivatives to calculate the expected Jacobian - Matrix Hexpected1, Hexpected2; - boost::function f = boost::bind( - &EssentialMatrixFactor3::evaluateError, &factor, _1, _2, boost::none, - boost::none); - Hexpected1 = numericalDerivative21(f, bodyE, d); - Hexpected2 = numericalDerivative22(f, bodyE, d); - - // Verify the Jacobian is correct - EXPECT(assert_equal(Hexpected1, Hactual1, 1e-8)); - EXPECT(assert_equal(Hexpected2, Hactual2, 1e-8)); + Values val; + val.insert(100, bodyE); + val.insert(i, d); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, val, 1e-6, 1e-7); } } //************************************************************************* -TEST (EssentialMatrixFactor3, minimization) { - +TEST(EssentialMatrixFactor3, minimization) { // As before, we start with a factor graph and add constraints to it NonlinearFactorGraph graph; for (size_t i = 0; i < 5; i++) // but now we specify the rotation bRc - graph.emplace_shared(100, i, pA(i), pB(i), cRb, model2); + graph.emplace_shared(100, i, pA(i), pB(i), cRb, + model2); // Check error at ground truth Values truth; @@ -351,7 +324,214 @@ TEST (EssentialMatrixFactor3, minimization) { EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4); } -} // namespace example1 +//************************************************************************* +TEST(EssentialMatrixFactor4, factor) { + Key keyE(1); + Key keyK(2); + for (size_t i = 0; i < 5; i++) { + EssentialMatrixFactor4 factor(keyE, keyK, pA(i), pB(i), model1); + + // Check evaluation + Vector1 expected; + expected << 0; + Vector actual = factor.evaluateError(trueE, trueK); + EXPECT(assert_equal(expected, actual, 1e-7)); + + Values truth; + truth.insert(keyE, trueE); + truth.insert(keyK, trueK); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, truth, 1e-6, 1e-7); + } +} + +//************************************************************************* +TEST(EssentialMatrixFactor4, evaluateErrorJacobiansCal3S2) { + Key keyE(1); + Key keyK(2); + // initialize essential matrix + Rot3 r = Rot3::Expmap(Vector3(M_PI / 6, M_PI / 3, M_PI / 9)); + Unit3 t(Point3(2, -1, 0.5)); + EssentialMatrix E = EssentialMatrix::FromRotationAndDirection(r, t); + Cal3_S2 K(200, 1, 1, 10, 10); + Values val; + val.insert(keyE, E); + val.insert(keyK, K); + + Point2 pA(10.0, 20.0); + Point2 pB(12.0, 15.0); + + EssentialMatrixFactor4 f(keyE, keyK, pA, pB, model1); + EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-6); +} + +//************************************************************************* +TEST(EssentialMatrixFactor4, evaluateErrorJacobiansCal3Bundler) { + Key keyE(1); + Key keyK(2); + // initialize essential matrix + Rot3 r = Rot3::Expmap(Vector3(0, 0, M_PI_2)); + Unit3 t(Point3(0.1, 0, 0)); + EssentialMatrix E = EssentialMatrix::FromRotationAndDirection(r, t); + Cal3Bundler K; + Values val; + val.insert(keyE, E); + val.insert(keyK, K); + + Point2 pA(-0.1, 0.5); + Point2 pB(-0.5, -0.2); + + EssentialMatrixFactor4 f(keyE, keyK, pA, pB, model1); + EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-5); +} + +//************************************************************************* +TEST(EssentialMatrixFactor4, minimizationWithStrongCal3S2Prior) { + NonlinearFactorGraph graph; + for (size_t i = 0; i < 5; i++) + graph.emplace_shared>(1, 2, pA(i), pB(i), + model1); + + // Check error at ground truth + Values truth; + truth.insert(1, trueE); + truth.insert(2, trueK); + EXPECT_DOUBLES_EQUAL(0, graph.error(truth), 1e-8); + + // Initialization + Values initial; + EssentialMatrix initialE = + trueE.retract((Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1).finished()); + initial.insert(1, initialE); + initial.insert(2, trueK); + + // add prior factor for calibration + Vector5 priorNoiseModelSigma; + priorNoiseModelSigma << 10, 10, 10, 10, 10; + graph.emplace_shared>( + 2, trueK, noiseModel::Diagonal::Sigmas(priorNoiseModelSigma)); + + LevenbergMarquardtOptimizer optimizer(graph, initial); + Values result = optimizer.optimize(); + + // Check result + EssentialMatrix actualE = result.at(1); + Cal3_S2 actualK = result.at(2); + EXPECT(assert_equal(trueE, actualE, 1e-1)); + EXPECT(assert_equal(trueK, actualK, 1e-2)); + + // Check error at result + EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4); + + // Check errors individually + for (size_t i = 0; i < 5; i++) + EXPECT_DOUBLES_EQUAL( + 0, + actualE.error(EssentialMatrix::Homogeneous(actualK.calibrate(pA(i))), + EssentialMatrix::Homogeneous(actualK.calibrate(pB(i)))), + 1e-6); +} + +//************************************************************************* +TEST(EssentialMatrixFactor4, minimizationWithWeakCal3S2Prior) { + // We need 7 points here as the prior on the focal length parameters is weak + // and the initialization is noisy. So in total we are trying to optimize 7 + // DOF, with a strong prior on the remaining 3 DOF. + NonlinearFactorGraph graph; + for (size_t i = 0; i < 7; i++) + graph.emplace_shared>(1, 2, pA(i), pB(i), + model1); + + // Check error at ground truth + Values truth; + truth.insert(1, trueE); + truth.insert(2, trueK); + EXPECT_DOUBLES_EQUAL(0, graph.error(truth), 1e-8); + + // Initialization + Values initial; + EssentialMatrix initialE = + trueE.retract((Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1).finished()); + Cal3_S2 initialK = + trueK.retract((Vector(5) << 0.1, -0.1, 0.0, -0.0, 0.0).finished()); + initial.insert(1, initialE); + initial.insert(2, initialK); + + // add prior factor for calibration + Vector5 priorNoiseModelSigma; + priorNoiseModelSigma << 20, 20, 1, 1, 1; + graph.emplace_shared>( + 2, initialK, noiseModel::Diagonal::Sigmas(priorNoiseModelSigma)); + + LevenbergMarquardtOptimizer optimizer(graph, initial); + Values result = optimizer.optimize(); + + // Check result + EssentialMatrix actualE = result.at(1); + Cal3_S2 actualK = result.at(2); + EXPECT(assert_equal(trueE, actualE, 1e-1)); + EXPECT(assert_equal(trueK, actualK, 1e-2)); + + // Check error at result + EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4); + + // Check errors individually + for (size_t i = 0; i < 7; i++) + EXPECT_DOUBLES_EQUAL( + 0, + actualE.error(EssentialMatrix::Homogeneous(actualK.calibrate(pA(i))), + EssentialMatrix::Homogeneous(actualK.calibrate(pB(i)))), + 1e-5); +} + +//************************************************************************* +TEST(EssentialMatrixFactor4, minimizationWithStrongCal3BundlerPrior) { + NonlinearFactorGraph graph; + for (size_t i = 0; i < 5; i++) + graph.emplace_shared>(1, 2, pA(i), + pB(i), model1); + Cal3Bundler trueK(1, 0, 0, 0, 0, /*tolerance=*/5e-3); + // Check error at ground truth + Values truth; + truth.insert(1, trueE); + truth.insert(2, trueK); + EXPECT_DOUBLES_EQUAL(0, graph.error(truth), 1e-8); + + // Check error at initial estimate + Values initial; + EssentialMatrix initialE = + trueE.retract((Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1).finished()); + Cal3Bundler initialK = trueK; + initial.insert(1, initialE); + initial.insert(2, initialK); + + // add prior factor for calibration + Vector3 priorNoiseModelSigma; + priorNoiseModelSigma << 0.1, 0.1, 0.1; + graph.emplace_shared>( + 2, trueK, noiseModel::Diagonal::Sigmas(priorNoiseModelSigma)); + + LevenbergMarquardtOptimizer optimizer(graph, initial); + Values result = optimizer.optimize(); + + // Check result + EssentialMatrix actualE = result.at(1); + Cal3Bundler actualK = result.at(2); + EXPECT(assert_equal(trueE, actualE, 1e-1)); + EXPECT(assert_equal(trueK, actualK, 1e-2)); + + // Check error at result + EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4); + + // Check errors individually + for (size_t i = 0; i < 5; i++) + EXPECT_DOUBLES_EQUAL( + 0, + actualE.error(EssentialMatrix::Homogeneous(actualK.calibrate(pA(i))), + EssentialMatrix::Homogeneous(actualK.calibrate(pB(i)))), + 1e-6); +} + +} // namespace example1 //************************************************************************* @@ -364,30 +544,26 @@ Rot3 aRb = data.cameras[1].pose().rotation(); Point3 aTb = data.cameras[1].pose().translation(); EssentialMatrix trueE(aRb, Unit3(aTb)); -double baseline = 10; // actual baseline of the camera +double baseline = 10; // actual baseline of the camera -Point2 pA(size_t i) { - return data.tracks[i].measurements[0].second; -} -Point2 pB(size_t i) { - return data.tracks[i].measurements[1].second; -} +Point2 pA(size_t i) { return data.tracks[i].measurements[0].second; } +Point2 pB(size_t i) { return data.tracks[i].measurements[1].second; } -boost::shared_ptr // -K = boost::make_shared(500, 0, 0); -PinholeCamera camera2(data.cameras[1].pose(), *K); +Cal3Bundler trueK = Cal3Bundler(500, 0, 0); +boost::shared_ptr K = boost::make_shared(trueK); +PinholeCamera camera2(data.cameras[1].pose(), trueK); Vector vA(size_t i) { - Point2 xy = K->calibrate(pA(i)); + Point2 xy = trueK.calibrate(pA(i)); return EssentialMatrix::Homogeneous(xy); } Vector vB(size_t i) { - Point2 xy = K->calibrate(pB(i)); + Point2 xy = trueK.calibrate(pB(i)); return EssentialMatrix::Homogeneous(xy); } //************************************************************************* -TEST (EssentialMatrixFactor, extraMinimization) { +TEST(EssentialMatrixFactor, extraMinimization) { // Additional test with camera moving in positive X direction NonlinearFactorGraph graph; @@ -401,8 +577,8 @@ TEST (EssentialMatrixFactor, extraMinimization) { // Check error at initial estimate Values initial; - EssentialMatrix initialE = trueE.retract( - (Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1).finished()); + EssentialMatrix initialE = + trueE.retract((Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1).finished()); initial.insert(1, initialE); #if defined(GTSAM_ROT3_EXPMAP) || defined(GTSAM_USE_QUATERNIONS) @@ -426,11 +602,10 @@ TEST (EssentialMatrixFactor, extraMinimization) { // Check errors individually for (size_t i = 0; i < 5; i++) EXPECT_DOUBLES_EQUAL(0, actual.error(vA(i), vB(i)), 1e-6); - } //************************************************************************* -TEST (EssentialMatrixFactor2, extraTest) { +TEST(EssentialMatrixFactor2, extraTest) { for (size_t i = 0; i < 5; i++) { EssentialMatrixFactor2 factor(100, i, pA(i), pB(i), model2, K); @@ -439,34 +614,27 @@ TEST (EssentialMatrixFactor2, extraTest) { const Point2 pi = camera2.project(P1); Point2 expected(pi - pB(i)); - Matrix Hactual1, Hactual2; double d(baseline / P1.z()); - Vector actual = factor.evaluateError(trueE, d, Hactual1, Hactual2); + Vector actual = factor.evaluateError(trueE, d); EXPECT(assert_equal(expected, actual, 1e-7)); - // Use numerical derivatives to calculate the expected Jacobian - Matrix Hexpected1, Hexpected2; - boost::function f = boost::bind( - &EssentialMatrixFactor2::evaluateError, &factor, _1, _2, boost::none, - boost::none); - Hexpected1 = numericalDerivative21(f, trueE, d); - Hexpected2 = numericalDerivative22(f, trueE, d); - - // Verify the Jacobian is correct - EXPECT(assert_equal(Hexpected1, Hactual1, 1e-6)); - EXPECT(assert_equal(Hexpected2, Hactual2, 1e-8)); + Values val; + val.insert(100, trueE); + val.insert(i, d); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, val, 1e-5, 1e-6); } } //************************************************************************* -TEST (EssentialMatrixFactor2, extraMinimization) { +TEST(EssentialMatrixFactor2, extraMinimization) { // Additional test with camera moving in positive X direction // We start with a factor graph and add constraints to it // Noise sigma is 1, assuming pixel measurements NonlinearFactorGraph graph; for (size_t i = 0; i < data.number_tracks(); i++) - graph.emplace_shared(100, i, pA(i), pB(i), model2, K); + graph.emplace_shared(100, i, pA(i), pB(i), model2, + K); // Check error at ground truth Values truth; @@ -494,8 +662,7 @@ TEST (EssentialMatrixFactor2, extraMinimization) { } //************************************************************************* -TEST (EssentialMatrixFactor3, extraTest) { - +TEST(EssentialMatrixFactor3, extraTest) { // The "true E" in the body frame is EssentialMatrix bodyE = cRb.inverse() * trueE; @@ -507,26 +674,18 @@ TEST (EssentialMatrixFactor3, extraTest) { const Point2 pi = camera2.project(P1); Point2 expected(pi - pB(i)); - Matrix Hactual1, Hactual2; double d(baseline / P1.z()); - Vector actual = factor.evaluateError(bodyE, d, Hactual1, Hactual2); + Vector actual = factor.evaluateError(bodyE, d); EXPECT(assert_equal(expected, actual, 1e-7)); - // Use numerical derivatives to calculate the expected Jacobian - Matrix Hexpected1, Hexpected2; - boost::function f = boost::bind( - &EssentialMatrixFactor3::evaluateError, &factor, _1, _2, boost::none, - boost::none); - Hexpected1 = numericalDerivative21(f, bodyE, d); - Hexpected2 = numericalDerivative22(f, bodyE, d); - - // Verify the Jacobian is correct - EXPECT(assert_equal(Hexpected1, Hactual1, 1e-6)); - EXPECT(assert_equal(Hexpected2, Hactual2, 1e-8)); + Values val; + val.insert(100, bodyE); + val.insert(i, d); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, val, 1e-5, 1e-6); } } -} // namespace example2 +} // namespace example2 /* ************************************************************************* */ int main() { @@ -534,4 +693,3 @@ int main() { return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ - diff --git a/gtsam/slam/tests/testInitializePose3.cpp b/gtsam/slam/tests/testInitializePose3.cpp index 01ec9edb1..995a109fa 100644 --- a/gtsam/slam/tests/testInitializePose3.cpp +++ b/gtsam/slam/tests/testInitializePose3.cpp @@ -75,8 +75,15 @@ NonlinearFactorGraph graph2() { g.add(BetweenFactor(x0, x1, pose0.between(pose1), noiseModel::Isotropic::Precision(6, 1.0))); g.add(BetweenFactor(x1, x2, pose1.between(pose2), noiseModel::Isotropic::Precision(6, 1.0))); 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 + // random pose, but zero information + auto noise_zero_info = noiseModel::Isotropic::Precision(6, 0.0); + g.add(BetweenFactor( + x2, x0, Pose3(Rot3::Ypr(0.1, 0.0, 0.1), Point3(0.0, 0.0, 0.0)), + noise_zero_info)); + // random pose, but zero information + g.add(BetweenFactor( + x0, x3, Pose3(Rot3::Ypr(0.5, -0.2, 0.2), Point3(10, 20, 30)), + noise_zero_info)); g.addPrior(x0, pose0, model); return g; } diff --git a/gtsam/slam/tests/testLago.cpp b/gtsam/slam/tests/testLago.cpp index 55449d86e..781317d7a 100644 --- a/gtsam/slam/tests/testLago.cpp +++ b/gtsam/slam/tests/testLago.cpp @@ -284,7 +284,7 @@ TEST( Lago, largeGraphNoisy_orientations ) { Values::shared_ptr expected; boost::tie(gmatlab, expected) = readG2o(matlabFile); - for(const Values::KeyValuePair& key_val: *expected){ + for(const auto key_val: *expected){ Key k = key_val.key; EXPECT(assert_equal(expected->at(k), actual.at(k), 1e-5)); } @@ -310,7 +310,7 @@ TEST( Lago, largeGraphNoisy ) { Values::shared_ptr expected; boost::tie(gmatlab, expected) = readG2o(matlabFile); - for(const Values::KeyValuePair& key_val: *expected){ + for(const auto key_val: *expected){ Key k = key_val.key; EXPECT(assert_equal(expected->at(k), actual.at(k), 1e-2)); } diff --git a/gtsam/slam/tests/testOrientedPlane3Factor.cpp b/gtsam/slam/tests/testOrientedPlane3Factor.cpp index 81f67f1ee..35c750408 100644 --- a/gtsam/slam/tests/testOrientedPlane3Factor.cpp +++ b/gtsam/slam/tests/testOrientedPlane3Factor.cpp @@ -10,68 +10,72 @@ * -------------------------------------------------------------------------- */ /* - * @file testOrientedPlane3.cpp + * @file testOrientedPlane3Factor.cpp * @date Dec 19, 2012 * @author Alex Trevor * @brief Tests the OrientedPlane3Factor class */ #include -#include -#include + #include +#include +#include +#include #include -#include + #include +#include using namespace boost::assign; +using namespace std::placeholders; using namespace gtsam; using namespace std; GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3) GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3) +using symbol_shorthand::P; //< Planes +using symbol_shorthand::X; //< Pose3 + // ************************************************************************* -TEST (OrientedPlane3Factor, lm_translation_error) { +TEST(OrientedPlane3Factor, lm_translation_error) { // Tests one pose, two measurements of the landmark that differ in range only. // Normal along -x, 3m away - Symbol lm_sym('p', 0); OrientedPlane3 test_lm0(-1.0, 0.0, 0.0, 3.0); - ISAM2 isam2; - Values new_values; - NonlinearFactorGraph new_graph; + NonlinearFactorGraph graph; - // Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose - Symbol init_sym('x', 0); + // Init pose and prior. Pose Prior is needed since a single plane measurement + // does not fully constrain the pose Pose3 init_pose(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); - Vector sigmas(6); + Vector6 sigmas; sigmas << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001; - new_graph.addPrior( - init_sym, init_pose, noiseModel::Diagonal::Sigmas(sigmas)); - new_values.insert(init_sym, init_pose); + graph.addPrior(X(0), init_pose, noiseModel::Diagonal::Sigmas(sigmas)); // Add two landmark measurements, differing in range - new_values.insert(lm_sym, test_lm0); - Vector sigmas3(3); - sigmas3 << 0.1, 0.1, 0.1; - Vector test_meas0_mean(4); - test_meas0_mean << -1.0, 0.0, 0.0, 3.0; - OrientedPlane3Factor test_meas0(test_meas0_mean, - noiseModel::Diagonal::Sigmas(sigmas3), init_sym, lm_sym); - new_graph.add(test_meas0); - Vector test_meas1_mean(4); - test_meas1_mean << -1.0, 0.0, 0.0, 1.0; - OrientedPlane3Factor test_meas1(test_meas1_mean, - noiseModel::Diagonal::Sigmas(sigmas3), init_sym, lm_sym); - new_graph.add(test_meas1); + Vector3 sigmas3 {0.1, 0.1, 0.1}; + Vector4 measurement0 {-1.0, 0.0, 0.0, 3.0}; + OrientedPlane3Factor factor0( + measurement0, noiseModel::Diagonal::Sigmas(sigmas3), X(0), P(0)); + graph.add(factor0); + Vector4 measurement1 {-1.0, 0.0, 0.0, 1.0}; + OrientedPlane3Factor factor1( + measurement1, noiseModel::Diagonal::Sigmas(sigmas3), X(0), P(0)); + graph.add(factor1); + + // Initial Estimate + Values values; + values.insert(X(0), init_pose); + values.insert(P(0), test_lm0); // Optimize - ISAM2Result result = isam2.update(new_graph, new_values); + ISAM2 isam2; + ISAM2Result result = isam2.update(graph, values); Values result_values = isam2.calculateEstimate(); - OrientedPlane3 optimized_plane_landmark = result_values.at( - lm_sym); + OrientedPlane3 optimized_plane_landmark = + result_values.at(P(0)); // Given two noisy measurements of equal weight, expect result between the two OrientedPlane3 expected_plane_landmark(-1.0, 0.0, 0.0, 2.0); @@ -79,48 +83,81 @@ TEST (OrientedPlane3Factor, lm_translation_error) { } // ************************************************************************* +// TODO As described in PR #564 after correcting the derivatives in +// OrientedPlane3Factor this test fails. It should be debugged and re-enabled. +/* TEST (OrientedPlane3Factor, lm_rotation_error) { // Tests one pose, two measurements of the landmark that differ in angle only. // Normal along -x, 3m away - Symbol lm_sym('p', 0); - OrientedPlane3 test_lm0(-1.0, 0.0, 0.0, 3.0); + OrientedPlane3 test_lm0(-1.0/sqrt(1.01), 0.1/sqrt(1.01), 0.0, 3.0); - ISAM2 isam2; - Values new_values; - NonlinearFactorGraph new_graph; + NonlinearFactorGraph graph; // 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)); - new_graph.addPrior(init_sym, init_pose, + graph.addPrior(X(0), 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); -// // Add two landmark measurements, differing in angle - new_values.insert(lm_sym, test_lm0); - Vector test_meas0_mean(4); - test_meas0_mean << -1.0, 0.0, 0.0, 3.0; - OrientedPlane3Factor test_meas0(test_meas0_mean, - noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)), init_sym, lm_sym); - new_graph.add(test_meas0); - Vector test_meas1_mean(4); - test_meas1_mean << 0.0, -1.0, 0.0, 3.0; - OrientedPlane3Factor test_meas1(test_meas1_mean, - noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)), init_sym, lm_sym); - new_graph.add(test_meas1); + // Add two landmark measurements, differing in angle + Vector4 measurement0 {-1.0, 0.0, 0.0, 3.0}; + OrientedPlane3Factor factor0(measurement0, + noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)), X(0), P(0)); + graph.add(factor0); + Vector4 measurement1 {0.0, -1.0, 0.0, 3.0}; + OrientedPlane3Factor factor1(measurement1, + noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)), X(0), P(0)); + graph.add(factor1); + + // Initial Estimate + Values values; + values.insert(X(0), init_pose); + values.insert(P(0), test_lm0); // Optimize - ISAM2Result result = isam2.update(new_graph, new_values); + ISAM2 isam2; + ISAM2Result result = isam2.update(graph, values); Values result_values = isam2.calculateEstimate(); - OrientedPlane3 optimized_plane_landmark = result_values.at( - lm_sym); + auto optimized_plane_landmark = result_values.at(P(0)); // Given two noisy measurements of equal weight, expect result between the two OrientedPlane3 expected_plane_landmark(-sqrt(2.0) / 2.0, -sqrt(2.0) / 2.0, 0.0, 3.0); EXPECT(assert_equal(optimized_plane_landmark, expected_plane_landmark)); } +*/ + +// ************************************************************************* +TEST( OrientedPlane3Factor, Derivatives ) { + // Measurement + OrientedPlane3 p(sqrt(2)/2, -sqrt(2)/2, 0, 5); + + // Linearisation point + OrientedPlane3 pLin(sqrt(3)/3, -sqrt(3)/3, sqrt(3)/3, 7); + gtsam::Point3 pointLin = gtsam::Point3(1, 2, -4); + gtsam::Rot3 rotationLin = gtsam::Rot3::RzRyRx(0.5*M_PI, -0.3*M_PI, 1.4*M_PI); + Pose3 poseLin(rotationLin, pointLin); + + // Factor + Key planeKey(1), poseKey(2); + SharedGaussian noise = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)); + OrientedPlane3Factor factor(p.planeCoefficients(), noise, poseKey, planeKey); + + // Calculate numerical derivatives + std::function f = std::bind( + &OrientedPlane3Factor::evaluateError, factor, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none); + Matrix numericalH1 = numericalDerivative21(f, poseLin, pLin); + Matrix numericalH2 = numericalDerivative22(f, poseLin, pLin); + + // Use the factor to calculate the derivative + Matrix actualH1, actualH2; + factor.evaluateError(poseLin, pLin, actualH1, actualH2); + + // Verify we get the expected error + EXPECT(assert_equal(numericalH1, actualH1, 1e-8)); + EXPECT(assert_equal(numericalH2, actualH2, 1e-8)); +} // ************************************************************************* TEST( OrientedPlane3DirectionPrior, Constructor ) { @@ -129,7 +166,7 @@ TEST( OrientedPlane3DirectionPrior, Constructor ) { // If pitch and roll are zero for an aerospace frame, // that means Z is pointing down, i.e., direction of Z = (0,0,-1) - Vector planeOrientation = (Vector(4) << 0.0, 0.0, -1.0, 10.0).finished(); // all vertical planes directly facing the origin + Vector4 planeOrientation = (Vector(4) << 0.0, 0.0, -1.0, 10.0).finished(); // all vertical planes directly facing the origin // Factor Key key(1); @@ -137,9 +174,9 @@ TEST( OrientedPlane3DirectionPrior, Constructor ) { OrientedPlane3DirectionPrior factor(key, planeOrientation, model); // Create a linearization point at the zero-error point - Vector theta1 = Vector4(0.0, 0.02, -1.2, 10.0); - Vector theta2 = Vector4(0.0, 0.1, -0.8, 10.0); - Vector theta3 = Vector4(0.0, 0.2, -0.9, 10.0); + Vector4 theta1 {0.0, 0.02, -1.2, 10.0}; + Vector4 theta2 {0.0, 0.1, -0.8, 10.0}; + Vector4 theta3 {0.0, 0.2, -0.9, 10.0}; OrientedPlane3 T1(theta1); OrientedPlane3 T2(theta2); @@ -147,15 +184,15 @@ TEST( OrientedPlane3DirectionPrior, Constructor ) { // Calculate numerical derivatives Matrix expectedH1 = numericalDerivative11( - boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1, + std::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, std::placeholders::_1, boost::none), T1); Matrix expectedH2 = numericalDerivative11( - boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1, + std::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, std::placeholders::_1, boost::none), T2); Matrix expectedH3 = numericalDerivative11( - boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1, + std::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, std::placeholders::_1, boost::none), T3); // Use the factor to calculate the derivative @@ -170,6 +207,59 @@ TEST( OrientedPlane3DirectionPrior, Constructor ) { EXPECT(assert_equal(expectedH3, actualH3, 1e-8)); } +/* ************************************************************************* */ +// Simplified version of the test by Marco Camurri to debug issue #561 +TEST(OrientedPlane3Factor, Issue561Simplified) { + // Typedefs + using Plane = OrientedPlane3; + + NonlinearFactorGraph graph; + + // Setup prior factors + // Note: If x0 is too far away from the origin (e.g. x=100) this test can fail. + Pose3 x0(Rot3::identity(), Vector3(10, -1, 1)); + auto x0_noise = noiseModel::Isotropic::Sigma(6, 0.01); + graph.addPrior(X(0), x0, x0_noise); + + // Two horizontal planes with different heights, in the world frame. + const Plane p1(0,0,1,1), p2(0,0,1,2); + auto p1_noise = noiseModel::Diagonal::Sigmas(Vector3{1, 1, 5}); + auto p2_noise = noiseModel::Diagonal::Sigmas(Vector3{1, 1, 5}); + graph.addPrior(P(1), p1, p1_noise); + graph.addPrior(P(2), p2, p2_noise); + + // Plane factors + auto p1_measured_from_x0 = p1.transform(x0); // transform p1 to pose x0 as a measurement + auto p2_measured_from_x0 = p2.transform(x0); // transform p2 to pose x0 as a measurement + const auto x0_p1_noise = noiseModel::Isotropic::Sigma(3, 0.05); + const auto x0_p2_noise = noiseModel::Isotropic::Sigma(3, 0.05); + graph.emplace_shared( + p1_measured_from_x0.planeCoefficients(), x0_p1_noise, X(0), P(1)); + graph.emplace_shared( + p2_measured_from_x0.planeCoefficients(), x0_p2_noise, X(0), P(2)); + + // Initial values + // Just offset the initial pose by 1m. This is what we are trying to optimize. + Values initialEstimate; + Pose3 x0_initial = x0.compose(Pose3(Rot3::identity(), Vector3(1,0,0))); + initialEstimate.insert(P(1), p1); + initialEstimate.insert(P(2), p2); + initialEstimate.insert(X(0), x0_initial); + + // Optimize + try { + GaussNewtonOptimizer optimizer(graph, initialEstimate); + Values result = optimizer.optimize(); + EXPECT_DOUBLES_EQUAL(0, graph.error(result), 0.1); + EXPECT(x0.equals(result.at(X(0)))); + EXPECT(p1.equals(result.at(P(1)))); + EXPECT(p2.equals(result.at(P(2)))); + } catch (const IndeterminantLinearSystemException &e) { + std::cerr << "CAPTURED THE EXCEPTION: " << DefaultKeyFormatter(e.nearbyVariable()) << std::endl; + EXPECT(false); // fail if this happens + } +} + /* ************************************************************************* */ int main() { srand(time(nullptr)); diff --git a/gtsam/slam/tests/testReferenceFrameFactor.cpp b/gtsam/slam/tests/testReferenceFrameFactor.cpp index 217ff2178..b5800a414 100644 --- a/gtsam/slam/tests/testReferenceFrameFactor.cpp +++ b/gtsam/slam/tests/testReferenceFrameFactor.cpp @@ -16,8 +16,6 @@ #include -#include - #include #include @@ -32,6 +30,7 @@ using namespace std; using namespace boost; +using namespace std::placeholders; using namespace gtsam; typedef gtsam::ReferenceFrameFactor PointReferenceFrameFactor; @@ -69,13 +68,13 @@ TEST( ReferenceFrameFactor, jacobians ) { Matrix numericalDT, numericalDL, numericalDF; numericalDF = numericalDerivative31( - boost::bind(evaluateError_, tc, _1, _2, _3), + std::bind(evaluateError_, tc, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), global, trans, local, 1e-5); numericalDT = numericalDerivative32( - boost::bind(evaluateError_, tc, _1, _2, _3), + std::bind(evaluateError_, tc, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), global, trans, local, 1e-5); numericalDL = numericalDerivative33( - boost::bind(evaluateError_, tc, _1, _2, _3), + std::bind(evaluateError_, tc, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), global, trans, local, 1e-5); EXPECT(assert_equal(numericalDF, actualDF)); @@ -101,13 +100,13 @@ TEST( ReferenceFrameFactor, jacobians_zero ) { Matrix numericalDT, numericalDL, numericalDF; numericalDF = numericalDerivative31( - boost::bind(evaluateError_, tc, _1, _2, _3), + std::bind(evaluateError_, tc, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), global, trans, local, 1e-5); numericalDT = numericalDerivative32( - boost::bind(evaluateError_, tc, _1, _2, _3), + std::bind(evaluateError_, tc, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), global, trans, local, 1e-5); numericalDL = numericalDerivative33( - boost::bind(evaluateError_, tc, _1, _2, _3), + std::bind(evaluateError_, tc, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), global, trans, local, 1e-5); EXPECT(assert_equal(numericalDF, actualDF)); diff --git a/gtsam/slam/tests/testRotateFactor.cpp b/gtsam/slam/tests/testRotateFactor.cpp index caf3d31df..b8fd01730 100644 --- a/gtsam/slam/tests/testRotateFactor.cpp +++ b/gtsam/slam/tests/testRotateFactor.cpp @@ -12,12 +12,12 @@ #include #include -#include #include #include using namespace std; using namespace boost::assign; +using namespace std::placeholders; using namespace gtsam; static const double kDegree = M_PI / 180; @@ -72,13 +72,13 @@ TEST (RotateFactor, test) { // Use numerical derivatives to calculate the expected Jacobian { expected = numericalDerivative11( - boost::bind(&RotateFactor::evaluateError, &f, _1, boost::none), iRc); + std::bind(&RotateFactor::evaluateError, &f, std::placeholders::_1, boost::none), iRc); f.evaluateError(iRc, actual); EXPECT(assert_equal(expected, actual, 1e-9)); } { expected = numericalDerivative11( - boost::bind(&RotateFactor::evaluateError, &f, _1, boost::none), R); + std::bind(&RotateFactor::evaluateError, &f, std::placeholders::_1, boost::none), R); f.evaluateError(R, actual); EXPECT(assert_equal(expected, actual, 1e-9)); } @@ -143,14 +143,14 @@ TEST (RotateDirectionsFactor, test) { // Use numerical derivatives to calculate the expected Jacobian { expected = numericalDerivative11( - boost::bind(&RotateDirectionsFactor::evaluateError, &f, _1, + std::bind(&RotateDirectionsFactor::evaluateError, &f, std::placeholders::_1, boost::none), iRc); f.evaluateError(iRc, actual); EXPECT(assert_equal(expected, actual, 1e-9)); } { expected = numericalDerivative11( - boost::bind(&RotateDirectionsFactor::evaluateError, &f, _1, + std::bind(&RotateDirectionsFactor::evaluateError, &f, std::placeholders::_1, boost::none), R); f.evaluateError(R, actual); EXPECT(assert_equal(expected, actual, 1e-9)); diff --git a/gtsam/slam/tests/testSerializationDataset.cpp b/gtsam/slam/tests/testSerializationDataset.cpp new file mode 100644 index 000000000..6ef82f07f --- /dev/null +++ b/gtsam/slam/tests/testSerializationDataset.cpp @@ -0,0 +1,58 @@ +/* ---------------------------------------------------------------------------- + + * 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 testSerializationDataset.cpp + * @brief serialization tests for dataset.cpp + * @author Ayush Baid + * @date Jan 1, 2021 + */ + +#include + +#include +#include + +using namespace std; +using namespace gtsam; +using namespace gtsam::serializationTestHelpers; + +/* ************************************************************************* */ +TEST(dataSet, sfmDataSerialization) { + // Test the serialization of SfmData + const string filename = findExampleDataFile("dubrovnik-3-7-pre"); + SfmData mydata; + CHECK(readBAL(filename, mydata)); + + // round-trip equality check on serialization and subsequent deserialization + EXPECT(equalsObj(mydata)); + EXPECT(equalsXML(mydata)); + EXPECT(equalsBinary(mydata)); +} + +/* ************************************************************************* */ +TEST(dataSet, sfmTrackSerialization) { + // Test the serialization of SfmTrack + const string filename = findExampleDataFile("dubrovnik-3-7-pre"); + SfmData mydata; + CHECK(readBAL(filename, mydata)); + + SfmTrack track = mydata.track(0); + + // round-trip equality check on serialization and subsequent deserialization + EXPECT(equalsObj(track)); + EXPECT(equalsXML(track)); + EXPECT(equalsBinary(track)); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 0cc5e8f55..c7f220c10 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -30,6 +30,7 @@ #include using namespace boost::assign; +using namespace std::placeholders; static const double rankTol = 1.0; // Create a noise model for the pixel error @@ -130,8 +131,8 @@ TEST( SmartProjectionPoseFactor, noiseless ) { EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7); // Calculate expected derivative for point (easiest to check) - boost::function f = // - boost::bind(&SmartFactor::whitenedError, factor, cameras, _1); + std::function f = // + std::bind(&SmartFactor::whitenedError, factor, cameras, std::placeholders::_1); // Calculate using computeEP Matrix actualE; diff --git a/gtsam/slam/tests/testTriangulationFactor.cpp b/gtsam/slam/tests/testTriangulationFactor.cpp index 4bbef6530..ad88c88fc 100644 --- a/gtsam/slam/tests/testTriangulationFactor.cpp +++ b/gtsam/slam/tests/testTriangulationFactor.cpp @@ -27,10 +27,12 @@ #include #include +#include using namespace std; using namespace gtsam; using namespace boost::assign; +using namespace std::placeholders; // Some common constants static const boost::shared_ptr sharedCal = // @@ -60,7 +62,7 @@ TEST( triangulation, TriangulationFactor ) { factor.evaluateError(landmark, HActual); Matrix HExpected = numericalDerivative11( - boost::bind(&Factor::evaluateError, &factor, _1, boost::none), landmark); + std::bind(&Factor::evaluateError, &factor, std::placeholders::_1, boost::none), landmark); // Verify the Jacobians are correct CHECK(assert_equal(HExpected, HActual, 1e-3)); @@ -84,13 +86,15 @@ TEST( triangulation, TriangulationFactorStereo ) { factor.evaluateError(landmark, HActual); Matrix HExpected = numericalDerivative11( - boost::bind(&Factor::evaluateError, &factor, _1, boost::none), landmark); + std::bind(&Factor::evaluateError, &factor, std::placeholders::_1, boost::none), landmark); // Verify the Jacobians are correct CHECK(assert_equal(HExpected, HActual, 1e-3)); // compare same problem against expression factor - Expression::UnaryFunction::type f = boost::bind(&StereoCamera::project2, camera2, _1, boost::none, _2); + Expression::UnaryFunction::type f = + std::bind(&StereoCamera::project2, camera2, std::placeholders::_1, + boost::none, std::placeholders::_2); Expression point_(pointKey); Expression project2_(f, point_); diff --git a/gtsam/symbolic/SymbolicBayesNet.h b/gtsam/symbolic/SymbolicBayesNet.h index ca87b2bbc..464af060b 100644 --- a/gtsam/symbolic/SymbolicBayesNet.h +++ b/gtsam/symbolic/SymbolicBayesNet.h @@ -55,6 +55,9 @@ namespace gtsam { template SymbolicBayesNet(const FactorGraph& graph) : Base(graph) {} + /// Destructor + virtual ~SymbolicBayesNet() {} + /// @} /// @name Testable @@ -63,6 +66,13 @@ namespace gtsam { /** Check equality */ GTSAM_EXPORT bool equals(const This& bn, double tol = 1e-9) const; + /// print + GTSAM_EXPORT void print( + const std::string& s = "SymbolicBayesNet", + const KeyFormatter& formatter = DefaultKeyFormatter) const override { + Base::print(s, formatter); + } + /// @} /// @name Standard Interface diff --git a/gtsam/symbolic/SymbolicConditional.cpp b/gtsam/symbolic/SymbolicConditional.cpp index d733c0937..f0d9944b2 100644 --- a/gtsam/symbolic/SymbolicConditional.cpp +++ b/gtsam/symbolic/SymbolicConditional.cpp @@ -20,18 +20,17 @@ namespace gtsam { - using namespace std; - - /* ************************************************************************* */ - void SymbolicConditional::print(const std::string& str, const KeyFormatter& keyFormatter) const - { - BaseConditional::print(str, keyFormatter); - } - - /* ************************************************************************* */ - bool SymbolicConditional::equals(const This& c, double tol) const - { - return BaseFactor::equals(c) && BaseConditional::equals(c); - } +using namespace std; +/* ************************************************************************* */ +void SymbolicConditional::print(const std::string& str, + const KeyFormatter& keyFormatter) const { + BaseConditional::print(str, keyFormatter); } + +/* ************************************************************************* */ +bool SymbolicConditional::equals(const This& c, double tol) const { + return BaseFactor::equals(c) && BaseConditional::equals(c); +} + +} // namespace gtsam diff --git a/gtsam/symbolic/SymbolicConditional.h b/gtsam/symbolic/SymbolicConditional.h index 9163cdba6..3abec92b8 100644 --- a/gtsam/symbolic/SymbolicConditional.h +++ b/gtsam/symbolic/SymbolicConditional.h @@ -95,7 +95,7 @@ namespace gtsam { return FromIteratorsShared(keys.begin(), keys.end(), nrFrontals); } - virtual ~SymbolicConditional() {} + ~SymbolicConditional() override {} /// Copy this object as its actual derived type. SymbolicFactor::shared_ptr clone() const { return boost::make_shared(*this); } @@ -105,7 +105,9 @@ namespace gtsam { /// @name Testable /** Print with optional formatter */ - virtual void print(const std::string& str = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + void print( + const std::string& str = "", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override; /** Check equality */ bool equals(const This& c, double tol = 1e-9) const; diff --git a/gtsam/symbolic/SymbolicFactor.h b/gtsam/symbolic/SymbolicFactor.h index 66657aa7d..2a488a4da 100644 --- a/gtsam/symbolic/SymbolicFactor.h +++ b/gtsam/symbolic/SymbolicFactor.h @@ -92,6 +92,20 @@ namespace gtsam { bool equals(const This& other, double tol = 1e-9) const; + /// print + void print( + const std::string& s = "SymbolicFactor", + const KeyFormatter& formatter = DefaultKeyFormatter) const override { + Base::print(s, formatter); + } + + /// print only keys + void printKeys( + const std::string& s = "SymbolicFactor", + const KeyFormatter& formatter = DefaultKeyFormatter) const override { + Base::printKeys(s, formatter); + } + /// @} /// @name Advanced Constructors diff --git a/gtsam/symbolic/SymbolicFactorGraph.h b/gtsam/symbolic/SymbolicFactorGraph.h index b6f0de2ae..36379fd83 100644 --- a/gtsam/symbolic/SymbolicFactorGraph.h +++ b/gtsam/symbolic/SymbolicFactorGraph.h @@ -81,6 +81,9 @@ namespace gtsam { template SymbolicFactorGraph(const FactorGraph& graph) : Base(graph) {} + /// Destructor + virtual ~SymbolicFactorGraph() {} + /// @} /// @name Testable @@ -88,6 +91,13 @@ namespace gtsam { bool equals(const This& fg, double tol = 1e-9) const; + /// print + void print( + const std::string& s = "SymbolicFactorGraph", + const KeyFormatter& formatter = DefaultKeyFormatter) const override { + Base::print(s, formatter); + } + /// @} /// @name Standard Interface diff --git a/gtsam/symbolic/symbolic.i b/gtsam/symbolic/symbolic.i new file mode 100644 index 000000000..4e7cca68a --- /dev/null +++ b/gtsam/symbolic/symbolic.i @@ -0,0 +1,201 @@ +//************************************************************************* +// Symbolic +//************************************************************************* +namespace gtsam { + +#include +#include + +// ################### + +#include +virtual class SymbolicFactor { + // Standard Constructors and Named Constructors + SymbolicFactor(const gtsam::SymbolicFactor& f); + SymbolicFactor(); + SymbolicFactor(size_t j); + SymbolicFactor(size_t j1, size_t j2); + SymbolicFactor(size_t j1, size_t j2, size_t j3); + SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4); + SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5); + SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5, + size_t j6); + static gtsam::SymbolicFactor FromKeys(const gtsam::KeyVector& js); + + // From Factor + size_t size() const; + void print(string s = "SymbolicFactor", + const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::SymbolicFactor& other, double tol) const; + gtsam::KeyVector keys(); +}; + +#include +virtual class SymbolicFactorGraph { + SymbolicFactorGraph(); + SymbolicFactorGraph(const gtsam::SymbolicBayesNet& bayesNet); + SymbolicFactorGraph(const gtsam::SymbolicBayesTree& bayesTree); + + // From FactorGraph + void push_back(gtsam::SymbolicFactor* factor); + void print(string s = "SymbolicFactorGraph", + const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const; + size_t size() const; + bool exists(size_t idx) const; + + // Standard interface + gtsam::KeySet keys() const; + void push_back(const gtsam::SymbolicFactorGraph& graph); + void push_back(const gtsam::SymbolicBayesNet& bayesNet); + void push_back(const gtsam::SymbolicBayesTree& bayesTree); + + // Advanced Interface + void push_factor(size_t key); + void push_factor(size_t key1, size_t key2); + void push_factor(size_t key1, size_t key2, size_t key3); + void push_factor(size_t key1, size_t key2, size_t key3, size_t key4); + + gtsam::SymbolicBayesNet* eliminateSequential(); + gtsam::SymbolicBayesNet* eliminateSequential(const gtsam::Ordering& ordering); + gtsam::SymbolicBayesTree* eliminateMultifrontal(); + gtsam::SymbolicBayesTree* eliminateMultifrontal( + const gtsam::Ordering& ordering); + pair + eliminatePartialSequential(const gtsam::Ordering& ordering); + pair + eliminatePartialSequential(const gtsam::KeyVector& keys); + pair + eliminatePartialMultifrontal(const gtsam::Ordering& ordering); + pair + eliminatePartialMultifrontal(const gtsam::KeyVector& keys); + gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet( + const gtsam::Ordering& ordering); + gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet( + const gtsam::KeyVector& key_vector); + gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet( + const gtsam::Ordering& ordering, + const gtsam::Ordering& marginalizedVariableOrdering); + gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet( + const gtsam::KeyVector& key_vector, + const gtsam::Ordering& marginalizedVariableOrdering); + gtsam::SymbolicFactorGraph* marginal(const gtsam::KeyVector& key_vector); +}; + +#include +virtual class SymbolicConditional : gtsam::SymbolicFactor { + // Standard Constructors and Named Constructors + SymbolicConditional(); + SymbolicConditional(const gtsam::SymbolicConditional& other); + SymbolicConditional(size_t key); + SymbolicConditional(size_t key, size_t parent); + SymbolicConditional(size_t key, size_t parent1, size_t parent2); + SymbolicConditional(size_t key, size_t parent1, size_t parent2, + size_t parent3); + static gtsam::SymbolicConditional FromKeys(const gtsam::KeyVector& keys, + size_t nrFrontals); + + // Testable + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::SymbolicConditional& other, double tol) const; + + // Standard interface + size_t nrFrontals() const; + size_t nrParents() const; +}; + +#include +class SymbolicBayesNet { + SymbolicBayesNet(); + SymbolicBayesNet(const gtsam::SymbolicBayesNet& other); + // Testable + void print(string s = "SymbolicBayesNet", + const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + bool equals(const gtsam::SymbolicBayesNet& other, double tol) const; + + // Standard interface + size_t size() const; + void saveGraph(string s) const; + gtsam::SymbolicConditional* at(size_t idx) const; + gtsam::SymbolicConditional* front() const; + gtsam::SymbolicConditional* back() const; + void push_back(gtsam::SymbolicConditional* conditional); + void push_back(const gtsam::SymbolicBayesNet& bayesNet); +}; + +#include +class SymbolicBayesTree { + // Constructors + SymbolicBayesTree(); + SymbolicBayesTree(const gtsam::SymbolicBayesTree& other); + + // Testable + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter); + bool equals(const gtsam::SymbolicBayesTree& other, double tol) const; + + // Standard Interface + // size_t findParentClique(const gtsam::IndexVector& parents) const; + size_t size(); + void saveGraph(string s) const; + void clear(); + void deleteCachedShortcuts(); + size_t numCachedSeparatorMarginals() const; + + gtsam::SymbolicConditional* marginalFactor(size_t key) const; + gtsam::SymbolicFactorGraph* joint(size_t key1, size_t key2) const; + gtsam::SymbolicBayesNet* jointBayesNet(size_t key1, size_t key2) const; +}; + +class SymbolicBayesTreeClique { + SymbolicBayesTreeClique(); + // SymbolicBayesTreeClique(gtsam::sharedConditional* conditional); + + bool equals(const gtsam::SymbolicBayesTreeClique& other, double tol) const; + void print(string s = "", const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + size_t numCachedSeparatorMarginals() const; + // gtsam::sharedConditional* conditional() const; + bool isRoot() const; + size_t treeSize() const; + gtsam::SymbolicBayesTreeClique* parent() const; + + // // TODO: need wrapped versions graphs, BayesNet + // BayesNet shortcut(derived_ptr root, Eliminate function) + // const; FactorGraph marginal(derived_ptr root, Eliminate + // function) const; FactorGraph joint(derived_ptr C2, derived_ptr + // root, Eliminate function) const; + // + void deleteCachedShortcuts(); +}; + +#include +class VariableIndex { + // Standard Constructors and Named Constructors + VariableIndex(); + // TODO: Templetize constructor when wrap supports it + // template + // VariableIndex(const T& factorGraph, size_t nVariables); + // VariableIndex(const T& factorGraph); + VariableIndex(const gtsam::SymbolicFactorGraph& sfg); + VariableIndex(const gtsam::GaussianFactorGraph& gfg); + VariableIndex(const gtsam::NonlinearFactorGraph& fg); + VariableIndex(const gtsam::VariableIndex& other); + + // Testable + bool equals(const gtsam::VariableIndex& other, double tol) const; + void print(string s = "VariableIndex: ", + const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + + // Standard interface + size_t size() const; + size_t nFactors() const; + size_t nEntries() const; +}; + +} // namespace gtsam diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index ec161baa8..13c061b9b 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -107,22 +107,6 @@ install( list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable) set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) -# Wrap version for gtsam_unstable -if (GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX) - # Set up codegen - include(GtsamMatlabWrap) - - # Generate, build and install toolbox - set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}") - if(NOT BUILD_SHARED_LIBS) - list(APPEND mexFlags -DGTSAM_IMPORT_STATIC) - endif() - - # Wrap - wrap_and_install_library(gtsam_unstable.i "gtsam" "" "${mexFlags}") -endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX) - - # Build examples add_subdirectory(examples) diff --git a/gtsam_unstable/base/BTree.h b/gtsam_unstable/base/BTree.h index 96424324b..9d854a169 100644 --- a/gtsam_unstable/base/BTree.h +++ b/gtsam_unstable/base/BTree.h @@ -20,7 +20,7 @@ #include #include #include -#include +#include namespace gtsam { @@ -260,7 +260,7 @@ namespace gtsam { } /** iterate over tree */ - void iter(boost::function f) const { + void iter(std::function f) const { if (!root_) return; left().iter(f); f(key(), value()); @@ -269,7 +269,7 @@ namespace gtsam { /** map key-values in tree over function f that computes a new value */ template - BTree map(boost::function f) const { + BTree map(std::function f) const { if (empty()) return BTree (); std::pair xd(key(), f(key(), value())); return BTree (left().map(f), xd, right().map(f)); @@ -282,7 +282,7 @@ namespace gtsam { * The associated values are passed to [f] in reverse sort order */ template - ACC fold(boost::function f, + ACC fold(std::function f, const ACC& a) const { if (!root_) return a; ACC ar = right().fold(f, a); // fold over right subtree diff --git a/gtsam_unstable/base/DSF.h b/gtsam_unstable/base/DSF.h index c7b8cd417..4ad7d3ea8 100644 --- a/gtsam_unstable/base/DSF.h +++ b/gtsam_unstable/base/DSF.h @@ -122,7 +122,7 @@ public: } // maps f over all keys, must be invertible - DSF map(boost::function func) const { + DSF map(std::function func) const { DSF t; for(const KeyLabel& pair: (Tree)*this) t = t.add(func(pair.first), func(pair.second)); diff --git a/gtsam_unstable/discrete/Constraint.h b/gtsam_unstable/discrete/Constraint.h index 136704c2d..c3a26de68 100644 --- a/gtsam_unstable/discrete/Constraint.h +++ b/gtsam_unstable/discrete/Constraint.h @@ -67,7 +67,7 @@ namespace gtsam { Constraint(); /// Virtual destructor - virtual ~Constraint() {} + ~Constraint() override {} /// @} /// @name Standard Interface diff --git a/gtsam_unstable/discrete/Scheduler.cpp b/gtsam_unstable/discrete/Scheduler.cpp index a81048291..3273778c4 100644 --- a/gtsam_unstable/discrete/Scheduler.cpp +++ b/gtsam_unstable/discrete/Scheduler.cpp @@ -178,8 +178,7 @@ namespace gtsam { } // buildGraph /** print */ - void Scheduler::print(const string& s) const { - + void Scheduler::print(const string& s, const KeyFormatter& formatter) const { cout << s << " Faculty:" << endl; for(const string& name: facultyName_) cout << name << '\n'; @@ -210,7 +209,7 @@ namespace gtsam { CSP::print(s + " Factor graph"); cout << endl; - } // print + } // print /** Print readable form of assignment */ void Scheduler::printAssignment(sharedValues assignment) const { diff --git a/gtsam_unstable/discrete/Scheduler.h b/gtsam_unstable/discrete/Scheduler.h index 15ba60f46..6faf9956f 100644 --- a/gtsam_unstable/discrete/Scheduler.h +++ b/gtsam_unstable/discrete/Scheduler.h @@ -66,15 +66,17 @@ namespace gtsam { /** * Constructor - * WE need to know the number of students in advance for ordering keys. + * We need to know the number of students in advance for ordering keys. * then add faculty, slots, areas, availability, students, in that order */ - Scheduler(size_t maxNrStudents):maxNrStudents_(maxNrStudents) { - } + Scheduler(size_t maxNrStudents) : maxNrStudents_(maxNrStudents) {} - void addFaculty(const std::string& facultyName) { - facultyIndex_[facultyName] = nrFaculty(); - facultyName_.push_back(facultyName); + /// Destructor + virtual ~Scheduler() {} + + void addFaculty(const std::string& facultyName) { + facultyIndex_[facultyName] = nrFaculty(); + facultyName_.push_back(facultyName); } size_t nrFaculty() const { @@ -140,7 +142,9 @@ namespace gtsam { void buildGraph(size_t mutexBound = 7); /** print */ - void print(const std::string& s = "Scheduler") const; + void print( + const std::string& s = "Scheduler", + const KeyFormatter& formatter = DefaultKeyFormatter) const override; /** Print readable form of assignment */ void printAssignment(sharedValues assignment) const; diff --git a/gtsam_unstable/dynamics/DynamicsPriors.h b/gtsam_unstable/dynamics/DynamicsPriors.h index 1e768ef2a..d4ebcba19 100644 --- a/gtsam_unstable/dynamics/DynamicsPriors.h +++ b/gtsam_unstable/dynamics/DynamicsPriors.h @@ -9,20 +9,28 @@ #pragma once -#include - #include +#include namespace gtsam { +// Indices of relevant variables in the PoseRTV tangent vector: +// [ rx ry rz tx ty tz vx vy vz ] +static const size_t kRollIndex = 0; +static const size_t kPitchIndex = 1; +static const size_t kHeightIndex = 5; +static const size_t kVelocityZIndex = 8; +static const std::vector kVelocityIndices = { 6, 7, 8 }; + /** - * Forces the value of the height in a PoseRTV to a specific value + * Forces the value of the height (z) in a PoseRTV to a specific value. * Dim: 1 */ struct DHeightPrior : public gtsam::PartialPriorFactor { typedef gtsam::PartialPriorFactor Base; + DHeightPrior(Key key, double height, const gtsam::SharedNoiseModel& model) - : Base(key, 5, height, model) { } + : Base(key, kHeightIndex, height, model) {} }; /** @@ -35,11 +43,11 @@ struct DRollPrior : public gtsam::PartialPriorFactor { /** allows for explicit roll parameterization - uses canonical coordinate */ DRollPrior(Key key, double wx, const gtsam::SharedNoiseModel& model) - : Base(key, 0, wx, model) { } + : Base(key, kRollIndex, wx, model) { } /** Forces roll to zero */ DRollPrior(Key key, const gtsam::SharedNoiseModel& model) - : Base(key, 0, 0.0, model) { } + : Base(key, kRollIndex, 0.0, model) { } }; /** @@ -49,17 +57,9 @@ struct DRollPrior : public gtsam::PartialPriorFactor { */ struct VelocityPrior : public gtsam::PartialPriorFactor { typedef gtsam::PartialPriorFactor Base; + VelocityPrior(Key key, const gtsam::Vector& vel, const gtsam::SharedNoiseModel& model) - : Base(key, model) { - this->prior_ = vel; - assert(vel.size() == 3); - this->mask_.resize(3); - this->mask_[0] = 6; - this->mask_[1] = 7; - this->mask_[2] = 8; - this->H_ = Matrix::Zero(3, 9); - this->fillH(); - } + : Base(key, kVelocityIndices, vel, model) {} }; /** @@ -74,31 +74,15 @@ struct DGroundConstraint : public gtsam::PartialPriorFactor { * Primary constructor allows for variable height of the "floor" */ DGroundConstraint(Key key, double height, const gtsam::SharedNoiseModel& model) - : Base(key, model) { - this->prior_ = Vector::Unit(4,0)*height; // [z, vz, roll, pitch] - this->mask_.resize(4); - this->mask_[0] = 5; // z = height - this->mask_[1] = 8; // vz - this->mask_[2] = 0; // roll - this->mask_[3] = 1; // pitch - this->H_ = Matrix::Zero(3, 9); - this->fillH(); - } + : Base(key, { kHeightIndex, kVelocityZIndex, kRollIndex, kPitchIndex }, + Vector::Unit(4, 0)*height, model) {} /** * Fully specify vector - use only for debugging */ DGroundConstraint(Key key, const Vector& constraint, const gtsam::SharedNoiseModel& model) - : Base(key, model) { + : Base(key, { kHeightIndex, kVelocityZIndex, kRollIndex, kPitchIndex }, constraint, model) { assert(constraint.size() == 4); - this->prior_ = constraint; // [z, vz, roll, pitch] - this->mask_.resize(4); - this->mask_[0] = 5; // z = height - this->mask_[1] = 8; // vz - this->mask_[2] = 0; // roll - this->mask_[3] = 1; // pitch - this->H_ = Matrix::Zero(3, 9); - this->fillH(); } }; diff --git a/gtsam_unstable/dynamics/FullIMUFactor.h b/gtsam_unstable/dynamics/FullIMUFactor.h index c8c351d7a..9f00f81d6 100644 --- a/gtsam_unstable/dynamics/FullIMUFactor.h +++ b/gtsam_unstable/dynamics/FullIMUFactor.h @@ -10,6 +10,8 @@ #include #include +#include + namespace gtsam { /** @@ -48,7 +50,7 @@ public: assert(model->dim() == 9); } - virtual ~FullIMUFactor() {} + ~FullIMUFactor() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -89,9 +91,9 @@ public: z.segment(3, 3).operator=(gyro_); // Strange syntax to work around ambiguous operator error with clang z.tail(3).operator=(x2.t()); // Strange syntax to work around ambiguous operator error with clang if (H1) *H1 = numericalDerivative21( - boost::bind(This::predict_proxy, _1, _2, dt_), x1, x2, 1e-5); + std::bind(This::predict_proxy, std::placeholders::_1, std::placeholders::_2, dt_), x1, x2, 1e-5); if (H2) *H2 = numericalDerivative22( - boost::bind(This::predict_proxy, _1, _2, dt_), x1, x2, 1e-5); + std::bind(This::predict_proxy, std::placeholders::_1, std::placeholders::_2, dt_), x1, x2, 1e-5); return z - predict_proxy(x1, x2, dt_); } diff --git a/gtsam_unstable/dynamics/IMUFactor.h b/gtsam_unstable/dynamics/IMUFactor.h index fb864a78d..9a742b4f0 100644 --- a/gtsam_unstable/dynamics/IMUFactor.h +++ b/gtsam_unstable/dynamics/IMUFactor.h @@ -10,6 +10,8 @@ #include #include +#include + namespace gtsam { /** @@ -41,7 +43,7 @@ public: double dt, const Key& key1, const Key& key2, const SharedNoiseModel& model) : Base(model, key1, key2), accel_(imu_vector.head(3)), gyro_(imu_vector.tail(3)), dt_(dt) {} - virtual ~IMUFactor() {} + ~IMUFactor() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -79,9 +81,9 @@ public: boost::optional H2 = boost::none) const override { const Vector6 meas = z(); if (H1) *H1 = numericalDerivative21( - boost::bind(This::predict_proxy, _1, _2, dt_, meas), x1, x2, 1e-5); + std::bind(This::predict_proxy, std::placeholders::_1, std::placeholders::_2, dt_, meas), x1, x2, 1e-5); if (H2) *H2 = numericalDerivative22( - boost::bind(This::predict_proxy, _1, _2, dt_, meas), x1, x2, 1e-5); + std::bind(This::predict_proxy, std::placeholders::_1, std::placeholders::_2, dt_, meas), x1, x2, 1e-5); return predict_proxy(x1, x2, dt_, meas); } diff --git a/gtsam_unstable/dynamics/PoseRTV.h b/gtsam_unstable/dynamics/PoseRTV.h index b1cfb6f30..c573de2b6 100644 --- a/gtsam_unstable/dynamics/PoseRTV.h +++ b/gtsam_unstable/dynamics/PoseRTV.h @@ -80,6 +80,7 @@ public: using Base::Dim; using Base::retract; using Base::localCoordinates; + using Base::LocalCoordinates; /// @} /// @name measurement functions diff --git a/gtsam_unstable/dynamics/SimpleHelicopter.h b/gtsam_unstable/dynamics/SimpleHelicopter.h index 42ef04f84..bf3b95c0f 100644 --- a/gtsam_unstable/dynamics/SimpleHelicopter.h +++ b/gtsam_unstable/dynamics/SimpleHelicopter.h @@ -33,7 +33,7 @@ public: Base(noiseModel::Constrained::All(6, std::abs(mu)), gKey1, gKey, xiKey), h_(h) { } - virtual ~Reconstruction() {} + ~Reconstruction() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -95,7 +95,7 @@ public: Base(noiseModel::Constrained::All(6, std::abs(mu)), xiKey1, xiKey_1, gKey), h_(h), Inertia_(Inertia), Fu_(Fu), m_(m) { } - virtual ~DiscreteEulerPoincareHelicopter() {} + ~DiscreteEulerPoincareHelicopter() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -166,24 +166,24 @@ public: boost::optional H3 = boost::none) const { if (H1) { (*H1) = numericalDerivative31( - boost::function( - boost::bind(&DiscreteEulerPoincareHelicopter::computeError, *this, _1, _2, _3) + std::function( + std::bind(&DiscreteEulerPoincareHelicopter::computeError, *this, _1, _2, _3) ), xik, xik_1, gk, 1e-5 ); } if (H2) { (*H2) = numericalDerivative32( - boost::function( - boost::bind(&DiscreteEulerPoincareHelicopter::computeError, *this, _1, _2, _3) + std::function( + std::bind(&DiscreteEulerPoincareHelicopter::computeError, *this, _1, _2, _3) ), xik, xik_1, gk, 1e-5 ); } if (H3) { (*H3) = numericalDerivative33( - boost::function( - boost::bind(&DiscreteEulerPoincareHelicopter::computeError, *this, _1, _2, _3) + std::function( + std::bind(&DiscreteEulerPoincareHelicopter::computeError, *this, _1, _2, _3) ), xik, xik_1, gk, 1e-5 ); diff --git a/gtsam_unstable/dynamics/VelocityConstraint.h b/gtsam_unstable/dynamics/VelocityConstraint.h index 986d8e271..d24d06e79 100644 --- a/gtsam_unstable/dynamics/VelocityConstraint.h +++ b/gtsam_unstable/dynamics/VelocityConstraint.h @@ -10,6 +10,8 @@ #include #include +#include + namespace gtsam { namespace dynamics { @@ -70,7 +72,7 @@ public: VelocityConstraint(Key key1, Key key2, double dt, const gtsam::SharedNoiseModel& model) : Base(model, key1, key2), dt_(dt), integration_mode_(dynamics::TRAPEZOIDAL) {} - virtual ~VelocityConstraint() {} + ~VelocityConstraint() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -84,9 +86,11 @@ public: boost::optional H1=boost::none, boost::optional H2=boost::none) const override { if (H1) *H1 = gtsam::numericalDerivative21( - boost::bind(VelocityConstraint::evaluateError_, _1, _2, dt_, integration_mode_), x1, x2, 1e-5); + std::bind(VelocityConstraint::evaluateError_, std::placeholders::_1, + std::placeholders::_2, dt_, integration_mode_), x1, x2, 1e-5); if (H2) *H2 = gtsam::numericalDerivative22( - boost::bind(VelocityConstraint::evaluateError_, _1, _2, dt_, integration_mode_), x1, x2, 1e-5); + std::bind(VelocityConstraint::evaluateError_, std::placeholders::_1, + std::placeholders::_2, dt_, integration_mode_), x1, x2, 1e-5); return evaluateError_(x1, x2, dt_, integration_mode_); } diff --git a/gtsam_unstable/dynamics/VelocityConstraint3.h b/gtsam_unstable/dynamics/VelocityConstraint3.h index f6cd8ccc4..c9f05cf98 100644 --- a/gtsam_unstable/dynamics/VelocityConstraint3.h +++ b/gtsam_unstable/dynamics/VelocityConstraint3.h @@ -28,7 +28,7 @@ public: ///TODO: comment VelocityConstraint3(Key key1, Key key2, Key velKey, double dt, double mu = 1000.0) : Base(noiseModel::Constrained::All(1, std::abs(mu)), key1, key2, velKey), dt_(dt) {} - virtual ~VelocityConstraint3() {} + ~VelocityConstraint3() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp b/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp index fe21d5e00..882d5423a 100644 --- a/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp +++ b/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp @@ -9,6 +9,7 @@ #include /* ************************************************************************* */ +using namespace std::placeholders; using namespace gtsam; using namespace gtsam::symbol_shorthand; @@ -56,19 +57,28 @@ TEST( Reconstruction, evaluateError) { assert_equal(Z_6x1, constraint.evaluateError(g2, g1, V1_g1, H1, H2, H3), tol)); Matrix numericalH1 = numericalDerivative31( - boost::function( - boost::bind(&Reconstruction::evaluateError, constraint, _1, _2, _3, - boost::none, boost::none, boost::none)), g2, g1, V1_g1, 1e-5); + std::function( + std::bind(&Reconstruction::evaluateError, constraint, + std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, boost::none, boost::none, + boost::none)), + g2, g1, V1_g1, 1e-5); Matrix numericalH2 = numericalDerivative32( - boost::function( - boost::bind(&Reconstruction::evaluateError, constraint, _1, _2, _3, - boost::none, boost::none, boost::none)), g2, g1, V1_g1, 1e-5); + std::function( + std::bind(&Reconstruction::evaluateError, constraint, + std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, boost::none, boost::none, + boost::none)), + g2, g1, V1_g1, 1e-5); Matrix numericalH3 = numericalDerivative33( - boost::function( - boost::bind(&Reconstruction::evaluateError, constraint, _1, _2, _3, - boost::none, boost::none, boost::none)), g2, g1, V1_g1, 1e-5); + std::function( + std::bind(&Reconstruction::evaluateError, constraint, + std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, boost::none, boost::none, + boost::none)), + g2, g1, V1_g1, 1e-5); EXPECT(assert_equal(numericalH1,H1,1e-5)); EXPECT(assert_equal(numericalH2,H2,1e-5)); @@ -109,22 +119,22 @@ TEST( DiscreteEulerPoincareHelicopter, evaluateError) { EXPECT(assert_equal(Z_6x1, constraint.evaluateError(expectedv2, V1_g1, g2, H1, H2, H3), 1e0)); Matrix numericalH1 = numericalDerivative31( - boost::function( - boost::bind(&DiscreteEulerPoincareHelicopter::evaluateError, constraint, _1, _2, _3, boost::none, boost::none, boost::none) + std::function( + std::bind(&DiscreteEulerPoincareHelicopter::evaluateError, constraint, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, boost::none, boost::none, boost::none) ), expectedv2, V1_g1, g2, 1e-5 ); Matrix numericalH2 = numericalDerivative32( - boost::function( - boost::bind(&DiscreteEulerPoincareHelicopter::evaluateError, constraint, _1, _2, _3, boost::none, boost::none, boost::none) + std::function( + std::bind(&DiscreteEulerPoincareHelicopter::evaluateError, constraint, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, boost::none, boost::none, boost::none) ), expectedv2, V1_g1, g2, 1e-5 ); Matrix numericalH3 = numericalDerivative33( - boost::function( - boost::bind(&DiscreteEulerPoincareHelicopter::evaluateError, constraint, _1, _2, _3, boost::none, boost::none, boost::none) + std::function( + std::bind(&DiscreteEulerPoincareHelicopter::evaluateError, constraint, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, boost::none, boost::none, boost::none) ), expectedv2, V1_g1, g2, 1e-5 ); diff --git a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp index 939d3a5c8..1494d784b 100644 --- a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp +++ b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp @@ -308,11 +308,11 @@ int main(int argc, char** argv) { // And to demonstrate the fixed-lag aspect, print the keys contained in each smoother after 3.0 seconds cout << "After 15.0 seconds, each version contains to the following keys:" << endl; cout << " Concurrent Filter Keys: " << endl; - for(const auto& key_value: concurrentFilter.getLinearizationPoint()) { + for(const auto key_value: concurrentFilter.getLinearizationPoint()) { cout << setprecision(5) << " Key: " << key_value.key << endl; } cout << " Concurrent Smoother Keys: " << endl; - for(const auto& key_value: concurrentSmoother.getLinearizationPoint()) { + for(const auto key_value: concurrentSmoother.getLinearizationPoint()) { cout << setprecision(5) << " Key: " << key_value.key << endl; } cout << " Fixed-Lag Smoother Keys: " << endl; diff --git a/gtsam_unstable/examples/GncPoseAveragingExample.cpp b/gtsam_unstable/examples/GncPoseAveragingExample.cpp new file mode 100644 index 000000000..ad96934c8 --- /dev/null +++ b/gtsam_unstable/examples/GncPoseAveragingExample.cpp @@ -0,0 +1,98 @@ +/* ---------------------------------------------------------------------------- + + * 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 GncPoseAveragingExample.cpp + * @brief example of GNC estimating a single pose from pose priors possibly corrupted with outliers + * You can run this example using: ./GncPoseAveragingExample nrInliers nrOutliers + * e.g.,: ./GncPoseAveragingExample 10 5 (if the numbers are not specified, default + * values nrInliers = 10 and nrOutliers = 10 are used) + * @date May 8, 2021 + * @author Luca Carlone + */ + +#include +#include +#include + +#include +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +int main(int argc, char** argv){ + cout << "== Robust Pose Averaging Example === " << endl; + + // default number of inliers and outliers + size_t nrInliers = 10; + size_t nrOutliers = 10; + + // User can pass arbitrary number of inliers and outliers for testing + if (argc > 1) + nrInliers = atoi(argv[1]); + if (argc > 2) + nrOutliers = atoi(argv[2]); + cout << "nrInliers " << nrInliers << " nrOutliers "<< nrOutliers << endl; + + // Seed random number generator + random_device rd; + mt19937 rng(rd()); + uniform_real_distribution uniform(-10, 10); + normal_distribution normalInliers(0.0, 0.05); + + Values initial; + initial.insert(0, Pose3::identity()); // identity pose as initialization + + // create ground truth pose + Vector6 poseGtVector; + for(size_t i = 0; i < 6; ++i){ + poseGtVector(i) = uniform(rng); + } + Pose3 gtPose = Pose3::Expmap(poseGtVector); // Pose3( Rot3::Ypr(3.0, 1.5, 0.8), Point3(4,1,3) ); + + NonlinearFactorGraph graph; + const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(6,0.05); + // create inliers + for(size_t i=0; i(0,poseMeasurement,model)); + } + + // create outliers + for(size_t i=0; i(0,poseMeasurement,model)); + } + + GncParams gncParams; + auto gnc = GncOptimizer>(graph, + initial, + gncParams); + + Values estimate = gnc.optimize(); + Pose3 poseError = gtPose.between( estimate.at(0) ); + cout << "norm of translation error: " << poseError.translation().norm() << + " norm of rotation error: " << poseError.rotation().rpy().norm() << endl; + // poseError.print("pose error: \n "); + return 0; +} diff --git a/examples/ISAM2_SmartFactorStereo_IMU.cpp b/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp similarity index 100% rename from examples/ISAM2_SmartFactorStereo_IMU.cpp rename to gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp index 5fdc7a743..64afa8030 100644 --- a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp +++ b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp @@ -188,7 +188,8 @@ int main(int argc, char** argv) { smartFactors[j]->addRange(i, range); printf("adding range %g for %d",range,(int)j); } catch (const invalid_argument& e) { - printf("warning: omitting duplicate range %g for %d",range,(int)j); + printf("warning: omitting duplicate range %g for %d: %s", range, + (int)j, e.what()); } cout << endl; } @@ -233,7 +234,7 @@ int main(int argc, char** argv) { } } countK = 0; - for(const Values::ConstFiltered::KeyValuePair& it: result.filter()) + for(const auto it: result.filter()) os2 << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t1" << endl; if (smart) { @@ -256,7 +257,7 @@ int main(int argc, char** argv) { // Write result to file Values result = isam.calculateEstimate(); ofstream os("rangeResult.txt"); - for(const Values::ConstFiltered::KeyValuePair& it: result.filter()) + for(const auto it: result.filter()) os << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t" << it.value.theta() << endl; exit(0); diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp index 90b2a30ff..95aff85a7 100644 --- a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp +++ b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp @@ -202,11 +202,11 @@ int main(int argc, char** argv) { // Write result to file Values result = isam.calculateEstimate(); ofstream os2("rangeResultLM.txt"); - for(const Values::ConstFiltered::KeyValuePair& it: result.filter()) + for(const auto it: result.filter()) os2 << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t1" << endl; ofstream os("rangeResult.txt"); - for(const Values::ConstFiltered::KeyValuePair& it: result.filter()) + for(const auto it: result.filter()) os << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t" << it.value.theta() << endl; exit(0); diff --git a/gtsam_unstable/examples/TimeOfArrivalExample.cpp b/gtsam_unstable/examples/TimeOfArrivalExample.cpp index f72b2cf95..8d496a30e 100644 --- a/gtsam_unstable/examples/TimeOfArrivalExample.cpp +++ b/gtsam_unstable/examples/TimeOfArrivalExample.cpp @@ -24,7 +24,6 @@ #include #include -#include #include #include diff --git a/gtsam_unstable/geometry/tests/testEvent.cpp b/gtsam_unstable/geometry/tests/testEvent.cpp index 0349f3293..f1bbc3970 100644 --- a/gtsam_unstable/geometry/tests/testEvent.cpp +++ b/gtsam_unstable/geometry/tests/testEvent.cpp @@ -23,8 +23,7 @@ #include -#include - +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -66,11 +65,11 @@ TEST(Event, Derivatives) { Matrix13 actualH2; kToa(exampleEvent, microphoneAt0, actualH1, actualH2); Matrix expectedH1 = numericalDerivative11( - boost::bind(kToa, _1, microphoneAt0, boost::none, boost::none), + std::bind(kToa, std::placeholders::_1, microphoneAt0, boost::none, boost::none), exampleEvent); EXPECT(assert_equal(expectedH1, actualH1, 1e-8)); Matrix expectedH2 = numericalDerivative11( - boost::bind(kToa, exampleEvent, _1, boost::none, boost::none), + std::bind(kToa, exampleEvent, std::placeholders::_1, boost::none, boost::none), microphoneAt0); EXPECT(assert_equal(expectedH2, actualH2, 1e-8)); } diff --git a/gtsam_unstable/gtsam_unstable.i b/gtsam_unstable/gtsam_unstable.i index e18d32b59..8c9345147 100644 --- a/gtsam_unstable/gtsam_unstable.i +++ b/gtsam_unstable/gtsam_unstable.i @@ -163,6 +163,7 @@ class BearingS2 { void serializable() const; // enabling serialization functionality }; + #include class SimWall2D { SimWall2D(); diff --git a/gtsam_unstable/linear/InequalityFactorGraph.h b/gtsam_unstable/linear/InequalityFactorGraph.h index d042b0436..7016a7e97 100644 --- a/gtsam_unstable/linear/InequalityFactorGraph.h +++ b/gtsam_unstable/linear/InequalityFactorGraph.h @@ -37,8 +37,9 @@ public: typedef boost::shared_ptr shared_ptr; /** print */ - void print(const std::string& str, const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const { + void print( + const std::string& str = "", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { Base::print(str, keyFormatter); } diff --git a/gtsam_unstable/linear/InfeasibleInitialValues.h b/gtsam_unstable/linear/InfeasibleInitialValues.h index 6f589d0c3..dbd1b3940 100644 --- a/gtsam_unstable/linear/InfeasibleInitialValues.h +++ b/gtsam_unstable/linear/InfeasibleInitialValues.h @@ -29,7 +29,7 @@ public: InfeasibleInitialValues() { } - virtual ~InfeasibleInitialValues() noexcept { + ~InfeasibleInitialValues() noexcept override { } const char *what() const noexcept override { diff --git a/gtsam_unstable/linear/InfeasibleOrUnboundedProblem.h b/gtsam_unstable/linear/InfeasibleOrUnboundedProblem.h index 25742d61f..5f9b9f5b3 100644 --- a/gtsam_unstable/linear/InfeasibleOrUnboundedProblem.h +++ b/gtsam_unstable/linear/InfeasibleOrUnboundedProblem.h @@ -25,7 +25,7 @@ class InfeasibleOrUnboundedProblem: public ThreadsafeException< public: InfeasibleOrUnboundedProblem() { } - virtual ~InfeasibleOrUnboundedProblem() noexcept { + ~InfeasibleOrUnboundedProblem() noexcept override { } const char* what() const noexcept override { diff --git a/gtsam_unstable/linear/LinearCost.h b/gtsam_unstable/linear/LinearCost.h index c22c389be..9ac7e16af 100644 --- a/gtsam_unstable/linear/LinearCost.h +++ b/gtsam_unstable/linear/LinearCost.h @@ -84,7 +84,7 @@ public: } /** Virtual destructor */ - virtual ~LinearCost() { + ~LinearCost() override { } /** equals */ diff --git a/gtsam_unstable/linear/LinearEquality.h b/gtsam_unstable/linear/LinearEquality.h index d960d8336..d2c8586f2 100644 --- a/gtsam_unstable/linear/LinearEquality.h +++ b/gtsam_unstable/linear/LinearEquality.h @@ -85,7 +85,7 @@ public: } /** Virtual destructor */ - virtual ~LinearEquality() { + ~LinearEquality() override { } /** equals */ diff --git a/gtsam_unstable/linear/LinearInequality.h b/gtsam_unstable/linear/LinearInequality.h index d353afc46..dbb9004ea 100644 --- a/gtsam_unstable/linear/LinearInequality.h +++ b/gtsam_unstable/linear/LinearInequality.h @@ -96,7 +96,7 @@ public: } /** Virtual destructor */ - virtual ~LinearInequality() { + ~LinearInequality() override { } /** equals */ diff --git a/gtsam_unstable/linear/QPSParser.cpp b/gtsam_unstable/linear/QPSParser.cpp index 3039185f2..c755f2451 100644 --- a/gtsam_unstable/linear/QPSParser.cpp +++ b/gtsam_unstable/linear/QPSParser.cpp @@ -39,6 +39,7 @@ #include using boost::fusion::at_c; +using namespace std::placeholders; using namespace std; namespace bf = boost::fusion; @@ -81,7 +82,7 @@ class QPSVisitor { varname_to_key; // Variable QPS string name to key std::unordered_map> H; // H from hessian - double f; // Constant term of quadratic cost + double f = 0; // Constant term of quadratic cost std::string obj_name; // the objective function has a name in the QPS std::string name_; // the quadratic program has a name in the QPS std::unordered_map @@ -175,10 +176,11 @@ class QPSVisitor { string var_ = fromChars<1>(vars); string row_ = fromChars<3>(vars); double coefficient = at_c<5>(vars); - if (row_ == obj_name) + if (row_ == obj_name) { f = -coefficient; - else + } else { b[row_] = coefficient; + } if (debug) { cout << "Added RHS for Var: " << var_ << " Row: " << row_ @@ -194,15 +196,17 @@ class QPSVisitor { string row2_ = fromChars<7>(vars); double coefficient1 = at_c<5>(vars); double coefficient2 = at_c<9>(vars); - if (row1_ == obj_name) + if (row1_ == obj_name) { f = -coefficient1; - else + } else { b[row1_] = coefficient1; + } - if (row2_ == obj_name) + if (row2_ == obj_name) { f = -coefficient2; - else + } else { b[row2_] = coefficient2; + } if (debug) { cout << "Added RHS for Var: " << var_ << " Row: " << row1_ @@ -407,50 +411,50 @@ typedef qi::grammar> base_grammar; struct QPSParser::MPSGrammar : base_grammar { typedef std::vector Chars; QPSVisitor *rqp_; - boost::function const &)> setName; - boost::function const &)> + std::function const &)> setName; + std::function const &)> addRow; - boost::function const &)> rhsSingle; - boost::function)> rhsDouble; - boost::function const &)> rangeSingle; - boost::function)> rangeDouble; - boost::function)> colSingle; - boost::function const &)> colDouble; - boost::function const &)> addQuadTerm; - boost::function const &)> addBound; - boost::function const &)> addFreeBound; MPSGrammar(QPSVisitor *rqp) : base_grammar(start), rqp_(rqp), - setName(boost::bind(&QPSVisitor::setName, rqp, ::_1)), - addRow(boost::bind(&QPSVisitor::addRow, rqp, ::_1)), - rhsSingle(boost::bind(&QPSVisitor::addRHS, rqp, ::_1)), - rhsDouble(boost::bind(&QPSVisitor::addRHSDouble, rqp, ::_1)), - rangeSingle(boost::bind(&QPSVisitor::addRangeSingle, rqp, ::_1)), - rangeDouble(boost::bind(&QPSVisitor::addRangeDouble, rqp, ::_1)), - colSingle(boost::bind(&QPSVisitor::addColumn, rqp, ::_1)), - colDouble(boost::bind(&QPSVisitor::addColumnDouble, rqp, ::_1)), - addQuadTerm(boost::bind(&QPSVisitor::addQuadTerm, rqp, ::_1)), - addBound(boost::bind(&QPSVisitor::addBound, rqp, ::_1)), - addFreeBound(boost::bind(&QPSVisitor::addFreeBound, rqp, ::_1)) { + setName(std::bind(&QPSVisitor::setName, rqp, std::placeholders::_1)), + addRow(std::bind(&QPSVisitor::addRow, rqp, std::placeholders::_1)), + rhsSingle(std::bind(&QPSVisitor::addRHS, rqp, std::placeholders::_1)), + rhsDouble(std::bind(&QPSVisitor::addRHSDouble, rqp, std::placeholders::_1)), + rangeSingle(std::bind(&QPSVisitor::addRangeSingle, rqp, std::placeholders::_1)), + rangeDouble(std::bind(&QPSVisitor::addRangeDouble, rqp, std::placeholders::_1)), + colSingle(std::bind(&QPSVisitor::addColumn, rqp, std::placeholders::_1)), + colDouble(std::bind(&QPSVisitor::addColumnDouble, rqp, std::placeholders::_1)), + addQuadTerm(std::bind(&QPSVisitor::addQuadTerm, rqp, std::placeholders::_1)), + addBound(std::bind(&QPSVisitor::addBound, rqp, std::placeholders::_1)), + addFreeBound(std::bind(&QPSVisitor::addFreeBound, rqp, std::placeholders::_1)) { using namespace boost::spirit; using namespace boost::spirit::qi; character = lexeme[alnum | '_' | '-' | '.']; diff --git a/gtsam_unstable/linear/QPSParserException.h b/gtsam_unstable/linear/QPSParserException.h index ef14ed430..aaa74ad56 100644 --- a/gtsam_unstable/linear/QPSParserException.h +++ b/gtsam_unstable/linear/QPSParserException.h @@ -25,7 +25,7 @@ public: QPSParserException() { } - virtual ~QPSParserException() noexcept { + ~QPSParserException() noexcept override { } const char *what() const noexcept override { diff --git a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp index 777e4b2d3..fd18e7c6d 100644 --- a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp +++ b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp @@ -59,7 +59,7 @@ FixedLagSmoother::Result BatchFixedLagSmoother::update( // Add the new variables to theta theta_.insert(newTheta); // Add new variables to the end of the ordering - for (const auto& key_value : newTheta) { + for (const auto key_value : newTheta) { ordering_.push_back(key_value.key); } // Augment Delta @@ -267,7 +267,7 @@ FixedLagSmoother::Result BatchFixedLagSmoother::optimize() { // Put the linearization points and deltas back for specific variables if (enforceConsistency_ && (linearKeys_.size() > 0)) { theta_.update(linearKeys_); - for(const auto& key_value: linearKeys_) { + for(const auto key_value: linearKeys_) { delta_.at(key_value.key) = newDelta.at(key_value.key); } } diff --git a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h index b4645e4ed..94cf130cf 100644 --- a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h +++ b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h @@ -38,7 +38,7 @@ public: FixedLagSmoother(smootherLag), parameters_(parameters), enforceConsistency_(enforceConsistency) { }; /** destructor */ - virtual ~BatchFixedLagSmoother() { }; + ~BatchFixedLagSmoother() override { }; /** Print the factor for debugging and testing (implementing Testable) */ void print(const std::string& s = "BatchFixedLagSmoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override; diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp index 758bcfe48..83d0ab719 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp @@ -139,7 +139,7 @@ ConcurrentBatchFilter::Result ConcurrentBatchFilter::update(const NonlinearFacto // Add the new variables to theta theta_.insert(newTheta); // Add new variables to the end of the ordering - for(const Values::ConstKeyValuePair& key_value: newTheta) { + for(const auto key_value: newTheta) { ordering_.push_back(key_value.key); } // Augment Delta @@ -222,7 +222,7 @@ void ConcurrentBatchFilter::synchronize(const NonlinearFactorGraph& smootherSumm // Find the set of new separator keys KeySet newSeparatorKeys; - for(const Values::ConstKeyValuePair& key_value: separatorValues_) { + for(const auto key_value: separatorValues_) { newSeparatorKeys.insert(key_value.key); } @@ -236,7 +236,7 @@ void ConcurrentBatchFilter::synchronize(const NonlinearFactorGraph& smootherSumm graph.push_back(smootherShortcut_); Values values; values.insert(smootherSummarizationValues); - for(const Values::ConstKeyValuePair& key_value: separatorValues_) { + for(const auto key_value: separatorValues_) { if(!values.exists(key_value.key)) { values.insert(key_value.key, key_value.value); } @@ -471,7 +471,7 @@ void ConcurrentBatchFilter::optimize(const NonlinearFactorGraph& factors, Values // Put the linearization points and deltas back for specific variables if(linearValues.size() > 0) { theta.update(linearValues); - for(const Values::ConstKeyValuePair& key_value: linearValues) { + for(const auto key_value: linearValues) { delta.at(key_value.key) = newDelta.at(key_value.key); } } @@ -574,7 +574,7 @@ void ConcurrentBatchFilter::moveSeparator(const FastList& keysToMove) { // Calculate the set of new separator keys: AffectedKeys + PreviousSeparatorKeys - KeysToMove KeySet newSeparatorKeys = removedFactors.keys(); - for(const Values::ConstKeyValuePair& key_value: separatorValues_) { + for(const auto key_value: separatorValues_) { newSeparatorKeys.insert(key_value.key); } for(Key key: keysToMove) { diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h index c99c67492..7e35476b9 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h +++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h @@ -64,7 +64,7 @@ public: ConcurrentBatchFilter(const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams()) : parameters_(parameters) {}; /** Default destructor */ - virtual ~ConcurrentBatchFilter() {}; + ~ConcurrentBatchFilter() override {}; /** Implement a GTSAM standard 'print' function */ void print(const std::string& s = "Concurrent Batch Filter:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override; @@ -130,7 +130,7 @@ public: * Perform any required operations before the synchronization process starts. * Called by 'synchronize' */ - virtual void presync() override; + void presync() override; /** * Populate the provided containers with factors that constitute the filter branch summarization @@ -162,7 +162,7 @@ public: * Perform any required operations after the synchronization process finishes. * Called by 'synchronize' */ - virtual void postsync() override; + void postsync() override; protected: diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp index 600baa9f0..75d491bde 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp @@ -61,7 +61,7 @@ ConcurrentBatchSmoother::Result ConcurrentBatchSmoother::update(const NonlinearF theta_.insert(newTheta); // Add new variables to the end of the ordering - for(const Values::ConstKeyValuePair& key_value: newTheta) { + for(const auto key_value: newTheta) { ordering_.push_back(key_value.key); } @@ -135,7 +135,7 @@ void ConcurrentBatchSmoother::synchronize(const NonlinearFactorGraph& smootherFa removeFactors(filterSummarizationSlots_); // Insert new linpoints into the values, augment the ordering, and store new dims to augment delta - for(const Values::ConstKeyValuePair& key_value: smootherValues) { + for(const auto key_value: smootherValues) { std::pair iter_inserted = theta_.tryInsert(key_value.key, key_value.value); if(iter_inserted.second) { // If the insert succeeded @@ -146,7 +146,7 @@ void ConcurrentBatchSmoother::synchronize(const NonlinearFactorGraph& smootherFa iter_inserted.first->value = key_value.value; } } - for(const Values::ConstKeyValuePair& key_value: separatorValues) { + for(const auto key_value: separatorValues) { std::pair iter_inserted = theta_.tryInsert(key_value.key, key_value.value); if(iter_inserted.second) { // If the insert succeeded @@ -322,7 +322,7 @@ ConcurrentBatchSmoother::Result ConcurrentBatchSmoother::optimize() { // Put the linearization points and deltas back for specific variables if(separatorValues_.size() > 0) { theta_.update(separatorValues_); - for(const Values::ConstKeyValuePair& key_value: separatorValues_) { + for(const auto key_value: separatorValues_) { delta_.at(key_value.key) = newDelta.at(key_value.key); } } @@ -372,7 +372,7 @@ void ConcurrentBatchSmoother::updateSmootherSummarization() { // Get the set of separator keys gtsam::KeySet separatorKeys; - for(const Values::ConstKeyValuePair& key_value: separatorValues_) { + for(const auto key_value: separatorValues_) { separatorKeys.insert(key_value.key); } diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h index 364d02caf..51d3284a4 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h +++ b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h @@ -57,7 +57,7 @@ public: ConcurrentBatchSmoother(const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams()) : parameters_(parameters) {}; /** Default destructor */ - virtual ~ConcurrentBatchSmoother() {}; + ~ConcurrentBatchSmoother() override {}; /** Implement a GTSAM standard 'print' function */ void print(const std::string& s = "Concurrent Batch Smoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override; @@ -124,7 +124,7 @@ public: * Perform any required operations before the synchronization process starts. * Called by 'synchronize' */ - virtual void presync() override; + void presync() override; /** * Populate the provided containers with factors that constitute the smoother branch summarization @@ -150,7 +150,7 @@ public: * Perform any required operations after the synchronization process finishes. * Called by 'synchronize' */ - virtual void postsync() override; + void postsync() override; protected: diff --git a/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h b/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h index 316db921a..c87b99275 100644 --- a/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h +++ b/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h @@ -47,7 +47,9 @@ public: virtual ~ConcurrentFilter() {}; /** Implement a standard 'print' function */ - virtual void print(const std::string& s = "Concurrent Filter:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0; + virtual void print( + const std::string& s = "Concurrent Filter:\n", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0; /** Check if two Concurrent Smoothers are equal */ virtual bool equals(const ConcurrentFilter& rhs, double tol = 1e-9) const = 0; @@ -107,7 +109,9 @@ public: virtual ~ConcurrentSmoother() {}; /** Implement a standard 'print' function */ - virtual void print(const std::string& s = "Concurrent Smoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0; + virtual void print( + const std::string& s = "Concurrent Smoother:\n", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0; /** Check if two Concurrent Smoothers are equal */ virtual bool equals(const ConcurrentSmoother& rhs, double tol = 1e-9) const = 0; diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp index b70b9efc2..b9cf66a97 100644 --- a/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp @@ -69,13 +69,13 @@ ConcurrentIncrementalFilter::Result ConcurrentIncrementalFilter::update(const No int group = 1; // Set all existing variables to Group1 if(isam2_.getLinearizationPoint().size() > 0) { - for(const Values::ConstKeyValuePair& key_value: isam2_.getLinearizationPoint()) { + for(const auto key_value: isam2_.getLinearizationPoint()) { orderingConstraints->operator[](key_value.key) = group; } ++group; } // Assign new variables to the root - for(const Values::ConstKeyValuePair& key_value: newTheta) { + for(const auto key_value: newTheta) { orderingConstraints->operator[](key_value.key) = group; } // Set marginalizable variables to Group0 @@ -201,7 +201,7 @@ void ConcurrentIncrementalFilter::synchronize(const NonlinearFactorGraph& smooth // Force iSAM2 not to relinearize anything during this iteration FastList noRelinKeys; - for(const Values::ConstKeyValuePair& key_value: isam2_.getLinearizationPoint()) { + for(const auto key_value: isam2_.getLinearizationPoint()) { noRelinKeys.push_back(key_value.key); } diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.h b/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.h index d0525a4da..eb1174749 100644 --- a/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.h +++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.h @@ -64,7 +64,7 @@ public: ConcurrentIncrementalFilter(const ISAM2Params& parameters = ISAM2Params()) : isam2_(parameters) {}; /** Default destructor */ - virtual ~ConcurrentIncrementalFilter() {}; + ~ConcurrentIncrementalFilter() override {}; /** Implement a GTSAM standard 'print' function */ void print(const std::string& s = "Concurrent Incremental Filter:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override; diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp index 714d7c8d0..3886d0e42 100644 --- a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp @@ -66,7 +66,7 @@ ConcurrentIncrementalSmoother::Result ConcurrentIncrementalSmoother::update(cons // Also, mark the separator keys as fixed linearization points FastMap constrainedKeys; FastList noRelinKeys; - for(const Values::ConstKeyValuePair& key_value: separatorValues_) { + for(const auto key_value: separatorValues_) { constrainedKeys[key_value.key] = 1; noRelinKeys.push_back(key_value.key); } @@ -82,12 +82,12 @@ ConcurrentIncrementalSmoother::Result ConcurrentIncrementalSmoother::update(cons Values values(newTheta); // Unfortunately, we must be careful here, as some of the smoother values // and/or separator values may have been added previously - for(const Values::ConstKeyValuePair& key_value: smootherValues_) { + for(const auto key_value: smootherValues_) { if(!isam2_.getLinearizationPoint().exists(key_value.key)) { values.insert(key_value.key, smootherValues_.at(key_value.key)); } } - for(const Values::ConstKeyValuePair& key_value: separatorValues_) { + for(const auto key_value: separatorValues_) { if(!isam2_.getLinearizationPoint().exists(key_value.key)) { values.insert(key_value.key, separatorValues_.at(key_value.key)); } @@ -246,7 +246,7 @@ void ConcurrentIncrementalSmoother::updateSmootherSummarization() { // Get the set of separator keys KeySet separatorKeys; - for(const Values::ConstKeyValuePair& key_value: separatorValues_) { + for(const auto key_value: separatorValues_) { separatorKeys.insert(key_value.key); } diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h index 8848b6a43..a27751561 100644 --- a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h +++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h @@ -54,7 +54,7 @@ public: ConcurrentIncrementalSmoother(const ISAM2Params& parameters = ISAM2Params()) : isam2_(parameters) {}; /** Default destructor */ - virtual ~ConcurrentIncrementalSmoother() {}; + ~ConcurrentIncrementalSmoother() override {}; /** Implement a GTSAM standard 'print' function */ void print(const std::string& s = "Concurrent Incremental Smoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override; diff --git a/gtsam_unstable/nonlinear/FixedLagSmoother.h b/gtsam_unstable/nonlinear/FixedLagSmoother.h index 362cfae96..17fcf3908 100644 --- a/gtsam_unstable/nonlinear/FixedLagSmoother.h +++ b/gtsam_unstable/nonlinear/FixedLagSmoother.h @@ -69,7 +69,9 @@ public: virtual ~FixedLagSmoother() { } /** Print the factor for debugging and testing (implementing Testable) */ - virtual void print(const std::string& s = "FixedLagSmoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + virtual void print( + const std::string& s = "FixedLagSmoother:\n", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; /** Check if two IncrementalFixedLagSmoother Objects are equal */ virtual bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const; diff --git a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h index 3cf6c16d3..79c05a01a 100644 --- a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h +++ b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h @@ -44,15 +44,15 @@ public: } /** destructor */ - virtual ~IncrementalFixedLagSmoother() { + ~IncrementalFixedLagSmoother() override { } /** Print the factor for debugging and testing (implementing Testable) */ - virtual void print(const std::string& s = "IncrementalFixedLagSmoother:\n", + void print(const std::string& s = "IncrementalFixedLagSmoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override; /** Check if two IncrementalFixedLagSmoother Objects are equal */ - virtual bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const override; + bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const override; /** * Add new factors, updating the solution and re-linearizing as needed. diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.h b/gtsam_unstable/nonlinear/LinearizedFactor.h index caf67de21..1ae8a7906 100644 --- a/gtsam_unstable/nonlinear/LinearizedFactor.h +++ b/gtsam_unstable/nonlinear/LinearizedFactor.h @@ -53,7 +53,7 @@ public: */ LinearizedGaussianFactor(const GaussianFactor::shared_ptr& gaussian, const Values& lin_points); - virtual ~LinearizedGaussianFactor() {}; + ~LinearizedGaussianFactor() override {}; // access functions const Values& linearizationPoint() const { return lin_points_; } @@ -109,7 +109,7 @@ public: */ LinearizedJacobianFactor(const JacobianFactor::shared_ptr& jacobian, const Values& lin_points); - virtual ~LinearizedJacobianFactor() {} + ~LinearizedJacobianFactor() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -199,7 +199,7 @@ public: */ LinearizedHessianFactor(const HessianFactor::shared_ptr& hessian, const Values& lin_points); - virtual ~LinearizedHessianFactor() {} + ~LinearizedHessianFactor() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp index 1f19c0e8a..61db05167 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp @@ -64,7 +64,7 @@ NonlinearFactorGraph CalculateMarginals(const NonlinearFactorGraph& factorGraph, std::set KeysToKeep; - for(const Values::ConstKeyValuePair& key_value: linPoint) { // we cycle over all the keys of factorGraph + for(const auto key_value: linPoint) { // we cycle over all the keys of factorGraph KeysToKeep.insert(key_value.key); } // so far we are keeping all keys, but we want to delete the ones that we are going to marginalize for(Key key: keysToMarginalize) { diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp index ae9a3f827..b5fb61428 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp @@ -560,7 +560,7 @@ TEST( ConcurrentBatchSmoother, synchronize_3 ) GaussianFactorGraph::shared_ptr linearFactors = allFactors.linearize(allValues); KeySet eliminateKeys = linearFactors->keys(); - for(const Values::ConstKeyValuePair& key_value: filterSeparatorValues) { + for(const auto key_value: filterSeparatorValues) { eliminateKeys.erase(key_value.key); } KeyVector variables(eliminateKeys.begin(), eliminateKeys.end()); diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp index c5dba1a69..08d71a420 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp @@ -80,7 +80,7 @@ NonlinearFactorGraph CalculateMarginals(const NonlinearFactorGraph& factorGraph, std::set KeysToKeep; - for(const Values::ConstKeyValuePair& key_value: linPoint) { // we cycle over all the keys of factorGraph + for(const auto key_value: linPoint) { // we cycle over all the keys of factorGraph KeysToKeep.insert(key_value.key); } // so far we are keeping all keys, but we want to delete the ones that we are going to marginalize for(Key key: keysToMarginalize) { diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp index 5de115013..ccb5a104e 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp @@ -512,7 +512,7 @@ TEST( ConcurrentIncrementalSmootherDL, synchronize_2 ) // Values expectedLinearizationPoint = BatchOptimize(allFactors, allValues, 1); Values expectedLinearizationPoint = filterSeparatorValues; Values actualLinearizationPoint; - for(const Values::ConstKeyValuePair& key_value: filterSeparatorValues) { + for(const auto key_value: filterSeparatorValues) { actualLinearizationPoint.insert(key_value.key, smoother.getLinearizationPoint().at(key_value.key)); } CHECK(assert_equal(expectedLinearizationPoint, actualLinearizationPoint, 1e-6)); @@ -580,7 +580,7 @@ TEST( ConcurrentIncrementalSmootherDL, synchronize_3 ) // GaussianBayesNet::shared_ptr GBNsptr = GSS.eliminate(); KeySet allkeys = LinFactorGraph->keys(); - for(const Values::ConstKeyValuePair& key_value: filterSeparatorValues) { + for(const auto key_value: filterSeparatorValues) { allkeys.erase(key_value.key); } KeyVector variables(allkeys.begin(), allkeys.end()); diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp index ec78ee6e2..53c3d1610 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp @@ -513,7 +513,7 @@ TEST( ConcurrentIncrementalSmootherGN, synchronize_2 ) // Values expectedLinearizationPoint = BatchOptimize(allFactors, allValues, 1); Values expectedLinearizationPoint = filterSeparatorValues; Values actualLinearizationPoint; - for(const Values::ConstKeyValuePair& key_value: filterSeparatorValues) { + for(const auto key_value: filterSeparatorValues) { actualLinearizationPoint.insert(key_value.key, smoother.getLinearizationPoint().at(key_value.key)); } CHECK(assert_equal(expectedLinearizationPoint, actualLinearizationPoint, 1e-6)); @@ -582,7 +582,7 @@ TEST( ConcurrentIncrementalSmootherGN, synchronize_3 ) // GaussianBayesNet::shared_ptr GBNsptr = GSS.eliminate(); KeySet allkeys = LinFactorGraph->keys(); - for(const Values::ConstKeyValuePair& key_value: filterSeparatorValues) + for(const auto key_value: filterSeparatorValues) allkeys.erase(key_value.key); KeyVector variables(allkeys.begin(), allkeys.end()); std::pair result = LinFactorGraph->eliminatePartialSequential(variables, EliminateCholesky); diff --git a/gtsam_unstable/slam/BetweenFactorEM.h b/gtsam_unstable/slam/BetweenFactorEM.h index 43607ac41..98ec59fe9 100644 --- a/gtsam_unstable/slam/BetweenFactorEM.h +++ b/gtsam_unstable/slam/BetweenFactorEM.h @@ -78,7 +78,7 @@ public: flag_bump_up_near_zero_probs) { } - virtual ~BetweenFactorEM() { + ~BetweenFactorEM() override { } /** implement functions needed for Testable */ diff --git a/gtsam_unstable/slam/BiasedGPSFactor.h b/gtsam_unstable/slam/BiasedGPSFactor.h index c8bbdd78a..f2e9d3fa8 100644 --- a/gtsam_unstable/slam/BiasedGPSFactor.h +++ b/gtsam_unstable/slam/BiasedGPSFactor.h @@ -50,7 +50,7 @@ namespace gtsam { Base(model, posekey, biaskey), measured_(measured) { } - virtual ~BiasedGPSFactor() {} + ~BiasedGPSFactor() override {} /** implement functions needed for Testable */ diff --git a/gtsam_unstable/slam/DummyFactor.h b/gtsam_unstable/slam/DummyFactor.h index 08b1c800a..0484fc4c3 100644 --- a/gtsam_unstable/slam/DummyFactor.h +++ b/gtsam_unstable/slam/DummyFactor.h @@ -29,7 +29,7 @@ public: /** standard binary constructor */ DummyFactor(const Key& key1, size_t dim1, const Key& key2, size_t dim2); - virtual ~DummyFactor() {} + ~DummyFactor() override {} // testable diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h index 745605325..cabbfdbe8 100644 --- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h +++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h @@ -27,6 +27,7 @@ // Using numerical derivative to calculate d(Pose3::Expmap)/dw #include +#include #include #include @@ -128,7 +129,7 @@ public: dt12_(dt12), world_g_(world_g), world_rho_(world_rho), world_omega_earth_(world_omega_earth), Jacobian_wrt_t0_Overall_(Jacobian_wrt_t0_Overall), Bias_initial_(Bias_initial), body_P_sensor_(body_P_sensor) { } - virtual ~EquivInertialNavFactor_GlobalVel() {} + ~EquivInertialNavFactor_GlobalVel() override {} /** implement functions needed for Testable */ @@ -307,38 +308,68 @@ public: // TODO: Write analytical derivative calculations // Jacobian w.r.t. Pose1 if (H1){ - Matrix H1_Pose = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, _1, Vel1, Bias1, Pose2, Vel2), Pose1); - Matrix H1_Vel = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, _1, Vel1, Bias1, Pose2, Vel2), Pose1); + Matrix H1_Pose = numericalDerivative11( + std::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, + this, std::placeholders::_1, Vel1, Bias1, Pose2, Vel2), + Pose1); + Matrix H1_Vel = numericalDerivative11( + std::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, + this, std::placeholders::_1, Vel1, Bias1, Pose2, Vel2), + Pose1); *H1 = stack(2, &H1_Pose, &H1_Vel); } // Jacobian w.r.t. Vel1 if (H2){ if (Vel1.size()!=3) throw std::runtime_error("Frank's hack to make this compile will not work if size != 3"); - Matrix H2_Pose = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, _1, Bias1, Pose2, Vel2), Vel1); - Matrix H2_Vel = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, _1, Bias1, Pose2, Vel2), Vel1); + Matrix H2_Pose = numericalDerivative11( + std::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, + this, Pose1, std::placeholders::_1, Bias1, Pose2, Vel2), + Vel1); + Matrix H2_Vel = numericalDerivative11( + std::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, + this, Pose1, std::placeholders::_1, Bias1, Pose2, Vel2), + Vel1); *H2 = stack(2, &H2_Pose, &H2_Vel); } // Jacobian w.r.t. IMUBias1 if (H3){ - Matrix H3_Pose = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, Vel1, _1, Pose2, Vel2), Bias1); - Matrix H3_Vel = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, Vel1, _1, Pose2, Vel2), Bias1); + Matrix H3_Pose = numericalDerivative11( + std::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, + this, Pose1, Vel1, std::placeholders::_1, Pose2, Vel2), + Bias1); + Matrix H3_Vel = numericalDerivative11( + std::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, + this, Pose1, Vel1, std::placeholders::_1, Pose2, Vel2), + Bias1); *H3 = stack(2, &H3_Pose, &H3_Vel); } // Jacobian w.r.t. Pose2 if (H4){ - Matrix H4_Pose = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, Vel1, Bias1, _1, Vel2), Pose2); - Matrix H4_Vel = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, Vel1, Bias1, _1, Vel2), Pose2); + Matrix H4_Pose = numericalDerivative11( + std::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, + this, Pose1, Vel1, Bias1, std::placeholders::_1, Vel2), + Pose2); + Matrix H4_Vel = numericalDerivative11( + std::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, + this, Pose1, Vel1, Bias1, std::placeholders::_1, Vel2), + Pose2); *H4 = stack(2, &H4_Pose, &H4_Vel); } // Jacobian w.r.t. Vel2 if (H5){ if (Vel2.size()!=3) throw std::runtime_error("Frank's hack to make this compile will not work if size != 3"); - Matrix H5_Pose = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, Vel1, Bias1, Pose2, _1), Vel2); - Matrix H5_Vel = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, Vel1, Bias1, Pose2, _1), Vel2); + Matrix H5_Pose = numericalDerivative11( + std::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, + this, Pose1, Vel1, Bias1, Pose2, std::placeholders::_1), + Vel2); + Matrix H5_Vel = numericalDerivative11( + std::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, + this, Pose1, Vel1, Bias1, Pose2, std::placeholders::_1), + Vel2); *H5 = stack(2, &H5_Pose, &H5_Vel); } @@ -437,18 +468,45 @@ public: Matrix Z_3x3 = Z_3x3; Matrix I_3x3 = I_3x3; - Matrix H_pos_pos = numericalDerivative11(boost::bind(&PreIntegrateIMUObservations_delta_pos, msr_dt, _1, delta_vel_in_t0), delta_pos_in_t0); - Matrix H_pos_vel = numericalDerivative11(boost::bind(&PreIntegrateIMUObservations_delta_pos, msr_dt, delta_pos_in_t0, _1), delta_vel_in_t0); + Matrix H_pos_pos = numericalDerivative11( + std::bind(&PreIntegrateIMUObservations_delta_pos, msr_dt, + std::placeholders::_1, delta_vel_in_t0), + delta_pos_in_t0); + Matrix H_pos_vel = numericalDerivative11( + std::bind(&PreIntegrateIMUObservations_delta_pos, msr_dt, + delta_pos_in_t0, std::placeholders::_1), + delta_vel_in_t0); Matrix H_pos_angles = Z_3x3; Matrix H_pos_bias = collect(2, &Z_3x3, &Z_3x3); - Matrix H_vel_vel = numericalDerivative11(boost::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, delta_angles, _1, flag_use_body_P_sensor, body_P_sensor, Bias_t0), delta_vel_in_t0); - Matrix H_vel_angles = numericalDerivative11(boost::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, _1, delta_vel_in_t0, flag_use_body_P_sensor, body_P_sensor, Bias_t0), delta_angles); - Matrix H_vel_bias = numericalDerivative11(boost::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, delta_angles, delta_vel_in_t0, flag_use_body_P_sensor, body_P_sensor, _1), Bias_t0); + Matrix H_vel_vel = numericalDerivative11( + std::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, + msr_acc_t, msr_dt, delta_angles, std::placeholders::_1, + flag_use_body_P_sensor, body_P_sensor, Bias_t0), + delta_vel_in_t0); + Matrix H_vel_angles = numericalDerivative11( + std::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, + msr_acc_t, msr_dt, std::placeholders::_1, delta_vel_in_t0, + flag_use_body_P_sensor, body_P_sensor, Bias_t0), + delta_angles); + Matrix H_vel_bias = numericalDerivative11( + std::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, + msr_acc_t, msr_dt, delta_angles, delta_vel_in_t0, + flag_use_body_P_sensor, body_P_sensor, + std::placeholders::_1), + Bias_t0); Matrix H_vel_pos = Z_3x3; - Matrix H_angles_angles = numericalDerivative11(boost::bind(&PreIntegrateIMUObservations_delta_angles, msr_gyro_t, msr_dt, _1, flag_use_body_P_sensor, body_P_sensor, Bias_t0), delta_angles); - Matrix H_angles_bias = numericalDerivative11(boost::bind(&PreIntegrateIMUObservations_delta_angles, msr_gyro_t, msr_dt, delta_angles, flag_use_body_P_sensor, body_P_sensor, _1), Bias_t0); + Matrix H_angles_angles = numericalDerivative11( + std::bind(&PreIntegrateIMUObservations_delta_angles, msr_gyro_t, + msr_dt, std::placeholders::_1, flag_use_body_P_sensor, + body_P_sensor, Bias_t0), + delta_angles); + Matrix H_angles_bias = numericalDerivative11( + std::bind(&PreIntegrateIMUObservations_delta_angles, msr_gyro_t, + msr_dt, delta_angles, flag_use_body_P_sensor, body_P_sensor, + std::placeholders::_1), + Bias_t0); Matrix H_angles_pos = Z_3x3; Matrix H_angles_vel = Z_3x3; diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h index 9f5d800db..0e2aebd7f 100644 --- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h +++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h @@ -132,7 +132,9 @@ public: /** implement functions needed for Testable */ /** print */ - virtual void print(const std::string& s = "EquivInertialNavFactor_GlobalVel_NoBias", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + virtual void print( + const std::string& s = "EquivInertialNavFactor_GlobalVel_NoBias", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "(" << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << "," @@ -276,29 +278,29 @@ public: // TODO: Write analytical derivative calculations // Jacobian w.r.t. Pose1 if (H1){ - Matrix H1_Pose = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluatePoseError, this, _1, Vel1, Pose2, Vel2), Pose1); - Matrix H1_Vel = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluateVelocityError, this, _1, Vel1, Pose2, Vel2), Pose1); + Matrix H1_Pose = numericalDerivative11(std::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluatePoseError, this, _1, Vel1, Pose2, Vel2), Pose1); + Matrix H1_Vel = numericalDerivative11(std::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluateVelocityError, this, _1, Vel1, Pose2, Vel2), Pose1); *H1 = stack(2, &H1_Pose, &H1_Vel); } // Jacobian w.r.t. Vel1 if (H2){ - Matrix H2_Pose = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluatePoseError, this, Pose1, _1, Pose2, Vel2), Vel1); - Matrix H2_Vel = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluateVelocityError, this, Pose1, _1, Pose2, Vel2), Vel1); + Matrix H2_Pose = numericalDerivative11(std::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluatePoseError, this, Pose1, _1, Pose2, Vel2), Vel1); + Matrix H2_Vel = numericalDerivative11(std::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluateVelocityError, this, Pose1, _1, Pose2, Vel2), Vel1); *H2 = stack(2, &H2_Pose, &H2_Vel); } // Jacobian w.r.t. Pose2 if (H3){ - Matrix H3_Pose = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluatePoseError, this, Pose1, Vel1, _1, Vel2), Pose2); - Matrix H3_Vel = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluateVelocityError, this, Pose1, Vel1, _1, Vel2), Pose2); + Matrix H3_Pose = numericalDerivative11(std::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluatePoseError, this, Pose1, Vel1, _1, Vel2), Pose2); + Matrix H3_Vel = numericalDerivative11(std::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluateVelocityError, this, Pose1, Vel1, _1, Vel2), Pose2); *H3 = stack(2, &H3_Pose, &H3_Vel); } // Jacobian w.r.t. Vel2 if (H4){ - Matrix H4_Pose = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluatePoseError, this, Pose1, Vel1, Pose2, _1), Vel2); - Matrix H4_Vel = numericalDerivative11(boost::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluateVelocityError, this, Pose1, Vel1, Pose2, _1), Vel2); + Matrix H4_Pose = numericalDerivative11(std::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluatePoseError, this, Pose1, Vel1, Pose2, _1), Vel2); + Matrix H4_Vel = numericalDerivative11(std::bind(&EquivInertialNavFactor_GlobalVel_NoBias::evaluateVelocityError, this, Pose1, Vel1, Pose2, _1), Vel2); *H4 = stack(2, &H4_Pose, &H4_Vel); } @@ -370,15 +372,15 @@ public: Matrix Z_3x3 = Z_3x3; Matrix I_3x3 = I_3x3; - Matrix H_pos_pos = numericalDerivative11(boost::bind(&PreIntegrateIMUObservations_delta_pos, msr_dt, _1, delta_vel_in_t0), delta_pos_in_t0); - Matrix H_pos_vel = numericalDerivative11(boost::bind(&PreIntegrateIMUObservations_delta_pos, msr_dt, delta_pos_in_t0, _1), delta_vel_in_t0); + Matrix H_pos_pos = numericalDerivative11(std::bind(&PreIntegrateIMUObservations_delta_pos, msr_dt, _1, delta_vel_in_t0), delta_pos_in_t0); + Matrix H_pos_vel = numericalDerivative11(std::bind(&PreIntegrateIMUObservations_delta_pos, msr_dt, delta_pos_in_t0, _1), delta_vel_in_t0); Matrix H_pos_angles = Z_3x3; - Matrix H_vel_vel = numericalDerivative11(boost::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, delta_angles, _1, flag_use_body_P_sensor, body_P_sensor), delta_vel_in_t0); - Matrix H_vel_angles = numericalDerivative11(boost::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, _1, delta_vel_in_t0, flag_use_body_P_sensor, body_P_sensor), delta_angles); + Matrix H_vel_vel = numericalDerivative11(std::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, delta_angles, _1, flag_use_body_P_sensor, body_P_sensor), delta_vel_in_t0); + Matrix H_vel_angles = numericalDerivative11(std::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, _1, delta_vel_in_t0, flag_use_body_P_sensor, body_P_sensor), delta_angles); Matrix H_vel_pos = Z_3x3; - Matrix H_angles_angles = numericalDerivative11(boost::bind(&PreIntegrateIMUObservations_delta_angles, msr_gyro_t, msr_dt, _1, flag_use_body_P_sensor, body_P_sensor), delta_angles); + Matrix H_angles_angles = numericalDerivative11(std::bind(&PreIntegrateIMUObservations_delta_angles, msr_gyro_t, msr_dt, _1, flag_use_body_P_sensor, body_P_sensor), delta_angles); Matrix H_angles_pos = Z_3x3; Matrix H_angles_vel = Z_3x3; diff --git a/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h b/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h index f6de48625..52e4f44cb 100644 --- a/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h +++ b/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h @@ -66,7 +66,7 @@ public: Base(calcDiscreteNoiseModel(model, delta_t), key1, key2), dt_(delta_t), tau_(tau) { } - virtual ~GaussMarkov1stOrderFactor() {} + ~GaussMarkov1stOrderFactor() override {} /** implement functions needed for Testable */ diff --git a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h index e5a3e9118..0828fbd08 100644 --- a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h +++ b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h @@ -26,6 +26,7 @@ // Using numerical derivative to calculate d(Pose3::Expmap)/dw #include +#include #include #include @@ -109,7 +110,7 @@ public: Pose1, Vel1, IMUBias1, Pose2, Vel2), measurement_acc_(measurement_acc), measurement_gyro_(measurement_gyro), dt_(measurement_dt), world_g_(world_g), world_rho_(world_rho), world_omega_earth_(world_omega_earth), body_P_sensor_(body_P_sensor) { } - virtual ~InertialNavFactor_GlobalVelocity() {} + ~InertialNavFactor_GlobalVelocity() override {} /** implement functions needed for Testable */ @@ -234,38 +235,68 @@ public: // TODO: Write analytical derivative calculations // Jacobian w.r.t. Pose1 if (H1){ - Matrix H1_Pose = gtsam::numericalDerivative11(boost::bind(&InertialNavFactor_GlobalVelocity::evaluatePoseError, this, _1, Vel1, Bias1, Pose2, Vel2), Pose1); - Matrix H1_Vel = gtsam::numericalDerivative11(boost::bind(&InertialNavFactor_GlobalVelocity::evaluateVelocityError, this, _1, Vel1, Bias1, Pose2, Vel2), Pose1); + Matrix H1_Pose = gtsam::numericalDerivative11( + std::bind(&InertialNavFactor_GlobalVelocity::evaluatePoseError, + this, std::placeholders::_1, Vel1, Bias1, Pose2, Vel2), + Pose1); + Matrix H1_Vel = gtsam::numericalDerivative11( + std::bind(&InertialNavFactor_GlobalVelocity::evaluateVelocityError, + this, std::placeholders::_1, Vel1, Bias1, Pose2, Vel2), + Pose1); *H1 = stack(2, &H1_Pose, &H1_Vel); } // Jacobian w.r.t. Vel1 if (H2){ if (Vel1.size()!=3) throw std::runtime_error("Frank's hack to make this compile will not work if size != 3"); - Matrix H2_Pose = gtsam::numericalDerivative11(boost::bind(&InertialNavFactor_GlobalVelocity::evaluatePoseError, this, Pose1, _1, Bias1, Pose2, Vel2), Vel1); - Matrix H2_Vel = gtsam::numericalDerivative11(boost::bind(&InertialNavFactor_GlobalVelocity::evaluateVelocityError, this, Pose1, _1, Bias1, Pose2, Vel2), Vel1); + Matrix H2_Pose = gtsam::numericalDerivative11( + std::bind(&InertialNavFactor_GlobalVelocity::evaluatePoseError, + this, Pose1, std::placeholders::_1, Bias1, Pose2, Vel2), + Vel1); + Matrix H2_Vel = gtsam::numericalDerivative11( + std::bind(&InertialNavFactor_GlobalVelocity::evaluateVelocityError, + this, Pose1, std::placeholders::_1, Bias1, Pose2, Vel2), + Vel1); *H2 = stack(2, &H2_Pose, &H2_Vel); } // Jacobian w.r.t. IMUBias1 if (H3){ - Matrix H3_Pose = gtsam::numericalDerivative11(boost::bind(&InertialNavFactor_GlobalVelocity::evaluatePoseError, this, Pose1, Vel1, _1, Pose2, Vel2), Bias1); - Matrix H3_Vel = gtsam::numericalDerivative11(boost::bind(&InertialNavFactor_GlobalVelocity::evaluateVelocityError, this, Pose1, Vel1, _1, Pose2, Vel2), Bias1); + Matrix H3_Pose = gtsam::numericalDerivative11( + std::bind(&InertialNavFactor_GlobalVelocity::evaluatePoseError, + this, Pose1, Vel1, std::placeholders::_1, Pose2, Vel2), + Bias1); + Matrix H3_Vel = gtsam::numericalDerivative11( + std::bind(&InertialNavFactor_GlobalVelocity::evaluateVelocityError, + this, Pose1, Vel1, std::placeholders::_1, Pose2, Vel2), + Bias1); *H3 = stack(2, &H3_Pose, &H3_Vel); } // Jacobian w.r.t. Pose2 if (H4){ - Matrix H4_Pose = gtsam::numericalDerivative11(boost::bind(&InertialNavFactor_GlobalVelocity::evaluatePoseError, this, Pose1, Vel1, Bias1, _1, Vel2), Pose2); - Matrix H4_Vel = gtsam::numericalDerivative11(boost::bind(&InertialNavFactor_GlobalVelocity::evaluateVelocityError, this, Pose1, Vel1, Bias1, _1, Vel2), Pose2); + Matrix H4_Pose = gtsam::numericalDerivative11( + std::bind(&InertialNavFactor_GlobalVelocity::evaluatePoseError, + this, Pose1, Vel1, Bias1, std::placeholders::_1, Vel2), + Pose2); + Matrix H4_Vel = gtsam::numericalDerivative11( + std::bind(&InertialNavFactor_GlobalVelocity::evaluateVelocityError, + this, Pose1, Vel1, Bias1, std::placeholders::_1, Vel2), + Pose2); *H4 = stack(2, &H4_Pose, &H4_Vel); } // Jacobian w.r.t. Vel2 if (H5){ if (Vel2.size()!=3) throw std::runtime_error("Frank's hack to make this compile will not work if size != 3"); - Matrix H5_Pose = gtsam::numericalDerivative11(boost::bind(&InertialNavFactor_GlobalVelocity::evaluatePoseError, this, Pose1, Vel1, Bias1, Pose2, _1), Vel2); - Matrix H5_Vel = gtsam::numericalDerivative11(boost::bind(&InertialNavFactor_GlobalVelocity::evaluateVelocityError, this, Pose1, Vel1, Bias1, Pose2, _1), Vel2); + Matrix H5_Pose = gtsam::numericalDerivative11( + std::bind(&InertialNavFactor_GlobalVelocity::evaluatePoseError, + this, Pose1, Vel1, Bias1, Pose2, std::placeholders::_1), + Vel2); + Matrix H5_Vel = gtsam::numericalDerivative11( + std::bind(&InertialNavFactor_GlobalVelocity::evaluateVelocityError, + this, Pose1, Vel1, Bias1, Pose2, std::placeholders::_1), + Vel2); *H5 = stack(2, &H5_Pose, &H5_Vel); } diff --git a/gtsam_unstable/slam/InvDepthFactor3.h b/gtsam_unstable/slam/InvDepthFactor3.h index 50b0c5980..3fd86f271 100644 --- a/gtsam_unstable/slam/InvDepthFactor3.h +++ b/gtsam_unstable/slam/InvDepthFactor3.h @@ -62,7 +62,7 @@ public: Base(model, poseKey, pointKey, invDepthKey), measured_(measured), K_(K) {} /** Virtual destructor */ - virtual ~InvDepthFactor3() {} + ~InvDepthFactor3() override {} /** * print diff --git a/gtsam_unstable/slam/InvDepthFactorVariant1.h b/gtsam_unstable/slam/InvDepthFactorVariant1.h index 785556750..40c09416c 100644 --- a/gtsam_unstable/slam/InvDepthFactorVariant1.h +++ b/gtsam_unstable/slam/InvDepthFactorVariant1.h @@ -17,6 +17,8 @@ #include #include +#include + namespace gtsam { /** @@ -58,7 +60,7 @@ public: Base(model, poseKey, landmarkKey), measured_(measured), K_(K) {} /** Virtual destructor */ - virtual ~InvDepthFactorVariant1() {} + ~InvDepthFactorVariant1() override {} /** * print @@ -106,13 +108,14 @@ public: if (H1) { (*H1) = numericalDerivative11( - boost::bind(&InvDepthFactorVariant1::inverseDepthError, this, _1, - landmark), pose); + std::bind(&InvDepthFactorVariant1::inverseDepthError, this, + std::placeholders::_1, landmark), + pose); } if (H2) { (*H2) = numericalDerivative11( - boost::bind(&InvDepthFactorVariant1::inverseDepthError, this, pose, - _1), landmark); + std::bind(&InvDepthFactorVariant1::inverseDepthError, this, pose, + std::placeholders::_1), landmark); } return inverseDepthError(pose, landmark); diff --git a/gtsam_unstable/slam/InvDepthFactorVariant2.h b/gtsam_unstable/slam/InvDepthFactorVariant2.h index 97ceb8a8b..b1169580e 100644 --- a/gtsam_unstable/slam/InvDepthFactorVariant2.h +++ b/gtsam_unstable/slam/InvDepthFactorVariant2.h @@ -18,6 +18,8 @@ #include #include +#include + namespace gtsam { /** @@ -61,7 +63,7 @@ public: Base(model, poseKey, landmarkKey), measured_(measured), K_(K), referencePoint_(referencePoint) {} /** Virtual destructor */ - virtual ~InvDepthFactorVariant2() {} + ~InvDepthFactorVariant2() override {} /** * print @@ -109,13 +111,13 @@ public: if (H1) { (*H1) = numericalDerivative11( - boost::bind(&InvDepthFactorVariant2::inverseDepthError, this, _1, - landmark), pose); + std::bind(&InvDepthFactorVariant2::inverseDepthError, this, + std::placeholders::_1, landmark), pose); } if (H2) { (*H2) = numericalDerivative11( - boost::bind(&InvDepthFactorVariant2::inverseDepthError, this, pose, - _1), landmark); + std::bind(&InvDepthFactorVariant2::inverseDepthError, this, pose, + std::placeholders::_1), landmark); } return inverseDepthError(pose, landmark); diff --git a/gtsam_unstable/slam/InvDepthFactorVariant3.h b/gtsam_unstable/slam/InvDepthFactorVariant3.h index 21c7aa6de..98f2db2f3 100644 --- a/gtsam_unstable/slam/InvDepthFactorVariant3.h +++ b/gtsam_unstable/slam/InvDepthFactorVariant3.h @@ -17,6 +17,8 @@ #include #include +#include + namespace gtsam { /** @@ -60,7 +62,7 @@ public: Base(model, poseKey, landmarkKey), measured_(measured), K_(K) {} /** Virtual destructor */ - virtual ~InvDepthFactorVariant3a() {} + ~InvDepthFactorVariant3a() override {} /** * print @@ -108,10 +110,16 @@ public: boost::optional H2=boost::none) const override { if(H1) { - (*H1) = numericalDerivative11(boost::bind(&InvDepthFactorVariant3a::inverseDepthError, this, _1, landmark), pose); + (*H1) = numericalDerivative11( + std::bind(&InvDepthFactorVariant3a::inverseDepthError, this, + std::placeholders::_1, landmark), + pose); } if(H2) { - (*H2) = numericalDerivative11(boost::bind(&InvDepthFactorVariant3a::inverseDepthError, this, pose, _1), landmark); + (*H2) = numericalDerivative11( + std::bind(&InvDepthFactorVariant3a::inverseDepthError, this, pose, + std::placeholders::_1), + landmark); } return inverseDepthError(pose, landmark); @@ -180,7 +188,7 @@ public: Base(model, poseKey1, poseKey2, landmarkKey), measured_(measured), K_(K) {} /** Virtual destructor */ - virtual ~InvDepthFactorVariant3b() {} + ~InvDepthFactorVariant3b() override {} /** * print @@ -229,13 +237,22 @@ public: boost::optional H3=boost::none) const override { if(H1) - (*H1) = numericalDerivative11(boost::bind(&InvDepthFactorVariant3b::inverseDepthError, this, _1, pose2, landmark), pose1); + (*H1) = numericalDerivative11( + std::bind(&InvDepthFactorVariant3b::inverseDepthError, this, + std::placeholders::_1, pose2, landmark), + pose1); if(H2) - (*H2) = numericalDerivative11(boost::bind(&InvDepthFactorVariant3b::inverseDepthError, this, pose1, _1, landmark), pose2); + (*H2) = numericalDerivative11( + std::bind(&InvDepthFactorVariant3b::inverseDepthError, this, pose1, + std::placeholders::_1, landmark), + pose2); if(H3) - (*H3) = numericalDerivative11(boost::bind(&InvDepthFactorVariant3b::inverseDepthError, this, pose1, pose2, _1), landmark); + (*H3) = numericalDerivative11( + std::bind(&InvDepthFactorVariant3b::inverseDepthError, this, pose1, + pose2, std::placeholders::_1), + landmark); return inverseDepthError(pose1, pose2, landmark); } diff --git a/gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp b/gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp new file mode 100644 index 000000000..25d7083f8 --- /dev/null +++ b/gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp @@ -0,0 +1,64 @@ +/* + * LocalOrientedPlane3Factor.cpp + * + * Author: David Wisth + * Created on: February 12, 2021 + */ + +#include "LocalOrientedPlane3Factor.h" + +using namespace std; + +namespace gtsam { + +//*************************************************************************** +void LocalOrientedPlane3Factor::print(const string& s, + const KeyFormatter& keyFormatter) const { + cout << s << (s == "" ? "" : "\n"); + cout << "LocalOrientedPlane3Factor Factor (" << keyFormatter(key1()) << ", " + << keyFormatter(key2()) << ", " << keyFormatter(key3()) << ")\n"; + measured_p_.print("Measured Plane"); + this->noiseModel_->print(" noise model: "); +} + +//*************************************************************************** +Vector LocalOrientedPlane3Factor::evaluateError(const Pose3& wTwi, + const Pose3& wTwa, const OrientedPlane3& a_plane, + boost::optional H1, boost::optional H2, + boost::optional H3) const { + + Matrix66 aTai_H_wTwa, aTai_H_wTwi; + Matrix36 predicted_H_aTai; + Matrix33 predicted_H_plane, error_H_predicted; + + // Find the relative transform from anchor to sensor frame. + const Pose3 aTai = wTwa.transformPoseTo(wTwi, + H2 ? &aTai_H_wTwa : nullptr, + H1 ? &aTai_H_wTwi : nullptr); + + // Transform the plane measurement into sensor frame. + const OrientedPlane3 i_plane = a_plane.transform(aTai, + H2 ? &predicted_H_plane : nullptr, + (H1 || H3) ? &predicted_H_aTai : nullptr); + + // Calculate the error between measured and estimated planes in sensor frame. + const Vector3 err = measured_p_.errorVector(i_plane, + boost::none, (H1 || H2 || H3) ? &error_H_predicted : nullptr); + + // Apply the chain rule to calculate the derivatives. + if (H1) { + *H1 = error_H_predicted * predicted_H_aTai * aTai_H_wTwi; + } + + if (H2) { + *H2 = error_H_predicted * predicted_H_aTai * aTai_H_wTwa; + } + + if (H3) { + *H3 = error_H_predicted * predicted_H_plane; + } + + return err; +} + +} // namespace gtsam diff --git a/gtsam_unstable/slam/LocalOrientedPlane3Factor.h b/gtsam_unstable/slam/LocalOrientedPlane3Factor.h new file mode 100644 index 000000000..5264c8f4b --- /dev/null +++ b/gtsam_unstable/slam/LocalOrientedPlane3Factor.h @@ -0,0 +1,92 @@ +/* + * @file LocalOrientedPlane3Factor.h + * @brief LocalOrientedPlane3 Factor class + * @author David Wisth + * @date February 12, 2021 + */ + +#pragma once + +#include +#include +#include + +namespace gtsam { + +/** + * Factor to measure a planar landmark from a given pose, with a given local + * linearization point. + * + * This factor is based on the relative plane factor formulation proposed in: + * Equation 25, + * M. Kaess, "Simultaneous Localization and Mapping with Infinite Planes", + * IEEE International Conference on Robotics and Automation, 2015. + * + * + * The main purpose of this factor is to improve the numerical stability of the + * optimization, especially compared to gtsam::OrientedPlane3Factor. This + * is especially relevant when the sensor is far from the origin (and thus + * the derivatives associated to transforming the plane are large). + * + * x0 is the current sensor pose, and x1 is the local "anchor pose" - i.e. + * a local linearisation point for the plane. The plane is representated and + * optimized in x1 frame in the optimization. + */ +class LocalOrientedPlane3Factor: public NoiseModelFactor3 { +protected: + OrientedPlane3 measured_p_; + typedef NoiseModelFactor3 Base; +public: + /// Constructor + LocalOrientedPlane3Factor() {} + + virtual ~LocalOrientedPlane3Factor() {} + + /** Constructor with measured plane (a,b,c,d) coefficients + * @param z measured plane (a,b,c,d) coefficients as 4D vector + * @param noiseModel noiseModel Gaussian noise model + * @param poseKey Key or symbol for unknown pose + * @param anchorPoseKey Key or symbol for the plane's linearization point, + (called the "anchor pose"). + * @param landmarkKey Key or symbol for unknown planar landmark + * + * Note: The anchorPoseKey can simply be chosen as the first pose a plane + * is observed. + */ + LocalOrientedPlane3Factor(const Vector4& z, const SharedGaussian& noiseModel, + Key poseKey, Key anchorPoseKey, Key landmarkKey) + : Base(noiseModel, poseKey, anchorPoseKey, landmarkKey), measured_p_(z) {} + + LocalOrientedPlane3Factor(const OrientedPlane3& z, + const SharedGaussian& noiseModel, + Key poseKey, Key anchorPoseKey, Key landmarkKey) + : Base(noiseModel, poseKey, anchorPoseKey, landmarkKey), measured_p_(z) {} + + /// print + void print(const std::string& s = "LocalOrientedPlane3Factor", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override; + + /*** + * Vector of errors + * @brief Error = measured_plane_.error(a_plane.transform(inv(wTwa) * wTwi)) + * + * This is the error of the measured and predicted plane in the current + * sensor frame, i. The plane is represented in the anchor pose, a. + * + * @param wTwi The pose of the sensor in world coordinates + * @param wTwa The pose of the anchor frame in world coordinates + * @param a_plane The estimated plane in anchor frame. + * + * Note: The optimized plane is represented in anchor frame, a, not the + * world frame. + */ + Vector evaluateError(const Pose3& wTwi, const Pose3& wTwa, + const OrientedPlane3& a_plane, + boost::optional H1 = boost::none, + boost::optional H2 = boost::none, + boost::optional H3 = boost::none) const override; +}; + +} // namespace gtsam + diff --git a/gtsam_unstable/slam/MultiProjectionFactor.h b/gtsam_unstable/slam/MultiProjectionFactor.h index b6bf2a9c7..afc9e0b18 100644 --- a/gtsam_unstable/slam/MultiProjectionFactor.h +++ b/gtsam_unstable/slam/MultiProjectionFactor.h @@ -98,7 +98,7 @@ namespace gtsam { throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {} /** Virtual destructor */ - virtual ~MultiProjectionFactor() {} + ~MultiProjectionFactor() override {} /// @return a deep copy of this factor NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam_unstable/slam/PartialPriorFactor.h b/gtsam_unstable/slam/PartialPriorFactor.h index d284366e8..52a57b945 100644 --- a/gtsam_unstable/slam/PartialPriorFactor.h +++ b/gtsam_unstable/slam/PartialPriorFactor.h @@ -29,11 +29,9 @@ namespace gtsam { * * The prior vector used in this factor is stored in compressed form, such that * it only contains values for measurements that are to be compared, and they are in - * the same order as VALUE::Logmap(). The mask will determine which components to extract - * in the error function. + * the same order as VALUE::Logmap(). The provided indices will determine which components to + * extract in the error function. * - * For practical use, it would be good to subclass this factor and have the class type - * construct the mask. * @tparam VALUE is the type of variable the prior effects */ template @@ -43,16 +41,14 @@ namespace gtsam { typedef VALUE T; protected: - // Concept checks on the variable type - currently requires Lie GTSAM_CONCEPT_LIE_TYPE(VALUE) typedef NoiseModelFactor1 Base; typedef PartialPriorFactor This; - Vector prior_; ///< measurement on tangent space parameters, in compressed form - std::vector mask_; ///< indices of values to constrain in compressed prior vector - Matrix H_; ///< Constant Jacobian - computed at creation + Vector prior_; ///< Measurement on tangent space parameters, in compressed form. + std::vector indices_; ///< Indices of the measured tangent space parameters. /** default constructor - only use for serialization */ PartialPriorFactor() {} @@ -66,22 +62,24 @@ namespace gtsam { public: - virtual ~PartialPriorFactor() {} + ~PartialPriorFactor() override {} - /** Single Element Constructor: acts on a single parameter specified by idx */ + /** Single Element Constructor: Prior on a single parameter at index 'idx' in the tangent vector.*/ PartialPriorFactor(Key key, size_t idx, double prior, const SharedNoiseModel& model) : - Base(model, key), prior_((Vector(1) << prior).finished()), mask_(1, idx), H_(Matrix::Zero(1, T::dimension)) { + Base(model, key), + prior_((Vector(1) << prior).finished()), + indices_(1, idx) { assert(model->dim() == 1); - this->fillH(); } - /** Indices Constructor: specify the mask with a set of indices */ - PartialPriorFactor(Key key, const std::vector& mask, const Vector& prior, + /** Indices Constructor: Specify the relevant measured indices in the tangent vector.*/ + PartialPriorFactor(Key key, const std::vector& indices, const Vector& prior, const SharedNoiseModel& model) : - Base(model, key), prior_(prior), mask_(mask), H_(Matrix::Zero(mask.size(), T::dimension)) { - assert((size_t)prior_.size() == mask.size()); - assert(model->dim() == (size_t) prior.size()); - this->fillH(); + Base(model, key), + prior_(prior), + indices_(indices) { + assert((size_t)prior_.size() == indices_.size()); + assert(model->dim() == (size_t)prior.size()); } /// @return a deep copy of this factor @@ -102,35 +100,41 @@ namespace gtsam { const This *e = dynamic_cast (&expected); return e != nullptr && Base::equals(*e, tol) && gtsam::equal_with_abs_tol(this->prior_, e->prior_, tol) && - this->mask_ == e->mask_; + this->indices_ == e->indices_; } /** implement functions needed to derive from Factor */ - /** vector of errors */ + /** Returns a vector of errors for the measured tangent parameters. */ Vector evaluateError(const T& p, boost::optional H = boost::none) const override { - if (H) (*H) = H_; - // FIXME: this was originally the generic retraction - may not produce same results - Vector full_logmap = T::Logmap(p); -// Vector full_logmap = T::identity().localCoordinates(p); // Alternate implementation - Vector masked_logmap = Vector::Zero(this->dim()); - for (size_t i=0; i H_local; + + // If the Rot3 Cayley map is used, Rot3::LocalCoordinates will throw a runtime error + // when asked to compute the Jacobian matrix (see Rot3M.cpp). + #ifdef GTSAM_ROT3_EXPMAP + const Vector full_tangent = T::LocalCoordinates(p, H ? &H_local : nullptr); + #else + const Vector full_tangent = T::Logmap(p, H ? &H_local : nullptr); + #endif + + if (H) { + (*H) = Matrix::Zero(indices_.size(), T::dimension); + for (size_t i = 0; i < indices_.size(); ++i) { + (*H).row(i) = H_local.row(indices_.at(i)); + } + } + // Select relevant parameters from the tangent vector. + Vector partial_tangent = Vector::Zero(indices_.size()); + for (size_t i = 0; i < indices_.size(); ++i) { + partial_tangent(i) = full_tangent(indices_.at(i)); + } + + return partial_tangent - prior_; } // access const Vector& prior() const { return prior_; } - const std::vector& mask() const { return mask_; } - const Matrix& H() const { return H_; } - - protected: - - /** Constructs the jacobian matrix in place */ - void fillH() { - for (size_t i=0; i& indices() const { return indices_; } private: /** Serialization function */ @@ -140,8 +144,8 @@ namespace gtsam { ar & boost::serialization::make_nvp("NoiseModelFactor1", boost::serialization::base_object(*this)); ar & BOOST_SERIALIZATION_NVP(prior_); - ar & BOOST_SERIALIZATION_NVP(mask_); - ar & BOOST_SERIALIZATION_NVP(H_); + ar & BOOST_SERIALIZATION_NVP(indices_); + // ar & BOOST_SERIALIZATION_NVP(H_); } }; // \class PartialPriorFactor diff --git a/gtsam_unstable/slam/PoseBetweenFactor.h b/gtsam_unstable/slam/PoseBetweenFactor.h index e20792e25..a6c583418 100644 --- a/gtsam_unstable/slam/PoseBetweenFactor.h +++ b/gtsam_unstable/slam/PoseBetweenFactor.h @@ -56,7 +56,7 @@ namespace gtsam { Base(model, key1, key2), measured_(measured), body_P_sensor_(body_P_sensor) { } - virtual ~PoseBetweenFactor() {} + ~PoseBetweenFactor() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam_unstable/slam/PosePriorFactor.h b/gtsam_unstable/slam/PosePriorFactor.h index c9965f9bf..f657fc443 100644 --- a/gtsam_unstable/slam/PosePriorFactor.h +++ b/gtsam_unstable/slam/PosePriorFactor.h @@ -47,7 +47,7 @@ namespace gtsam { /** default constructor - only use for serialization */ PosePriorFactor() {} - virtual ~PosePriorFactor() {} + ~PosePriorFactor() override {} /** Constructor */ PosePriorFactor(Key key, const POSE& prior, const SharedNoiseModel& model, diff --git a/gtsam_unstable/slam/ProjectionFactorPPP.h b/gtsam_unstable/slam/ProjectionFactorPPP.h index caa388e2f..84adda707 100644 --- a/gtsam_unstable/slam/ProjectionFactorPPP.h +++ b/gtsam_unstable/slam/ProjectionFactorPPP.h @@ -93,7 +93,7 @@ namespace gtsam { throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {} /** Virtual destructor */ - virtual ~ProjectionFactorPPP() {} + ~ProjectionFactorPPP() override {} /// @return a deep copy of this factor NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam_unstable/slam/ProjectionFactorPPPC.h b/gtsam_unstable/slam/ProjectionFactorPPPC.h index af3294bce..fbc11503c 100644 --- a/gtsam_unstable/slam/ProjectionFactorPPPC.h +++ b/gtsam_unstable/slam/ProjectionFactorPPPC.h @@ -88,7 +88,7 @@ namespace gtsam { throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {} /** Virtual destructor */ - virtual ~ProjectionFactorPPPC() {} + ~ProjectionFactorPPPC() override {} /// @return a deep copy of this factor NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam_unstable/slam/RelativeElevationFactor.h b/gtsam_unstable/slam/RelativeElevationFactor.h index b713d45dc..ebf91d1f7 100644 --- a/gtsam_unstable/slam/RelativeElevationFactor.h +++ b/gtsam_unstable/slam/RelativeElevationFactor.h @@ -40,7 +40,7 @@ public: RelativeElevationFactor(Key poseKey, Key pointKey, double measured, const SharedNoiseModel& model); - virtual ~RelativeElevationFactor() {} + ~RelativeElevationFactor() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/gtsam_unstable/slam/SmartRangeFactor.h b/gtsam_unstable/slam/SmartRangeFactor.h index 6bab3f334..14e97f6bc 100644 --- a/gtsam_unstable/slam/SmartRangeFactor.h +++ b/gtsam_unstable/slam/SmartRangeFactor.h @@ -54,7 +54,7 @@ class SmartRangeFactor: public NoiseModelFactor { NoiseModelFactor(noiseModel::Isotropic::Sigma(1, s)), variance_(s * s) { } - virtual ~SmartRangeFactor() { + ~SmartRangeFactor() override { } /// Add a range measurement to a pose with given key. diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index ac063eff9..52fd99356 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -93,7 +93,7 @@ public: } /** Virtual destructor */ - virtual ~SmartStereoProjectionFactor() { + ~SmartStereoProjectionFactor() override { } /** @@ -450,8 +450,8 @@ public: * This corrects the Jacobians and error vector for the case in which the right pixel in the monocular camera is missing (nan) */ void correctForMissingMeasurements(const Cameras& cameras, Vector& ue, - boost::optional Fs = boost::none, - boost::optional E = boost::none) const override + boost::optional Fs = boost::none, + boost::optional E = boost::none) const override { // when using stereo cameras, some of the measurements might be missing: for(size_t i=0; i < cameras.size(); i++){ diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.cpp b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.cpp new file mode 100644 index 000000000..07344ab04 --- /dev/null +++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.cpp @@ -0,0 +1,125 @@ +/* ---------------------------------------------------------------------------- + + * 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 SmartStereoProjectionFactorPP.h + * @brief Smart stereo factor on poses and extrinsic calibration + * @author Luca Carlone + * @author Frank Dellaert + */ + +#include + +namespace gtsam { + +SmartStereoProjectionFactorPP::SmartStereoProjectionFactorPP( + const SharedNoiseModel& sharedNoiseModel, + const SmartStereoProjectionParams& params) + : Base(sharedNoiseModel, params) {} // note: no extrinsic specified! + +void SmartStereoProjectionFactorPP::add( + const StereoPoint2& measured, + const Key& w_P_body_key, const Key& body_P_cam_key, + const boost::shared_ptr& K) { + // we index by cameras.. + Base::add(measured, w_P_body_key); + // but we also store the extrinsic calibration keys in the same order + world_P_body_keys_.push_back(w_P_body_key); + body_P_cam_keys_.push_back(body_P_cam_key); + + // pose keys are assumed to be unique (1 observation per time stamp), but calibration can be shared + if(std::find(keys_.begin(), keys_.end(), body_P_cam_key) == keys_.end()) + keys_.push_back(body_P_cam_key); // add only unique keys + + K_all_.push_back(K); +} + +void SmartStereoProjectionFactorPP::add( + const std::vector& measurements, + const KeyVector& world_P_body_keys, const KeyVector& body_P_cam_keys, + const std::vector>& Ks) { + assert(world_P_body_keys.size() == measurements.size()); + assert(world_P_body_keys.size() == body_P_cam_keys.size()); + assert(world_P_body_keys.size() == Ks.size()); + for (size_t i = 0; i < measurements.size(); i++) { + Base::add(measurements[i], world_P_body_keys[i]); + // pose keys are assumed to be unique (1 observation per time stamp), but calibration can be shared + if(std::find(keys_.begin(), keys_.end(), body_P_cam_keys[i]) == keys_.end()) + keys_.push_back(body_P_cam_keys[i]); // add only unique keys + + world_P_body_keys_.push_back(world_P_body_keys[i]); + body_P_cam_keys_.push_back(body_P_cam_keys[i]); + + K_all_.push_back(Ks[i]); + } +} + +void SmartStereoProjectionFactorPP::add( + const std::vector& measurements, + const KeyVector& world_P_body_keys, const KeyVector& body_P_cam_keys, + const boost::shared_ptr& K) { + assert(world_P_body_keys.size() == measurements.size()); + assert(world_P_body_keys.size() == body_P_cam_keys.size()); + for (size_t i = 0; i < measurements.size(); i++) { + Base::add(measurements[i], world_P_body_keys[i]); + // pose keys are assumed to be unique (1 observation per time stamp), but calibration can be shared + if(std::find(keys_.begin(), keys_.end(), body_P_cam_keys[i]) == keys_.end()) + keys_.push_back(body_P_cam_keys[i]); // add only unique keys + + world_P_body_keys_.push_back(world_P_body_keys[i]); + body_P_cam_keys_.push_back(body_P_cam_keys[i]); + + K_all_.push_back(K); + } +} + +void SmartStereoProjectionFactorPP::print( + const std::string& s, const KeyFormatter& keyFormatter) const { + std::cout << s << "SmartStereoProjectionFactorPP: \n "; + for (size_t i = 0; i < K_all_.size(); i++) { + K_all_[i]->print("calibration = "); + std::cout << " extrinsic pose key: " << keyFormatter(body_P_cam_keys_[i]) << std::endl; + } + Base::print("", keyFormatter); +} + +bool SmartStereoProjectionFactorPP::equals(const NonlinearFactor& p, + double tol) const { + const SmartStereoProjectionFactorPP* e = + dynamic_cast(&p); + + return e && Base::equals(p, tol) && + body_P_cam_keys_ == e->getExtrinsicPoseKeys(); +} + +double SmartStereoProjectionFactorPP::error(const Values& values) const { + if (this->active(values)) { + return this->totalReprojectionError(cameras(values)); + } else { // else of active flag + return 0.0; + } +} + +SmartStereoProjectionFactorPP::Base::Cameras +SmartStereoProjectionFactorPP::cameras(const Values& values) const { + assert(world_P_body_keys_.size() == K_all_.size()); + assert(world_P_body_keys_.size() == body_P_cam_keys_.size()); + Base::Cameras cameras; + for (size_t i = 0; i < world_P_body_keys_.size(); i++) { + Pose3 w_P_body = values.at(world_P_body_keys_[i]); + Pose3 body_P_cam = values.at(body_P_cam_keys_[i]); + Pose3 w_P_cam = w_P_body.compose(body_P_cam); + cameras.push_back(StereoCamera(w_P_cam, K_all_[i])); + } + return cameras; +} + +} // \ namespace gtsam diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h new file mode 100644 index 000000000..40d90d614 --- /dev/null +++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h @@ -0,0 +1,369 @@ +/* ---------------------------------------------------------------------------- + + * 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 SmartStereoProjectionFactorPP.h + * @brief Smart stereo factor on poses (P) and camera extrinsic pose (P) calibrations + * @author Luca Carlone + * @author Frank Dellaert + */ + +#pragma once + +#include + +namespace gtsam { +/** + * + * @addtogroup SLAM + * + * If you are using the factor, please cite: + * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, + * Eliminating conditionally independent sets in factor graphs: + * a unifying perspective based on smart factors, + * Int. Conf. on Robotics and Automation (ICRA), 2014. + */ + +/** + * This factor optimizes the pose of the body as well as the extrinsic camera calibration (pose of camera wrt body). + * Each camera may have its own extrinsic calibration or the same calibration can be shared by multiple cameras. + * This factor requires that values contain the involved poses and extrinsics (both are Pose3 variables). + * @addtogroup SLAM + */ +class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor { + protected: + /// shared pointer to calibration object (one for each camera) + std::vector> K_all_; + + /// The keys corresponding to the pose of the body (with respect to an external world frame) for each view + KeyVector world_P_body_keys_; + + /// The keys corresponding to the extrinsic pose calibration for each view (pose that transform from camera to body) + KeyVector body_P_cam_keys_; + + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + /// shorthand for base class type + typedef SmartStereoProjectionFactor Base; + + /// shorthand for this class + typedef SmartStereoProjectionFactorPP This; + + /// shorthand for a smart pointer to a factor + typedef boost::shared_ptr shared_ptr; + + static const int Dim = 12; ///< Camera dimension: 6 for body pose, 6 for extrinsic pose + static const int DimPose = 6; ///< Pose3 dimension + static const int ZDim = 3; ///< Measurement dimension (for a StereoPoint2 measurement) + typedef Eigen::Matrix MatrixZD; // F blocks (derivatives wrt camera) + typedef std::vector > FBlocks; // vector of F blocks + + /** + * Constructor + * @param Isotropic measurement noise + * @param params internal parameters of the smart factors + */ + SmartStereoProjectionFactorPP(const SharedNoiseModel& sharedNoiseModel, + const SmartStereoProjectionParams& params = + SmartStereoProjectionParams()); + + /** Virtual destructor */ + ~SmartStereoProjectionFactorPP() override = default; + + /** + * add a new measurement, with a pose key, and an extrinsic pose key + * @param measured is the 3-dimensional location of the projection of a + * single landmark in the a single (stereo) view (the measurement) + * @param world_P_body_key is the key corresponding to the body poses observing the same landmark + * @param body_P_cam_key is the key corresponding to the extrinsic camera-to-body pose calibration + * @param K is the (fixed) camera intrinsic calibration + */ + void add(const StereoPoint2& measured, const Key& world_P_body_key, + const Key& body_P_cam_key, + const boost::shared_ptr& K); + + /** + * Variant of the previous one in which we include a set of measurements + * @param measurements vector of the 3m dimensional location of the projection + * of a single landmark in the m (stereo) view (the measurements) + * @param w_P_body_keys are the ordered keys corresponding to the body poses observing the same landmark + * @param body_P_cam_keys are the ordered keys corresponding to the extrinsic camera-to-body poses calibration + * (note: elements of this vector do not need to be unique: 2 camera views can share the same calibration) + * @param Ks vector of intrinsic calibration objects + */ + void add(const std::vector& measurements, + const KeyVector& w_P_body_keys, const KeyVector& body_P_cam_keys, + const std::vector>& Ks); + + /** + * Variant of the previous one in which we include a set of measurements with + * the same noise and calibration + * @param measurements vector of the 3m dimensional location of the projection + * of a single landmark in the m (stereo) view (the measurements) + * @param w_P_body_keys are the ordered keys corresponding to the body poses observing the same landmark + * @param body_P_cam_keys are the ordered keys corresponding to the extrinsic camera-to-body poses calibration + * (note: elements of this vector do not need to be unique: 2 camera views can share the same calibration) + * @param K the (known) camera calibration (same for all measurements) + */ + void add(const std::vector& measurements, + const KeyVector& w_P_body_keys, const KeyVector& body_P_cam_keys, + const boost::shared_ptr& K); + + /** + * print + * @param s optional string naming the factor + * @param keyFormatter optional formatter useful for printing Symbols + */ + void print(const std::string& s = "", const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const override; + + /// equals + bool equals(const NonlinearFactor& p, double tol = 1e-9) const override; + + /// equals + const KeyVector& getExtrinsicPoseKeys() const { + return body_P_cam_keys_; + } + + /** + * error calculates the error of the factor. + */ + double error(const Values& values) const override; + + /** return the calibration object */ + inline std::vector> calibration() const { + return K_all_; + } + + /** + * Collect all cameras involved in this factor + * @param values Values structure which must contain camera poses + * corresponding + * to keys involved in this factor + * @return vector of Values + */ + Base::Cameras cameras(const Values& values) const override; + + /** + * Compute jacobian F, E and error vector at a given linearization point + * @param values Values structure which must contain camera poses + * corresponding to keys involved in this factor + * @return Return arguments are the camera jacobians Fs (including the jacobian with + * respect to both the body pose and extrinsic pose), the point Jacobian E, + * and the error vector b. Note that the jacobians are computed for a given point. + */ + void computeJacobiansAndCorrectForMissingMeasurements( + FBlocks& Fs, Matrix& E, Vector& b, const Values& values) const { + if (!result_) { + throw("computeJacobiansWithTriangulatedPoint"); + } else { // valid result: compute jacobians + size_t numViews = measured_.size(); + E = Matrix::Zero(3 * numViews, 3); // a StereoPoint2 for each view (point jacobian) + b = Vector::Zero(3 * numViews); // a StereoPoint2 for each view + Matrix dPoseCam_dPoseBody_i, dPoseCam_dPoseExt_i, dProject_dPoseCam_i, Ei; + + for (size_t i = 0; i < numViews; i++) { // for each camera/measurement + Pose3 w_P_body = values.at(world_P_body_keys_.at(i)); + Pose3 body_P_cam = values.at(body_P_cam_keys_.at(i)); + StereoCamera camera( + w_P_body.compose(body_P_cam, dPoseCam_dPoseBody_i, dPoseCam_dPoseExt_i), + K_all_[i]); + // get jacobians and error vector for current measurement + StereoPoint2 reprojectionError_i = StereoPoint2( + camera.project(*result_, dProject_dPoseCam_i, Ei) - measured_.at(i)); + Eigen::Matrix J; // 3 x 12 + J.block(0, 0) = dProject_dPoseCam_i * dPoseCam_dPoseBody_i; // (3x6) * (6x6) + J.block(0, 6) = dProject_dPoseCam_i * dPoseCam_dPoseExt_i; // (3x6) * (6x6) + // if the right pixel is invalid, fix jacobians + if (std::isnan(measured_.at(i).uR())) + { + J.block<1, 12>(1, 0) = Matrix::Zero(1, 12); + Ei.block<1, 3>(1, 0) = Matrix::Zero(1, 3); + reprojectionError_i = StereoPoint2(reprojectionError_i.uL(), 0.0, + reprojectionError_i.v()); + } + // fit into the output structures + Fs.push_back(J); + size_t row = 3 * i; + b.segment(row) = -reprojectionError_i.vector(); + E.block<3, 3>(row, 0) = Ei; + } + } + } + + /// linearize and return a Hessianfactor that is an approximation of error(p) + boost::shared_ptr > createHessianFactor( + const Values& values, const double lambda = 0.0, bool diagonalDamping = + false) const { + + // we may have multiple cameras sharing the same extrinsic cals, hence the number + // of keys may be smaller than 2 * nrMeasurements (which is the upper bound where we + // have a body key and an extrinsic calibration key for each measurement) + size_t nrUniqueKeys = keys_.size(); + size_t nrNonuniqueKeys = world_P_body_keys_.size() + + body_P_cam_keys_.size(); + + // Create structures for Hessian Factors + KeyVector js; + std::vector < Matrix > Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2); + std::vector gs(nrUniqueKeys); + + if (this->measured_.size() != cameras(values).size()) + throw std::runtime_error("SmartStereoProjectionHessianFactor: this->" + "measured_.size() inconsistent with input"); + + // triangulate 3D point at given linearization point + triangulateSafe(cameras(values)); + + if (!result_) { // failed: return "empty/zero" Hessian + for (Matrix& m : Gs) + m = Matrix::Zero(DimPose, DimPose); + for (Vector& v : gs) + v = Vector::Zero(DimPose); + return boost::make_shared < RegularHessianFactor + > (keys_, Gs, gs, 0.0); + } + + // compute Jacobian given triangulated 3D Point + FBlocks Fs; + Matrix F, E; + Vector b; + computeJacobiansAndCorrectForMissingMeasurements(Fs, E, b, values); + + // Whiten using noise model + noiseModel_->WhitenSystem(E, b); + for (size_t i = 0; i < Fs.size(); i++) + Fs[i] = noiseModel_->Whiten(Fs[i]); + + // build augmented Hessian (with last row/column being the information vector) + Matrix3 P; + Cameras::ComputePointCovariance<3>(P, E, lambda, diagonalDamping); + + // marginalize point: note - we reuse the standard SchurComplement function + SymmetricBlockMatrix augmentedHessian = + Cameras::SchurComplement<3, Dim>(Fs, E, P, b); + + // now pack into an Hessian factor + std::vector dims(nrUniqueKeys + 1); // this also includes the b term + std::fill(dims.begin(), dims.end() - 1, 6); + dims.back() = 1; + SymmetricBlockMatrix augmentedHessianUniqueKeys; + + // here we have to deal with the fact that some cameras may share the same extrinsic key + if (nrUniqueKeys == nrNonuniqueKeys) { // if there is 1 calibration key per camera + augmentedHessianUniqueKeys = SymmetricBlockMatrix( + dims, Matrix(augmentedHessian.selfadjointView())); + } else { // if multiple cameras share a calibration we have to rearrange + // the results of the Schur complement matrix + std::vector nonuniqueDims(nrNonuniqueKeys + 1); // this also includes the b term + std::fill(nonuniqueDims.begin(), nonuniqueDims.end() - 1, 6); + nonuniqueDims.back() = 1; + augmentedHessian = SymmetricBlockMatrix( + nonuniqueDims, Matrix(augmentedHessian.selfadjointView())); + + // these are the keys that correspond to the blocks in augmentedHessian (output of SchurComplement) + KeyVector nonuniqueKeys; + for (size_t i = 0; i < world_P_body_keys_.size(); i++) { + nonuniqueKeys.push_back(world_P_body_keys_.at(i)); + nonuniqueKeys.push_back(body_P_cam_keys_.at(i)); + } + + // get map from key to location in the new augmented Hessian matrix (the one including only unique keys) + std::map keyToSlotMap; + for (size_t k = 0; k < nrUniqueKeys; k++) { + keyToSlotMap[keys_[k]] = k; + } + + // initialize matrix to zero + augmentedHessianUniqueKeys = SymmetricBlockMatrix( + dims, Matrix::Zero(6 * nrUniqueKeys + 1, 6 * nrUniqueKeys + 1)); + + // add contributions for each key: note this loops over the hessian with nonUnique keys (augmentedHessian) + // and populates an Hessian that only includes the unique keys (that is what we want to return) + for (size_t i = 0; i < nrNonuniqueKeys; i++) { // rows + Key key_i = nonuniqueKeys.at(i); + + // update information vector + augmentedHessianUniqueKeys.updateOffDiagonalBlock( + keyToSlotMap[key_i], nrUniqueKeys, + augmentedHessian.aboveDiagonalBlock(i, nrNonuniqueKeys)); + + // update blocks + for (size_t j = i; j < nrNonuniqueKeys; j++) { // cols + Key key_j = nonuniqueKeys.at(j); + if (i == j) { + augmentedHessianUniqueKeys.updateDiagonalBlock( + keyToSlotMap[key_i], augmentedHessian.diagonalBlock(i)); + } else { // (i < j) + if (keyToSlotMap[key_i] != keyToSlotMap[key_j]) { + augmentedHessianUniqueKeys.updateOffDiagonalBlock( + keyToSlotMap[key_i], keyToSlotMap[key_j], + augmentedHessian.aboveDiagonalBlock(i, j)); + } else { + augmentedHessianUniqueKeys.updateDiagonalBlock( + keyToSlotMap[key_i], + augmentedHessian.aboveDiagonalBlock(i, j) + + augmentedHessian.aboveDiagonalBlock(i, j).transpose()); + } + } + } + } + // update bottom right element of the matrix + augmentedHessianUniqueKeys.updateDiagonalBlock( + nrUniqueKeys, augmentedHessian.diagonalBlock(nrNonuniqueKeys)); + } + return boost::make_shared < RegularHessianFactor + > (keys_, augmentedHessianUniqueKeys); + } + + /** + * Linearize to Gaussian Factor (possibly adding a damping factor Lambda for LM) + * @param values Values structure which must contain camera poses and extrinsic pose for this factor + * @return a Gaussian factor + */ + boost::shared_ptr linearizeDamped( + const Values& values, const double lambda = 0.0) const { + // depending on flag set on construction we may linearize to different linear factors + switch (params_.linearizationMode) { + case HESSIAN: + return createHessianFactor(values, lambda); + default: + throw std::runtime_error( + "SmartStereoProjectionFactorPP: unknown linearization mode"); + } + } + + /// linearize + boost::shared_ptr linearize(const Values& values) const + override { + return linearizeDamped(values); + } + + 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_all_); + } + +}; +// end of class declaration + +/// traits +template<> +struct traits : public Testable< + SmartStereoProjectionFactorPP> { +}; + +} // namespace gtsam diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.cpp new file mode 100644 index 000000000..c28cb25a1 --- /dev/null +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.cpp @@ -0,0 +1,97 @@ +/* ---------------------------------------------------------------------------- + + * 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 SmartStereoProjectionPoseFactor.cpp + * @brief Smart stereo factor on poses, assuming camera calibration is fixed + * @author Luca Carlone + * @author Antoni Rosinol + * @author Chris Beall + * @author Zsolt Kira + * @author Frank Dellaert + */ + +#include + +namespace gtsam { + +SmartStereoProjectionPoseFactor::SmartStereoProjectionPoseFactor( + const SharedNoiseModel& sharedNoiseModel, + const SmartStereoProjectionParams& params, + const boost::optional& body_P_sensor) + : Base(sharedNoiseModel, params, body_P_sensor) {} + +void SmartStereoProjectionPoseFactor::add( + const StereoPoint2& measured, const Key& poseKey, + const boost::shared_ptr& K) { + Base::add(measured, poseKey); + K_all_.push_back(K); +} + +void SmartStereoProjectionPoseFactor::add( + const std::vector& measurements, const KeyVector& poseKeys, + const std::vector>& Ks) { + assert(measurements.size() == poseKeys.size()); + assert(poseKeys.size() == Ks.size()); + Base::add(measurements, poseKeys); + K_all_.insert(K_all_.end(), Ks.begin(), Ks.end()); +} + +void SmartStereoProjectionPoseFactor::add( + const std::vector& measurements, const KeyVector& poseKeys, + const boost::shared_ptr& K) { + assert(poseKeys.size() == measurements.size()); + for (size_t i = 0; i < measurements.size(); i++) { + Base::add(measurements[i], poseKeys[i]); + K_all_.push_back(K); + } +} + +void SmartStereoProjectionPoseFactor::print( + const std::string& s, const KeyFormatter& keyFormatter) const { + std::cout << s << "SmartStereoProjectionPoseFactor, z = \n "; + for (const boost::shared_ptr& K : K_all_) { + K->print("calibration = "); + } + Base::print("", keyFormatter); +} + +bool SmartStereoProjectionPoseFactor::equals(const NonlinearFactor& p, + double tol) const { + const SmartStereoProjectionPoseFactor* e = + dynamic_cast(&p); + + return e && Base::equals(p, tol); +} + +double SmartStereoProjectionPoseFactor::error(const Values& values) const { + if (this->active(values)) { + return this->totalReprojectionError(cameras(values)); + } else { // else of active flag + return 0.0; + } +} + +SmartStereoProjectionPoseFactor::Base::Cameras +SmartStereoProjectionPoseFactor::cameras(const Values& values) const { + assert(keys_.size() == K_all_.size()); + Base::Cameras cameras; + for (size_t i = 0; i < keys_.size(); i++) { + Pose3 pose = values.at(keys_[i]); + if (Base::body_P_sensor_) { + pose = pose.compose(*(Base::body_P_sensor_)); + } + cameras.push_back(StereoCamera(pose, K_all_[i])); + } + return cameras; +} + +} // \ namespace gtsam diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index 124e45005..2a8180ac5 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -13,6 +13,7 @@ * @file SmartStereoProjectionPoseFactor.h * @brief Smart stereo factor on poses, assuming camera calibration is fixed * @author Luca Carlone + * @author Antoni Rosinol * @author Chris Beall * @author Zsolt Kira * @author Frank Dellaert @@ -28,8 +29,9 @@ namespace gtsam { * @addtogroup SLAM * * If you are using the factor, please cite: - * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally - * independent sets in factor graphs: a unifying perspective based on smart factors, + * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, + * Eliminating conditionally independent sets in factor graphs: + * a unifying perspective based on smart factors, * Int. Conf. on Robotics and Automation (ICRA), 2014. * */ @@ -41,14 +43,12 @@ namespace gtsam { * This factor requires that values contains the involved poses (Pose3). * @addtogroup SLAM */ -class SmartStereoProjectionPoseFactor: public SmartStereoProjectionFactor { - -protected: - - std::vector > K_all_; ///< shared pointer to calibration object (one for each camera) - -public: +class SmartStereoProjectionPoseFactor : public SmartStereoProjectionFactor { + protected: + /// shared pointer to calibration object (one for each camera) + std::vector> K_all_; + public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW /// shorthand for base class type @@ -65,54 +65,49 @@ public: * @param Isotropic measurement noise * @param params internal parameters of the smart factors */ - SmartStereoProjectionPoseFactor(const SharedNoiseModel& sharedNoiseModel, + SmartStereoProjectionPoseFactor( + const SharedNoiseModel& sharedNoiseModel, const SmartStereoProjectionParams& params = SmartStereoProjectionParams(), - const boost::optional body_P_sensor = boost::none) : - Base(sharedNoiseModel, params, body_P_sensor) { - } + const boost::optional& body_P_sensor = boost::none); /** Virtual destructor */ - virtual ~SmartStereoProjectionPoseFactor() {} + ~SmartStereoProjectionPoseFactor() override = default; /** * add a new measurement and pose key - * @param measured is the 2m dimensional location of the projection of a single landmark in the m view (the measurement) - * @param poseKey is key corresponding to the camera observing the same landmark + * @param measured is the 2m dimensional location of the projection of a + * single landmark in the m view (the measurement) + * @param poseKey is key corresponding to the camera observing the same + * landmark * @param K is the (fixed) camera calibration */ - void add(const StereoPoint2 measured, const Key poseKey, - const boost::shared_ptr K) { - Base::add(measured, poseKey); - K_all_.push_back(K); - } + void add(const StereoPoint2& measured, const Key& poseKey, + const boost::shared_ptr& K); /** * Variant of the previous one in which we include a set of measurements - * @param measurements vector of the 2m dimensional location of the projection of a single landmark in the m view (the measurement) - * @param poseKeys vector of keys corresponding to the camera observing the same landmark + * @param measurements vector of the 2m dimensional location of the projection + * of a single landmark in the m view (the measurement) + * @param poseKeys vector of keys corresponding to the camera observing + * the same landmark * @param Ks vector of calibration objects */ - void add(std::vector measurements, KeyVector poseKeys, - std::vector > Ks) { - Base::add(measurements, poseKeys); - for (size_t i = 0; i < measurements.size(); i++) { - K_all_.push_back(Ks.at(i)); - } - } + void add(const std::vector& measurements, + const KeyVector& poseKeys, + const std::vector>& Ks); /** - * Variant of the previous one in which we include a set of measurements with the same noise and calibration - * @param measurements vector of the 2m dimensional location of the projection of a single landmark in the m view (the measurement) - * @param poseKeys vector of keys corresponding to the camera observing the same landmark + * Variant of the previous one in which we include a set of measurements with + * the same noise and calibration + * @param measurements vector of the 2m dimensional location of the projection + * of a single landmark in the m view (the measurement) + * @param poseKeys vector of keys corresponding to the camera observing the + * same landmark * @param K the (known) camera calibration (same for all measurements) */ - void add(std::vector measurements, KeyVector poseKeys, - const boost::shared_ptr K) { - for (size_t i = 0; i < measurements.size(); i++) { - Base::add(measurements.at(i), poseKeys.at(i)); - K_all_.push_back(K); - } - } + void add(const std::vector& measurements, + const KeyVector& poseKeys, + const boost::shared_ptr& K); /** * print @@ -120,74 +115,44 @@ public: * @param keyFormatter optional formatter useful for printing Symbols */ void print(const std::string& s = "", const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const override { - std::cout << s << "SmartStereoProjectionPoseFactor, z = \n "; - for(const boost::shared_ptr& K: K_all_) - K->print("calibration = "); - Base::print("", keyFormatter); - } + DefaultKeyFormatter) const override; /// equals - bool equals(const NonlinearFactor& p, double tol = 1e-9) const override { - const SmartStereoProjectionPoseFactor *e = - dynamic_cast(&p); - - return e && Base::equals(p, tol); - } + bool equals(const NonlinearFactor& p, double tol = 1e-9) const override; /** * error calculates the error of the factor. */ - double error(const Values& values) const override { - if (this->active(values)) { - return this->totalReprojectionError(cameras(values)); - } else { // else of active flag - return 0.0; - } - } + double error(const Values& values) const override; /** return the calibration object */ - inline const std::vector > calibration() const { + inline std::vector> calibration() const { return K_all_; } /** * Collect all cameras involved in this factor - * @param values Values structure which must contain camera poses corresponding + * @param values Values structure which must contain camera poses + * corresponding * to keys involved in this factor * @return vector of Values */ - Base::Cameras cameras(const Values& values) const override { - Base::Cameras cameras; - size_t i=0; - for(const Key& k: this->keys_) { - Pose3 pose = values.at(k); - - if (Base::body_P_sensor_) - pose = pose.compose(*(Base::body_P_sensor_)); - - StereoCamera camera(pose, K_all_[i++]); - cameras.push_back(camera); - } - return cameras; - } - -private: + Base::Cameras cameras(const Values& values) const override; + 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_all_); + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar& BOOST_SERIALIZATION_NVP(K_all_); } -}; // end of class declaration +}; // end of class declaration /// traits -template<> -struct traits : public Testable< - SmartStereoProjectionPoseFactor> { -}; +template <> +struct traits + : public Testable {}; -} // \ namespace gtsam +} // namespace gtsam diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h index a17e07f9c..956c75999 100644 --- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h +++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h @@ -77,7 +77,7 @@ namespace gtsam { } - virtual ~TransformBtwRobotsUnaryFactor() {} + ~TransformBtwRobotsUnaryFactor() override {} /** Clone */ diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h index 8a56a5d02..2b2edfae9 100644 --- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h +++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h @@ -93,7 +93,7 @@ namespace gtsam { } - virtual ~TransformBtwRobotsUnaryFactorEM() {} + ~TransformBtwRobotsUnaryFactorEM() override {} /** Clone */ diff --git a/gtsam_unstable/slam/serialization.cpp b/gtsam_unstable/slam/serialization.cpp index 8a661f2ef..88a94fd51 100644 --- a/gtsam_unstable/slam/serialization.cpp +++ b/gtsam_unstable/slam/serialization.cpp @@ -43,7 +43,6 @@ typedef PriorFactor PriorFactorPose3; typedef PriorFactor PriorFactorCal3_S2; typedef PriorFactor PriorFactorCal3DS2; typedef PriorFactor PriorFactorCalibratedCamera; -typedef PriorFactor PriorFactorSimpleCamera; typedef PriorFactor PriorFactorPinholeCameraCal3_S2; typedef PriorFactor PriorFactorStereoCamera; @@ -68,7 +67,6 @@ typedef NonlinearEquality NonlinearEqualityPose3; typedef NonlinearEquality NonlinearEqualityCal3_S2; typedef NonlinearEquality NonlinearEqualityCal3DS2; typedef NonlinearEquality NonlinearEqualityCalibratedCamera; -typedef NonlinearEquality NonlinearEqualitySimpleCamera; typedef NonlinearEquality NonlinearEqualityPinholeCameraCal3_S2; typedef NonlinearEquality NonlinearEqualityStereoCamera; @@ -77,10 +75,8 @@ 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; @@ -90,7 +86,7 @@ typedef GenericProjectionFactor GenericProjectionFactorC typedef GenericProjectionFactor GenericProjectionFactorCal3DS2; typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3_S2; -//typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; +typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; typedef gtsam::GeneralSFMFactor2 GeneralSFMFactor2Cal3_S2; @@ -129,7 +125,6 @@ GTSAM_VALUE_EXPORT(gtsam::Cal3_S2); 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); @@ -150,7 +145,6 @@ BOOST_CLASS_EXPORT_GUID(PriorFactorPose3, "gtsam::PriorFactorPose3"); BOOST_CLASS_EXPORT_GUID(PriorFactorCal3_S2, "gtsam::PriorFactorCal3_S2"); BOOST_CLASS_EXPORT_GUID(PriorFactorCal3DS2, "gtsam::PriorFactorCal3DS2"); BOOST_CLASS_EXPORT_GUID(PriorFactorCalibratedCamera, "gtsam::PriorFactorCalibratedCamera"); -BOOST_CLASS_EXPORT_GUID(PriorFactorSimpleCamera, "gtsam::PriorFactorSimpleCamera"); BOOST_CLASS_EXPORT_GUID(PriorFactorStereoCamera, "gtsam::PriorFactorStereoCamera"); BOOST_CLASS_EXPORT_GUID(BetweenFactorLieVector, "gtsam::BetweenFactorLieVector"); @@ -174,7 +168,6 @@ BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose3, "gtsam::NonlinearEqualityPose3") BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3_S2, "gtsam::NonlinearEqualityCal3_S2"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3DS2, "gtsam::NonlinearEqualityCal3DS2"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCalibratedCamera, "gtsam::NonlinearEqualityCalibratedCamera"); -BOOST_CLASS_EXPORT_GUID(NonlinearEqualitySimpleCamera, "gtsam::NonlinearEqualitySimpleCamera"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoCamera, "gtsam::NonlinearEqualityStereoCamera"); BOOST_CLASS_EXPORT_GUID(RangeFactor2D, "gtsam::RangeFactor2D"); @@ -182,9 +175,7 @@ BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D"); BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2"); BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3"); BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint"); -BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint"); BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera"); -BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera"); BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D"); @@ -192,12 +183,28 @@ BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectio BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2"); BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2"); -//BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2"); +BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2"); BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2"); BOOST_CLASS_EXPORT_GUID(GenericStereoFactor3D, "gtsam::GenericStereoFactor3D"); +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41 + +typedef PriorFactor PriorFactorSimpleCamera; +typedef NonlinearEquality NonlinearEqualitySimpleCamera; +typedef RangeFactor RangeFactorSimpleCameraPoint; +typedef RangeFactor RangeFactorSimpleCamera; + +GTSAM_VALUE_EXPORT(gtsam::SimpleCamera); +BOOST_CLASS_EXPORT_GUID(PriorFactorSimpleCamera, "gtsam::PriorFactorSimpleCamera"); +BOOST_CLASS_EXPORT_GUID(NonlinearEqualitySimpleCamera, "gtsam::NonlinearEqualitySimpleCamera"); +BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint"); +BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera"); + +#endif + + /* ************************************************************************* */ // Actual implementations of functions /* ************************************************************************* */ diff --git a/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp b/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp index 70368cc0e..4d6e1912a 100644 --- a/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp +++ b/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp @@ -190,12 +190,12 @@ TEST (BetweenFactorEM, jacobian ) { // CHECK( assert_equal(H2_actual_stnd, H2_actual, 1e-8)); double stepsize = 1.0e-9; - Matrix H1_expected = gtsam::numericalDerivative11(boost::bind(&predictionError, _1, p2, key1, key2, f), p1, stepsize); - Matrix H2_expected = gtsam::numericalDerivative11(boost::bind(&predictionError, p1, _1, key1, key2, f), p2, stepsize); + Matrix H1_expected = gtsam::numericalDerivative11(std::bind(&predictionError, _1, p2, key1, key2, f), p1, stepsize); + Matrix H2_expected = gtsam::numericalDerivative11(std::bind(&predictionError, p1, _1, key1, key2, f), p2, stepsize); // try to check numerical derivatives of a standard between factor - Matrix H1_expected_stnd = gtsam::numericalDerivative11(boost::bind(&predictionError_standard, _1, p2, key1, key2, h), p1, stepsize); + Matrix H1_expected_stnd = gtsam::numericalDerivative11(std::bind(&predictionError_standard, _1, p2, key1, key2, h), p1, stepsize); // CHECK( assert_equal(H1_expected_stnd, H1_actual_stnd, 1e-5)); // // diff --git a/gtsam_unstable/slam/tests/testBiasedGPSFactor.cpp b/gtsam_unstable/slam/tests/testBiasedGPSFactor.cpp index e4112f53d..59c4fdf53 100644 --- a/gtsam_unstable/slam/tests/testBiasedGPSFactor.cpp +++ b/gtsam_unstable/slam/tests/testBiasedGPSFactor.cpp @@ -9,8 +9,10 @@ #include #include #include + #include +using namespace std::placeholders; using namespace gtsam; using namespace gtsam::symbol_shorthand; using namespace gtsam::noiseModel; @@ -65,15 +67,17 @@ TEST(BiasedGPSFactor, jacobian) { factor.evaluateError(pose,bias, actualH1, actualH2); Matrix numericalH1 = numericalDerivative21( - boost::function(boost::bind( - &BiasedGPSFactor::evaluateError, factor, _1, _2, boost::none, - boost::none)), pose, bias, 1e-5); + std::function(std::bind( + &BiasedGPSFactor::evaluateError, factor, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none)), + pose, bias, 1e-5); EXPECT(assert_equal(numericalH1,actualH1, 1E-5)); Matrix numericalH2 = numericalDerivative22( - boost::function(boost::bind( - &BiasedGPSFactor::evaluateError, factor, _1, _2, boost::none, - boost::none)), pose, bias, 1e-5); + std::function(std::bind( + &BiasedGPSFactor::evaluateError, factor, std::placeholders::_1, + std::placeholders::_2, boost::none, boost::none)), + pose, bias, 1e-5); EXPECT(assert_equal(numericalH2,actualH2, 1E-5)); } diff --git a/gtsam_unstable/slam/tests/testEquivInertialNavFactor_GlobalVel.cpp b/gtsam_unstable/slam/tests/testEquivInertialNavFactor_GlobalVel.cpp index 35bf5790e..644283512 100644 --- a/gtsam_unstable/slam/tests/testEquivInertialNavFactor_GlobalVel.cpp +++ b/gtsam_unstable/slam/tests/testEquivInertialNavFactor_GlobalVel.cpp @@ -21,9 +21,12 @@ #include #include #include + +#include #include #include +using namespace std::placeholders; using namespace std; using namespace gtsam; diff --git a/gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp b/gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp index 209326672..8692cf584 100644 --- a/gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp +++ b/gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp @@ -23,6 +23,7 @@ #include #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -105,9 +106,13 @@ TEST (GaussMarkovFactor, jacobian ) { // Calculate the Jacobian matrices H1 and H2 using the numerical derivative function Matrix numerical_H1, numerical_H2; numerical_H1 = numericalDerivative21( - boost::bind(&predictionError, _1, _2, factor), v1_upd, v2_upd); + std::bind(&predictionError, std::placeholders::_1, std::placeholders::_2, + factor), + v1_upd, v2_upd); numerical_H2 = numericalDerivative22( - boost::bind(&predictionError, _1, _2, factor), v1_upd, v2_upd); + std::bind(&predictionError, std::placeholders::_1, std::placeholders::_2, + factor), + v1_upd, v2_upd); // Verify they are equal for this choice of state CHECK( assert_equal(numerical_H1, computed_H1, 1e-9)); diff --git a/gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp b/gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp index b84f7e080..e68b2fe5f 100644 --- a/gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp +++ b/gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp @@ -25,6 +25,7 @@ #include #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -249,7 +250,7 @@ Vector predictionErrorVel(const Pose3& p1, const Vector3& v1, // // Vector3 v(predictionRq(angles, q)); // -// J_expected = numericalDerivative11(boost::bind(&predictionRq, _1, q), angles); +// J_expected = numericalDerivative11(std::bind(&predictionRq, std::placeholders::_1, q), angles); // // cout<<"J_hyp"<( - boost::bind(&predictionErrorPose, _1, Vel1, Bias1, Pose2, Vel2, factor), + std::bind(&predictionErrorPose, std::placeholders::_1, Vel1, Bias1, Pose2, Vel2, factor), Pose1); H2_expectedPose = numericalDerivative11( - boost::bind(&predictionErrorPose, Pose1, _1, Bias1, Pose2, Vel2, factor), + std::bind(&predictionErrorPose, Pose1, std::placeholders::_1, Bias1, Pose2, Vel2, factor), Vel1); H3_expectedPose = numericalDerivative11( - boost::bind(&predictionErrorPose, Pose1, Vel1, _1, Pose2, Vel2, factor), + std::bind(&predictionErrorPose, Pose1, Vel1, std::placeholders::_1, Pose2, Vel2, factor), Bias1); H4_expectedPose = numericalDerivative11( - boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, _1, Vel2, factor), + std::bind(&predictionErrorPose, Pose1, Vel1, Bias1, std::placeholders::_1, Vel2, factor), Pose2); H5_expectedPose = numericalDerivative11( - boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, Pose2, _1, factor), + std::bind(&predictionErrorPose, Pose1, Vel1, Bias1, Pose2, std::placeholders::_1, factor), Vel2); // Verify they are equal for this choice of state @@ -344,19 +345,19 @@ Vector predictionErrorVel(const Pose3& p1, const Vector3& v1, Matrix H1_expectedVel, H2_expectedVel, H3_expectedVel, H4_expectedVel, H5_expectedVel; H1_expectedVel = numericalDerivative11( - boost::bind(&predictionErrorVel, _1, Vel1, Bias1, Pose2, Vel2, factor), + std::bind(&predictionErrorVel, std::placeholders::_1, Vel1, Bias1, Pose2, Vel2, factor), Pose1); H2_expectedVel = numericalDerivative11( - boost::bind(&predictionErrorVel, Pose1, _1, Bias1, Pose2, Vel2, factor), + std::bind(&predictionErrorVel, Pose1, std::placeholders::_1, Bias1, Pose2, Vel2, factor), Vel1); H3_expectedVel = numericalDerivative11( - boost::bind(&predictionErrorVel, Pose1, Vel1, _1, Pose2, Vel2, factor), + std::bind(&predictionErrorVel, Pose1, Vel1, std::placeholders::_1, Pose2, Vel2, factor), Bias1); H4_expectedVel = numericalDerivative11( - boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, _1, Vel2, factor), + std::bind(&predictionErrorVel, Pose1, Vel1, Bias1, std::placeholders::_1, Vel2, factor), Pose2); H5_expectedVel = numericalDerivative11( - boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, Pose2, _1, factor), + std::bind(&predictionErrorVel, Pose1, Vel1, Bias1, Pose2, std::placeholders::_1, factor), Vel2); // Verify they are equal for this choice of state @@ -642,19 +643,19 @@ Vector predictionErrorVel(const Pose3& p1, const Vector3& v1, Matrix H1_expectedPose, H2_expectedPose, H3_expectedPose, H4_expectedPose, H5_expectedPose; H1_expectedPose = numericalDerivative11( - boost::bind(&predictionErrorPose, _1, Vel1, Bias1, Pose2, Vel2, factor), + std::bind(&predictionErrorPose, std::placeholders::_1, Vel1, Bias1, Pose2, Vel2, factor), Pose1); H2_expectedPose = numericalDerivative11( - boost::bind(&predictionErrorPose, Pose1, _1, Bias1, Pose2, Vel2, factor), + std::bind(&predictionErrorPose, Pose1, std::placeholders::_1, Bias1, Pose2, Vel2, factor), Vel1); H3_expectedPose = numericalDerivative11( - boost::bind(&predictionErrorPose, Pose1, Vel1, _1, Pose2, Vel2, factor), + std::bind(&predictionErrorPose, Pose1, Vel1, std::placeholders::_1, Pose2, Vel2, factor), Bias1); H4_expectedPose = numericalDerivative11( - boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, _1, Vel2, factor), + std::bind(&predictionErrorPose, Pose1, Vel1, Bias1, std::placeholders::_1, Vel2, factor), Pose2); H5_expectedPose = numericalDerivative11( - boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, Pose2, _1, factor), + std::bind(&predictionErrorPose, Pose1, Vel1, Bias1, Pose2, std::placeholders::_1, factor), Vel2); // Verify they are equal for this choice of state @@ -676,19 +677,19 @@ Vector predictionErrorVel(const Pose3& p1, const Vector3& v1, Matrix H1_expectedVel, H2_expectedVel, H3_expectedVel, H4_expectedVel, H5_expectedVel; H1_expectedVel = numericalDerivative11( - boost::bind(&predictionErrorVel, _1, Vel1, Bias1, Pose2, Vel2, factor), + std::bind(&predictionErrorVel, std::placeholders::_1, Vel1, Bias1, Pose2, Vel2, factor), Pose1); H2_expectedVel = numericalDerivative11( - boost::bind(&predictionErrorVel, Pose1, _1, Bias1, Pose2, Vel2, factor), + std::bind(&predictionErrorVel, Pose1, std::placeholders::_1, Bias1, Pose2, Vel2, factor), Vel1); H3_expectedVel = numericalDerivative11( - boost::bind(&predictionErrorVel, Pose1, Vel1, _1, Pose2, Vel2, factor), + std::bind(&predictionErrorVel, Pose1, Vel1, std::placeholders::_1, Pose2, Vel2, factor), Bias1); H4_expectedVel = numericalDerivative11( - boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, _1, Vel2, factor), + std::bind(&predictionErrorVel, Pose1, Vel1, Bias1, std::placeholders::_1, Vel2, factor), Pose2); H5_expectedVel = numericalDerivative11( - boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, Pose2, _1, factor), + std::bind(&predictionErrorVel, Pose1, Vel1, Bias1, Pose2, std::placeholders::_1, factor), Vel2); // Verify they are equal for this choice of state diff --git a/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp b/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp new file mode 100644 index 000000000..b97d56c7e --- /dev/null +++ b/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp @@ -0,0 +1,244 @@ +/* ---------------------------------------------------------------------------- + + * 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 testLocalOrientedPlane3Factor.cpp + * @date Feb 12, 2021 + * @author David Wisth + * @brief Tests the LocalOrientedPlane3Factor class + */ + +#include + +#include +#include +#include + +#include + +using namespace std::placeholders; +using namespace gtsam; +using namespace std; + +GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3) +GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3) + +using symbol_shorthand::P; //< Planes +using symbol_shorthand::X; //< Pose3 + +// ************************************************************************* +TEST(LocalOrientedPlane3Factor, lm_translation_error) { + // Tests one pose, two measurements of the landmark that differ in range only. + // Normal along -x, 3m away + OrientedPlane3 test_lm0(-1.0, 0.0, 0.0, 3.0); + + NonlinearFactorGraph graph; + + // Init pose and prior. Pose Prior is needed since a single plane measurement + // does not fully constrain the pose + Pose3 init_pose = Pose3::identity(); + Pose3 anchor_pose = Pose3::identity(); + graph.addPrior(X(0), init_pose, noiseModel::Isotropic::Sigma(6, 0.001)); + graph.addPrior(X(1), anchor_pose, noiseModel::Isotropic::Sigma(6, 0.001)); + + // Add two landmark measurements, differing in range + Vector4 measurement0(-1.0, 0.0, 0.0, 3.0); + Vector4 measurement1(-1.0, 0.0, 0.0, 1.0); + LocalOrientedPlane3Factor factor0( + measurement0, noiseModel::Isotropic::Sigma(3, 0.1), X(0), X(1), P(0)); + LocalOrientedPlane3Factor factor1( + measurement1, noiseModel::Isotropic::Sigma(3, 0.1), X(0), X(1), P(0)); + graph.add(factor0); + graph.add(factor1); + + // Initial Estimate + Values values; + values.insert(X(0), init_pose); + values.insert(X(1), anchor_pose); + values.insert(P(0), test_lm0); + + // Optimize + ISAM2 isam2; + isam2.update(graph, values); + Values result_values = isam2.calculateEstimate(); + auto optimized_plane_landmark = result_values.at(P(0)); + + // Given two noisy measurements of equal weight, expect result between the two + OrientedPlane3 expected_plane_landmark(-1.0, 0.0, 0.0, 2.0); + EXPECT(assert_equal(optimized_plane_landmark, expected_plane_landmark)); +} + +// ************************************************************************* +// TODO As described in PR #564 after correcting the derivatives in +// OrientedPlane3Factor this test fails. It should be debugged and re-enabled. +/* +TEST (LocalOrientedPlane3Factor, lm_rotation_error) { + // Tests one pose, two measurements of the landmark that differ in angle only. + // Normal along -x, 3m away + OrientedPlane3 test_lm0(-1.0/sqrt(1.01), -0.1/sqrt(1.01), 0.0, 3.0); + + NonlinearFactorGraph graph; + + // Init pose and prior. Pose Prior is needed since a single plane measurement + // does not fully constrain the pose + Pose3 init_pose = Pose3::identity(); + graph.addPrior(X(0), init_pose, noiseModel::Isotropic::Sigma(6, 0.001)); + + // Add two landmark measurements, differing in angle + Vector4 measurement0(-1.0, 0.0, 0.0, 3.0); + Vector4 measurement1(0.0, -1.0, 0.0, 3.0); + LocalOrientedPlane3Factor factor0(measurement0, + noiseModel::Isotropic::Sigma(3, 0.1), X(0), X(0), P(0)); + LocalOrientedPlane3Factor factor1(measurement1, + noiseModel::Isotropic::Sigma(3, 0.1), X(0), X(0), P(0)); + graph.add(factor0); + graph.add(factor1); + + // Initial Estimate + Values values; + values.insert(X(0), init_pose); + values.insert(P(0), test_lm0); + + // Optimize + ISAM2 isam2; + isam2.update(graph, values); + Values result_values = isam2.calculateEstimate(); + isam2.getDelta().print(); + + auto optimized_plane_landmark = result_values.at(P(0)); + + values.print(); + result_values.print(); + + // Given two noisy measurements of equal weight, expect result between the two + OrientedPlane3 expected_plane_landmark(-sqrt(2.0) / 2.0, -sqrt(2.0) / 2.0, + 0.0, 3.0); + EXPECT(assert_equal(optimized_plane_landmark, expected_plane_landmark)); +} +*/ + +// ************************************************************************* +TEST(LocalOrientedPlane3Factor, Derivatives) { + // Measurement + OrientedPlane3 p(sqrt(2)/2, -sqrt(2)/2, 0, 5); + + // Linearisation point + OrientedPlane3 pLin(sqrt(3)/3, -sqrt(3)/3, sqrt(3)/3, 7); + Pose3 poseLin(Rot3::RzRyRx(0.5*M_PI, -0.3*M_PI, 1.4*M_PI), Point3(1, 2, -4)); + Pose3 anchorPoseLin(Rot3::RzRyRx(-0.1*M_PI, 0.2*M_PI, 1.0), Point3(-5, 0, 1)); + + // Factor + Key planeKey(1), poseKey(2), anchorPoseKey(3); + SharedGaussian noise = noiseModel::Isotropic::Sigma(3, 0.1); + LocalOrientedPlane3Factor factor(p, noise, poseKey, anchorPoseKey, planeKey); + + // Calculate numerical derivatives + auto f = + std::bind(&LocalOrientedPlane3Factor::evaluateError, factor, + std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, boost::none, boost::none, boost::none); + Matrix numericalH1 = numericalDerivative31(f, poseLin, anchorPoseLin, pLin); + Matrix numericalH2 = numericalDerivative32(f, poseLin, anchorPoseLin, pLin); + Matrix numericalH3 = numericalDerivative33(f, poseLin, anchorPoseLin, pLin); + + // Use the factor to calculate the derivative + Matrix actualH1, actualH2, actualH3; + factor.evaluateError(poseLin, anchorPoseLin, pLin, actualH1, actualH2, + actualH3); + + // Verify we get the expected error + EXPECT(assert_equal(numericalH1, actualH1, 1e-8)); + EXPECT(assert_equal(numericalH2, actualH2, 1e-8)); + EXPECT(assert_equal(numericalH3, actualH3, 1e-8)); +} + + +/* ************************************************************************* */ +// Simplified version of the test by Marco Camurri to debug issue #561 +// +// This test provides an example of how LocalOrientedPlane3Factor works. +// x0 is the current sensor pose, and x1 is the local "anchor pose" - i.e. +// a local linearisation point for the plane. The plane is representated and +// optimized in x1 frame in the optimization. This greatly improves numerical +// stability when the pose is far from the origin. +// +TEST(LocalOrientedPlane3Factor, Issue561Simplified) { + // Typedefs + using Plane = OrientedPlane3; + + NonlinearFactorGraph graph; + + // Setup prior factors + Pose3 x0(Rot3::identity(), Vector3(100, 30, 10)); // the "sensor pose" + Pose3 x1(Rot3::identity(), Vector3(90, 40, 5) ); // the "anchor pose" + + auto x0_noise = noiseModel::Isotropic::Sigma(6, 0.01); + auto x1_noise = noiseModel::Isotropic::Sigma(6, 0.01); + graph.addPrior(X(0), x0, x0_noise); + graph.addPrior(X(1), x1, x1_noise); + + // Two horizontal planes with different heights, in the world frame. + const Plane p1(0, 0, 1, 1), p2(0, 0, 1, 2); + // Transform to x1, the "anchor frame" (i.e. local frame) + auto p1_in_x1 = p1.transform(x1); + auto p2_in_x1 = p2.transform(x1); + auto p1_noise = noiseModel::Diagonal::Sigmas(Vector3{1, 1, 5}); + auto p2_noise = noiseModel::Diagonal::Sigmas(Vector3{1, 1, 5}); + graph.addPrior(P(1), p1_in_x1, p1_noise); + graph.addPrior(P(2), p2_in_x1, p2_noise); + + // Add plane factors, with a local linearization point. + // transform p1 to pose x0 as a measurement + auto p1_measured_from_x0 = p1.transform(x0); + // transform p2 to pose x0 as a measurement + auto p2_measured_from_x0 = p2.transform(x0); + const auto x0_p1_noise = noiseModel::Isotropic::Sigma(3, 0.05); + const auto x0_p2_noise = noiseModel::Isotropic::Sigma(3, 0.05); + graph.emplace_shared( + p1_measured_from_x0.planeCoefficients(), x0_p1_noise, X(0), X(1), P(1)); + graph.emplace_shared( + p2_measured_from_x0.planeCoefficients(), x0_p2_noise, X(0), X(1), P(2)); + + // Initial values + // Just offset the initial pose by 1m. This is what we are trying to optimize. + Values initialEstimate; + Pose3 x0_initial = x0.compose(Pose3(Rot3::identity(), Vector3(1, 0, 0))); + initialEstimate.insert(P(1), p1_in_x1); + initialEstimate.insert(P(2), p2_in_x1); + initialEstimate.insert(X(0), x0_initial); + initialEstimate.insert(X(1), x1); + + // Optimize + try { + ISAM2 isam2; + isam2.update(graph, initialEstimate); + Values result = isam2.calculateEstimate(); + EXPECT_DOUBLES_EQUAL(0, graph.error(result), 0.1); + EXPECT(x0.equals(result.at(X(0)))); + EXPECT(p1_in_x1.equals(result.at(P(1)))); + EXPECT(p2_in_x1.equals(result.at(P(2)))); + } catch (const IndeterminantLinearSystemException &e) { + cerr << "CAPTURED THE EXCEPTION: " + << DefaultKeyFormatter(e.nearbyVariable()) << endl; + EXPECT(false); // fail if this happens + } +} + +/* ************************************************************************* */ +int main() { + srand(time(nullptr)); + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ diff --git a/gtsam_unstable/slam/tests/testPartialPriorFactor.cpp b/gtsam_unstable/slam/tests/testPartialPriorFactor.cpp new file mode 100644 index 000000000..7ba8a0d04 --- /dev/null +++ b/gtsam_unstable/slam/tests/testPartialPriorFactor.cpp @@ -0,0 +1,290 @@ +/* ---------------------------------------------------------------------------- + + * 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 + + * -------------------------------------------------------------------------- */ + +#include +#include +#include +#include +#include +#include + +#include + +using namespace std::placeholders; +using namespace std; +using namespace gtsam; + +namespace NM = gtsam::noiseModel; + +// Pose3 tangent representation is [ Rx Ry Rz Tx Ty Tz ]. +static const int kIndexRx = 0; +static const int kIndexRy = 1; +static const int kIndexRz = 2; +static const int kIndexTx = 3; +static const int kIndexTy = 4; +static const int kIndexTz = 5; + +typedef PartialPriorFactor TestPartialPriorFactor2; +typedef PartialPriorFactor TestPartialPriorFactor3; +typedef std::vector Indices; + +/// traits +namespace gtsam { +template<> +struct traits : public Testable {}; + +template<> +struct traits : public Testable {}; +} + +/* ************************************************************************* */ +TEST(PartialPriorFactor, Constructors2) { + Key poseKey(1); + Pose2 measurement(-13.1, 3.14, -0.73); + + // Prior on x component of translation. + TestPartialPriorFactor2 factor1(poseKey, 0, measurement.x(), NM::Isotropic::Sigma(1, 0.25)); + CHECK(assert_equal(1, factor1.prior().rows())); + CHECK(assert_equal(measurement.x(), factor1.prior()(0))); + CHECK(assert_container_equality({ 0 }, factor1.indices())); + + // Prior on full translation vector. + const Indices t_indices = { 0, 1 }; + TestPartialPriorFactor2 factor2(poseKey, t_indices, measurement.translation(), NM::Isotropic::Sigma(2, 0.25)); + CHECK(assert_equal(2, factor2.prior().rows())); + CHECK(assert_equal(measurement.translation(), factor2.prior())); + CHECK(assert_container_equality(t_indices, factor2.indices())); + + // Prior on theta. + TestPartialPriorFactor2 factor3(poseKey, 2, measurement.theta(), NM::Isotropic::Sigma(1, 0.1)); + CHECK(assert_equal(1, factor3.prior().rows())); + CHECK(assert_equal(measurement.theta(), factor3.prior()(0))); + CHECK(assert_container_equality({ 2 }, factor3.indices())); +} + +/* ************************************************************************* */ +TEST(PartialPriorFactor, JacobianPartialTranslation2) { + Key poseKey(1); + Pose2 measurement(-13.1, 3.14, -0.73); + + // Prior on x component of translation. + TestPartialPriorFactor2 factor(poseKey, 0, measurement.x(), NM::Isotropic::Sigma(1, 0.25)); + + Pose2 pose = measurement; // Zero-error linearization point. + + // Calculate numerical derivatives. + Matrix expectedH1 = numericalDerivative11( + std::bind(&TestPartialPriorFactor2::evaluateError, &factor, + std::placeholders::_1, boost::none), + pose); + + // Use the factor to calculate the derivative. + Matrix actualH1; + factor.evaluateError(pose, actualH1); + + // Verify we get the expected error. + CHECK(assert_equal(expectedH1, actualH1, 1e-5)); +} + +/* ************************************************************************* */ +TEST(PartialPriorFactor, JacobianFullTranslation2) { + Key poseKey(1); + Pose2 measurement(-6.0, 3.5, 0.123); + + // Prior on x component of translation. + TestPartialPriorFactor2 factor(poseKey, {0, 1}, measurement.translation(), + NM::Isotropic::Sigma(2, 0.25)); + + Pose2 pose = measurement; // Zero-error linearization point. + + // Calculate numerical derivatives. + Matrix expectedH1 = numericalDerivative11( + std::bind(&TestPartialPriorFactor2::evaluateError, &factor, + std::placeholders::_1, boost::none), + pose); + + // Use the factor to calculate the derivative. + Matrix actualH1; + factor.evaluateError(pose, actualH1); + + // Verify we get the expected error. + CHECK(assert_equal(expectedH1, actualH1, 1e-5)); +} + +/* ************************************************************************* */ +TEST(PartialPriorFactor, JacobianTheta) { + Key poseKey(1); + Pose2 measurement(-1.0, 0.4, -2.5); + + // Prior on x component of translation. + TestPartialPriorFactor2 factor(poseKey, 2, measurement.theta(), NM::Isotropic::Sigma(1, 0.25)); + + Pose2 pose = measurement; // Zero-error linearization point. + + // Calculate numerical derivatives. + Matrix expectedH1 = numericalDerivative11( + std::bind(&TestPartialPriorFactor2::evaluateError, &factor, std::placeholders::_1, boost::none), pose); + + // Use the factor to calculate the derivative. + Matrix actualH1; + factor.evaluateError(pose, actualH1); + + // Verify we get the expected error. + CHECK(assert_equal(expectedH1, actualH1, 1e-5)); +} + +/* ************************************************************************* */ +TEST(PartialPriorFactor, Constructors3) { + Key poseKey(1); + Pose3 measurement(Rot3::RzRyRx(-0.17, 0.567, M_PI), Point3(10.0, -2.3, 3.14)); + + // Single component of translation. + TestPartialPriorFactor3 factor1(poseKey, kIndexTy, measurement.y(), + NM::Isotropic::Sigma(1, 0.25)); + CHECK(assert_equal(1, factor1.prior().rows())); + CHECK(assert_equal(measurement.y(), factor1.prior()(0))); + CHECK(assert_container_equality({ kIndexTy }, factor1.indices())); + + // Full translation vector. + const Indices t_indices = { kIndexTx, kIndexTy, kIndexTz }; + TestPartialPriorFactor3 factor2(poseKey, t_indices, measurement.translation(), + NM::Isotropic::Sigma(3, 0.25)); + CHECK(assert_equal(3, factor2.prior().rows())); + CHECK(assert_equal(measurement.translation(), factor2.prior())); + CHECK(assert_container_equality(t_indices, factor2.indices())); + + // Full tangent vector of rotation. + const Indices r_indices = { kIndexRx, kIndexRy, kIndexRz }; + TestPartialPriorFactor3 factor3(poseKey, r_indices, Rot3::Logmap(measurement.rotation()), + NM::Isotropic::Sigma(3, 0.1)); + CHECK(assert_equal(3, factor3.prior().rows())); + CHECK(assert_equal(Rot3::Logmap(measurement.rotation()), factor3.prior())); + CHECK(assert_container_equality(r_indices, factor3.indices())); +} + +/* ************************************************************************* */ +TEST(PartialPriorFactor, JacobianAtIdentity3) { + Key poseKey(1); + Pose3 measurement = Pose3::identity(); + SharedNoiseModel model = NM::Isotropic::Sigma(1, 0.25); + + TestPartialPriorFactor3 factor(poseKey, kIndexTy, measurement.translation().y(), model); + + Pose3 pose = measurement; // Zero-error linearization point. + + // Calculate numerical derivatives. + Matrix expectedH1 = numericalDerivative11( + std::bind(&TestPartialPriorFactor3::evaluateError, &factor, std::placeholders::_1, boost::none), pose); + + // Use the factor to calculate the derivative. + Matrix actualH1; + factor.evaluateError(pose, actualH1); + + // Verify we get the expected error. + CHECK(assert_equal(expectedH1, actualH1, 1e-5)); +} + +/* ************************************************************************* */ +TEST(PartialPriorFactor, JacobianPartialTranslation3) { + Key poseKey(1); + Pose3 measurement(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(-5.0, 8.0, -11.0)); + SharedNoiseModel model = NM::Isotropic::Sigma(1, 0.25); + + TestPartialPriorFactor3 factor(poseKey, kIndexTy, measurement.translation().y(), model); + + Pose3 pose = measurement; // Zero-error linearization point. + + // Calculate numerical derivatives. + Matrix expectedH1 = numericalDerivative11( + std::bind(&TestPartialPriorFactor3::evaluateError, &factor, std::placeholders::_1, boost::none), pose); + + // Use the factor to calculate the derivative. + Matrix actualH1; + factor.evaluateError(pose, actualH1); + + // Verify we get the expected error. + CHECK(assert_equal(expectedH1, actualH1, 1e-5)); +} + +/* ************************************************************************* */ +TEST(PartialPriorFactor, JacobianFullTranslation3) { + Key poseKey(1); + Pose3 measurement(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(-5.0, 8.0, -11.0)); + SharedNoiseModel model = NM::Isotropic::Sigma(3, 0.25); + + std::vector translationIndices = { kIndexTx, kIndexTy, kIndexTz }; + TestPartialPriorFactor3 factor(poseKey, translationIndices, measurement.translation(), model); + + // Create a linearization point at the zero-error point + Pose3 pose = measurement; // Zero-error linearization point. + + // Calculate numerical derivatives. + Matrix expectedH1 = numericalDerivative11( + std::bind(&TestPartialPriorFactor3::evaluateError, &factor, std::placeholders::_1, boost::none), pose); + + // Use the factor to calculate the derivative. + Matrix actualH1; + factor.evaluateError(pose, actualH1); + + // Verify we get the expected error. + CHECK(assert_equal(expectedH1, actualH1, 1e-5)); +} + +/* ************************************************************************* */ +TEST(PartialPriorFactor, JacobianTxTz3) { + Key poseKey(1); + Pose3 measurement(Rot3::RzRyRx(-0.17, 0.567, M_PI), Point3(10.0, -2.3, 3.14)); + SharedNoiseModel model = NM::Isotropic::Sigma(2, 0.25); + + std::vector translationIndices = { kIndexTx, kIndexTz }; + TestPartialPriorFactor3 factor(poseKey, translationIndices, + (Vector(2) << measurement.x(), measurement.z()).finished(), model); + + Pose3 pose = measurement; // Zero-error linearization point. + + // Calculate numerical derivatives. + Matrix expectedH1 = numericalDerivative11( + std::bind(&TestPartialPriorFactor3::evaluateError, &factor, std::placeholders::_1, boost::none), pose); + + // Use the factor to calculate the derivative. + Matrix actualH1; + factor.evaluateError(pose, actualH1); + + // Verify we get the expected error. + CHECK(assert_equal(expectedH1, actualH1, 1e-5)); +} + +/* ************************************************************************* */ +TEST(PartialPriorFactor, JacobianFullRotation3) { + Key poseKey(1); + Pose3 measurement(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(-5.0, 8.0, -11.0)); + SharedNoiseModel model = NM::Isotropic::Sigma(3, 0.25); + + std::vector rotationIndices = { kIndexRx, kIndexRy, kIndexRz }; + TestPartialPriorFactor3 factor(poseKey, rotationIndices, Rot3::Logmap(measurement.rotation()), model); + + Pose3 pose = measurement; // Zero-error linearization point. + + // Calculate numerical derivatives. + Matrix expectedH1 = numericalDerivative11( + std::bind(&TestPartialPriorFactor3::evaluateError, &factor, std::placeholders::_1, boost::none), pose); + + // Use the factor to calculate the derivative. + Matrix actualH1; + factor.evaluateError(pose, actualH1); + + // Verify we get the expected error. + CHECK(assert_equal(expectedH1, actualH1, 1e-5)); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ diff --git a/gtsam_unstable/slam/tests/testPoseBetweenFactor.cpp b/gtsam_unstable/slam/tests/testPoseBetweenFactor.cpp index f589e932f..cd5bf1d9e 100644 --- a/gtsam_unstable/slam/tests/testPoseBetweenFactor.cpp +++ b/gtsam_unstable/slam/tests/testPoseBetweenFactor.cpp @@ -21,8 +21,10 @@ #include #include #include + #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -196,8 +198,14 @@ TEST( PoseBetweenFactor, Jacobian ) { Point3(-3.37493895, 6.14660244, -8.93650986)); // Calculate numerical derivatives - Matrix expectedH1 = numericalDerivative11(boost::bind(&TestPoseBetweenFactor::evaluateError, &factor, _1, pose2, boost::none, boost::none), pose1); - Matrix expectedH2 = numericalDerivative11(boost::bind(&TestPoseBetweenFactor::evaluateError, &factor, pose1, _1, boost::none, boost::none), pose2); + Matrix expectedH1 = numericalDerivative11( + std::bind(&TestPoseBetweenFactor::evaluateError, &factor, + std::placeholders::_1, pose2, boost::none, boost::none), + pose1); + Matrix expectedH2 = numericalDerivative11( + std::bind(&TestPoseBetweenFactor::evaluateError, &factor, pose1, + std::placeholders::_1, boost::none, boost::none), + pose2); // Use the factor to calculate the derivative Matrix actualH1; @@ -225,8 +233,14 @@ TEST( PoseBetweenFactor, JacobianWithTransform ) { Point3(-3.5257579, 6.02637531, -8.98382384)); // Calculate numerical derivatives - Matrix expectedH1 = numericalDerivative11(boost::bind(&TestPoseBetweenFactor::evaluateError, &factor, _1, pose2, boost::none, boost::none), pose1); - Matrix expectedH2 = numericalDerivative11(boost::bind(&TestPoseBetweenFactor::evaluateError, &factor, pose1, _1, boost::none, boost::none), pose2); + Matrix expectedH1 = numericalDerivative11( + std::bind(&TestPoseBetweenFactor::evaluateError, &factor, + std::placeholders::_1, pose2, boost::none, boost::none), + pose1); + Matrix expectedH2 = numericalDerivative11( + std::bind(&TestPoseBetweenFactor::evaluateError, &factor, pose1, + std::placeholders::_1, boost::none, boost::none), + pose2); // Use the factor to calculate the derivative Matrix actualH1; diff --git a/gtsam_unstable/slam/tests/testPosePriorFactor.cpp b/gtsam_unstable/slam/tests/testPosePriorFactor.cpp index 166f058e3..dbbc02a8b 100644 --- a/gtsam_unstable/slam/tests/testPosePriorFactor.cpp +++ b/gtsam_unstable/slam/tests/testPosePriorFactor.cpp @@ -21,8 +21,10 @@ #include #include #include + #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -185,7 +187,10 @@ TEST( PosePriorFactor, Jacobian ) { Pose3 pose(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(-5.0, 8.0, -11.0)); // Calculate numerical derivatives - Matrix expectedH1 = numericalDerivative11(boost::bind(&TestPosePriorFactor::evaluateError, &factor, _1, boost::none), pose); + Matrix expectedH1 = numericalDerivative11( + std::bind(&TestPosePriorFactor::evaluateError, &factor, + std::placeholders::_1, boost::none), + pose); // Use the factor to calculate the derivative Matrix actualH1; @@ -209,7 +214,10 @@ TEST( PosePriorFactor, JacobianWithTransform ) { Point3(-4.74767676, 7.67044942, -11.00985)); // Calculate numerical derivatives - Matrix expectedH1 = numericalDerivative11(boost::bind(&TestPosePriorFactor::evaluateError, &factor, _1, boost::none), pose); + Matrix expectedH1 = numericalDerivative11( + std::bind(&TestPosePriorFactor::evaluateError, &factor, + std::placeholders::_1, boost::none), + pose); // Use the factor to calculate the derivative Matrix actualH1; diff --git a/gtsam_unstable/slam/tests/testPoseToPointFactor.h b/gtsam_unstable/slam/tests/testPoseToPointFactor.h index 8f8563e9d..e0e5c4581 100644 --- a/gtsam_unstable/slam/tests/testPoseToPointFactor.h +++ b/gtsam_unstable/slam/tests/testPoseToPointFactor.h @@ -63,7 +63,7 @@ TEST(PoseToPointFactor, jacobian) { PoseToPointFactor factor(pose_key, point_key, l_meas, noise); // Calculate numerical derivatives - auto f = boost::bind(&PoseToPointFactor::evaluateError, factor, _1, _2, + auto f = std::bind(&PoseToPointFactor::evaluateError, factor, _1, _2, boost::none, boost::none); Matrix numerical_H1 = numericalDerivative21(f, p, l); Matrix numerical_H2 = numericalDerivative22(f, p, l); diff --git a/gtsam_unstable/slam/tests/testProjectionFactorPPP.cpp b/gtsam_unstable/slam/tests/testProjectionFactorPPP.cpp index 4e9fdcb50..c05f83a23 100644 --- a/gtsam_unstable/slam/tests/testProjectionFactorPPP.cpp +++ b/gtsam_unstable/slam/tests/testProjectionFactorPPP.cpp @@ -28,8 +28,7 @@ #include -#include - +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -177,10 +176,13 @@ TEST( ProjectionFactorPPP, Jacobian ) { CHECK(assert_equal(H3Expected, H3Actual, 1e-3)); // Verify H2 with numerical derivative - Matrix H2Expected = numericalDerivative32( - boost::function( - boost::bind(&TestProjectionFactor::evaluateError, &factor, _1, _2, _3, - boost::none, boost::none, boost::none)), pose, Pose3(), point); + Matrix H2Expected = numericalDerivative32( + std::function( + std::bind(&TestProjectionFactor::evaluateError, &factor, + std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, boost::none, boost::none, + boost::none)), + pose, Pose3(), point); CHECK(assert_equal(H2Expected, H2Actual, 1e-5)); } @@ -213,9 +215,12 @@ TEST( ProjectionFactorPPP, JacobianWithTransform ) { // Verify H2 with numerical derivative Matrix H2Expected = numericalDerivative32( - boost::function( - boost::bind(&TestProjectionFactor::evaluateError, &factor, _1, _2, _3, - boost::none, boost::none, boost::none)), pose, body_P_sensor, point); + std::function( + std::bind(&TestProjectionFactor::evaluateError, &factor, + std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, boost::none, boost::none, + boost::none)), + pose, body_P_sensor, point); CHECK(assert_equal(H2Expected, H2Actual, 1e-5)); diff --git a/gtsam_unstable/slam/tests/testProjectionFactorPPPC.cpp b/gtsam_unstable/slam/tests/testProjectionFactorPPPC.cpp index 5eadf5fd6..6490dfc75 100644 --- a/gtsam_unstable/slam/tests/testProjectionFactorPPPC.cpp +++ b/gtsam_unstable/slam/tests/testProjectionFactorPPPC.cpp @@ -28,8 +28,7 @@ #include -#include - +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -137,12 +136,16 @@ TEST( ProjectionFactorPPPC, Jacobian ) { // Verify H2 and H4 with numerical derivatives Matrix H2Expected = numericalDerivative11( - boost::bind(&TestProjectionFactor::evaluateError, &factor, pose, _1, point, - *K1, boost::none, boost::none, boost::none, boost::none), Pose3()); + std::bind(&TestProjectionFactor::evaluateError, &factor, pose, + std::placeholders::_1, point, *K1, boost::none, boost::none, + boost::none, boost::none), + Pose3()); Matrix H4Expected = numericalDerivative11( - boost::bind(&TestProjectionFactor::evaluateError, &factor, pose, Pose3(), point, - _1, boost::none, boost::none, boost::none, boost::none), *K1); + std::bind(&TestProjectionFactor::evaluateError, &factor, pose, Pose3(), + point, std::placeholders::_1, boost::none, boost::none, + boost::none, boost::none), + *K1); CHECK(assert_equal(H2Expected, H2Actual, 1e-5)); CHECK(assert_equal(H4Expected, H4Actual, 1e-5)); @@ -173,12 +176,12 @@ TEST( ProjectionFactorPPPC, JacobianWithTransform ) { // Verify H2 and H4 with numerical derivatives Matrix H2Expected = numericalDerivative11( - boost::bind(&TestProjectionFactor::evaluateError, &factor, pose, _1, point, + std::bind(&TestProjectionFactor::evaluateError, &factor, pose, std::placeholders::_1, point, *K1, boost::none, boost::none, boost::none, boost::none), body_P_sensor); Matrix H4Expected = numericalDerivative11( - boost::bind(&TestProjectionFactor::evaluateError, &factor, pose, body_P_sensor, point, - _1, boost::none, boost::none, boost::none, boost::none), *K1); + std::bind(&TestProjectionFactor::evaluateError, &factor, pose, body_P_sensor, point, + std::placeholders::_1, boost::none, boost::none, boost::none, boost::none), *K1); CHECK(assert_equal(H2Expected, H2Actual, 1e-5)); CHECK(assert_equal(H4Expected, H4Actual, 1e-5)); diff --git a/gtsam_unstable/slam/tests/testRelativeElevationFactor.cpp b/gtsam_unstable/slam/tests/testRelativeElevationFactor.cpp index 210018ed3..25ca3339b 100644 --- a/gtsam_unstable/slam/tests/testRelativeElevationFactor.cpp +++ b/gtsam_unstable/slam/tests/testRelativeElevationFactor.cpp @@ -11,6 +11,7 @@ #include +using namespace std::placeholders; using namespace gtsam; SharedNoiseModel model1 = noiseModel::Unit::Create(1); @@ -35,10 +36,14 @@ TEST( testRelativeElevationFactor, level_zero_error ) { RelativeElevationFactor factor(poseKey, pointKey, measured, model1); Matrix actH1, actH2; EXPECT(assert_equal(Z_1x1, factor.evaluateError(pose1, point1, actH1, actH2))); - Matrix expH1 = numericalDerivative21( - boost::bind(evalFactorError, factor, _1, _2), pose1, point1, 1e-5); - Matrix expH2 = numericalDerivative22( - boost::bind(evalFactorError, factor, _1, _2), pose1, point1, 1e-5); + Matrix expH1 = numericalDerivative21( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose1, point1, 1e-5); + Matrix expH2 = numericalDerivative22( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose1, point1, 1e-5); EXPECT(assert_equal(expH1, actH1, tol)); EXPECT(assert_equal(expH2, actH2, tol)); } @@ -50,10 +55,14 @@ TEST( testRelativeElevationFactor, level_positive ) { RelativeElevationFactor factor(poseKey, pointKey, measured, model1); Matrix actH1, actH2; EXPECT(assert_equal((Vector(1) << 2.0).finished(), factor.evaluateError(pose1, point1, actH1, actH2))); - Matrix expH1 = numericalDerivative21( - boost::bind(evalFactorError, factor, _1, _2), pose1, point1, 1e-5); - Matrix expH2 = numericalDerivative22( - boost::bind(evalFactorError, factor, _1, _2), pose1, point1, 1e-5); + Matrix expH1 = numericalDerivative21( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose1, point1, 1e-5); + Matrix expH2 = numericalDerivative22( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose1, point1, 1e-5); EXPECT(assert_equal(expH1, actH1, tol)); EXPECT(assert_equal(expH2, actH2, tol)); } @@ -65,10 +74,14 @@ TEST( testRelativeElevationFactor, level_negative ) { RelativeElevationFactor factor(poseKey, pointKey, measured, model1); Matrix actH1, actH2; EXPECT(assert_equal((Vector(1) << 3.0).finished(), factor.evaluateError(pose1, point1, actH1, actH2))); - Matrix expH1 = numericalDerivative21( - boost::bind(evalFactorError, factor, _1, _2), pose1, point1, 1e-5); - Matrix expH2 = numericalDerivative22( - boost::bind(evalFactorError, factor, _1, _2), pose1, point1, 1e-5); + Matrix expH1 = numericalDerivative21( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose1, point1, 1e-5); + Matrix expH2 = numericalDerivative22( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose1, point1, 1e-5); EXPECT(assert_equal(expH1, actH1, tol)); EXPECT(assert_equal(expH2, actH2, tol)); } @@ -80,10 +93,14 @@ TEST( testRelativeElevationFactor, rotated_zero_error ) { RelativeElevationFactor factor(poseKey, pointKey, measured, model1); Matrix actH1, actH2; EXPECT(assert_equal(Z_1x1, factor.evaluateError(pose2, point1, actH1, actH2))); - Matrix expH1 = numericalDerivative21( - boost::bind(evalFactorError, factor, _1, _2), pose2, point1, 1e-5); - Matrix expH2 = numericalDerivative22( - boost::bind(evalFactorError, factor, _1, _2), pose2, point1, 1e-5); + Matrix expH1 = numericalDerivative21( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose2, point1, 1e-5); + Matrix expH2 = numericalDerivative22( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose2, point1, 1e-5); EXPECT(assert_equal(expH1, actH1, tol)); EXPECT(assert_equal(expH2, actH2, tol)); } @@ -95,10 +112,14 @@ TEST( testRelativeElevationFactor, rotated_positive ) { RelativeElevationFactor factor(poseKey, pointKey, measured, model1); Matrix actH1, actH2; EXPECT(assert_equal((Vector(1) << 2.0).finished(), factor.evaluateError(pose2, point1, actH1, actH2))); - Matrix expH1 = numericalDerivative21( - boost::bind(evalFactorError, factor, _1, _2), pose2, point1, 1e-5); - Matrix expH2 = numericalDerivative22( - boost::bind(evalFactorError, factor, _1, _2), pose2, point1, 1e-5); + Matrix expH1 = numericalDerivative21( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose2, point1, 1e-5); + Matrix expH2 = numericalDerivative22( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose2, point1, 1e-5); EXPECT(assert_equal(expH1, actH1, tol)); EXPECT(assert_equal(expH2, actH2, tol)); } @@ -110,10 +131,14 @@ TEST( testRelativeElevationFactor, rotated_negative1 ) { RelativeElevationFactor factor(poseKey, pointKey, measured, model1); Matrix actH1, actH2; EXPECT(assert_equal((Vector(1) << 3.0).finished(), factor.evaluateError(pose2, point1, actH1, actH2))); - Matrix expH1 = numericalDerivative21( - boost::bind(evalFactorError, factor, _1, _2), pose2, point1, 1e-5); - Matrix expH2 = numericalDerivative22( - boost::bind(evalFactorError, factor, _1, _2), pose2, point1, 1e-5); + Matrix expH1 = numericalDerivative21( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose2, point1, 1e-5); + Matrix expH2 = numericalDerivative22( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose2, point1, 1e-5); EXPECT(assert_equal(expH1, actH1, tol)); EXPECT(assert_equal(expH2, actH2, tol)); } @@ -125,10 +150,14 @@ TEST( testRelativeElevationFactor, rotated_negative2 ) { RelativeElevationFactor factor(poseKey, pointKey, measured, model1); Matrix actH1, actH2; EXPECT(assert_equal((Vector(1) << 3.0).finished(), factor.evaluateError(pose3, point1, actH1, actH2))); - Matrix expH1 = numericalDerivative21( - boost::bind(evalFactorError, factor, _1, _2), pose3, point1, 1e-5); - Matrix expH2 = numericalDerivative22( - boost::bind(evalFactorError, factor, _1, _2), pose3, point1, 1e-5); + Matrix expH1 = numericalDerivative21( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose3, point1, 1e-5); + Matrix expH2 = numericalDerivative22( + std::bind(evalFactorError, factor, std::placeholders::_1, + std::placeholders::_2), + pose3, point1, 1e-5); EXPECT(assert_equal(expH1, actH1, tol)); EXPECT(assert_equal(expH2, actH2, tol)); } diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionFactorPP.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionFactorPP.cpp new file mode 100644 index 000000000..61836d098 --- /dev/null +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionFactorPP.cpp @@ -0,0 +1,1274 @@ +/* ---------------------------------------------------------------------------- + + * 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 testSmartStereoProjectionFactorPP.cpp + * @brief Unit tests for SmartStereoProjectionFactorPP Class + * @author Luca Carlone + * @date March 2021 + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace boost::assign; +using namespace gtsam; + +// make a realistic calibration matrix +static double b = 1; + +static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fov, w, h, b)); +static Cal3_S2Stereo::shared_ptr K2( + new Cal3_S2Stereo(1500, 1200, 0, 640, 480, b)); + +static SmartStereoProjectionParams params; + +// static bool manageDegeneracy = true; +// Create a noise model for the pixel error +static SharedNoiseModel model(noiseModel::Isotropic::Sigma(3, 0.1)); + +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + +// tests data +static Symbol x1('X', 1); +static Symbol x2('X', 2); +static Symbol x3('X', 3); +static Symbol body_P_cam1_key('P', 1); +static Symbol body_P_cam2_key('P', 2); +static Symbol body_P_cam3_key('P', 3); + +static Key poseKey1(x1); +static Key poseExtrinsicKey1(body_P_cam1_key); +static Key poseExtrinsicKey2(body_P_cam2_key); +static StereoPoint2 measurement1(323.0, 300.0, 240.0); //potentially use more reasonable measurement value? +static StereoPoint2 measurement2(350.0, 200.0, 240.0); //potentially use more reasonable measurement value? +static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), + Point3(0.25, -0.10, 1.0)); + +static double missing_uR = std::numeric_limits::quiet_NaN(); + +vector stereo_projectToMultipleCameras(const StereoCamera& cam1, + const StereoCamera& cam2, const StereoCamera& cam3, Point3 landmark) { + + vector measurements_cam; + + StereoPoint2 cam1_uv1 = cam1.project(landmark); + StereoPoint2 cam2_uv1 = cam2.project(landmark); + StereoPoint2 cam3_uv1 = cam3.project(landmark); + measurements_cam.push_back(cam1_uv1); + measurements_cam.push_back(cam2_uv1); + measurements_cam.push_back(cam3_uv1); + + return measurements_cam; +} + +LevenbergMarquardtParams lm_params; + +/* ************************************************************************* */ +TEST( SmartStereoProjectionFactorPP, params) { + SmartStereoProjectionParams p; + + // check default values and "get" + EXPECT(p.getLinearizationMode() == HESSIAN); + EXPECT(p.getDegeneracyMode() == IGNORE_DEGENERACY); + EXPECT_DOUBLES_EQUAL(p.getRetriangulationThreshold(), 1e-5, 1e-9); + EXPECT(p.getVerboseCheirality() == false); + EXPECT(p.getThrowCheirality() == false); + + // check "set" + p.setLinearizationMode(JACOBIAN_SVD); + p.setDegeneracyMode(ZERO_ON_DEGENERACY); + p.setRankTolerance(100); + p.setEnableEPI(true); + p.setLandmarkDistanceThreshold(200); + p.setDynamicOutlierRejectionThreshold(3); + p.setRetriangulationThreshold(1e-2); + + EXPECT(p.getLinearizationMode() == JACOBIAN_SVD); + EXPECT(p.getDegeneracyMode() == ZERO_ON_DEGENERACY); + EXPECT_DOUBLES_EQUAL(p.getTriangulationParameters().rankTolerance, 100, 1e-5); + EXPECT(p.getTriangulationParameters().enableEPI == true); + EXPECT_DOUBLES_EQUAL(p.getTriangulationParameters().landmarkDistanceThreshold, 200, 1e-5); + EXPECT_DOUBLES_EQUAL(p.getTriangulationParameters().dynamicOutlierRejectionThreshold, 3, 1e-5); + EXPECT_DOUBLES_EQUAL(p.getRetriangulationThreshold(), 1e-2, 1e-5); +} + +/* ************************************************************************* */ +TEST( SmartStereoProjectionFactorPP, Constructor) { + SmartStereoProjectionFactorPP::shared_ptr factor1(new SmartStereoProjectionFactorPP(model)); +} + +/* ************************************************************************* */ +TEST( SmartStereoProjectionFactorPP, Constructor2) { + SmartStereoProjectionFactorPP factor1(model, params); +} + +/* ************************************************************************* */ +TEST( SmartStereoProjectionFactorPP, Constructor3) { + SmartStereoProjectionFactorPP::shared_ptr factor1(new SmartStereoProjectionFactorPP(model)); + factor1->add(measurement1, poseKey1, poseExtrinsicKey1, K); +} + +/* ************************************************************************* */ +TEST( SmartStereoProjectionFactorPP, Constructor4) { + SmartStereoProjectionFactorPP factor1(model, params); + factor1.add(measurement1, poseKey1, poseExtrinsicKey1, K); +} + +/* ************************************************************************* */ +TEST( SmartStereoProjectionFactorPP, Equals ) { + SmartStereoProjectionFactorPP::shared_ptr factor1(new SmartStereoProjectionFactorPP(model)); + factor1->add(measurement1, poseKey1, poseExtrinsicKey1, K); + + SmartStereoProjectionFactorPP::shared_ptr factor2(new SmartStereoProjectionFactorPP(model)); + factor2->add(measurement1, poseKey1, poseExtrinsicKey1, K); + // check these are equal + EXPECT(assert_equal(*factor1, *factor2)); + + SmartStereoProjectionFactorPP::shared_ptr factor3(new SmartStereoProjectionFactorPP(model)); + factor3->add(measurement2, poseKey1, poseExtrinsicKey1, K); + // check these are different + EXPECT(!factor1->equals(*factor3)); + + SmartStereoProjectionFactorPP::shared_ptr factor4(new SmartStereoProjectionFactorPP(model)); + factor4->add(measurement1, poseKey1, poseExtrinsicKey2, K); + // check these are different + EXPECT(!factor1->equals(*factor4)); +} + +/* *************************************************************************/ +TEST_UNSAFE( SmartStereoProjectionFactorPP, noiseless_error_identityExtrinsics ) { + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), + Point3(0, 0, 1)); + StereoCamera w_Camera_cam1(w_Pose_cam1, K2); + + // create second camera 1 meter to the right of first camera + Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0)); + StereoCamera w_Camera_cam2(w_Pose_cam2, K2); + + // landmark ~5 meters infront of camera + Point3 landmark(5, 0.5, 1.2); + + // 1. Project two landmarks into two cameras and triangulate + StereoPoint2 cam1_uv = w_Camera_cam1.project(landmark); + StereoPoint2 cam2_uv = w_Camera_cam2.project(landmark); + + Values values; + values.insert(x1, w_Pose_cam1); + values.insert(x2, w_Pose_cam2); + values.insert(body_P_cam1_key, Pose3::identity()); + values.insert(body_P_cam2_key, Pose3::identity()); + + SmartStereoProjectionFactorPP factor1(model); + factor1.add(cam1_uv, x1, body_P_cam1_key, K2); + factor1.add(cam2_uv, x2, body_P_cam2_key, K2); + + double actualError = factor1.error(values); + double expectedError = 0.0; + EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7); + + SmartStereoProjectionFactorPP::Cameras cameras = factor1.cameras(values); + double actualError2 = factor1.totalReprojectionError(cameras); + EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7); +} + +/* *************************************************************************/ +TEST_UNSAFE( SmartStereoProjectionFactorPP, noiseless_error_multipleExtrinsics ) { + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), + Point3(0, 0, 1)); + StereoCamera w_Camera_cam1(w_Pose_cam1, K2); + + // create second camera 1 meter to the right of first camera + Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0)); + StereoCamera w_Camera_cam2(w_Pose_cam2, K2); + + // landmark ~5 meters infront of camera + Point3 landmark(5, 0.5, 1.2); + + // 1. Project two landmarks into two cameras and triangulate + StereoPoint2 cam1_uv = w_Camera_cam1.project(landmark); + StereoPoint2 cam2_uv = w_Camera_cam2.project(landmark); + + Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., 0.0), + Point3(0, 1, 0)); + Pose3 body_Pose_cam2 = Pose3(Rot3::Ypr(-M_PI / 4, 0., 0.0), + Point3(1, 1, 0)); + Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse()); + Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam2.inverse()); + + Values values; + values.insert(x1, w_Pose_body1); + values.insert(x2, w_Pose_body2); + values.insert(body_P_cam1_key, body_Pose_cam1); + values.insert(body_P_cam2_key, body_Pose_cam2); + + SmartStereoProjectionFactorPP factor1(model); + factor1.add(cam1_uv, x1, body_P_cam1_key, K2); + factor1.add(cam2_uv, x2, body_P_cam2_key, K2); + + double actualError = factor1.error(values); + double expectedError = 0.0; + EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7); + + SmartStereoProjectionFactorPP::Cameras cameras = factor1.cameras(values); + double actualError2 = factor1.totalReprojectionError(cameras); + EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7); +} + +/* *************************************************************************/ +TEST( SmartProjectionPoseFactor, noiseless_error_multipleExtrinsics_missingMeasurements ) { + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), + Point3(0, 0, 1)); + StereoCamera w_Camera_cam1(w_Pose_cam1, K2); + + // create second camera 1 meter to the right of first camera + Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0)); + StereoCamera w_Camera_cam2(w_Pose_cam2, K2); + + // landmark ~5 meters in front of camera + Point3 landmark(5, 0.5, 1.2); + + // 1. Project two landmarks into two cameras and triangulate + StereoPoint2 cam1_uv = w_Camera_cam1.project(landmark); + StereoPoint2 cam2_uv = w_Camera_cam2.project(landmark); + StereoPoint2 cam2_uv_right_missing(cam2_uv.uL(),missing_uR,cam2_uv.v()); + + // fake extrinsic calibration + Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI, 1., 0.1), + Point3(0, 1, 0)); + Pose3 body_Pose_cam2 = Pose3(Rot3::Ypr(-M_PI / 4, 0.1, 1.0), + Point3(1, 1, 1)); + Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse()); + Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam2.inverse()); + + Values values; + values.insert(x1, w_Pose_body1); + values.insert(x2, w_Pose_body2); + values.insert(body_P_cam1_key, body_Pose_cam1); + values.insert(body_P_cam2_key, body_Pose_cam2); + + SmartStereoProjectionFactorPP factor1(model); + factor1.add(cam1_uv, x1, body_P_cam1_key, K2); + factor1.add(cam2_uv_right_missing, x2, body_P_cam2_key, K2); + + double actualError = factor1.error(values); + double expectedError = 0.0; + EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7); + + // TEST TRIANGULATION WITH MISSING VALUES: i) right pixel of second camera is missing: + SmartStereoProjectionFactorPP::Cameras cameras = factor1.cameras(values); + double actualError2 = factor1.totalReprojectionError(cameras); + EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7); + + // The following are generically exercising the triangulation + CameraSet cams; + cams += w_Camera_cam1; + cams += w_Camera_cam2; + TriangulationResult result = factor1.triangulateSafe(cams); + CHECK(result); + EXPECT(assert_equal(landmark, *result, 1e-7)); + + // TEST TRIANGULATION WITH MISSING VALUES: ii) right pixels of both cameras are missing: + SmartStereoProjectionFactorPP factor2(model); + StereoPoint2 cam1_uv_right_missing(cam1_uv.uL(),missing_uR,cam1_uv.v()); + factor2.add(cam1_uv_right_missing, x1, body_P_cam1_key, K2); + factor2.add(cam2_uv_right_missing, x2, body_P_cam2_key, K2); + result = factor2.triangulateSafe(cams); + CHECK(result); + EXPECT(assert_equal(landmark, *result, 1e-7)); +} + +/* *************************************************************************/ +TEST( SmartStereoProjectionFactorPP, noisy_error_multipleExtrinsics ) { + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), + Point3(0, 0, 1)); + StereoCamera w_Camera_cam1(w_Pose_cam1, K2); + + // create second camera 1 meter to the right of first camera + Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0)); + StereoCamera w_Camera_cam2(w_Pose_cam2, K2); + + // landmark ~5 meters infront of camera + Point3 landmark(5, 0.5, 1.2); + + // 1. Project two landmarks into two cameras and triangulate + StereoPoint2 pixelError(0.2, 0.2, 0); + StereoPoint2 cam1_uv = w_Camera_cam1.project(landmark) + pixelError; + StereoPoint2 cam2_uv = w_Camera_cam2.project(landmark); + + // fake extrinsic calibration + Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI, 1., 0.1), + Point3(0, 1, 0)); + Pose3 body_Pose_cam2 = Pose3(Rot3::Ypr(-M_PI / 4, 0.1, 1.0), + Point3(1, 1, 1)); + Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse()); + Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam2.inverse()); + + Values values; + values.insert(x1, w_Pose_body1); + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), + Point3(0.5, 0.1, 0.3)); + values.insert(x2, w_Pose_body2.compose(noise_pose)); + values.insert(body_P_cam1_key, body_Pose_cam1); + values.insert(body_P_cam2_key, body_Pose_cam2); + + SmartStereoProjectionFactorPP::shared_ptr factor1(new SmartStereoProjectionFactorPP(model)); + factor1->add(cam1_uv, x1, body_P_cam1_key, K); + factor1->add(cam2_uv, x2, body_P_cam2_key, K); + + double actualError1 = factor1->error(values); + + SmartStereoProjectionFactorPP::shared_ptr factor2(new SmartStereoProjectionFactorPP(model)); + vector measurements; + measurements.push_back(cam1_uv); + measurements.push_back(cam2_uv); + + vector > Ks; ///< shared pointer to calibration object (one for each camera) + Ks.push_back(K); + Ks.push_back(K); + + KeyVector poseKeys; + poseKeys.push_back(x1); + poseKeys.push_back(x2); + + KeyVector extrinsicKeys; + extrinsicKeys.push_back(body_P_cam1_key); + extrinsicKeys.push_back(body_P_cam2_key); + + factor2->add(measurements, poseKeys, extrinsicKeys, Ks); + + double actualError2 = factor2->error(values); + + DOUBLES_EQUAL(actualError1, actualError2, 1e-7); + DOUBLES_EQUAL(actualError1, 5381978, 1); // value freeze +} + +/* *************************************************************************/ +TEST( SmartStereoProjectionFactorPP, 3poses_optimization_multipleExtrinsics ) { + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + StereoCamera cam1(w_Pose_cam1, K2); + + // create second camera 1 meter to the right of first camera + Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0)); + StereoCamera cam2(w_Pose_cam2, K2); + + // create third camera 1 meter above the first camera + Pose3 w_Pose_cam3 = w_Pose_cam1 * Pose3(Rot3(), Point3(0, -1, 0)); + StereoCamera cam3(w_Pose_cam3, K2); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(3, 0, 3.0); + + // 1. Project three landmarks into three cameras and triangulate + vector measurements_l1 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark1); + vector measurements_l2 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark2); + vector measurements_l3 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark3); + + KeyVector poseKeys; + poseKeys.push_back(x1); + poseKeys.push_back(x2); + poseKeys.push_back(x3); + + KeyVector extrinsicKeys; + extrinsicKeys.push_back(body_P_cam1_key); + extrinsicKeys.push_back(body_P_cam2_key); + extrinsicKeys.push_back(body_P_cam3_key); + + SmartStereoProjectionParams smart_params; + smart_params.triangulation.enableEPI = true; + SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor1->add(measurements_l1, poseKeys, extrinsicKeys, K2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor2->add(measurements_l2, poseKeys, extrinsicKeys, K2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor3->add(measurements_l3, poseKeys, extrinsicKeys, K2); + + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); + + // Values + Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0)); + Pose3 body_Pose_cam2 = Pose3(Rot3::Ypr(-M_PI / 4, 0.1, 1.0),Point3(1, 1, 1)); + Pose3 body_Pose_cam3 = Pose3::identity(); + Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse()); + Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam2.inverse()); + Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam3.inverse()); + + Values values; + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise + values.insert(x1, w_Pose_body1); + values.insert(x2, w_Pose_body2); + values.insert(x3, w_Pose_body3); + values.insert(body_P_cam1_key, body_Pose_cam1); + values.insert(body_P_cam2_key, body_Pose_cam2); + // initialize third calibration with some noise, we expect it to move back to original pose3 + values.insert(body_P_cam3_key, body_Pose_cam3 * noise_pose); + + // Graph + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.addPrior(x1, w_Pose_body1, noisePrior); + graph.addPrior(x2, w_Pose_body2, noisePrior); + graph.addPrior(x3, w_Pose_body3, noisePrior); + // we might need some prior on the calibration too + graph.addPrior(body_P_cam1_key, body_Pose_cam1, noisePrior); + graph.addPrior(body_P_cam2_key, body_Pose_cam2, noisePrior); + + EXPECT( + assert_equal( + Pose3( + Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598, + -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), + Point3(0.1, -0.1, 1.9)), values.at(x3) * values.at(body_P_cam3_key))); + + // cout << std::setprecision(10) << "\n----SmartStereoFactor graph initial error: " << graph.error(values) << endl; + EXPECT_DOUBLES_EQUAL(833953.92789459578, graph.error(values), 1e-7); // initial error (note - this also matches error below) + + // get triangulated landmarks from smart factors + Point3 landmark1_smart = *smartFactor1->point(); + Point3 landmark2_smart = *smartFactor2->point(); + Point3 landmark3_smart = *smartFactor3->point(); + + // cost is large before optimization + double initialErrorSmart = graph.error(values); + EXPECT_DOUBLES_EQUAL(833953.92789459461, initialErrorSmart, 1e-5); + + Values result; + gttic_(SmartStereoProjectionFactorPP); + LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); + result = optimizer.optimize(); + gttoc_(SmartStereoProjectionFactorPP); + tictoc_finishedIteration_(); + + // cout << std::setprecision(10) << "SmartStereoFactor graph optimized error: " << graph.error(result) << endl; + EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5); + + GaussianFactorGraph::shared_ptr GFG = graph.linearize(result); + VectorValues delta = GFG->optimize(); + VectorValues expected = VectorValues::Zero(delta); + EXPECT(assert_equal(expected, delta, 1e-6)); + + // result.print("results of 3 camera, 3 landmark optimization \n"); + EXPECT(assert_equal(body_Pose_cam3, result.at(body_P_cam3_key))); + + // *************************************************************** + // Same problem with regular Stereo factors, expect same error! + // **************************************************************** + + // add landmarks to values + Values values2; + values2.insert(x1, w_Pose_cam1); // note: this is the *camera* pose now + values2.insert(x2, w_Pose_cam2); + values2.insert(x3, w_Pose_cam3 * noise_pose); // equivalent to perturbing the extrinsic calibration + values2.insert(L(1), landmark1_smart); + values2.insert(L(2), landmark2_smart); + values2.insert(L(3), landmark3_smart); + + // add factors + NonlinearFactorGraph graph2; + + graph2.addPrior(x1, w_Pose_cam1, noisePrior); + graph2.addPrior(x2, w_Pose_cam2, noisePrior); + + typedef GenericStereoFactor ProjectionFactor; + + bool verboseCheirality = true; + + // NOTE: we cannot repeate this with ProjectionFactor, since they are not suitable for stereo calibration + graph2.push_back(ProjectionFactor(measurements_l1[0], model, x1, L(1), K2, false, verboseCheirality)); + graph2.push_back(ProjectionFactor(measurements_l1[1], model, x2, L(1), K2, false, verboseCheirality)); + graph2.push_back(ProjectionFactor(measurements_l1[2], model, x3, L(1), K2, false, verboseCheirality)); + + graph2.push_back(ProjectionFactor(measurements_l2[0], model, x1, L(2), K2, false, verboseCheirality)); + graph2.push_back(ProjectionFactor(measurements_l2[1], model, x2, L(2), K2, false, verboseCheirality)); + graph2.push_back(ProjectionFactor(measurements_l2[2], model, x3, L(2), K2, false, verboseCheirality)); + + graph2.push_back(ProjectionFactor(measurements_l3[0], model, x1, L(3), K2, false, verboseCheirality)); + graph2.push_back(ProjectionFactor(measurements_l3[1], model, x2, L(3), K2, false, verboseCheirality)); + graph2.push_back(ProjectionFactor(measurements_l3[2], model, x3, L(3), K2, false, verboseCheirality)); + + // cout << std::setprecision(10) << "\n----StereoFactor graph initial error: " << graph2.error(values) << endl; + EXPECT_DOUBLES_EQUAL(833953.92789459578, graph2.error(values2), 1e-7); + EXPECT_DOUBLES_EQUAL(initialErrorSmart, graph2.error(values2), 1e-7); // identical to previous case! + + LevenbergMarquardtOptimizer optimizer2(graph2, values2, lm_params); + Values result2 = optimizer2.optimize(); + EXPECT_DOUBLES_EQUAL(0, graph2.error(result2), 1e-5); +} + +/* *************************************************************************/ +TEST( SmartStereoProjectionFactorPP, 3poses_error_sameExtrinsicKey ) { + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + StereoCamera cam1(w_Pose_cam1, K2); + + // create second camera 1 meter to the right of first camera + Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0)); + StereoCamera cam2(w_Pose_cam2, K2); + + // create third camera 1 meter above the first camera + Pose3 w_Pose_cam3 = w_Pose_cam1 * Pose3(Rot3(), Point3(0, -1, 0)); + StereoCamera cam3(w_Pose_cam3, K2); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(3, 0, 3.0); + + // 1. Project three landmarks into three cameras and triangulate + vector measurements_l1 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark1); + vector measurements_l2 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark2); + vector measurements_l3 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark3); + + KeyVector poseKeys; + poseKeys.push_back(x1); + poseKeys.push_back(x2); + poseKeys.push_back(x3); + + Symbol body_P_cam_key('P', 0); + KeyVector extrinsicKeys; + extrinsicKeys.push_back(body_P_cam_key); + extrinsicKeys.push_back(body_P_cam_key); + extrinsicKeys.push_back(body_P_cam_key); + + SmartStereoProjectionParams smart_params; + smart_params.triangulation.enableEPI = true; + SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor1->add(measurements_l1, poseKeys, extrinsicKeys, K2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor2->add(measurements_l2, poseKeys, extrinsicKeys, K2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor3->add(measurements_l3, poseKeys, extrinsicKeys, K2); + + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); + + // Values + Pose3 body_Pose_cam = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0)); + Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam.inverse()); + Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam.inverse()); + Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam.inverse()); + + Values values; // all noiseless + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.01, 0.01, 0.01)); // smaller noise + values.insert(x1, w_Pose_body1); + values.insert(x2, w_Pose_body2); + values.insert(x3, w_Pose_body3); + values.insert(body_P_cam_key, body_Pose_cam); + + // Graph + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.addPrior(x1, w_Pose_body1, noisePrior); + graph.addPrior(x2, w_Pose_body2, noisePrior); + graph.addPrior(x3, w_Pose_body3, noisePrior); + + // cost is large before optimization + double initialErrorSmart = graph.error(values); + EXPECT_DOUBLES_EQUAL(0.0, initialErrorSmart, 1e-5); // initial guess is noisy, so nonzero error +} + +/* *************************************************************************/ +TEST( SmartStereoProjectionFactorPP, 3poses_noisy_error_sameExtrinsicKey ) { + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + StereoCamera cam1(w_Pose_cam1, K2); + + // create second camera 1 meter to the right of first camera + Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0)); + StereoCamera cam2(w_Pose_cam2, K2); + + // create third camera 1 meter above the first camera + Pose3 w_Pose_cam3 = w_Pose_cam1 * Pose3(Rot3(), Point3(0, -1, 0)); + StereoCamera cam3(w_Pose_cam3, K2); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(3, 0, 3.0); + + // 1. Project three landmarks into three cameras and triangulate + vector measurements_l1 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark1); + vector measurements_l2 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark2); + vector measurements_l3 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark3); + + double initialError_expected, initialError_actual; + { + KeyVector poseKeys; + poseKeys.push_back(x1); + poseKeys.push_back(x2); + poseKeys.push_back(x3); + + KeyVector extrinsicKeys; + extrinsicKeys.push_back(body_P_cam1_key); + extrinsicKeys.push_back(body_P_cam2_key); + extrinsicKeys.push_back(body_P_cam3_key); + + SmartStereoProjectionParams smart_params; + smart_params.triangulation.enableEPI = true; + SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor1->add(measurements_l1, poseKeys, extrinsicKeys, K2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor2->add(measurements_l2, poseKeys, extrinsicKeys, K2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor3->add(measurements_l3, poseKeys, extrinsicKeys, K2); + + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); + + // Values + Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0)); + Pose3 body_Pose_cam2 = body_Pose_cam1; + Pose3 body_Pose_cam3 = body_Pose_cam1; + Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse()); + Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam2.inverse()); + Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam3.inverse()); + + Values values; + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise + values.insert(x1, w_Pose_body1); + values.insert(x2, w_Pose_body2); + values.insert(x3, w_Pose_body3); + values.insert(body_P_cam1_key, body_Pose_cam1 * noise_pose); + values.insert(body_P_cam2_key, body_Pose_cam2 * noise_pose); + // initialize third calibration with some noise, we expect it to move back to original pose3 + values.insert(body_P_cam3_key, body_Pose_cam3 * noise_pose); + + // Graph + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.addPrior(x1, w_Pose_body1, noisePrior); + graph.addPrior(x2, w_Pose_body2, noisePrior); + graph.addPrior(x3, w_Pose_body3, noisePrior); + + initialError_expected = graph.error(values); + } + + { + KeyVector poseKeys; + poseKeys.push_back(x1); + poseKeys.push_back(x2); + poseKeys.push_back(x3); + + KeyVector extrinsicKeys; + extrinsicKeys.push_back(body_P_cam1_key); + extrinsicKeys.push_back(body_P_cam1_key); + extrinsicKeys.push_back(body_P_cam1_key); + + SmartStereoProjectionParams smart_params; + smart_params.triangulation.enableEPI = true; + SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor1->add(measurements_l1, poseKeys, extrinsicKeys, K2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor2->add(measurements_l2, poseKeys, extrinsicKeys, K2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor3->add(measurements_l3, poseKeys, extrinsicKeys, K2); + + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); + + // Values + Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0)); + Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse()); + Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam1.inverse()); + Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam1.inverse()); + + Values values; + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise + values.insert(x1, w_Pose_body1); + values.insert(x2, w_Pose_body2); + values.insert(x3, w_Pose_body3); + values.insert(body_P_cam1_key, body_Pose_cam1 * noise_pose); + + // Graph + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.addPrior(x1, w_Pose_body1, noisePrior); + graph.addPrior(x2, w_Pose_body2, noisePrior); + graph.addPrior(x3, w_Pose_body3, noisePrior); + + initialError_actual = graph.error(values); + } + + //std::cout << " initialError_expected " << initialError_expected << std::endl; + EXPECT_DOUBLES_EQUAL(initialError_expected, initialError_actual, 1e-7); +} + +/* *************************************************************************/ +TEST( SmartStereoProjectionFactorPP, 3poses_optimization_sameExtrinsicKey ) { + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + StereoCamera cam1(w_Pose_cam1, K2); + + // create second camera 1 meter to the right of first camera + Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0)); + StereoCamera cam2(w_Pose_cam2, K2); + + // create third camera 1 meter above the first camera + Pose3 w_Pose_cam3 = w_Pose_cam1 * Pose3(Rot3(), Point3(0, -1, 0)); + StereoCamera cam3(w_Pose_cam3, K2); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(3, 0, 3.0); + + // 1. Project three landmarks into three cameras and triangulate + vector measurements_l1 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark1); + vector measurements_l2 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark2); + vector measurements_l3 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark3); + + KeyVector poseKeys; + poseKeys.push_back(x1); + poseKeys.push_back(x2); + poseKeys.push_back(x3); + + Symbol body_P_cam_key('P', 0); + KeyVector extrinsicKeys; + extrinsicKeys.push_back(body_P_cam_key); + extrinsicKeys.push_back(body_P_cam_key); + extrinsicKeys.push_back(body_P_cam_key); + + SmartStereoProjectionParams smart_params; + smart_params.triangulation.enableEPI = true; + SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor1->add(measurements_l1, poseKeys, extrinsicKeys, K2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor2->add(measurements_l2, poseKeys, extrinsicKeys, K2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor3->add(measurements_l3, poseKeys, extrinsicKeys, K2); + + // relevant poses: + Pose3 body_Pose_cam = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0)); + Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam.inverse()); + Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam.inverse()); + Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam.inverse()); + + // Graph + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.addPrior(x1, w_Pose_body1, noisePrior); + graph.addPrior(x2, w_Pose_body2, noisePrior); + graph.addPrior(x3, w_Pose_body3, noisePrior); + // we might need some prior on the calibration too + // graph.addPrior(body_P_cam_key, body_Pose_cam, noisePrior); // no need! the measurements will fix this! + + // Values + Values values; + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.01, 0.01, 0.01)); // smaller noise + values.insert(x1, w_Pose_body1); + values.insert(x2, w_Pose_body2); + values.insert(x3, w_Pose_body3); + values.insert(body_P_cam_key, body_Pose_cam*noise_pose); + + // cost is large before optimization + double initialErrorSmart = graph.error(values); + EXPECT_DOUBLES_EQUAL(31986.961831653316, initialErrorSmart, 1e-5); // initial guess is noisy, so nonzero error + + ///////////////////////////////////////////////////////////////// + // What the factor is doing is the following Schur complement math (this matches augmentedHessianPP in code): + // size_t numMeasurements = measured_.size(); + // Matrix F = Matrix::Zero(3*numMeasurements, 6 * nrUniqueKeys); + // for(size_t k=0; k( 3*k , 6*keyToSlotMap[key_body] ) = Fs[k].block<3,6>(0,0); + // F.block<3,6>( 3*k , 6*keyToSlotMap[key_cal] ) = Fs[k].block<3,6>(0,6); + // } + // Matrix augH = Matrix::Zero(6*nrUniqueKeys+1,6*nrUniqueKeys+1); + // augH.block(0,0,6*nrUniqueKeys,6*nrUniqueKeys) = F.transpose() * F - F.transpose() * E * P * E.transpose() * F; + // Matrix infoVec = F.transpose() * b - F.transpose() * E * P * E.transpose() * b; + // augH.block(0,6*nrUniqueKeys,6*nrUniqueKeys,1) = infoVec; + // augH.block(6*nrUniqueKeys,0,1,6*nrUniqueKeys) = infoVec.transpose(); + // augH(6*nrUniqueKeys,6*nrUniqueKeys) = b.squaredNorm(); + // // The following is close to zero: + // std::cout << "norm diff: \n"<< Matrix(augH - Matrix(augmentedHessianUniqueKeys.selfadjointView())).lpNorm() << std::endl; + // std::cout << "TEST MATRIX:" << std::endl; + // augmentedHessianUniqueKeys = SymmetricBlockMatrix(dims, augH); + ///////////////////////////////////////////////////////////////// + + Values result; + gttic_(SmartStereoProjectionFactorPP); + LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); + result = optimizer.optimize(); + gttoc_(SmartStereoProjectionFactorPP); + tictoc_finishedIteration_(); + + EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5); + + // This passes on my machine but gets and indeterminant linear system exception in CI. + // This is a very redundant test, so it's not a problem to omit. + // GaussianFactorGraph::shared_ptr GFG = graph.linearize(result); + // Matrix H = GFG->hessian().first; + // double det = H.determinant(); + // // std::cout << "det " << det << std::endl; // det = 2.27581e+80 (so it's not underconstrained) + // VectorValues delta = GFG->optimize(); + // VectorValues expected = VectorValues::Zero(delta); + // EXPECT(assert_equal(expected, delta, 1e-4)); +} + +/* *************************************************************************/ +TEST( SmartStereoProjectionFactorPP, 3poses_optimization_2ExtrinsicKeys ) { + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + StereoCamera cam1(w_Pose_cam1, K2); + + // create second camera 1 meter to the right of first camera + Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0)); + StereoCamera cam2(w_Pose_cam2, K2); + + // create third camera 1 meter above the first camera + Pose3 w_Pose_cam3 = w_Pose_cam1 * Pose3(Rot3(), Point3(0, -1, 0)); + StereoCamera cam3(w_Pose_cam3, K2); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(3, 0, 3.0); + + // 1. Project three landmarks into three cameras and triangulate + vector measurements_l1 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark1); + vector measurements_l2 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark2); + vector measurements_l3 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark3); + + KeyVector poseKeys; + poseKeys.push_back(x1); + poseKeys.push_back(x2); + poseKeys.push_back(x3); + + KeyVector extrinsicKeys; + extrinsicKeys.push_back(body_P_cam1_key); + extrinsicKeys.push_back(body_P_cam1_key); + extrinsicKeys.push_back(body_P_cam3_key); + + SmartStereoProjectionParams smart_params; + smart_params.triangulation.enableEPI = true; + SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor1->add(measurements_l1, poseKeys, extrinsicKeys, K2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor2->add(measurements_l2, poseKeys, extrinsicKeys, K2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params)); + smartFactor3->add(measurements_l3, poseKeys, extrinsicKeys, K2); + + // relevant poses: + Pose3 body_Pose_cam = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0)); + Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam.inverse()); + Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam.inverse()); + Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam.inverse()); + + // Graph + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.addPrior(x1, w_Pose_body1, noisePrior); + graph.addPrior(x2, w_Pose_body2, noisePrior); + graph.addPrior(x3, w_Pose_body3, noisePrior); + // graph.addPrior(body_P_cam1_key, body_Pose_cam, noisePrior); + // we might need some prior on the calibration too + // graph.addPrior(body_P_cam_key, body_Pose_cam, noisePrior); // no need! the measurements will fix this! + + // Values + Values values; + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.01, 0.01, 0.01)); // smaller noise + values.insert(x1, w_Pose_body1); + values.insert(x2, w_Pose_body2); + values.insert(x3, w_Pose_body3); + values.insert(body_P_cam1_key, body_Pose_cam*noise_pose); + values.insert(body_P_cam3_key, body_Pose_cam*noise_pose); + + // cost is large before optimization + double initialErrorSmart = graph.error(values); + EXPECT_DOUBLES_EQUAL(31986.961831653316, initialErrorSmart, 1e-5); // initial guess is noisy, so nonzero error + + Values result; + gttic_(SmartStereoProjectionFactorPP); + LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); + result = optimizer.optimize(); + gttoc_(SmartStereoProjectionFactorPP); + tictoc_finishedIteration_(); + + EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5); + + // NOTE: the following would fail since the problem is underconstrained (while LM above works just fine!) + // GaussianFactorGraph::shared_ptr GFG = graph.linearize(result); + // VectorValues delta = GFG->optimize(); + // VectorValues expected = VectorValues::Zero(delta); + // EXPECT(assert_equal(expected, delta, 1e-4)); +} + +/* *************************************************************************/ +TEST( SmartStereoProjectionFactorPP, monocular_multipleExtrinsicKeys ){ + // make a realistic calibration matrix + double fov = 60; // degrees + size_t w=640,h=480; + + Cal3_S2::shared_ptr K(new Cal3_S2(fov,w,h)); + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 cameraPose1 = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); // body poses + Pose3 cameraPose2 = cameraPose1 * Pose3(Rot3(), Point3(1,0,0)); + Pose3 cameraPose3 = cameraPose1 * Pose3(Rot3(), Point3(0,-1,0)); + + 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(); // + + // These are the poses we want to estimate, from camera measurements + Pose3 bodyPose1 = cameraPose1.compose(sensor_to_body.inverse()); + Pose3 bodyPose2 = cameraPose2.compose(sensor_to_body.inverse()); + Pose3 bodyPose3 = cameraPose3.compose(sensor_to_body.inverse()); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(5, 0, 3.0); + + Point2Vector measurements_cam1, measurements_cam2, measurements_cam3; + + // Project three landmarks into three cameras + projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); + projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); + projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); + + // convert measurement to (degenerate) stereoPoint2 (with right pixel being NaN) + vector measurements_cam1_stereo, measurements_cam2_stereo, measurements_cam3_stereo; + for(size_t k=0; k(body_P_cam_key), 1e-1)); +} + +/* *************************************************************************/ +TEST( SmartStereoProjectionFactorPP, landmarkDistance ) { + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + StereoCamera cam1(pose1, K); + // create second camera 1 meter to the right of first camera + Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); + StereoCamera cam2(pose2, K); + // create third camera 1 meter above the first camera + Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); + StereoCamera cam3(pose3, K); + + KeyVector views; + views.push_back(x1); + views.push_back(x2); + views.push_back(x3); + + Symbol body_P_cam_key('P', 0); + KeyVector extrinsicKeys; + extrinsicKeys.push_back(body_P_cam_key); + extrinsicKeys.push_back(body_P_cam_key); + extrinsicKeys.push_back(body_P_cam_key); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(3, 0, 3.0); + + // 1. Project three landmarks into three cameras and triangulate + vector measurements_cam1 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark1); + vector measurements_cam2 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark2); + vector measurements_cam3 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark3); + + SmartStereoProjectionParams params; + params.setLinearizationMode(HESSIAN); + params.setLandmarkDistanceThreshold(2); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, params)); + smartFactor1->add(measurements_cam1, views, extrinsicKeys, K); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, params)); + smartFactor2->add(measurements_cam2, views, extrinsicKeys, K); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, params)); + smartFactor3->add(measurements_cam3, views, extrinsicKeys, K); + + // create graph + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.addPrior(x1, pose1, noisePrior); + graph.addPrior(x2, pose2, noisePrior); + graph.addPrior(body_P_cam_key, Pose3::identity(), 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), + Point3(0.1, 0.1, 0.1)); // smaller noise + Values values; + values.insert(x1, pose1); + values.insert(x2, pose2); + values.insert(x3, pose3 * noise_pose); + values.insert(body_P_cam_key, Pose3::identity()); + + // All smart factors are disabled and pose should remain where it is + Values result; + LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); + result = optimizer.optimize(); + EXPECT(assert_equal(values.at(x3), result.at(x3), 1e-5)); + EXPECT_DOUBLES_EQUAL(graph.error(values), graph.error(result), 1e-5); +} + +/* *************************************************************************/ +TEST( SmartStereoProjectionFactorPP, dynamicOutlierRejection ) { + + KeyVector views; + views.push_back(x1); + views.push_back(x2); + views.push_back(x3); + + Symbol body_P_cam_key('P', 0); + KeyVector extrinsicKeys; + extrinsicKeys.push_back(body_P_cam_key); + extrinsicKeys.push_back(body_P_cam_key); + extrinsicKeys.push_back(body_P_cam_key); + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + StereoCamera cam1(pose1, K); + // create second camera 1 meter to the right of first camera + Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); + StereoCamera cam2(pose2, K); + // create third camera 1 meter above the first camera + Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); + StereoCamera cam3(pose3, K); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(3, 0, 3.0); + Point3 landmark4(5, -0.5, 1); + + // 1. Project four landmarks into three cameras and triangulate + vector measurements_cam1 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark1); + vector measurements_cam2 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark2); + vector measurements_cam3 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark3); + vector measurements_cam4 = stereo_projectToMultipleCameras(cam1, + cam2, cam3, landmark4); + + measurements_cam4.at(0) = measurements_cam4.at(0) + StereoPoint2(10, 10, 1); // add outlier + + SmartStereoProjectionParams params; + params.setLinearizationMode(HESSIAN); + params.setDynamicOutlierRejectionThreshold(1); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, params)); + smartFactor1->add(measurements_cam1, views, extrinsicKeys, K); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, params)); + smartFactor2->add(measurements_cam2, views, extrinsicKeys, K); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, params)); + smartFactor3->add(measurements_cam3, views, extrinsicKeys, K); + + SmartStereoProjectionFactorPP::shared_ptr smartFactor4(new SmartStereoProjectionFactorPP(model, params)); + smartFactor4->add(measurements_cam4, views, extrinsicKeys, K); + + // same as factor 4, but dynamic outlier rejection is off + SmartStereoProjectionFactorPP::shared_ptr smartFactor4b(new SmartStereoProjectionFactorPP(model)); + smartFactor4b->add(measurements_cam4, views, extrinsicKeys, K); + + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); + + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.push_back(smartFactor4); + graph.addPrior(x1, pose1, noisePrior); + graph.addPrior(x2, pose2, noisePrior); + graph.addPrior(x3, pose3, noisePrior); + + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), + Point3(0.1, 0.1, 0.1)); // smaller noise + Values values; + values.insert(x1, pose1); + values.insert(x2, pose2); + values.insert(x3, pose3); + values.insert(body_P_cam_key, Pose3::identity()); + + EXPECT_DOUBLES_EQUAL(0, smartFactor1->error(values), 1e-9); + EXPECT_DOUBLES_EQUAL(0, smartFactor2->error(values), 1e-9); + EXPECT_DOUBLES_EQUAL(0, smartFactor3->error(values), 1e-9); + // zero error due to dynamic outlier rejection + EXPECT_DOUBLES_EQUAL(0, smartFactor4->error(values), 1e-9); + + // dynamic outlier rejection is off + EXPECT_DOUBLES_EQUAL(6147.3947317473921, smartFactor4b->error(values), 1e-9); + + // Factors 1-3 should have valid point, factor 4 should not + EXPECT(smartFactor1->point()); + EXPECT(smartFactor2->point()); + EXPECT(smartFactor3->point()); + EXPECT(smartFactor4->point().outlier()); + EXPECT(smartFactor4b->point()); + + // Factor 4 is disabled, pose 3 stays put + Values result; + LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); + result = optimizer.optimize(); + EXPECT(assert_equal(Pose3::identity(), result.at(body_P_cam_key))); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ + diff --git a/gtsam_unstable/slam/tests/testTOAFactor.cpp b/gtsam_unstable/slam/tests/testTOAFactor.cpp index 042130a24..bc5c553e0 100644 --- a/gtsam_unstable/slam/tests/testTOAFactor.cpp +++ b/gtsam_unstable/slam/tests/testTOAFactor.cpp @@ -25,7 +25,6 @@ #include #include -#include #include using namespace std; diff --git a/gtsam_unstable/slam/tests/testTSAMFactors.cpp b/gtsam_unstable/slam/tests/testTSAMFactors.cpp index 098a0ef56..fbb21e191 100644 --- a/gtsam_unstable/slam/tests/testTSAMFactors.cpp +++ b/gtsam_unstable/slam/tests/testTSAMFactors.cpp @@ -18,8 +18,10 @@ #include #include + #include +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -45,10 +47,10 @@ TEST( DeltaFactor, all ) { // Use numerical derivatives to calculate the Jacobians Matrix H1Expected, H2Expected; H1Expected = numericalDerivative11( - boost::bind(&DeltaFactor::evaluateError, &factor, _1, point, boost::none, + std::bind(&DeltaFactor::evaluateError, &factor, std::placeholders::_1, point, boost::none, boost::none), pose); H2Expected = numericalDerivative11( - boost::bind(&DeltaFactor::evaluateError, &factor, pose, _1, boost::none, + std::bind(&DeltaFactor::evaluateError, &factor, pose, std::placeholders::_1, boost::none, boost::none), point); // Verify the Jacobians are correct @@ -79,17 +81,17 @@ TEST( DeltaFactorBase, all ) { // Use numerical derivatives to calculate the Jacobians Matrix H1Expected, H2Expected, H3Expected, H4Expected; H1Expected = numericalDerivative11( - boost::bind(&DeltaFactorBase::evaluateError, &factor, _1, pose, base2, + std::bind(&DeltaFactorBase::evaluateError, &factor, std::placeholders::_1, pose, base2, point, boost::none, boost::none, boost::none, boost::none), base1); H2Expected = numericalDerivative11( - boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, _1, base2, + std::bind(&DeltaFactorBase::evaluateError, &factor, base1, std::placeholders::_1, base2, point, boost::none, boost::none, boost::none, boost::none), pose); H3Expected = numericalDerivative11( - boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, pose, _1, + std::bind(&DeltaFactorBase::evaluateError, &factor, base1, pose, std::placeholders::_1, point, boost::none, boost::none, boost::none, boost::none), base2); H4Expected = numericalDerivative11( - boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, pose, base2, - _1, boost::none, boost::none, boost::none, boost::none), point); + std::bind(&DeltaFactorBase::evaluateError, &factor, base1, pose, base2, + std::placeholders::_1, boost::none, boost::none, boost::none, boost::none), point); // Verify the Jacobians are correct EXPECT(assert_equal(H1Expected, H1Actual, 1e-9)); @@ -120,17 +122,17 @@ TEST( OdometryFactorBase, all ) { // Use numerical derivatives to calculate the Jacobians Matrix H1Expected, H2Expected, H3Expected, H4Expected; H1Expected = numericalDerivative11( - boost::bind(&OdometryFactorBase::evaluateError, &factor, _1, pose1, base2, + std::bind(&OdometryFactorBase::evaluateError, &factor, std::placeholders::_1, pose1, base2, pose2, boost::none, boost::none, boost::none, boost::none), base1); H2Expected = numericalDerivative11( - boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, _1, base2, + std::bind(&OdometryFactorBase::evaluateError, &factor, base1, std::placeholders::_1, base2, pose2, boost::none, boost::none, boost::none, boost::none), pose1); H3Expected = numericalDerivative11( - boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1, _1, + std::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1, std::placeholders::_1, pose2, boost::none, boost::none, boost::none, boost::none), base2); H4Expected = numericalDerivative11( - boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1, - base2, _1, boost::none, boost::none, boost::none, boost::none), + std::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1, + base2, std::placeholders::_1, boost::none, boost::none, boost::none, boost::none), pose2); // Verify the Jacobians are correct diff --git a/gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactor.cpp b/gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactor.cpp index 01d4b152d..36914f88f 100644 --- a/gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactor.cpp +++ b/gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactor.cpp @@ -18,7 +18,7 @@ #include #include - +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -231,7 +231,7 @@ TEST( TransformBtwRobotsUnaryFactor, Jacobian) Matrix H1_actual = H_actual[0]; double stepsize = 1.0e-9; - Matrix H1_expected = gtsam::numericalDerivative11(boost::bind(&predictionError, _1, key, g), orgA_T_orgB, stepsize); + Matrix H1_expected = gtsam::numericalDerivative11(std::bind(&predictionError, std::placeholders::_1, key, g), orgA_T_orgB, stepsize); // CHECK( assert_equal(H1_expected, H1_actual, 1e-5)); } @@ -285,12 +285,12 @@ TEST( TransformBtwRobotsUnaryFactor, Jacobian) //// CHECK( assert_equal(H2_actual_stnd, H2_actual, 1e-8)); // // double stepsize = 1.0e-9; -// Matrix H1_expected = gtsam::numericalDerivative11(boost::bind(&predictionError, _1, p2, keyA, keyB, f), p1, stepsize); -// Matrix H2_expected = gtsam::numericalDerivative11(boost::bind(&predictionError, p1, _1, keyA, keyB, f), p2, stepsize); +// Matrix H1_expected = gtsam::numericalDerivative11(std::bind(&predictionError, std::placeholders::_1, p2, keyA, keyB, f), p1, stepsize); +// Matrix H2_expected = gtsam::numericalDerivative11(std::bind(&predictionError, p1, std::placeholders::_1, keyA, keyB, f), p2, stepsize); // // // // try to check numerical derivatives of a standard between factor -// Matrix H1_expected_stnd = gtsam::numericalDerivative11(boost::bind(&predictionError_standard, _1, p2, keyA, keyB, h), p1, stepsize); +// Matrix H1_expected_stnd = gtsam::numericalDerivative11(std::bind(&predictionError_standard, std::placeholders::_1, p2, keyA, keyB, h), p1, stepsize); // CHECK( assert_equal(H1_expected_stnd, H1_actual_stnd, 1e-5)); // // diff --git a/gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactorEM.cpp b/gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactorEM.cpp index b200a3e58..657a9fb34 100644 --- a/gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactorEM.cpp +++ b/gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactorEM.cpp @@ -18,7 +18,7 @@ #include #include - +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -260,8 +260,10 @@ TEST( TransformBtwRobotsUnaryFactorEM, Jacobian) Matrix H1_actual = H_actual[0]; double stepsize = 1.0e-9; - Matrix H1_expected = gtsam::numericalDerivative11(boost::bind(&predictionError, _1, key, g), orgA_T_orgB, stepsize); -// CHECK( assert_equal(H1_expected, H1_actual, 1e-5)); + Matrix H1_expected = gtsam::numericalDerivative11( + std::bind(&predictionError, std::placeholders::_1, key, g), orgA_T_orgB, + stepsize); + // CHECK( assert_equal(H1_expected, H1_actual, 1e-5)); } /////* ************************************************************************** */ //TEST (TransformBtwRobotsUnaryFactorEM, jacobian ) { @@ -310,12 +312,12 @@ TEST( TransformBtwRobotsUnaryFactorEM, Jacobian) //// CHECK( assert_equal(H2_actual_stnd, H2_actual, 1e-8)); // // double stepsize = 1.0e-9; -// Matrix H1_expected = gtsam::numericalDerivative11(boost::bind(&predictionError, _1, p2, keyA, keyB, f), p1, stepsize); -// Matrix H2_expected = gtsam::numericalDerivative11(boost::bind(&predictionError, p1, _1, keyA, keyB, f), p2, stepsize); +// Matrix H1_expected = gtsam::numericalDerivative11(std::bind(&predictionError, std::placeholders::_1, p2, keyA, keyB, f), p1, stepsize); +// Matrix H2_expected = gtsam::numericalDerivative11(std::bind(&predictionError, p1, std::placeholders::_1, keyA, keyB, f), p2, stepsize); // // // // try to check numerical derivatives of a standard between factor -// Matrix H1_expected_stnd = gtsam::numericalDerivative11(boost::bind(&predictionError_standard, _1, p2, keyA, keyB, h), p1, stepsize); +// Matrix H1_expected_stnd = gtsam::numericalDerivative11(std::bind(&predictionError_standard, std::placeholders::_1, p2, keyA, keyB, h), p1, stepsize); // CHECK( assert_equal(H1_expected_stnd, H1_actual_stnd, 1e-5)); // // diff --git a/gtsam_unstable/timing/timeShonanAveraging.cpp b/gtsam_unstable/timing/timeShonanAveraging.cpp index d42635404..e932b6400 100644 --- a/gtsam_unstable/timing/timeShonanAveraging.cpp +++ b/gtsam_unstable/timing/timeShonanAveraging.cpp @@ -52,7 +52,7 @@ void saveResult(string name, const Values& values) { myfile.open("shonan_result_of_" + name + ".dat"); size_t nrSO3 = values.count(); myfile << "#Type SO3 Number " << nrSO3 << "\n"; - for (int i = 0; i < nrSO3; ++i) { + for (size_t i = 0; i < nrSO3; ++i) { Matrix R = values.at(i).matrix(); // Check if the result of R.Transpose*R satisfy orthogonal constraint checkR(R); @@ -72,7 +72,7 @@ void saveG2oResult(string name, const Values& values, std::map poses ofstream myfile; myfile.open("shonan_result_of_" + name + ".g2o"); size_t nrSO3 = values.count(); - for (int i = 0; i < nrSO3; ++i) { + for (size_t i = 0; i < nrSO3; ++i) { Matrix R = values.at(i).matrix(); // Check if the result of R.Transpose*R satisfy orthogonal constraint checkR(R); @@ -92,7 +92,7 @@ void saveResultQuat(const Values& values) { ofstream myfile; myfile.open("shonan_result.dat"); size_t nrSOn = values.count(); - for (int i = 0; i < nrSOn; ++i) { + for (size_t i = 0; i < nrSOn; ++i) { GTSAM_PRINT(values.at(i)); Rot3 R = Rot3(values.at(i).matrix()); float x = R.toQuaternion().x(); diff --git a/matlab/+gtsam/Contents.m b/matlab/+gtsam/Contents.m index 035e7e509..fb6d3081e 100644 --- a/matlab/+gtsam/Contents.m +++ b/matlab/+gtsam/Contents.m @@ -99,6 +99,7 @@ % %% SLAM and SFM % BearingFactor2D - class BearingFactor2D, see Doxygen page for details +% BearingFactor3D - class BearingFactor3D, see Doxygen page for details % BearingRangeFactor2D - class BearingRangeFactor2D, see Doxygen page for details % BetweenFactorLieMatrix - class BetweenFactorLieMatrix, see Doxygen page for details % BetweenFactorLieScalar - class BetweenFactorLieScalar, see Doxygen page for details diff --git a/matlab/+gtsam/plotBayesNet.m b/matlab/+gtsam/plotBayesNet.m index dea9b04ad..446ffffac 100644 --- a/matlab/+gtsam/plotBayesNet.m +++ b/matlab/+gtsam/plotBayesNet.m @@ -5,4 +5,6 @@ function plotBayesNet(bayesNet) bayesNet.saveGraph('/tmp/bayesNet.dot') !dot -Tpng -o /tmp/dotImage.png /tmp/bayesNet.dot dotImage=imread('/tmp/dotImage.png'); -imshow(dotImage) \ No newline at end of file +imshow(dotImage) + +end \ No newline at end of file diff --git a/matlab/+gtsam/plotBayesTree.m b/matlab/+gtsam/plotBayesTree.m index 94628e8a5..91d0925a9 100644 --- a/matlab/+gtsam/plotBayesTree.m +++ b/matlab/+gtsam/plotBayesTree.m @@ -5,4 +5,6 @@ function plotBayesTree(bayesTree) bayesTree.saveGraph('/tmp/bayesTree.dot') !dot -Tpng -o /tmp/dotImage.png /tmp/bayesTree.dot dotImage=imread('/tmp/dotImage.png'); -imshow(dotImage) \ No newline at end of file +imshow(dotImage) + +end \ No newline at end of file diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt index 52d56a2b5..28e7cce6e 100644 --- a/matlab/CMakeLists.txt +++ b/matlab/CMakeLists.txt @@ -1,44 +1,133 @@ # Install matlab components -include(GtsamMatlabWrap) +# Check if flag is enabled +if(NOT GTSAM_INSTALL_MATLAB_TOOLBOX) + return() +endif() + +# Create the matlab toolbox for the gtsam library + +# Set the wrapping script variable +set(MATLAB_WRAP_SCRIPT "${GTSAM_SOURCE_DIR}/wrap/scripts/matlab_wrap.py") + +# Set up cache options +option(GTSAM_MEX_BUILD_STATIC_MODULE + "Build MATLAB wrapper statically (increases build time)" OFF) +set(GTSAM_BUILD_MEX_BINARY_FLAGS + "" + CACHE STRING "Extra flags for running Matlab MEX compilation") +set(GTSAM_TOOLBOX_INSTALL_PATH + "" + CACHE + PATH + "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/gtsam_toolbox" +) +if(NOT GTSAM_TOOLBOX_INSTALL_PATH) + set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gtsam_toolbox") +endif() + +set(WRAP_MEX_BUILD_STATIC_MODULE ${GTSAM_MEX_BUILD_STATIC_MODULE}) +set(WRAP_BUILD_MEX_BINARY_FLAGS ${GTSAM_BUILD_MEX_BINARY_FLAGS}) +set(WRAP_TOOLBOX_INSTALL_PATH ${GTSAM_TOOLBOX_INSTALL_PATH}) +set(WRAP_CUSTOM_MATLAB_PATH ${GTSAM_CUSTOM_MATLAB_PATH}) +set(WRAP_BUILD_TYPE_POSTFIXES ${GTSAM_BUILD_TYPE_POSTFIXES}) + +# Fixup the Python paths +if(GTWRAP_DIR) + # packaged + set(GTWRAP_PACKAGE_DIR ${GTWRAP_DIR}) +else() + set(GTWRAP_PACKAGE_DIR ${GTSAM_SOURCE_DIR}/wrap) +endif() + +include(MatlabWrap) + +if(NOT BUILD_SHARED_LIBS) + message( + FATAL_ERROR + "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF." + "The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries." + "If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF." + ) +endif() + +# ############################################################################## +# Generate, build and install toolbox +set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}") +if(NOT BUILD_SHARED_LIBS) + list(APPEND mexFlags -DGTSAM_IMPORT_STATIC) +endif() + +# ignoring the non-concrete types (type aliases) +set(ignore + gtsam::Point2 + gtsam::Point3 + gtsam::CustomFactor) + +# Wrap +matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam/gtsam.i "${GTSAM_ADDITIONAL_LIBRARIES}" + "" "${mexFlags}" "${ignore}") + +# Wrap version for gtsam_unstable +if(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX) + # Generate, build and install toolbox + set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}") + if(NOT BUILD_SHARED_LIBS) + list(APPEND mexFlags -DGTSAM_IMPORT_STATIC) + endif() + + # Wrap + matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i "gtsam" "" + "${mexFlags}" "${ignore}") +endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX) # Record the root dir for gtsam - needed during external builds, e.g., ROS set(GTSAM_SOURCE_ROOT_DIR ${GTSAM_SOURCE_DIR}) message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]") -# Tests -#message(STATUS "Installing Matlab Toolbox") +# Tests message(STATUS "Installing Matlab Toolbox") install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "*.m;*.fig") -install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "README-gtsam-toolbox.txt") +install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" + "README-gtsam-toolbox.txt") -# Examples -#message(STATUS "Installing Matlab Toolbox Examples") -# Matlab files: *.m and *.fig -#install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples" "*.m;*.fig") +# Examples message(STATUS "Installing Matlab Toolbox Examples") Matlab files: +# *.m and *.fig +# install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples" +# "*.m;*.fig") -# Utilities -#message(STATUS "Installing Matlab Toolbox Utilities") -#install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam" "*.m") +# Utilities message(STATUS "Installing Matlab Toolbox Utilities") +# install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam" "*.m") -#message(STATUS "Installing Matlab Toolbox Example Data") -# Data files: *.graph, *.mat, and *.txt -file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph") -file(GLOB matlab_examples_data_mat "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.mat") -file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt") -set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_mat} ${matlab_examples_data_txt}) +# message(STATUS "Installing Matlab Toolbox Example Data") Data files: *.graph, +# *.mat, and *.txt +file(GLOB matlab_examples_data_graph + "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph") +file(GLOB matlab_examples_data_mat + "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.mat") +file(GLOB matlab_examples_data_txt + "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt") +set(matlab_examples_data + ${matlab_examples_data_graph} ${matlab_examples_data_mat} + ${matlab_examples_data_txt}) if(GTSAM_BUILD_TYPE_POSTFIXES) - foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) - string(TOUPPER "${build_type}" build_type_upper) - if(${build_type_upper} STREQUAL "RELEASE") - set(build_type_tag "") # Don't create release mode tag on installed directory - else() - set(build_type_tag "${build_type}") - endif() - # Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if there is one - get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH) - get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME) - install(FILES ${matlab_examples_data} DESTINATION "${location}/${name}${build_type_tag}/gtsam_examples/Data" CONFIGURATIONS "${build_type}") - endforeach() + foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) + string(TOUPPER "${build_type}" build_type_upper) + if(${build_type_upper} STREQUAL "RELEASE") + set(build_type_tag "") # Don't create release mode tag on installed + # directory + else() + set(build_type_tag "${build_type}") + endif() + # Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if + # there is one + get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH) + get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME) + install( + FILES ${matlab_examples_data} + DESTINATION "${location}/${name}${build_type_tag}/gtsam_examples/Data" + CONFIGURATIONS "${build_type}") + endforeach() else() - install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data) + install(FILES ${matlab_examples_data} + DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data) endif() diff --git a/matlab/README.md b/matlab/README.md index 39053364d..25628b633 100644 --- a/matlab/README.md +++ b/matlab/README.md @@ -8,6 +8,8 @@ The interface to the toolbox is generated automatically by the wrap tool which d The tool generates matlab proxy objects together with all the native functions for wrapping and unwrapping scalar and non scalar types and objects. The interface generated by the wrap tool also redirects the standard output stream (cout) to matlab's console. +For instructions on updating the version of the [wrap library](https://github.com/borglab/wrap) included in GTSAM to the latest version, please refer to the [wrap README](https://github.com/borglab/wrap/blob/master/README.md#git-subtree-and-contributing) + ## Ubuntu If you have a newer Ubuntu system (later than 10.04), you must make a small modification to your MATLAB installation, due to MATLAB being distributed with an old version of the C++ standard library. Delete or rename all files starting with `libstdc++` in your MATLAB installation directory, in paths: diff --git a/matlab/gtsam_tests/testThinBayesTree.m b/matlab/gtsam_tests/testThinBayesTree.m index 034fc38de..747852146 100644 --- a/matlab/gtsam_tests/testThinBayesTree.m +++ b/matlab/gtsam_tests/testThinBayesTree.m @@ -20,4 +20,4 @@ %% Run the tests import gtsam.* bayesTree = thinBayesTree(3,2); -EQUALITY('7 = bayesTree.size', 7, bayesTree.size); \ No newline at end of file +EQUALITY('7 = bayesTree.size', 4, bayesTree.size); \ No newline at end of file diff --git a/matlab/gtsam_tests/testTriangulation.m b/matlab/gtsam_tests/testTriangulation.m index 7116d3838..c623e7b2b 100644 --- a/matlab/gtsam_tests/testTriangulation.m +++ b/matlab/gtsam_tests/testTriangulation.m @@ -44,15 +44,15 @@ optimize = true; rank_tol = 1e-9; triangulated_landmark = triangulatePoint3(poses,sharedCal, measurements, rank_tol, optimize); -CHECK('triangulated_landmark',landmark.equals(triangulated_landmark,1e-9)); +CHECK('triangulated_landmark', abs(landmark - triangulated_landmark) < 1e-9); %% 2. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814) measurements = Point2Vector; -measurements.push_back(z1.retract([0.1;0.5])); -measurements.push_back(z2.retract([-0.2;0.3])); +measurements.push_back(z1 + [0.1;0.5]); +measurements.push_back(z2 + [-0.2;0.3]); triangulated_landmark = triangulatePoint3(poses,sharedCal, measurements, rank_tol, optimize); -CHECK('triangulated_landmark',landmark.equals(triangulated_landmark,1e-2)); +CHECK('triangulated_landmark', abs(landmark - triangulated_landmark) < 1e-2); %% two Poses with Bundler Calibration bundlerCal = Cal3Bundler(1500, 0, 0, 640, 480); @@ -67,4 +67,4 @@ measurements.push_back(z1); measurements.push_back(z2); triangulated_landmark = triangulatePoint3(poses,bundlerCal, measurements, rank_tol, optimize); -CHECK('triangulated_landmark',landmark.equals(triangulated_landmark,1e-9)); +CHECK('triangulated_landmark', abs(landmark - triangulated_landmark) < 1e-9); diff --git a/matlab/gtsam_tests/thinBayesTree.m b/matlab/gtsam_tests/thinBayesTree.m index 6c2f496c6..61f89cead 100644 --- a/matlab/gtsam_tests/thinBayesTree.m +++ b/matlab/gtsam_tests/thinBayesTree.m @@ -1,5 +1,6 @@ function bayesTree = thinBayesTree(depth, width) import gtsam.* bayesNet = thinTreeBayesNet(depth, width); - bayesTree = GaussianBayesTree(bayesNet); + fg = GaussianFactorGraph(bayesNet); + bayesTree = fg.eliminateMultifrontal(); end \ No newline at end of file diff --git a/matlab/gtsam_tests/thinTreeBayesNet.m b/matlab/gtsam_tests/thinTreeBayesNet.m index d993c3fd3..b91a83ba8 100644 --- a/matlab/gtsam_tests/thinTreeBayesNet.m +++ b/matlab/gtsam_tests/thinTreeBayesNet.m @@ -6,8 +6,9 @@ bayesNet = GaussianBayesNet; tree = thinTree(depth,width); % Add root to the Bayes net -gc = gtsam.GaussianConditional(1, 5*rand(1), 5*rand(1), 3*rand(1)); -bayesNet.push_front(gc); +model = noiseModel.Isotropic.Sigma(1, 3*rand(1)); +gc = gtsam.GaussianConditional(1, 5*rand(1), 5*rand(1), model); +bayesNet.push_back(gc); n=tree.getNumberOfElements(); for i=2:n @@ -17,13 +18,15 @@ for i=2:n % Create and link the corresponding GaussianConditionals if tree.getW == 1 || di == 2 % Creation of single-parent GaussianConditional - gc = gtsam.GaussianConditional(n-i, 5*rand(1), 5*rand(1), n-parents(1), 5*rand(1), 5*rand(1)); + model = noiseModel.Isotropic.Sigma(1, 5*rand(1)); + gc = gtsam.GaussianConditional(n-i, 5*rand(1), 5*rand(1), n-parents(1), 5*rand(1), model); elseif tree.getW == 2 || di == 3 % GaussianConditionalj associated with the second parent - gc = gtsam.GaussianConditional(n-i, 5*rand(1), 5*rand(1), n-parents(1), 5*rand(1), n-parents(2), 5*rand(1), 5*rand(1)); + model = noiseModel.Isotropic.Sigma(1, 5*rand(1)); + gc = gtsam.GaussianConditional(n-i, 5*rand(1), 5*rand(1), n-parents(1), 5*rand(1), n-parents(2), 5*rand(1), model); end % Add conditional to the Bayes net - bayesNet.push_front(gc); + bayesNet.push_back(gc); end end \ No newline at end of file diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 00b537340..bdda15acb 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -4,20 +4,28 @@ if (NOT GTSAM_BUILD_PYTHON) return() endif() -# Common directory for storing data/datasets stored with the package. -# This will store the data in the Python site package directly. -set(GTSAM_PYTHON_DATASET_DIR "./gtsam/Data") - # Generate setup.py. file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS) configure_file(${PROJECT_SOURCE_DIR}/python/setup.py.in ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py) -set(WRAP_USE_CUSTOM_PYTHON_LIBRARY ${GTSAM_USE_CUSTOM_PYTHON_LIBRARY}) -set(WRAP_PYTHON_VERSION ${GTSAM_PYTHON_VERSION}) +# Supply MANIFEST.in for older versions of Python +file(COPY ${PROJECT_SOURCE_DIR}/python/MANIFEST.in + DESTINATION ${GTSAM_PYTHON_BUILD_DIRECTORY}) + +set(WRAP_BUILD_TYPE_POSTFIXES ${GTSAM_BUILD_TYPE_POSTFIXES}) include(PybindWrap) +############################################################ +## Load the necessary files to compile the wrapper + +# Load the pybind11 code +add_subdirectory(${PROJECT_SOURCE_DIR}/wrap/pybind11 pybind11) +# Set the wrapping script variable +set(PYBIND_WRAP_SCRIPT "${PROJECT_SOURCE_DIR}/wrap/scripts/pybind_wrap.py") +############################################################ + add_custom_target(gtsam_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam/gtsam.i") add_custom_target(gtsam_unstable_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i") @@ -35,13 +43,29 @@ set(ignore gtsam::BetweenFactorPose2s gtsam::BetweenFactorPose3s gtsam::Point2Vector + gtsam::Point3Pairs + gtsam::Pose3Pairs gtsam::Pose3Vector gtsam::KeyVector gtsam::BinaryMeasurementsUnit3 gtsam::KeyPairDoubleMap) +set(interface_headers + ${PROJECT_SOURCE_DIR}/gtsam/gtsam.i + ${PROJECT_SOURCE_DIR}/gtsam/base/base.i + ${PROJECT_SOURCE_DIR}/gtsam/geometry/geometry.i + ${PROJECT_SOURCE_DIR}/gtsam/linear/linear.i + ${PROJECT_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i + ${PROJECT_SOURCE_DIR}/gtsam/symbolic/symbolic.i + ${PROJECT_SOURCE_DIR}/gtsam/sam/sam.i + ${PROJECT_SOURCE_DIR}/gtsam/slam/slam.i + ${PROJECT_SOURCE_DIR}/gtsam/sfm/sfm.i + ${PROJECT_SOURCE_DIR}/gtsam/navigation/navigation.i +) + + pybind_wrap(gtsam_py # target - ${PROJECT_SOURCE_DIR}/gtsam/gtsam.i # interface_header + "${interface_headers}" # interface_headers "gtsam.cpp" # generated_cpp "gtsam" # module_name "gtsam" # top_namespace @@ -67,53 +91,79 @@ set(GTSAM_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam) create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam" "${GTSAM_MODULE_PATH}") +# Common directory for data/datasets stored with the package. +# This will store the data in the Python site package directly. +file(COPY "${GTSAM_SOURCE_DIR}/examples/Data" DESTINATION "${GTSAM_MODULE_PATH}") + +# Add gtsam as a dependency to the install target +set(GTSAM_PYTHON_DEPENDENCIES gtsam_py) + + if(GTSAM_UNSTABLE_BUILD_PYTHON) -set(ignore - gtsam::Point2 - gtsam::Point3 - gtsam::LieVector - gtsam::LieMatrix - gtsam::ISAM2ThresholdMapValue - gtsam::FactorIndices - gtsam::FactorIndexSet - gtsam::BetweenFactorPose3s - gtsam::Point2Vector - gtsam::Pose3Vector - gtsam::KeyVector - gtsam::FixedLagSmootherKeyTimestampMapValue - gtsam::BinaryMeasurementsUnit3 - gtsam::KeyPairDoubleMap) - -pybind_wrap(gtsam_unstable_py # target - ${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header - "gtsam_unstable.cpp" # generated_cpp - "gtsam_unstable" # module_name - "gtsam" # top_namespace - "${ignore}" # ignore_classes - ${PROJECT_SOURCE_DIR}/python/gtsam_unstable/gtsam_unstable.tpl - gtsam_unstable # libs - "gtsam_unstable;gtsam_unstable_header" # dependencies - ON # use_boost - ) + set(ignore + gtsam::Point2 + gtsam::Point3 + gtsam::LieVector + gtsam::LieMatrix + gtsam::ISAM2ThresholdMapValue + gtsam::FactorIndices + gtsam::FactorIndexSet + gtsam::BetweenFactorPose3s + gtsam::Point2Vector + gtsam::Pose3Vector + gtsam::KeyVector + gtsam::FixedLagSmootherKeyTimestampMapValue + gtsam::BinaryMeasurementsUnit3 + gtsam::CameraSetCal3_S2 + gtsam::CameraSetCal3Bundler + gtsam::CameraSetCal3Unified + gtsam::CameraSetCal3Fisheye + gtsam::KeyPairDoubleMap) + + pybind_wrap(gtsam_unstable_py # target + ${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header + "gtsam_unstable.cpp" # generated_cpp + "gtsam_unstable" # module_name + "gtsam" # top_namespace + "${ignore}" # ignore_classes + ${PROJECT_SOURCE_DIR}/python/gtsam_unstable/gtsam_unstable.tpl + gtsam_unstable # libs + "gtsam_unstable;gtsam_unstable_header" # dependencies + ON # use_boost + ) -set_target_properties(gtsam_unstable_py PROPERTIES - INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib" - INSTALL_RPATH_USE_LINK_PATH TRUE - OUTPUT_NAME "gtsam_unstable" - LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable" - DEBUG_POSTFIX "" # Otherwise you will have a wrong name - RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name - ) + set_target_properties(gtsam_unstable_py PROPERTIES + INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib" + INSTALL_RPATH_USE_LINK_PATH TRUE + OUTPUT_NAME "gtsam_unstable" + LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable" + DEBUG_POSTFIX "" # Otherwise you will have a wrong name + RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name + ) -set(GTSAM_UNSTABLE_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable) + set(GTSAM_UNSTABLE_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable) + + # Symlink all tests .py files to build folder. + create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable" + "${GTSAM_UNSTABLE_MODULE_PATH}") + + # Add gtsam_unstable to the install target + list(APPEND GTSAM_PYTHON_DEPENDENCIES gtsam_unstable_py) -# Symlink all tests .py files to build folder. -create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable" - "${GTSAM_UNSTABLE_MODULE_PATH}") endif() +# Add custom target so we can install with `make python-install` set(GTSAM_PYTHON_INSTALL_TARGET python-install) add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET} COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py install - DEPENDS gtsam_py gtsam_unstable_py + DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY}) + +# Custom make command to run all GTSAM Python tests +add_custom_target( + python-test + COMMAND + ${CMAKE_COMMAND} -E env # add package to python path so no need to install + "PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}" + ${PYTHON_EXECUTABLE} -m unittest discover -s "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/tests" + DEPENDS ${GTSAM_PYTHON_DEPENDENCIES}) diff --git a/python/CustomFactors.md b/python/CustomFactors.md new file mode 100644 index 000000000..a6ffa2f36 --- /dev/null +++ b/python/CustomFactors.md @@ -0,0 +1,111 @@ +# GTSAM Python-based factors + +One now can build factors purely in Python using the `CustomFactor` factor. + +## Usage + +In order to use a Python-based factor, one needs to have a Python function with the following signature: + +```python +import gtsam +import numpy as np +from typing import List + +def error_func(this: gtsam.CustomFactor, v: gtsam.Values, H: List[np.ndarray]): + ... +``` + +`this` is a reference to the `CustomFactor` object. This is required because one can reuse the same +`error_func` for multiple factors. `v` is a reference to the current set of values, and `H` is a list of +**references** to the list of required Jacobians (see the corresponding C++ documentation). + +If `H` is `None`, it means the current factor evaluation does not need Jacobians. For example, the `error` +method on a factor does not need Jacobians, so we don't evaluate them to save CPU. If `H` is not `None`, +each entry of `H` can be assigned a `numpy` array, as the Jacobian for the corresponding variable. + +After defining `error_func`, one can create a `CustomFactor` just like any other factor in GTSAM: + +```python +noise_model = gtsam.noiseModel.Unit.Create(3) +# constructor(, , ) +cf = gtsam.CustomFactor(noise_model, [X(0), X(1)], error_func) +``` + +## Example + +The following is a simple `BetweenFactor` implemented in Python. + +```python +import gtsam +import numpy as np +from typing import List + +expected = Pose2(2, 2, np.pi / 2) + +def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]): + """ + Error function that mimics a BetweenFactor + :param this: reference to the current CustomFactor being evaluated + :param v: Values object + :param H: list of references to the Jacobian arrays + :return: the non-linear error + """ + key0 = this.keys()[0] + key1 = this.keys()[1] + gT1, gT2 = v.atPose2(key0), v.atPose2(key1) + error = expected.localCoordinates(gT1.between(gT2)) + + if H is not None: + result = gT1.between(gT2) + H[0] = -result.inverse().AdjointMap() + H[1] = np.eye(3) + return error + +noise_model = gtsam.noiseModel.Unit.Create(3) +cf = gtsam.CustomFactor(noise_model, gtsam.KeyVector([0, 1]), error_func) +``` + +In general, the Python-based factor works just like their C++ counterparts. + +## Known Issues + +Because of the `pybind11`-based translation, the performance of `CustomFactor` is not guaranteed. +Also, because `pybind11` needs to lock the Python GIL lock for evaluation of each factor, parallel +evaluation of `CustomFactor` is not possible. + +## Implementation + +`CustomFactor` is a `NonlinearFactor` that has a `std::function` as its callback. +This callback can be translated to a Python function call, thanks to `pybind11`'s functional support. + +The constructor of `CustomFactor` is +```c++ +/** +* 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->error_function_ = errorFunction; +} +``` + +At construction time, `pybind11` will pass the handle to the Python callback function as a `std::function` object. + +Something worth special mention is this: +```c++ +/* + * NOTE + * ========== + * pybind11 will invoke a copy if this is `JacobianVector &`, and modifications in Python will not be reflected. + * + * This is safe because this is passing a const pointer, and pybind11 will maintain the `std::vector` memory layout. + * Thus the pointer will never be invalidated. + */ +using CustomErrorFunction = std::function; +``` + +which is not documented in `pybind11` docs. One needs to be aware of this if they wanted to implement similar +"mutable" arguments going across the Python-C++ boundary. diff --git a/python/MANIFEST.in b/python/MANIFEST.in new file mode 100644 index 000000000..41d7f0c59 --- /dev/null +++ b/python/MANIFEST.in @@ -0,0 +1 @@ +recursive-include gtsam/Data * diff --git a/python/README.md b/python/README.md index 6e2a30d2e..54436df93 100644 --- a/python/README.md +++ b/python/README.md @@ -4,6 +4,8 @@ This is the Python wrapper around the GTSAM C++ library. We use our custom [wrap library](https://github.com/borglab/wrap) to generate the bindings to the underlying C++ code. +For instructions on updating the version of the [wrap library](https://github.com/borglab/wrap) included in GTSAM to the latest version, please refer to the [wrap README](https://github.com/borglab/wrap/blob/master/README.md#git-subtree-and-contributing) + ## Requirements - If you want to build the GTSAM python library for a specific python version (eg 3.6), @@ -22,6 +24,7 @@ This is the Python wrapper around the GTSAM C++ library. We use our custom [wrap ```bash cmake .. -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=3.6.10 ``` + If you do not have TBB installed, you should also provide the argument `-DGTSAM_WITH_TBB=OFF`. - Build GTSAM and the wrapper with `make` (or `ninja` if you use `-GNinja`). - To install, simply run `make python-install` (`ninja python-install`). @@ -33,12 +36,8 @@ This is the Python wrapper around the GTSAM C++ library. We use our custom [wrap ## Unit Tests The Python toolbox also has a small set of unit tests located in the -test directory. To run them: - - ```bash - cd /python/gtsam/tests - python -m unittest discover - ``` +test directory. +To run them, use `make python-test`. ## Utils diff --git a/python/gtsam/examples/CustomFactorExample.py b/python/gtsam/examples/CustomFactorExample.py new file mode 100644 index 000000000..c7fe1e202 --- /dev/null +++ b/python/gtsam/examples/CustomFactorExample.py @@ -0,0 +1,179 @@ +""" +GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +CustomFactor demo that simulates a 1-D sensor fusion task. +Author: Fan Jiang, Frank Dellaert +""" + +import gtsam +import numpy as np + +from typing import List, Optional +from functools import partial + + +def simulate_car(): + # Simulate a car for one second + x0 = 0 + dt = 0.25 # 4 Hz, typical GPS + v = 144 * 1000 / 3600 # 144 km/hour = 90mph, pretty fast + x = [x0 + v * dt * i for i in range(5)] + + return x + + +x = simulate_car() +print(f"Simulated car trajectory: {x}") + +# %% +add_noise = True # set this to False to run with "perfect" measurements + +# GPS measurements +sigma_gps = 3.0 # assume GPS is +/- 3m +g = [x[k] + (np.random.normal(scale=sigma_gps) if add_noise else 0) + for k in range(5)] + +# Odometry measurements +sigma_odo = 0.1 # assume Odometry is 10cm accurate at 4Hz +o = [x[k + 1] - x[k] + (np.random.normal(scale=sigma_odo) if add_noise else 0) + for k in range(4)] + +# Landmark measurements: +sigma_lm = 1 # assume landmark measurement is accurate up to 1m + +# Assume first landmark is at x=5, we measure it at time k=0 +lm_0 = 5.0 +z_0 = x[0] - lm_0 + (np.random.normal(scale=sigma_lm) if add_noise else 0) + +# Assume other landmark is at x=28, we measure it at time k=3 +lm_3 = 28.0 +z_3 = x[3] - lm_3 + (np.random.normal(scale=sigma_lm) if add_noise else 0) + +unknown = [gtsam.symbol('x', k) for k in range(5)] + +print("unknowns = ", list(map(gtsam.DefaultKeyFormatter, unknown))) + +# We now can use nonlinear factor graphs +factor_graph = gtsam.NonlinearFactorGraph() + +# Add factors for GPS measurements +I = np.eye(1) +gps_model = gtsam.noiseModel.Isotropic.Sigma(1, sigma_gps) + + +def error_gps(measurement: np.ndarray, this: gtsam.CustomFactor, values, jacobians: Optional[List[np.ndarray]]): + """GPS Factor error function + :param measurement: GPS measurement, to be filled with `partial` + :param this: gtsam.CustomFactor handle + :param values: gtsam.Values + :param jacobians: Optional list of Jacobians + :return: the unwhitened error + """ + key = this.keys()[0] + estimate = values.atVector(key) + error = estimate - measurement + if jacobians is not None: + jacobians[0] = I + + return error + + +# Add the GPS factors +for k in range(5): + gf = gtsam.CustomFactor(gps_model, [unknown[k]], partial(error_gps, np.array([g[k]]))) + factor_graph.add(gf) + +# New Values container +v = gtsam.Values() + +# Add initial estimates to the Values container +for i in range(5): + v.insert(unknown[i], np.array([0.0])) + +# Initialize optimizer +params = gtsam.GaussNewtonParams() +optimizer = gtsam.GaussNewtonOptimizer(factor_graph, v, params) + +# Optimize the factor graph +result = optimizer.optimize() + +# calculate the error from ground truth +error = np.array([(result.atVector(unknown[k]) - x[k])[0] for k in range(5)]) + +print("Result with only GPS") +print(result, np.round(error, 2), f"\nJ(X)={0.5 * np.sum(np.square(error))}") + +# Adding odometry will improve things a lot +odo_model = gtsam.noiseModel.Isotropic.Sigma(1, sigma_odo) + + +def error_odom(measurement: np.ndarray, this: gtsam.CustomFactor, values, jacobians: Optional[List[np.ndarray]]): + """Odometry Factor error function + :param measurement: Odometry measurement, to be filled with `partial` + :param this: gtsam.CustomFactor handle + :param values: gtsam.Values + :param jacobians: Optional list of Jacobians + :return: the unwhitened error + """ + key1 = this.keys()[0] + key2 = this.keys()[1] + pos1, pos2 = values.atVector(key1), values.atVector(key2) + error = measurement - (pos1 - pos2) + if jacobians is not None: + jacobians[0] = I + jacobians[1] = -I + + return error + + +for k in range(4): + odof = gtsam.CustomFactor(odo_model, [unknown[k], unknown[k + 1]], partial(error_odom, np.array([o[k]]))) + factor_graph.add(odof) + +params = gtsam.GaussNewtonParams() +optimizer = gtsam.GaussNewtonOptimizer(factor_graph, v, params) + +result = optimizer.optimize() + +error = np.array([(result.atVector(unknown[k]) - x[k])[0] for k in range(5)]) + +print("Result with GPS+Odometry") +print(result, np.round(error, 2), f"\nJ(X)={0.5 * np.sum(np.square(error))}") + +# This is great, but GPS noise is still apparent, so now we add the two landmarks +lm_model = gtsam.noiseModel.Isotropic.Sigma(1, sigma_lm) + + +def error_lm(measurement: np.ndarray, this: gtsam.CustomFactor, values, jacobians: Optional[List[np.ndarray]]): + """Landmark Factor error function + :param measurement: Landmark measurement, to be filled with `partial` + :param this: gtsam.CustomFactor handle + :param values: gtsam.Values + :param jacobians: Optional list of Jacobians + :return: the unwhitened error + """ + key = this.keys()[0] + pos = values.atVector(key) + error = pos - measurement + if jacobians is not None: + jacobians[0] = I + + return error + + +factor_graph.add(gtsam.CustomFactor(lm_model, [unknown[0]], partial(error_lm, np.array([lm_0 + z_0])))) +factor_graph.add(gtsam.CustomFactor(lm_model, [unknown[3]], partial(error_lm, np.array([lm_3 + z_3])))) + +params = gtsam.GaussNewtonParams() +optimizer = gtsam.GaussNewtonOptimizer(factor_graph, v, params) + +result = optimizer.optimize() + +error = np.array([(result.atVector(unknown[k]) - x[k])[0] for k in range(5)]) + +print("Result with GPS+Odometry+Landmark") +print(result, np.round(error, 2), f"\nJ(X)={0.5 * np.sum(np.square(error))}") diff --git a/python/gtsam/examples/ImuFactorISAM2Example.py b/python/gtsam/examples/ImuFactorISAM2Example.py index bb90b95bf..a350011de 100644 --- a/python/gtsam/examples/ImuFactorISAM2Example.py +++ b/python/gtsam/examples/ImuFactorISAM2Example.py @@ -24,7 +24,7 @@ from gtsam.utils import plot def vector3(x, y, z): """Create 3d double numpy array.""" - return np.array([x, y, z], dtype=np.float) + return np.array([x, y, z], dtype=float) g = 9.81 diff --git a/python/gtsam/examples/PlanarManipulatorExample.py b/python/gtsam/examples/PlanarManipulatorExample.py index 9af4f7fcc..96cb3362f 100644 --- a/python/gtsam/examples/PlanarManipulatorExample.py +++ b/python/gtsam/examples/PlanarManipulatorExample.py @@ -29,7 +29,7 @@ from gtsam.utils.test_case import GtsamTestCase def vector3(x, y, z): """Create 3D double numpy array.""" - return np.array([x, y, z], dtype=np.float) + return np.array([x, y, z], dtype=float) def compose(*poses): @@ -94,7 +94,7 @@ class ThreeLinkArm(object): [-self.L1*math.sin(q[0]) - self.L2*math.sin(a)-self.L3*math.sin(b), -self.L1*math.sin(a)-self.L3*math.sin(b), - self.L3*math.sin(b)], - [1, 1, 1]], np.float) + [1, 1, 1]], float) def poe(self, q): """ Forward kinematics. @@ -230,12 +230,12 @@ class TestPose2SLAMExample(GtsamTestCase): def test_jacobian(self): """Test Jacobian calculation.""" # at rest - expected = np.array([[-9.5, -6, -2.5], [0, 0, 0], [1, 1, 1]], np.float) + expected = np.array([[-9.5, -6, -2.5], [0, 0, 0], [1, 1, 1]], float) J = self.arm.jacobian(Q0) np.testing.assert_array_almost_equal(J, expected) # at -90, 90, 0 - expected = np.array([[-6, -6, -2.5], [3.5, 0, 0], [1, 1, 1]], np.float) + expected = np.array([[-6, -6, -2.5], [3.5, 0, 0], [1, 1, 1]], float) J = self.arm.jacobian(Q2) np.testing.assert_array_almost_equal(J, expected) @@ -280,13 +280,13 @@ class TestPose2SLAMExample(GtsamTestCase): def test_manipulator_jacobian(self): """Test Jacobian calculation.""" # at rest - expected = np.array([[0, 3.5, 7], [0, 0, 0], [1, 1, 1]], np.float) + expected = np.array([[0, 3.5, 7], [0, 0, 0], [1, 1, 1]], float) J = self.arm.manipulator_jacobian(Q0) np.testing.assert_array_almost_equal(J, expected) # at -90, 90, 0 expected = np.array( - [[0, 0, 3.5], [0, -3.5, -3.5], [1, 1, 1]], np.float) + [[0, 0, 3.5], [0, -3.5, -3.5], [1, 1, 1]], float) J = self.arm.manipulator_jacobian(Q2) np.testing.assert_array_almost_equal(J, expected) diff --git a/python/gtsam/examples/Pose2SLAMExample.py b/python/gtsam/examples/Pose2SLAMExample.py index 2569f0953..2ec190d73 100644 --- a/python/gtsam/examples/Pose2SLAMExample.py +++ b/python/gtsam/examples/Pose2SLAMExample.py @@ -25,7 +25,7 @@ import gtsam.utils.plot as gtsam_plot def vector3(x, y, z): """Create 3d double numpy array.""" - return np.array([x, y, z], dtype=np.float) + return np.array([x, y, z], dtype=float) # Create noise models PRIOR_NOISE = gtsam.noiseModel.Diagonal.Sigmas(vector3(0.3, 0.3, 0.1)) diff --git a/python/gtsam/examples/Pose2SLAMExample_g2o.py b/python/gtsam/examples/Pose2SLAMExample_g2o.py index b2ba9c5bc..97fb46c5f 100644 --- a/python/gtsam/examples/Pose2SLAMExample_g2o.py +++ b/python/gtsam/examples/Pose2SLAMExample_g2o.py @@ -23,7 +23,7 @@ from gtsam.utils import plot def vector3(x, y, z): """Create 3d double numpy array.""" - return np.array([x, y, z], dtype=np.float) + return np.array([x, y, z], dtype=float) parser = argparse.ArgumentParser( diff --git a/python/gtsam/examples/Pose3SLAMExample_g2o.py b/python/gtsam/examples/Pose3SLAMExample_g2o.py index 82b3bda98..501a75dc1 100644 --- a/python/gtsam/examples/Pose3SLAMExample_g2o.py +++ b/python/gtsam/examples/Pose3SLAMExample_g2o.py @@ -19,7 +19,7 @@ from gtsam.utils import plot def vector6(x, y, z, a, b, c): """Create 6d double numpy array.""" - return np.array([x, y, z, a, b, c], dtype=np.float) + return np.array([x, y, z, a, b, c], dtype=float) parser = argparse.ArgumentParser( diff --git a/python/gtsam/examples/PreintegrationExample.py b/python/gtsam/examples/PreintegrationExample.py index b54919bec..458248c30 100644 --- a/python/gtsam/examples/PreintegrationExample.py +++ b/python/gtsam/examples/PreintegrationExample.py @@ -29,11 +29,11 @@ class PreintegrationExample(object): kGyroSigma = math.radians(0.5) / 60 # 0.5 degree ARW kAccelSigma = 0.1 / 60 # 10 cm VRW params.setGyroscopeCovariance( - kGyroSigma ** 2 * np.identity(3, np.float)) + kGyroSigma ** 2 * np.identity(3, float)) params.setAccelerometerCovariance( - kAccelSigma ** 2 * np.identity(3, np.float)) + kAccelSigma ** 2 * np.identity(3, float)) params.setIntegrationCovariance( - 0.0000001 ** 2 * np.identity(3, np.float)) + 0.0000001 ** 2 * np.identity(3, float)) return params def __init__(self, twist=None, bias=None, dt=1e-2): diff --git a/python/gtsam/examples/SFMdata.py b/python/gtsam/examples/SFMdata.py index 6ac9c5726..ad414a256 100644 --- a/python/gtsam/examples/SFMdata.py +++ b/python/gtsam/examples/SFMdata.py @@ -5,36 +5,39 @@ A structure-from-motion example with landmarks """ # pylint: disable=invalid-name, E1101 +from typing import List + import numpy as np import gtsam +from gtsam import Cal3_S2, Point3, Pose3 -def createPoints(): +def createPoints() -> List[Point3]: # Create the set of ground-truth landmarks - points = [gtsam.Point3(10.0, 10.0, 10.0), - gtsam.Point3(-10.0, 10.0, 10.0), - gtsam.Point3(-10.0, -10.0, 10.0), - gtsam.Point3(10.0, -10.0, 10.0), - gtsam.Point3(10.0, 10.0, -10.0), - gtsam.Point3(-10.0, 10.0, -10.0), - gtsam.Point3(-10.0, -10.0, -10.0), - gtsam.Point3(10.0, -10.0, -10.0)] + points = [ + Point3(10.0, 10.0, 10.0), + Point3(-10.0, 10.0, 10.0), + Point3(-10.0, -10.0, 10.0), + Point3(10.0, -10.0, 10.0), + Point3(10.0, 10.0, -10.0), + Point3(-10.0, 10.0, -10.0), + Point3(-10.0, -10.0, -10.0), + Point3(10.0, -10.0, -10.0), + ] return points -def createPoses(K): - # Create the set of ground-truth poses +def createPoses(K: Cal3_S2) -> List[Pose3]: + """Generate a set of ground-truth camera poses arranged in a circle about the origin.""" radius = 40.0 height = 10.0 - angles = np.linspace(0, 2*np.pi, 8, endpoint=False) + 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), - height) + position = gtsam.Point3(radius * np.cos(theta), radius * np.sin(theta), height) camera = gtsam.PinholeCameraCal3_S2.Lookat(position, target, up, K) poses.append(camera.pose()) return poses diff --git a/python/gtsam/gtsam.tpl b/python/gtsam/gtsam.tpl index 634a81e90..93e7ffbaf 100644 --- a/python/gtsam/gtsam.tpl +++ b/python/gtsam/gtsam.tpl @@ -13,9 +13,12 @@ #include #include #include +#include +#include +#include #include "gtsam/config.h" #include "gtsam/base/serialization.h" -#include "gtsam/nonlinear/utilities.h" // for RedirectCout. +#include "gtsam/base/utilities.h" // for RedirectCout. // These are the included headers listed in `gtsam.i` {includes} @@ -25,24 +28,28 @@ {boost_class_export} // Holder type for pybind11 -{hoder_type} +{holder_type} // Preamble for STL classes // TODO(fan): make this automatic -#include "python/gtsam/preamble.h" +#include "python/gtsam/preamble/{module_name}.h" using namespace std; namespace py = pybind11; -PYBIND11_MODULE({module_name}, m_) {{ +{submodules} + +{module_def} {{ m_.doc() = "pybind11 wrapper of {module_name}"; +{submodules_init} + {wrapped_namespace} // Specializations for STL classes // TODO(fan): make this automatic -#include "python/gtsam/specializations.h" +#include "python/gtsam/specializations/{module_name}.h" }} diff --git a/python/gtsam/preamble.h b/python/gtsam/preamble.h deleted file mode 100644 index 6166f615e..000000000 --- a/python/gtsam/preamble.h +++ /dev/null @@ -1,12 +0,0 @@ -// Please refer to: https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html -// These are required to save one copy operation on Python calls -#ifdef GTSAM_ALLOCATOR_TBB -PYBIND11_MAKE_OPAQUE(std::vector>); -#else -PYBIND11_MAKE_OPAQUE(std::vector); -#endif -PYBIND11_MAKE_OPAQUE(std::vector >); -PYBIND11_MAKE_OPAQUE(std::vector); -PYBIND11_MAKE_OPAQUE(std::vector > >); -PYBIND11_MAKE_OPAQUE(std::vector > >); -PYBIND11_MAKE_OPAQUE(std::vector); diff --git a/python/gtsam/preamble/base.h b/python/gtsam/preamble/base.h new file mode 100644 index 000000000..626b47ae4 --- /dev/null +++ b/python/gtsam/preamble/base.h @@ -0,0 +1,16 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 + * automatic STL binding, such that the raw objects can be accessed in Python. + * Without this they will be automatically converted to a Python object, and all + * mutations on Python side will not be reflected on C++. + */ + +PYBIND11_MAKE_OPAQUE(std::vector); + +PYBIND11_MAKE_OPAQUE(std::vector); // JacobianVector diff --git a/python/gtsam/preamble/geometry.h b/python/gtsam/preamble/geometry.h new file mode 100644 index 000000000..498c7dc58 --- /dev/null +++ b/python/gtsam/preamble/geometry.h @@ -0,0 +1,21 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 + * automatic STL binding, such that the raw objects can be accessed in Python. + * Without this they will be automatically converted to a Python object, and all + * mutations on Python side will not be reflected on C++. + */ + +PYBIND11_MAKE_OPAQUE( + std::vector>); +PYBIND11_MAKE_OPAQUE(gtsam::Point3Pairs); +PYBIND11_MAKE_OPAQUE(gtsam::Pose3Pairs); +PYBIND11_MAKE_OPAQUE(std::vector); +PYBIND11_MAKE_OPAQUE( + gtsam::CameraSet>); +PYBIND11_MAKE_OPAQUE(gtsam::CameraSet>); diff --git a/python/gtsam/preamble/gtsam.h b/python/gtsam/preamble/gtsam.h new file mode 100644 index 000000000..ec39c410a --- /dev/null +++ b/python/gtsam/preamble/gtsam.h @@ -0,0 +1,17 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 + * automatic STL binding, such that the raw objects can be accessed in Python. + * Without this they will be automatically converted to a Python object, and all + * mutations on Python side will not be reflected on C++. + */ +#ifdef GTSAM_ALLOCATOR_TBB +PYBIND11_MAKE_OPAQUE(std::vector>); +#else +PYBIND11_MAKE_OPAQUE(std::vector); +#endif diff --git a/python/gtsam/preamble/linear.h b/python/gtsam/preamble/linear.h new file mode 100644 index 000000000..a34e73058 --- /dev/null +++ b/python/gtsam/preamble/linear.h @@ -0,0 +1,12 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 + * automatic STL binding, such that the raw objects can be accessed in Python. + * Without this they will be automatically converted to a Python object, and all + * mutations on Python side will not be reflected on C++. + */ \ No newline at end of file diff --git a/python/gtsam/preamble/navigation.h b/python/gtsam/preamble/navigation.h new file mode 100644 index 000000000..b647ef029 --- /dev/null +++ b/python/gtsam/preamble/navigation.h @@ -0,0 +1,18 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 + * automatic STL binding, such that the raw objects can be accessed in Python. + * Without this they will be automatically converted to a Python object, and all + * mutations on Python side will not be reflected on C++. + */ + +// 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<<; +} diff --git a/python/gtsam/preamble/nonlinear.h b/python/gtsam/preamble/nonlinear.h new file mode 100644 index 000000000..a34e73058 --- /dev/null +++ b/python/gtsam/preamble/nonlinear.h @@ -0,0 +1,12 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 + * automatic STL binding, such that the raw objects can be accessed in Python. + * Without this they will be automatically converted to a Python object, and all + * mutations on Python side will not be reflected on C++. + */ \ No newline at end of file diff --git a/python/gtsam/preamble/sam.h b/python/gtsam/preamble/sam.h new file mode 100644 index 000000000..a34e73058 --- /dev/null +++ b/python/gtsam/preamble/sam.h @@ -0,0 +1,12 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 + * automatic STL binding, such that the raw objects can be accessed in Python. + * Without this they will be automatically converted to a Python object, and all + * mutations on Python side will not be reflected on C++. + */ \ No newline at end of file diff --git a/python/gtsam/preamble/sfm.h b/python/gtsam/preamble/sfm.h new file mode 100644 index 000000000..a34e73058 --- /dev/null +++ b/python/gtsam/preamble/sfm.h @@ -0,0 +1,12 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 + * automatic STL binding, such that the raw objects can be accessed in Python. + * Without this they will be automatically converted to a Python object, and all + * mutations on Python side will not be reflected on C++. + */ \ No newline at end of file diff --git a/python/gtsam/preamble/slam.h b/python/gtsam/preamble/slam.h new file mode 100644 index 000000000..34dbb4b7a --- /dev/null +++ b/python/gtsam/preamble/slam.h @@ -0,0 +1,17 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 + * automatic STL binding, such that the raw objects can be accessed in Python. + * Without this they will be automatically converted to a Python object, and all + * mutations on Python side will not be reflected on C++. + */ + +PYBIND11_MAKE_OPAQUE( + std::vector > >); +PYBIND11_MAKE_OPAQUE( + std::vector > >); diff --git a/python/gtsam/preamble/symbolic.h b/python/gtsam/preamble/symbolic.h new file mode 100644 index 000000000..a34e73058 --- /dev/null +++ b/python/gtsam/preamble/symbolic.h @@ -0,0 +1,12 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 + * automatic STL binding, such that the raw objects can be accessed in Python. + * Without this they will be automatically converted to a Python object, and all + * mutations on Python side will not be reflected on C++. + */ \ No newline at end of file diff --git a/python/gtsam/specializations.h b/python/gtsam/specializations.h deleted file mode 100644 index cacad874c..000000000 --- a/python/gtsam/specializations.h +++ /dev/null @@ -1,15 +0,0 @@ -// Please refer to: https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html -// These are required to save one copy operation on Python calls -#ifdef GTSAM_ALLOCATOR_TBB -py::bind_vector > >(m_, "KeyVector"); -#else -py::bind_vector >(m_, "KeyVector"); -#endif -py::bind_vector > >(m_, "Point2Vector"); -py::bind_vector >(m_, "Pose3Vector"); -py::bind_vector > > >(m_, "BetweenFactorPose3s"); -py::bind_vector > > >(m_, "BetweenFactorPose2s"); -py::bind_vector > >(m_, "BinaryMeasurementsUnit3"); -py::bind_map(m_, "IndexPairSetMap"); -py::bind_vector(m_, "IndexPairVector"); -py::bind_map(m_, "KeyPairDoubleMap"); diff --git a/python/gtsam/specializations/base.h b/python/gtsam/specializations/base.h new file mode 100644 index 000000000..9eefdeca8 --- /dev/null +++ b/python/gtsam/specializations/base.h @@ -0,0 +1,17 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `py::bind_vector` and similar machinery gives the std container a Python-like + * interface, but without the `` copying mechanism. Combined + * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python, + * and saves one copy operation. + */ + +py::bind_map(m_, "IndexPairSetMap"); +py::bind_vector(m_, "IndexPairVector"); + +py::bind_vector >(m_, "JacobianVector"); diff --git a/python/gtsam/specializations/geometry.h b/python/gtsam/specializations/geometry.h new file mode 100644 index 000000000..e11d3cc4f --- /dev/null +++ b/python/gtsam/specializations/geometry.h @@ -0,0 +1,27 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `py::bind_vector` and similar machinery gives the std container a Python-like + * interface, but without the `` copying mechanism. Combined + * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python, + * and saves one copy operation. + */ + +py::bind_vector< + std::vector>>( + m_, "Point2Vector"); +py::bind_vector>(m_, "Point3Pairs"); +py::bind_vector>(m_, "Pose3Pairs"); +py::bind_vector>(m_, "Pose3Vector"); +py::bind_vector>>( + m_, "CameraSetCal3_S2"); +py::bind_vector>>( + m_, "CameraSetCal3Bundler"); +py::bind_vector>>( + m_, "CameraSetCal3Unified"); +py::bind_vector>>( + m_, "CameraSetCal3Fisheye"); diff --git a/python/gtsam/specializations/gtsam.h b/python/gtsam/specializations/gtsam.h new file mode 100644 index 000000000..490d71902 --- /dev/null +++ b/python/gtsam/specializations/gtsam.h @@ -0,0 +1,20 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `py::bind_vector` and similar machinery gives the std container a Python-like + * interface, but without the `` copying mechanism. Combined + * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python, + * and saves one copy operation. + */ + +#ifdef GTSAM_ALLOCATOR_TBB +py::bind_vector > >(m_, "KeyVector"); +py::implicitly_convertible > >(); +#else +py::bind_vector >(m_, "KeyVector"); +py::implicitly_convertible >(); +#endif diff --git a/python/gtsam/specializations/linear.h b/python/gtsam/specializations/linear.h new file mode 100644 index 000000000..d46ccdc66 --- /dev/null +++ b/python/gtsam/specializations/linear.h @@ -0,0 +1,12 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `py::bind_vector` and similar machinery gives the std container a Python-like + * interface, but without the `` copying mechanism. Combined + * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python, + * and saves one copy operation. + */ \ No newline at end of file diff --git a/python/gtsam/specializations/navigation.h b/python/gtsam/specializations/navigation.h new file mode 100644 index 000000000..d46ccdc66 --- /dev/null +++ b/python/gtsam/specializations/navigation.h @@ -0,0 +1,12 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `py::bind_vector` and similar machinery gives the std container a Python-like + * interface, but without the `` copying mechanism. Combined + * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python, + * and saves one copy operation. + */ \ No newline at end of file diff --git a/python/gtsam/specializations/nonlinear.h b/python/gtsam/specializations/nonlinear.h new file mode 100644 index 000000000..d46ccdc66 --- /dev/null +++ b/python/gtsam/specializations/nonlinear.h @@ -0,0 +1,12 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `py::bind_vector` and similar machinery gives the std container a Python-like + * interface, but without the `` copying mechanism. Combined + * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python, + * and saves one copy operation. + */ \ No newline at end of file diff --git a/python/gtsam/specializations/sam.h b/python/gtsam/specializations/sam.h new file mode 100644 index 000000000..d46ccdc66 --- /dev/null +++ b/python/gtsam/specializations/sam.h @@ -0,0 +1,12 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `py::bind_vector` and similar machinery gives the std container a Python-like + * interface, but without the `` copying mechanism. Combined + * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python, + * and saves one copy operation. + */ \ No newline at end of file diff --git a/python/gtsam/specializations/sfm.h b/python/gtsam/specializations/sfm.h new file mode 100644 index 000000000..6de15217f --- /dev/null +++ b/python/gtsam/specializations/sfm.h @@ -0,0 +1,16 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `py::bind_vector` and similar machinery gives the std container a Python-like + * interface, but without the `` copying mechanism. Combined + * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python, + * and saves one copy operation. + */ + +py::bind_vector > >( + m_, "BinaryMeasurementsUnit3"); +py::bind_map(m_, "KeyPairDoubleMap"); diff --git a/python/gtsam/specializations/slam.h b/python/gtsam/specializations/slam.h new file mode 100644 index 000000000..198485a72 --- /dev/null +++ b/python/gtsam/specializations/slam.h @@ -0,0 +1,19 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `py::bind_vector` and similar machinery gives the std container a Python-like + * interface, but without the `` copying mechanism. Combined + * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python, + * and saves one copy operation. + */ + +py::bind_vector< + std::vector > > >( + m_, "BetweenFactorPose3s"); +py::bind_vector< + std::vector > > >( + m_, "BetweenFactorPose2s"); diff --git a/python/gtsam/specializations/symbolic.h b/python/gtsam/specializations/symbolic.h new file mode 100644 index 000000000..d46ccdc66 --- /dev/null +++ b/python/gtsam/specializations/symbolic.h @@ -0,0 +1,12 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `py::bind_vector` and similar machinery gives the std container a Python-like + * interface, but without the `` copying mechanism. Combined + * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python, + * and saves one copy operation. + */ \ No newline at end of file diff --git a/python/gtsam/tests/test_Cal3Fisheye.py b/python/gtsam/tests/test_Cal3Fisheye.py new file mode 100644 index 000000000..298c6e57b --- /dev/null +++ b/python/gtsam/tests/test_Cal3Fisheye.py @@ -0,0 +1,133 @@ +""" +GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Cal3Fisheye unit tests. +Author: Frank Dellaert & Duy Nguyen Ta (Python) +Refactored: Roderick Koehle +""" +import unittest + +import numpy as np + +import gtsam +from gtsam.utils.test_case import GtsamTestCase +from gtsam.symbol_shorthand import K, L, P + +class TestCal3Fisheye(GtsamTestCase): + + @classmethod + def setUpClass(cls): + """ + Equidistant fisheye projection + + An equidistant fisheye projection with focal length f is defined + as the relation r/f = tan(theta), with r being the radius in the + image plane and theta the incident angle of the object point. + """ + x, y, z = 1.0, 0.0, 1.0 + u, v = np.arctan2(x, z), 0.0 + cls.obj_point = np.array([x, y, z]) + cls.img_point = np.array([u, v]) + + p1 = [-1.0, 0.0, -1.0] + p2 = [ 1.0, 0.0, -1.0] + q1 = gtsam.Rot3(1.0, 0.0, 0.0, 0.0) + q2 = gtsam.Rot3(1.0, 0.0, 0.0, 0.0) + pose1 = gtsam.Pose3(q1, p1) + pose2 = gtsam.Pose3(q2, p2) + camera1 = gtsam.PinholeCameraCal3Fisheye(pose1) + camera2 = gtsam.PinholeCameraCal3Fisheye(pose2) + cls.origin = np.array([0.0, 0.0, 0.0]) + cls.poses = gtsam.Pose3Vector([pose1, pose2]) + cls.cameras = gtsam.CameraSetCal3Fisheye([camera1, camera2]) + cls.measurements = gtsam.Point2Vector([k.project(cls.origin) for k in cls.cameras]) + + def test_Cal3Fisheye(self): + K = gtsam.Cal3Fisheye() + self.assertEqual(K.fx(), 1.) + self.assertEqual(K.fy(), 1.) + + def test_distortion(self): + """Fisheye distortion and rectification""" + equidistant = gtsam.Cal3Fisheye() + perspective_pt = self.obj_point[0:2]/self.obj_point[2] + distorted_pt = equidistant.uncalibrate(perspective_pt) + rectified_pt = equidistant.calibrate(distorted_pt) + self.gtsamAssertEquals(distorted_pt, self.img_point) + self.gtsamAssertEquals(rectified_pt, perspective_pt) + + def test_pinhole(self): + """Spatial equidistant camera projection""" + camera = gtsam.PinholeCameraCal3Fisheye() + pt1 = camera.Project(self.obj_point) # Perspective projection + pt2 = camera.project(self.obj_point) # Equidistant projection + x, y, z = self.obj_point + obj1 = camera.backproject(self.img_point, z) + r1 = camera.range(self.obj_point) + r = np.linalg.norm(self.obj_point) + self.gtsamAssertEquals(pt1, np.array([x/z, y/z])) + self.gtsamAssertEquals(pt2, self.img_point) + self.gtsamAssertEquals(obj1, self.obj_point) + self.assertEqual(r1, r) + + def test_generic_factor(self): + """Evaluate residual using pose and point as state variables""" + graph = gtsam.NonlinearFactorGraph() + state = gtsam.Values() + measured = self.img_point + noise_model = gtsam.noiseModel.Isotropic.Sigma(2, 1) + pose_key, point_key = P(0), L(0) + k = gtsam.Cal3Fisheye() + state.insert_pose3(pose_key, gtsam.Pose3()) + state.insert_point3(point_key, self.obj_point) + factor = gtsam.GenericProjectionFactorCal3Fisheye(measured, noise_model, pose_key, point_key, k) + graph.add(factor) + score = graph.error(state) + self.assertAlmostEqual(score, 0) + + def test_sfm_factor2(self): + """Evaluate residual with camera, pose and point as state variables""" + graph = gtsam.NonlinearFactorGraph() + state = gtsam.Values() + measured = self.img_point + noise_model = gtsam.noiseModel.Isotropic.Sigma(2, 1) + camera_key, pose_key, landmark_key = K(0), P(0), L(0) + k = gtsam.Cal3Fisheye() + state.insert_cal3fisheye(camera_key, k) + state.insert_pose3(pose_key, gtsam.Pose3()) + state.insert_point3(landmark_key, gtsam.Point3(self.obj_point)) + factor = gtsam.GeneralSFMFactor2Cal3Fisheye(measured, noise_model, pose_key, landmark_key, camera_key) + graph.add(factor) + score = graph.error(state) + self.assertAlmostEqual(score, 0) + + @unittest.skip("triangulatePoint3 currently seems to require perspective projections.") + def test_triangulation_skipped(self): + """Estimate spatial point from image measurements""" + triangulated = gtsam.triangulatePoint3(self.cameras, self.measurements, rank_tol=1e-9, optimize=True) + self.gtsamAssertEquals(triangulated, self.origin) + + def test_triangulation_rectify(self): + """Estimate spatial point from image measurements using rectification""" + rectified = gtsam.Point2Vector([k.calibration().calibrate(pt) for k, pt in zip(self.cameras, self.measurements)]) + shared_cal = gtsam.Cal3_S2() + triangulated = gtsam.triangulatePoint3(self.poses, shared_cal, rectified, rank_tol=1e-9, optimize=False) + self.gtsamAssertEquals(triangulated, self.origin) + + def test_retract(self): + expected = gtsam.Cal3Fisheye(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6, + 1e-3 + 7, 2.0*1e-3 + 8, 3.0*1e-3 + 9, 4.0*1e-3 + 10) + k = gtsam.Cal3Fisheye(100, 105, 0.0, 320, 240, + 1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3) + d = np.array([2, 3, 4, 5, 6, 7, 8, 9, 10], order='F') + actual = k.retract(d) + self.gtsamAssertEquals(actual, expected) + np.testing.assert_allclose(d, k.localCoordinates(actual)) + + +if __name__ == "__main__": + unittest.main() diff --git a/python/gtsam/tests/test_Cal3Unified.py b/python/gtsam/tests/test_Cal3Unified.py index fbf5f3565..dab1ae446 100644 --- a/python/gtsam/tests/test_Cal3Unified.py +++ b/python/gtsam/tests/test_Cal3Unified.py @@ -14,15 +14,122 @@ import numpy as np import gtsam from gtsam.utils.test_case import GtsamTestCase +from gtsam.symbol_shorthand import K, L, P class TestCal3Unified(GtsamTestCase): + @classmethod + def setUpClass(cls): + """ + Stereographic fisheye projection + + An equidistant fisheye projection with focal length f is defined + as the relation r/f = 2*tan(theta/2), with r being the radius in the + image plane and theta the incident angle of the object point. + """ + x, y, z = 1.0, 0.0, 1.0 + r = np.linalg.norm([x, y, z]) + u, v = 2*x/(z+r), 0.0 + cls.obj_point = np.array([x, y, z]) + cls.img_point = np.array([u, v]) + + fx, fy, s, u0, v0 = 2, 2, 0, 0, 0 + k1, k2, p1, p2 = 0, 0, 0, 0 + xi = 1 + cls.stereographic = gtsam.Cal3Unified(fx, fy, s, u0, v0, k1, k2, p1, p2, xi) + + p1 = [-1.0, 0.0, -1.0] + p2 = [ 1.0, 0.0, -1.0] + q1 = gtsam.Rot3(1.0, 0.0, 0.0, 0.0) + q2 = gtsam.Rot3(1.0, 0.0, 0.0, 0.0) + pose1 = gtsam.Pose3(q1, p1) + pose2 = gtsam.Pose3(q2, p2) + camera1 = gtsam.PinholeCameraCal3Unified(pose1, cls.stereographic) + camera2 = gtsam.PinholeCameraCal3Unified(pose2, cls.stereographic) + cls.origin = np.array([0.0, 0.0, 0.0]) + cls.poses = gtsam.Pose3Vector([pose1, pose2]) + cls.cameras = gtsam.CameraSetCal3Unified([camera1, camera2]) + cls.measurements = gtsam.Point2Vector([k.project(cls.origin) for k in cls.cameras]) + def test_Cal3Unified(self): K = gtsam.Cal3Unified() self.assertEqual(K.fx(), 1.) self.assertEqual(K.fx(), 1.) + def test_distortion(self): + """Stereographic fisheye model of focal length f, defined as r/f = 2*tan(theta/2)""" + x, y, z = self.obj_point + r = np.linalg.norm([x, y, z]) + # Note: 2*tan(atan2(x, z)/2) = 2*x/(z+sqrt(x^2+z^2)) + self.assertAlmostEqual(2*np.tan(np.arctan2(x, z)/2), 2*x/(z+r)) + perspective_pt = self.obj_point[0:2]/self.obj_point[2] + distorted_pt = self.stereographic.uncalibrate(perspective_pt) + rectified_pt = self.stereographic.calibrate(distorted_pt) + self.gtsamAssertEquals(distorted_pt, self.img_point) + self.gtsamAssertEquals(rectified_pt, perspective_pt) + + def test_pinhole(self): + """Spatial stereographic camera projection""" + x, y, z = self.obj_point + u, v = self.img_point + r = np.linalg.norm(self.obj_point) + pose = gtsam.Pose3() + camera = gtsam.PinholeCameraCal3Unified(pose, self.stereographic) + pt1 = camera.Project(self.obj_point) + self.gtsamAssertEquals(pt1, np.array([x/z, y/z])) + pt2 = camera.project(self.obj_point) + self.gtsamAssertEquals(pt2, self.img_point) + obj1 = camera.backproject(self.img_point, z) + self.gtsamAssertEquals(obj1, self.obj_point) + r1 = camera.range(self.obj_point) + self.assertEqual(r1, r) + + def test_generic_factor(self): + """Evaluate residual using pose and point as state variables""" + graph = gtsam.NonlinearFactorGraph() + state = gtsam.Values() + measured = self.img_point + noise_model = gtsam.noiseModel.Isotropic.Sigma(2, 1) + pose_key, point_key = P(0), L(0) + k = self.stereographic + state.insert_pose3(pose_key, gtsam.Pose3()) + state.insert_point3(point_key, self.obj_point) + factor = gtsam.GenericProjectionFactorCal3Unified(measured, noise_model, pose_key, point_key, k) + graph.add(factor) + score = graph.error(state) + self.assertAlmostEqual(score, 0) + + def test_sfm_factor2(self): + """Evaluate residual with camera, pose and point as state variables""" + r = np.linalg.norm(self.obj_point) + graph = gtsam.NonlinearFactorGraph() + state = gtsam.Values() + measured = self.img_point + noise_model = gtsam.noiseModel.Isotropic.Sigma(2, 1) + camera_key, pose_key, landmark_key = K(0), P(0), L(0) + k = self.stereographic + state.insert_cal3unified(camera_key, k) + state.insert_pose3(pose_key, gtsam.Pose3()) + state.insert_point3(landmark_key, self.obj_point) + factor = gtsam.GeneralSFMFactor2Cal3Unified(measured, noise_model, pose_key, landmark_key, camera_key) + graph.add(factor) + score = graph.error(state) + self.assertAlmostEqual(score, 0) + + @unittest.skip("triangulatePoint3 currently seems to require perspective projections.") + def test_triangulation(self): + """Estimate spatial point from image measurements""" + triangulated = gtsam.triangulatePoint3(self.cameras, self.measurements, rank_tol=1e-9, optimize=True) + self.gtsamAssertEquals(triangulated, self.origin) + + def test_triangulation_rectify(self): + """Estimate spatial point from image measurements using rectification""" + rectified = gtsam.Point2Vector([k.calibration().calibrate(pt) for k, pt in zip(self.cameras, self.measurements)]) + shared_cal = gtsam.Cal3_S2() + triangulated = gtsam.triangulatePoint3(self.poses, shared_cal, rectified, rank_tol=1e-9, optimize=False) + self.gtsamAssertEquals(triangulated, self.origin) + def test_retract(self): expected = gtsam.Cal3Unified(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6, 1e-3 + 7, 2.0*1e-3 + 8, 3.0*1e-3 + 9, 4.0*1e-3 + 10, 0.1 + 1) diff --git a/python/gtsam/tests/test_Factors.py b/python/gtsam/tests/test_Factors.py new file mode 100644 index 000000000..3ec8648a4 --- /dev/null +++ b/python/gtsam/tests/test_Factors.py @@ -0,0 +1,34 @@ +""" +GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Unit tests for various factors. + +Author: Varun Agrawal +""" +import unittest + +import numpy as np + +import gtsam +from gtsam.utils.test_case import GtsamTestCase + + +class TestNonlinearEquality2Factor(GtsamTestCase): + """ + Test various instantiations of NonlinearEquality2. + """ + def test_point3(self): + """Test for Point3 version.""" + factor = gtsam.NonlinearEquality2Point3(0, 1) + error = factor.evaluateError(gtsam.Point3(0, 0, 0), + gtsam.Point3(0, 0, 0)) + + np.testing.assert_allclose(error, np.zeros(3)) + + +if __name__ == "__main__": + unittest.main() diff --git a/python/gtsam/tests/test_KalmanFilter.py b/python/gtsam/tests/test_KalmanFilter.py index 48a91b96c..b13d5b224 100644 --- a/python/gtsam/tests/test_KalmanFilter.py +++ b/python/gtsam/tests/test_KalmanFilter.py @@ -19,6 +19,21 @@ from gtsam.utils.test_case import GtsamTestCase class TestKalmanFilter(GtsamTestCase): def test_KalmanFilter(self): + """ + Kalman Filter Definitions: + F - State Transition Model + B - Control Input Model + u - Control Vector + modelQ - Covariance of the process Noise (input for KalmanFilter object) - sigma as input + Q - Covariance of the process Noise (for reference calculation) - sigma^2 as input + H - Observation Model + z1 - Observation iteration 1 + z2 - Observation iteration 2 + z3 - observation iteration 3 + modelR - Covariance of the observation Noise (input for KalmanFilter object) - sigma as input + R - Covariance of the observation Noise (for reference calculation) - sigma^2 as input + """ + F = np.eye(2) B = np.eye(2) u = np.array([1.0, 0.0]) diff --git a/python/gtsam/tests/test_NonlinearOptimizer.py b/python/gtsam/tests/test_NonlinearOptimizer.py index e9234a43b..e2561ae52 100644 --- a/python/gtsam/tests/test_NonlinearOptimizer.py +++ b/python/gtsam/tests/test_NonlinearOptimizer.py @@ -17,8 +17,9 @@ import unittest import gtsam from gtsam import (DoglegOptimizer, DoglegParams, DummyPreconditionerParameters, GaussNewtonOptimizer, - GaussNewtonParams, LevenbergMarquardtOptimizer, - LevenbergMarquardtParams, NonlinearFactorGraph, Ordering, + GaussNewtonParams, GncLMParams, GncLMOptimizer, + LevenbergMarquardtOptimizer, LevenbergMarquardtParams, + NonlinearFactorGraph, Ordering, PCGSolverParameters, Point2, PriorFactorPoint2, Values) from gtsam.utils.test_case import GtsamTestCase @@ -77,6 +78,12 @@ class TestScenario(GtsamTestCase): dlParams.setOrdering(ordering) actual3 = DoglegOptimizer(fg, initial_values, dlParams).optimize() self.assertAlmostEqual(0, fg.error(actual3)) + + # Graduated Non-Convexity (GNC) + gncParams = GncLMParams() + actual4 = GncLMOptimizer(fg, initial_values, gncParams).optimize() + self.assertAlmostEqual(0, fg.error(actual4)) + if __name__ == "__main__": diff --git a/python/gtsam/tests/test_Pose3SLAMExample.py b/python/gtsam/tests/test_Pose3SLAMExample.py index fce171b55..cb5e3b226 100644 --- a/python/gtsam/tests/test_Pose3SLAMExample.py +++ b/python/gtsam/tests/test_Pose3SLAMExample.py @@ -15,14 +15,14 @@ import numpy as np import gtsam from gtsam.utils.test_case import GtsamTestCase -from gtsam.utils.circlePose3 import * +from gtsam.utils.circlePose3 import circlePose3 class TestPose3SLAMExample(GtsamTestCase): - def test_Pose3SLAMExample(self): + def test_Pose3SLAMExample(self) -> None: # Create a hexagon of poses - hexagon = circlePose3(6, 1.0) + hexagon = circlePose3(numPoses=6, radius=1.0) p0 = hexagon.atPose3(0) p1 = hexagon.atPose3(1) @@ -31,7 +31,7 @@ class TestPose3SLAMExample(GtsamTestCase): fg.add(gtsam.NonlinearEqualityPose3(0, p0)) delta = p0.between(p1) covariance = gtsam.noiseModel.Diagonal.Sigmas( - np.array([0.05, 0.05, 0.05, 5. * pi / 180, 5. * pi / 180, 5. * pi / 180])) + np.array([0.05, 0.05, 0.05, np.deg2rad(5.), np.deg2rad(5.), np.deg2rad(5.)])) fg.add(gtsam.BetweenFactorPose3(0, 1, delta, covariance)) fg.add(gtsam.BetweenFactorPose3(1, 2, delta, covariance)) fg.add(gtsam.BetweenFactorPose3(2, 3, delta, covariance)) diff --git a/python/gtsam/tests/test_SO4.py b/python/gtsam/tests/test_SO4.py index 648bd1710..226913de8 100644 --- a/python/gtsam/tests/test_SO4.py +++ b/python/gtsam/tests/test_SO4.py @@ -32,13 +32,13 @@ class TestSO4(unittest.TestCase): def test_retract(self): """Test retraction to manifold.""" - v = np.zeros((6,), np.float) + v = np.zeros((6,), 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) + v0 = np.zeros((6,), float) actual = I4.localCoordinates(I4) np.testing.assert_array_almost_equal(actual, v0) diff --git a/python/gtsam/tests/test_SOn.py b/python/gtsam/tests/test_SOn.py index 7599363e2..3bceccc55 100644 --- a/python/gtsam/tests/test_SOn.py +++ b/python/gtsam/tests/test_SOn.py @@ -32,13 +32,13 @@ class TestSO4(unittest.TestCase): def test_retract(self): """Test retraction to manifold.""" - v = np.zeros((6,), np.float) + v = np.zeros((6,), 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) + v0 = np.zeros((6,), float) actual = I4.localCoordinates(I4) np.testing.assert_array_almost_equal(actual, v0) diff --git a/python/gtsam/tests/test_ShonanAveraging.py b/python/gtsam/tests/test_ShonanAveraging.py index 4c423574d..19b9f8dc1 100644 --- a/python/gtsam/tests/test_ShonanAveraging.py +++ b/python/gtsam/tests/test_ShonanAveraging.py @@ -13,14 +13,27 @@ Author: Frank Dellaert import unittest import gtsam -from gtsam import ShonanAveraging3, ShonanAveragingParameters3 +import numpy as np +from gtsam import ( + BetweenFactorPose2, + LevenbergMarquardtParams, + Rot2, + Pose2, + ShonanAveraging2, + ShonanAveragingParameters2, + ShonanAveraging3, + ShonanAveragingParameters3, +) from gtsam.utils.test_case import GtsamTestCase DEFAULT_PARAMS = ShonanAveragingParameters3( - gtsam.LevenbergMarquardtParams.CeresDefaults()) + gtsam.LevenbergMarquardtParams.CeresDefaults() +) -def fromExampleName(name: str, parameters=DEFAULT_PARAMS): +def fromExampleName( + name: str, parameters: ShonanAveragingParameters3 = DEFAULT_PARAMS +) -> ShonanAveraging3: g2oFile = gtsam.findExampleDataFile(name) return ShonanAveraging3(g2oFile, parameters) @@ -133,7 +146,64 @@ class TestShonanAveraging(GtsamTestCase): self.assertAlmostEqual(3.0756, shonan.cost(initial), places=3) result, _lambdaMin = shonan.run(initial, 3, 3) self.assertAlmostEqual(0.0015, shonan.cost(result), places=3) + + + def test_constructorBetweenFactorPose2s(self) -> None: + """Check if ShonanAveraging2 constructor works when not initialized from g2o file. + + GT pose graph: + + | cam 1 = (0,4) + --o + | . + . . + . . + | | + o-- ... o-- + cam 0 cam 2 = (4,0) + (0,0) + """ + num_images = 3 + + wTi_list = [ + Pose2(Rot2.fromDegrees(0), np.array([0, 0])), + Pose2(Rot2.fromDegrees(90), np.array([0, 4])), + Pose2(Rot2.fromDegrees(0), np.array([4, 0])), + ] + + edges = [(0, 1), (1, 2), (0, 2)] + i2Ri1_dict = { + (i1, i2): wTi_list[i2].inverse().compose(wTi_list[i1]).rotation() + for (i1, i2) in edges + } + + lm_params = LevenbergMarquardtParams.CeresDefaults() + shonan_params = ShonanAveragingParameters2(lm_params) + shonan_params.setUseHuber(False) + shonan_params.setCertifyOptimality(True) + + noise_model = gtsam.noiseModel.Unit.Create(3) + between_factors = gtsam.BetweenFactorPose2s() + for (i1, i2), i2Ri1 in i2Ri1_dict.items(): + i2Ti1 = Pose2(i2Ri1, np.zeros(2)) + between_factors.append( + BetweenFactorPose2(i2, i1, i2Ti1, noise_model) + ) + + obj = ShonanAveraging2(between_factors, shonan_params) + initial = obj.initializeRandomly() + result_values, _ = obj.run(initial, min_p=2, max_p=100) + + wRi_list = [result_values.atRot2(i) for i in range(num_images)] + thetas_deg = np.array([wRi.degrees() for wRi in wRi_list]) + + # map all angles to [0,360) + thetas_deg = thetas_deg % 360 + thetas_deg -= thetas_deg[0] + + expected_thetas_deg = np.array([0.0, 90.0, 0.0]) + np.testing.assert_allclose(thetas_deg, expected_thetas_deg, atol=0.1) -if __name__ == '__main__': +if __name__ == "__main__": unittest.main() diff --git a/python/gtsam/tests/test_Sim3.py b/python/gtsam/tests/test_Sim3.py new file mode 100644 index 000000000..001321e2c --- /dev/null +++ b/python/gtsam/tests/test_Sim3.py @@ -0,0 +1,134 @@ +""" +GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Sim3 unit tests. +Author: John Lambert +""" +# pylint: disable=no-name-in-module +import unittest + +import numpy as np + +import gtsam +from gtsam import Point3, Pose3, Pose3Pairs, Rot3, Similarity3 +from gtsam.utils.test_case import GtsamTestCase + + +class TestSim3(GtsamTestCase): + """Test selected Sim3 methods.""" + + def test_align_poses_along_straight_line(self): + """Test Align Pose3Pairs method. + + Scenario: + 3 object poses + same scale (no gauge ambiguity) + world frame has poses rotated about x-axis (90 degree roll) + world and egovehicle frame translated by 15 meters w.r.t. each other + """ + Rx90 = Rot3.Rx(np.deg2rad(90)) + + # Create source poses (three objects o1, o2, o3 living in the egovehicle "e" frame) + # Suppose they are 3d cuboids detected by an onboard sensor in the egovehicle frame + eTo0 = Pose3(Rot3(), np.array([5, 0, 0])) + eTo1 = Pose3(Rot3(), np.array([10, 0, 0])) + eTo2 = Pose3(Rot3(), np.array([15, 0, 0])) + + eToi_list = [eTo0, eTo1, eTo2] + + # Create destination poses + # (same three objects, but instead living in the world/city "w" frame) + wTo0 = Pose3(Rx90, np.array([-10, 0, 0])) + wTo1 = Pose3(Rx90, np.array([-5, 0, 0])) + wTo2 = Pose3(Rx90, np.array([0, 0, 0])) + + wToi_list = [wTo0, wTo1, wTo2] + + we_pairs = Pose3Pairs(list(zip(wToi_list, eToi_list))) + + # Recover the transformation wSe (i.e. world_S_egovehicle) + wSe = Similarity3.Align(we_pairs) + + for wToi, eToi in zip(wToi_list, eToi_list): + self.gtsamAssertEquals(wToi, wSe.transformFrom(eToi)) + + def test_align_poses_along_straight_line_gauge(self): + """Test if Align Pose3Pairs method can account for gauge ambiguity. + + Scenario: + 3 object poses + with gauge ambiguity (2x scale) + world frame has poses rotated about z-axis (90 degree yaw) + world and egovehicle frame translated by 11 meters w.r.t. each other + """ + Rz90 = Rot3.Rz(np.deg2rad(90)) + + # Create source poses (three objects o1, o2, o3 living in the egovehicle "e" frame) + # Suppose they are 3d cuboids detected by an onboard sensor in the egovehicle frame + eTo0 = Pose3(Rot3(), np.array([1, 0, 0])) + eTo1 = Pose3(Rot3(), np.array([2, 0, 0])) + eTo2 = Pose3(Rot3(), np.array([4, 0, 0])) + + eToi_list = [eTo0, eTo1, eTo2] + + # Create destination poses + # (same three objects, but instead living in the world/city "w" frame) + wTo0 = Pose3(Rz90, np.array([0, 12, 0])) + wTo1 = Pose3(Rz90, np.array([0, 14, 0])) + wTo2 = Pose3(Rz90, np.array([0, 18, 0])) + + wToi_list = [wTo0, wTo1, wTo2] + + we_pairs = Pose3Pairs(list(zip(wToi_list, eToi_list))) + + # Recover the transformation wSe (i.e. world_S_egovehicle) + wSe = Similarity3.Align(we_pairs) + + for wToi, eToi in zip(wToi_list, eToi_list): + self.gtsamAssertEquals(wToi, wSe.transformFrom(eToi)) + + def test_align_poses_scaled_squares(self): + """Test if Align Pose3Pairs method can account for gauge ambiguity. + + Make sure a big and small square can be aligned. + The u's represent a big square (10x10), and v's represents a small square (4x4). + + Scenario: + 4 object poses + with gauge ambiguity (2.5x scale) + """ + # 0, 90, 180, and 270 degrees yaw + R0 = Rot3.Rz(np.deg2rad(0)) + R90 = Rot3.Rz(np.deg2rad(90)) + R180 = Rot3.Rz(np.deg2rad(180)) + R270 = Rot3.Rz(np.deg2rad(270)) + + aTi0 = Pose3(R0, np.array([2, 3, 0])) + aTi1 = Pose3(R90, np.array([12, 3, 0])) + aTi2 = Pose3(R180, np.array([12, 13, 0])) + aTi3 = Pose3(R270, np.array([2, 13, 0])) + + aTi_list = [aTi0, aTi1, aTi2, aTi3] + + bTi0 = Pose3(R0, np.array([4, 3, 0])) + bTi1 = Pose3(R90, np.array([8, 3, 0])) + bTi2 = Pose3(R180, np.array([8, 7, 0])) + bTi3 = Pose3(R270, np.array([4, 7, 0])) + + bTi_list = [bTi0, bTi1, bTi2, bTi3] + + ab_pairs = Pose3Pairs(list(zip(aTi_list, bTi_list))) + + # Recover the transformation wSe (i.e. world_S_egovehicle) + aSb = Similarity3.Align(ab_pairs) + + for aTi, bTi in zip(aTi_list, bTi_list): + self.gtsamAssertEquals(aTi, aSb.transformFrom(bTi)) + + +if __name__ == "__main__": + unittest.main() diff --git a/python/gtsam/tests/test_SimpleCamera.py b/python/gtsam/tests/test_SimpleCamera.py index efdfec561..358eb1f48 100644 --- a/python/gtsam/tests/test_SimpleCamera.py +++ b/python/gtsam/tests/test_SimpleCamera.py @@ -14,11 +14,12 @@ 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 as SimpleCamera from gtsam.utils.test_case import GtsamTestCase K = Cal3_S2(625, 625, 0, 0, 0) + class TestSimpleCamera(GtsamTestCase): def test_constructor(self): @@ -29,15 +30,15 @@ class TestSimpleCamera(GtsamTestCase): def test_level2(self): # Create a level camera, looking in Y-direction - pose2 = Pose2(0.4,0.3,math.pi/2.0) + pose2 = Pose2(0.4, 0.3, math.pi/2.0) camera = SimpleCamera.Level(K, pose2, 0.1) # expected - x = Point3(1,0,0) - y = Point3(0,0,-1) - z = Point3(0,1,0) - wRc = Rot3(x,y,z) - expected = Pose3(wRc,Point3(0.4,0.3,0.1)) + x = Point3(1, 0, 0) + y = Point3(0, 0, -1) + z = Point3(0, 1, 0) + wRc = Rot3(x, y, z) + expected = Pose3(wRc, Point3(0.4, 0.3, 0.1)) self.gtsamAssertEquals(camera.pose(), expected, 1e-9) diff --git a/python/gtsam/tests/test_Triangulation.py b/python/gtsam/tests/test_Triangulation.py index b43ad9b57..399cf019d 100644 --- a/python/gtsam/tests/test_Triangulation.py +++ b/python/gtsam/tests/test_Triangulation.py @@ -12,69 +12,123 @@ import unittest import numpy as np -import gtsam as g +import gtsam +from gtsam import (Cal3_S2, Cal3Bundler, CameraSetCal3_S2, + CameraSetCal3Bundler, PinholeCameraCal3_S2, + PinholeCameraCal3Bundler, Point2Vector, Point3, Pose3, + Pose3Vector, Rot3) from gtsam.utils.test_case import GtsamTestCase -from gtsam import Cal3_S2, Cal3Bundler, Rot3, Pose3, \ - PinholeCameraCal3_S2, Point3, Point2Vector, Pose3Vector, triangulatePoint3 + class TestVisualISAMExample(GtsamTestCase): - def test_TriangulationExample(self): - # Some common constants - sharedCal = Cal3_S2(1500, 1200, 0, 640, 480) + """ Tests for triangulation with shared and individual calibrations """ + def setUp(self): + """ Set up two camera poses """ # Looking along X-axis, 1 meter above ground plane (x-y) upright = Rot3.Ypr(-np.pi / 2, 0., -np.pi / 2) pose1 = Pose3(upright, Point3(0, 0, 1)) - 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 = PinholeCameraCal3_S2(pose2, sharedCal) + # twoPoses + self.poses = Pose3Vector() + self.poses.append(pose1) + self.poses.append(pose2) # landmark ~5 meters infront of camera - landmark = Point3(5, 0.5, 1.2) + self.landmark = Point3(5, 0.5, 1.2) - # 1. Project two landmarks into two cameras and triangulate - z1 = camera1.project(landmark) - z2 = camera2.project(landmark) + def generate_measurements(self, calibration, camera_model, cal_params, camera_set=None): + """ + Generate vector of measurements for given calibration and camera model. - # twoPoses - poses = Pose3Vector() + Args: + calibration: Camera calibration e.g. Cal3_S2 + camera_model: Camera model e.g. PinholeCameraCal3_S2 + cal_params: Iterable of camera parameters for `calibration` e.g. [K1, K2] + camera_set: Cameraset object (for individual calibrations) + Returns: + list of measurements and list/CameraSet object for cameras + """ + if camera_set is not None: + cameras = camera_set() + else: + cameras = [] measurements = Point2Vector() - poses.append(pose1) - poses.append(pose2) - measurements.append(z1) - measurements.append(z2) + for k, pose in zip(cal_params, self.poses): + K = calibration(*k) + camera = camera_model(pose, K) + cameras.append(camera) + z = camera.project(self.landmark) + measurements.append(z) - optimize = True - rank_tol = 1e-9 + return measurements, cameras - triangulated_landmark = triangulatePoint3(poses,sharedCal, measurements, rank_tol, optimize) - self.gtsamAssertEquals(landmark, triangulated_landmark,1e-9) + def test_TriangulationExample(self): + """ Tests triangulation with shared Cal3_S2 calibration""" + # Some common constants + sharedCal = (1500, 1200, 0, 640, 480) - # 2. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814) - measurements = Point2Vector() - measurements.append(z1 - np.array([0.1, 0.5])) - measurements.append(z2 - np.array([-0.2, 0.3])) + measurements, _ = self.generate_measurements(Cal3_S2, + PinholeCameraCal3_S2, + (sharedCal, sharedCal)) + + triangulated_landmark = gtsam.triangulatePoint3(self.poses, + Cal3_S2(sharedCal), + measurements, + rank_tol=1e-9, + optimize=True) + self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9) + + # Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814) + measurements_noisy = Point2Vector() + measurements_noisy.append(measurements[0] - np.array([0.1, 0.5])) + measurements_noisy.append(measurements[1] - np.array([-0.2, 0.3])) + + triangulated_landmark = gtsam.triangulatePoint3(self.poses, + Cal3_S2(sharedCal), + measurements_noisy, + rank_tol=1e-9, + optimize=True) + + self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-2) + + def test_distinct_Ks(self): + """ Tests triangulation with individual Cal3_S2 calibrations """ + # two camera parameters + K1 = (1500, 1200, 0, 640, 480) + K2 = (1600, 1300, 0, 650, 440) + + measurements, cameras = self.generate_measurements(Cal3_S2, + PinholeCameraCal3_S2, + (K1, K2), + camera_set=CameraSetCal3_S2) + + triangulated_landmark = gtsam.triangulatePoint3(cameras, + measurements, + rank_tol=1e-9, + optimize=True) + self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9) + + def test_distinct_Ks_Bundler(self): + """ Tests triangulation with individual Cal3Bundler calibrations""" + # two camera parameters + K1 = (1500, 0, 0, 640, 480) + K2 = (1600, 0, 0, 650, 440) + + measurements, cameras = self.generate_measurements(Cal3Bundler, + PinholeCameraCal3Bundler, + (K1, K2), + camera_set=CameraSetCal3Bundler) + + triangulated_landmark = gtsam.triangulatePoint3(cameras, + measurements, + rank_tol=1e-9, + optimize=True) + self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9) - triangulated_landmark = triangulatePoint3(poses,sharedCal, measurements, rank_tol, optimize) - self.gtsamAssertEquals(landmark, triangulated_landmark,1e-2) - # - # # two Poses with Bundler Calibration - # bundlerCal = Cal3Bundler(1500, 0, 0, 640, 480) - # camera1 = PinholeCameraCal3Bundler(pose1, bundlerCal) - # camera2 = PinholeCameraCal3Bundler(pose2, bundlerCal) - # - # z1 = camera1.project(landmark) - # z2 = camera2.project(landmark) - # - # measurements = Point2Vector() - # measurements.append(z1) - # measurements.append(z2) - # - # triangulated_landmark = triangulatePoint3(poses,bundlerCal, measurements, rank_tol, optimize) - # self.gtsamAssertEquals(landmark, triangulated_landmark,1e-9) if __name__ == "__main__": unittest.main() diff --git a/python/gtsam/tests/test_Utilities.py b/python/gtsam/tests/test_Utilities.py new file mode 100644 index 000000000..851684f12 --- /dev/null +++ b/python/gtsam/tests/test_Utilities.py @@ -0,0 +1,196 @@ +""" +GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Utilities unit tests. +Author: Varun Agrawal +""" +# pylint: disable=invalid-name, E1101, E0611 +import unittest + +import numpy as np + +import gtsam +from gtsam.utils.test_case import GtsamTestCase + + +class TestUtilites(GtsamTestCase): + """Test various GTSAM utilities.""" + def test_createKeyList(self): + """Test createKeyList.""" + I = [0, 1, 2] + kl = gtsam.utilities.createKeyList(I) + self.assertEqual(kl.size(), 3) + + kl = gtsam.utilities.createKeyList("s", I) + self.assertEqual(kl.size(), 3) + + def test_createKeyVector(self): + """Test createKeyVector.""" + I = [0, 1, 2] + kl = gtsam.utilities.createKeyVector(I) + self.assertEqual(len(kl), 3) + + kl = gtsam.utilities.createKeyVector("s", I) + self.assertEqual(len(kl), 3) + + def test_createKeySet(self): + """Test createKeySet.""" + I = [0, 1, 2] + kl = gtsam.utilities.createKeySet(I) + self.assertEqual(kl.size(), 3) + + kl = gtsam.utilities.createKeySet("s", I) + self.assertEqual(kl.size(), 3) + + def test_extractPoint2(self): + """Test extractPoint2.""" + initial = gtsam.Values() + point2 = gtsam.Point2(0.0, 0.1) + initial.insert(1, gtsam.Pose2(0.0, 0.1, 0.1)) + initial.insert(2, point2) + np.testing.assert_equal(gtsam.utilities.extractPoint2(initial), + point2.reshape(-1, 2)) + + def test_extractPoint3(self): + """Test extractPoint3.""" + initial = gtsam.Values() + point3 = gtsam.Point3(0.0, 0.1, 0.0) + initial.insert(1, gtsam.Pose2(0.0, 0.1, 0.1)) + initial.insert(2, point3) + np.testing.assert_equal(gtsam.utilities.extractPoint3(initial), + point3.reshape(-1, 3)) + + def test_allPose2s(self): + """Test allPose2s.""" + initial = gtsam.Values() + initial.insert(0, gtsam.Pose2()) + initial.insert(1, gtsam.Pose2(1, 1, 1)) + initial.insert(2, gtsam.Point2(1, 1)) + initial.insert(3, gtsam.Point3(1, 2, 3)) + result = gtsam.utilities.allPose2s(initial) + self.assertEqual(result.size(), 2) + + def test_extractPose2(self): + """Test extractPose2.""" + initial = gtsam.Values() + pose2 = np.asarray((0.0, 0.1, 0.1)) + + initial.insert(1, gtsam.Pose2(*pose2)) + initial.insert(2, gtsam.Point3(0.0, 0.1, 0.0)) + np.testing.assert_allclose(gtsam.utilities.extractPose2(initial), + pose2.reshape(-1, 3)) + + def test_allPose3s(self): + """Test allPose3s.""" + initial = gtsam.Values() + initial.insert(0, gtsam.Pose3()) + initial.insert(2, gtsam.Point2(1, 1)) + initial.insert(1, gtsam.Pose3()) + initial.insert(3, gtsam.Point3(1, 2, 3)) + result = gtsam.utilities.allPose3s(initial) + self.assertEqual(result.size(), 2) + + def test_extractPose3(self): + """Test extractPose3.""" + initial = gtsam.Values() + pose3 = np.asarray([1., 0., 0., 0., 1., 0., 0., 0., 1., 0., 0., 0.]) + initial.insert(1, gtsam.Pose2(0.0, 0.1, 0.1)) + initial.insert(2, gtsam.Pose3()) + np.testing.assert_allclose(gtsam.utilities.extractPose3(initial), + pose3.reshape(-1, 12)) + + def test_perturbPoint2(self): + """Test perturbPoint2.""" + values = gtsam.Values() + values.insert(0, gtsam.Pose3()) + values.insert(1, gtsam.Point2(1, 1)) + gtsam.utilities.perturbPoint2(values, 1.0) + self.assertTrue( + not np.allclose(values.atPoint2(1), gtsam.Point2(1, 1))) + + def test_perturbPose2(self): + """Test perturbPose2.""" + values = gtsam.Values() + values.insert(0, gtsam.Pose2()) + values.insert(1, gtsam.Point2(1, 1)) + gtsam.utilities.perturbPose2(values, 1, 1) + self.assertTrue(values.atPose2(0) != gtsam.Pose2()) + + def test_perturbPoint3(self): + """Test perturbPoint3.""" + values = gtsam.Values() + point3 = gtsam.Point3(0, 0, 0) + values.insert(0, gtsam.Pose2()) + values.insert(1, point3) + gtsam.utilities.perturbPoint3(values, 1) + self.assertTrue(not np.allclose(values.atPoint3(1), point3)) + + def test_insertBackprojections(self): + """Test insertBackprojections.""" + values = gtsam.Values() + cam = gtsam.PinholeCameraCal3_S2() + gtsam.utilities.insertBackprojections( + values, cam, [0, 1, 2], np.asarray([[20, 30, 40], [20, 30, 40]]), + 10) + np.testing.assert_allclose(values.atPoint3(0), + gtsam.Point3(200, 200, 10)) + + def test_insertProjectionFactors(self): + """Test insertProjectionFactors.""" + graph = gtsam.NonlinearFactorGraph() + gtsam.utilities.insertProjectionFactors( + graph, 0, [0, 1], np.asarray([[20, 30], [20, 30]]), + gtsam.noiseModel.Isotropic.Sigma(2, 0.1), gtsam.Cal3_S2()) + self.assertEqual(graph.size(), 2) + + graph = gtsam.NonlinearFactorGraph() + gtsam.utilities.insertProjectionFactors( + graph, 0, [0, 1], np.asarray([[20, 30], [20, 30]]), + gtsam.noiseModel.Isotropic.Sigma(2, 0.1), gtsam.Cal3_S2(), + gtsam.Pose3(gtsam.Rot3(), gtsam.Point3(1, 0, 0))) + self.assertEqual(graph.size(), 2) + + def test_reprojectionErrors(self): + """Test reprojectionErrors.""" + pixels = np.asarray([[20, 30], [20, 30]]) + I = [1, 2] + K = gtsam.Cal3_S2() + graph = gtsam.NonlinearFactorGraph() + gtsam.utilities.insertProjectionFactors( + graph, 0, I, pixels, gtsam.noiseModel.Isotropic.Sigma(2, 0.1), K) + values = gtsam.Values() + values.insert(0, gtsam.Pose3()) + cam = gtsam.PinholeCameraCal3_S2(gtsam.Pose3(), K) + gtsam.utilities.insertBackprojections(values, cam, I, pixels, 10) + errors = gtsam.utilities.reprojectionErrors(graph, values) + np.testing.assert_allclose(errors, np.zeros((2, 2))) + + def test_localToWorld(self): + """Test localToWorld.""" + local = gtsam.Values() + local.insert(0, gtsam.Point2(10, 10)) + local.insert(1, gtsam.Pose2(6, 11, 0.0)) + base = gtsam.Pose2(1, 0, 0) + world = gtsam.utilities.localToWorld(local, base) + + expected_point2 = gtsam.Point2(11, 10) + expected_pose2 = gtsam.Pose2(7, 11, 0) + np.testing.assert_allclose(world.atPoint2(0), expected_point2) + np.testing.assert_allclose( + world.atPose2(1).matrix(), expected_pose2.matrix()) + + user_keys = [1] + world = gtsam.utilities.localToWorld(local, base, user_keys) + np.testing.assert_allclose( + world.atPose2(1).matrix(), expected_pose2.matrix()) + + # Raise error since 0 is not in user_keys + self.assertRaises(RuntimeError, world.atPoint2, 0) + + +if __name__ == "__main__": + unittest.main() diff --git a/python/gtsam/tests/test_custom_factor.py b/python/gtsam/tests/test_custom_factor.py new file mode 100644 index 000000000..4f0f33361 --- /dev/null +++ b/python/gtsam/tests/test_custom_factor.py @@ -0,0 +1,207 @@ +""" +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): + """Test the creation of a new CustomFactor""" + + def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]): + """Minimal error function stub""" + return np.array([1, 0, 0]) + + noise_model = gtsam.noiseModel.Unit.Create(3) + cf = CustomFactor(noise_model, gtsam.KeyVector([0]), error_func) + + def test_new_keylist(self): + """Test the creation of a new CustomFactor""" + + def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]): + """Minimal error function stub""" + return np.array([1, 0, 0]) + + noise_model = gtsam.noiseModel.Unit.Create(3) + cf = CustomFactor(noise_model, [0], error_func) + + def test_call(self): + """Test if calling the factor works (only error)""" + expected_pose = Pose2(1, 1, 0) + + def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]) -> np.ndarray: + """Minimal error function with no Jacobian""" + key0 = this.keys()[0] + error = -v.atPose2(key0).localCoordinates(expected_pose) + return error + + noise_model = gtsam.noiseModel.Unit.Create(3) + cf = CustomFactor(noise_model, [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]): + """ + the custom error function. One can freely use variables captured + from the outside scope. Or the variables can be acquired by indexing `v`. + Jacobian is passed by modifying the H array of numpy matrices. + """ + + key0 = this.keys()[0] + key1 = this.keys()[1] + gT1, gT2 = v.atPose2(key0), v.atPose2(key1) + error = expected.localCoordinates(gT1.between(gT2)) + + if H is not None: + 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, expected, 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) + + def test_printing(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) + + def error_func(this: CustomFactor, v: gtsam.Values, _: List[np.ndarray]): + """Minimal error function stub""" + return np.array([1, 0, 0]) + + noise_model = gtsam.noiseModel.Unit.Create(3) + from gtsam.symbol_shorthand import X + cf = CustomFactor(noise_model, [X(0), X(1)], error_func) + + cf_string = """CustomFactor on x0, x1 + noise model: unit (3) +""" + self.assertEqual(cf_string, repr(cf)) + + def test_no_jacobian(self): + """Tests that we will not calculate the Jacobian if not requested""" + + 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]): + """ + Error function that mimics a BetweenFactor + :param this: reference to the current CustomFactor being evaluated + :param v: Values object + :param H: list of references to the Jacobian arrays + :return: the non-linear error + """ + key0 = this.keys()[0] + key1 = this.keys()[1] + gT1, gT2 = v.atPose2(key0), v.atPose2(key1) + error = expected.localCoordinates(gT1.between(gT2)) + + self.assertTrue(H is None) # Should be true if we only request the error + + if H is not None: + 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, expected, noise_model) + + e_cf = cf.error(v) + e_bf = bf.error(v) + np.testing.assert_allclose(e_cf, e_bf) + + def test_optimization(self): + """Tests if a factor graph with a CustomFactor can be properly optimized""" + 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]): + """ + Error function that mimics a BetweenFactor + :param this: reference to the current CustomFactor being evaluated + :param v: Values object + :param H: list of references to the Jacobian arrays + :return: the non-linear error + """ + key0 = this.keys()[0] + key1 = this.keys()[1] + gT1, gT2 = v.atPose2(key0), v.atPose2(key1) + error = expected.localCoordinates(gT1.between(gT2)) + + if H is not None: + 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, [0, 1], error_func) + + fg = gtsam.NonlinearFactorGraph() + fg.add(cf) + fg.add(gtsam.PriorFactorPose2(0, gT1, noise_model)) + + v = Values() + v.insert(0, Pose2(0, 0, 0)) + v.insert(1, Pose2(0, 0, 0)) + + params = gtsam.LevenbergMarquardtParams() + optimizer = gtsam.LevenbergMarquardtOptimizer(fg, v, params) + result = optimizer.optimize() + + self.gtsamAssertEquals(result.atPose2(0), gT1, tol=1e-5) + self.gtsamAssertEquals(result.atPose2(1), gT2, tol=1e-5) + + +if __name__ == "__main__": + unittest.main() diff --git a/python/gtsam/tests/test_dsf_map.py b/python/gtsam/tests/test_dsf_map.py index e36657178..6cae98ff5 100644 --- a/python/gtsam/tests/test_dsf_map.py +++ b/python/gtsam/tests/test_dsf_map.py @@ -6,49 +6,68 @@ All Rights Reserved See LICENSE for the license information Unit tests for Disjoint Set Forest. -Author: Frank Dellaert & Varun Agrawal +Author: Frank Dellaert & Varun Agrawal & John Lambert """ # pylint: disable=invalid-name, no-name-in-module, no-member from __future__ import print_function import unittest +from typing import Tuple import gtsam +from gtsam import IndexPair from gtsam.utils.test_case import GtsamTestCase class TestDSFMap(GtsamTestCase): """Tests for DSFMap.""" - def test_all(self): + def test_all(self) -> None: """Test everything in DFSMap.""" - def key(index_pair): + + def key(index_pair) -> Tuple[int, int]: return index_pair.i(), index_pair.j() dsf = gtsam.DSFMapIndexPair() 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.assertEqual(key(dsf.find(pair1)), key(dsf.find(pair2))) - def test_sets(self): - from gtsam import IndexPair + def test_sets(self) -> None: + """Ensure that pairs are merged correctly during Union-Find. + + An IndexPair (i,k) representing a unique key might represent the + k'th detected keypoint in image i. For the data below, merging such + measurements into feature tracks across frames should create 2 distinct sets. + """ dsf = gtsam.DSFMapIndexPair() - dsf.merge(IndexPair(0, 1), IndexPair(1,2)) - dsf.merge(IndexPair(0, 1), IndexPair(3,4)) - dsf.merge(IndexPair(4,5), IndexPair(6,8)) + dsf.merge(IndexPair(0, 1), IndexPair(1, 2)) + dsf.merge(IndexPair(0, 1), IndexPair(3, 4)) + dsf.merge(IndexPair(4, 5), IndexPair(6, 8)) sets = dsf.sets() + merged_sets = set() + for i in sets: + set_keys = [] s = sets[i] for val in gtsam.IndexPairSetAsArray(s): - val.i() - val.j() + set_keys.append((val.i(), val.j())) + merged_sets.add(tuple(set_keys)) + + # fmt: off + expected_sets = { + ((0, 1), (1, 2), (3, 4)), # set 1 + ((4, 5), (6, 8)) # set 2 + } + # fmt: on + assert expected_sets == merged_sets -if __name__ == '__main__': +if __name__ == "__main__": unittest.main() diff --git a/python/gtsam/tests/test_pickle.py b/python/gtsam/tests/test_pickle.py new file mode 100644 index 000000000..0acbf6765 --- /dev/null +++ b/python/gtsam/tests/test_pickle.py @@ -0,0 +1,46 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Unit tests to check pickling. + +Author: Ayush Baid +""" +from gtsam import Cal3Bundler, PinholeCameraCal3Bundler, Point2, Point3, Pose3, Rot3, SfmTrack, Unit3 + +from gtsam.utils.test_case import GtsamTestCase + +class TestPickle(GtsamTestCase): + """Tests pickling on some of the classes.""" + + def test_cal3Bundler_roundtrip(self): + obj = Cal3Bundler(fx=100, k1=0.1, k2=0.2, u0=100, v0=70) + self.assertEqualityOnPickleRoundtrip(obj) + + def test_pinholeCameraCal3Bundler_roundtrip(self): + obj = PinholeCameraCal3Bundler( + Pose3(Rot3.RzRyRx(0, 0.1, -0.05), Point3(1, 1, 0)), + Cal3Bundler(fx=100, k1=0.1, k2=0.2, u0=100, v0=70), + ) + self.assertEqualityOnPickleRoundtrip(obj) + + def test_rot3_roundtrip(self): + obj = Rot3.RzRyRx(0, 0.05, 0.1) + self.assertEqualityOnPickleRoundtrip(obj) + + def test_pose3_roundtrip(self): + obj = Pose3(Rot3.Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0)) + self.assertEqualityOnPickleRoundtrip(obj) + + def test_sfmTrack_roundtrip(self): + obj = SfmTrack(Point3(1, 1, 0)) + obj.add_measurement(0, Point2(-1, 5)) + obj.add_measurement(1, Point2(6, 2)) + self.assertEqualityOnPickleRoundtrip(obj) + + def test_unit3_roundtrip(self): + obj = Unit3(Point3(1, 1, 0)) + self.assertEqualityOnPickleRoundtrip(obj) diff --git a/python/gtsam/utils/circlePose3.py b/python/gtsam/utils/circlePose3.py index e1def9427..5cd3a07ce 100644 --- a/python/gtsam/utils/circlePose3.py +++ b/python/gtsam/utils/circlePose3.py @@ -1,10 +1,10 @@ -import gtsam -import math + import numpy as np -from math import pi +import gtsam +from gtsam import Values -def circlePose3(numPoses=8, radius=1.0, symbolChar='\0'): +def circlePose3(numPoses: int = 8, radius: float = 1.0, symbolChar: str = '\0') -> Values: """ circlePose3 generates a set of poses in a circle. This function returns those poses inside a gtsam.Values object, with sequential @@ -21,14 +21,21 @@ def circlePose3(numPoses=8, radius=1.0, symbolChar='\0'): values = gtsam.Values() theta = 0.0 - dtheta = 2 * pi / numPoses + dtheta = 2 * np.pi / numPoses gRo = gtsam.Rot3( - np.array([[0., 1., 0.], [1., 0., 0.], [0., 0., -1.]], order='F')) + np.array( + [ + [0., 1., 0.], + [1., 0., 0.], + [0., 0., -1.] + ], order='F' + ) + ) for i in range(numPoses): key = gtsam.symbol(symbolChar, i) - gti = gtsam.Point3(radius * math.cos(theta), radius * math.sin(theta), 0) - oRi = gtsam.Rot3.Yaw( - -theta) # negative yaw goes counterclockwise, with Z down ! + gti = gtsam.Point3(radius * np.cos(theta), radius * np.sin(theta), 0) + # negative yaw goes counterclockwise, with Z down ! + oRi = gtsam.Rot3.Yaw(-theta) gTi = gtsam.Pose3(gRo.compose(oRi), gti) values.insert(key, gTi) theta = theta + dtheta diff --git a/python/gtsam/utils/plot.py b/python/gtsam/utils/plot.py index b2c2ab879..f324da63a 100644 --- a/python/gtsam/utils/plot.py +++ b/python/gtsam/utils/plot.py @@ -2,22 +2,25 @@ # pylint: disable=no-member, invalid-name +from typing import Iterable, Optional, Tuple + import matplotlib.pyplot as plt import numpy as np from matplotlib import patches from mpl_toolkits.mplot3d import Axes3D # pylint: disable=unused-import import gtsam +from gtsam import Marginals, Point3, Pose2, Pose3, Values -def set_axes_equal(fignum): +def set_axes_equal(fignum: int) -> None: """ 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. Args: - fignum (int): An integer representing the figure number for Matplotlib. + fignum: An integer representing the figure number for Matplotlib. """ fig = plt.figure(fignum) ax = fig.gca(projection='3d') @@ -36,24 +39,22 @@ def set_axes_equal(fignum): ax.set_zlim3d([origin[2] - radius, origin[2] + radius]) -def ellipsoid(xc, yc, zc, rx, ry, rz, n): +def ellipsoid(rx: float, ry: float, rz: float, + n: int) -> Tuple[np.ndarray, np.ndarray, np.ndarray]: """ Numpy equivalent of Matlab's ellipsoid function. Args: - xc (double): Center of ellipsoid in X-axis. - yc (double): Center of ellipsoid in Y-axis. - zc (double): Center of ellipsoid in Z-axis. - rx (double): Radius of ellipsoid in X-axis. - ry (double): Radius of ellipsoid in Y-axis. - rz (double): Radius of ellipsoid in Z-axis. - n (int): The granularity of the ellipsoid plotted. + rx: Radius of ellipsoid in X-axis. + ry: Radius of ellipsoid in Y-axis. + rz: Radius of ellipsoid in Z-axis. + n: The granularity of the ellipsoid plotted. Returns: - tuple[numpy.ndarray]: The points in the x, y and z axes to use for the surface plot. + The points in the x, y and z axes to use for the surface plot. """ - u = np.linspace(0, 2*np.pi, n+1) - v = np.linspace(0, np.pi, n+1) + 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 @@ -61,7 +62,12 @@ def ellipsoid(xc, yc, zc, rx, ry, rz, n): return x, y, z -def plot_covariance_ellipse_3d(axes, origin, P, scale=1, n=8, alpha=0.5): +def plot_covariance_ellipse_3d(axes, + origin: Point3, + P: np.ndarray, + scale: float = 1, + n: int = 8, + alpha: float = 0.5) -> None: """ Plots a Gaussian as an uncertainty ellipse @@ -71,11 +77,12 @@ def plot_covariance_ellipse_3d(axes, origin, P, scale=1, n=8, alpha=0.5): Args: axes (matplotlib.axes.Axes): Matplotlib axes. - origin (gtsam.Point3): The origin in the world frame. - P (numpy.ndarray): The marginal covariance matrix of the 3D point which will be represented as an ellipse. - scale (float): Scaling factor of the radii of the covariance ellipse. - n (int): Defines the granularity of the ellipse. Higher values indicate finer ellipses. - alpha (float): Transparency value for the plotted surface in the range [0, 1]. + origin: The origin in the world frame. + P: The marginal covariance matrix of the 3D point + which will be represented as an ellipse. + scale: Scaling factor of the radii of the covariance ellipse. + n: Defines the granularity of the ellipse. Higher values indicate finer ellipses. + alpha: Transparency value for the plotted surface in the range [0, 1]. """ k = 11.82 U, S, _ = np.linalg.svd(P) @@ -85,28 +92,32 @@ def plot_covariance_ellipse_3d(axes, origin, P, scale=1, n=8, alpha=0.5): rx, ry, rz = radii # generate data for "unrotated" ellipsoid - xc, yc, zc = ellipsoid(0, 0, 0, rx, ry, rz, n) + xc, yc, zc = ellipsoid(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] + 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): +def plot_pose2_on_axes(axes, + pose: Pose2, + axis_length: float = 0.1, + covariance: np.ndarray = None) -> None: """ Plot a 2D pose on given axis `axes` with given `axis_length`. Args: axes (matplotlib.axes.Axes): Matplotlib axes. - pose (gtsam.Pose2): The pose to be plotted. - axis_length (float): The length of the camera axes. - covariance (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation. + pose: The pose to be plotted. + axis_length: The length of the camera axes. + covariance (numpy.ndarray): Marginal covariance matrix to plot + the uncertainty of the estimation. """ # get rotation and translation (center) gRp = pose.rotation().matrix() # rotation from pose to global @@ -132,27 +143,38 @@ def plot_pose2_on_axes(axes, pose, axis_length=0.1, covariance=None): k = 5.0 angle = np.arctan2(v[1, 0], v[0, 0]) - e1 = patches.Ellipse(origin, np.sqrt(w[0]*k), np.sqrt(w[1]*k), - np.rad2deg(angle), fill=False) + e1 = patches.Ellipse(origin, + np.sqrt(w[0] * k), + np.sqrt(w[1] * k), + np.rad2deg(angle), + fill=False) axes.add_patch(e1) -def plot_pose2(fignum, pose, axis_length=0.1, covariance=None, - axis_labels=('X axis', 'Y axis', 'Z axis')): +def plot_pose2( + fignum: int, + pose: Pose2, + axis_length: float = 0.1, + covariance: np.ndarray = None, + axis_labels=("X axis", "Y axis", "Z axis"), +) -> plt.Figure: """ Plot a 2D pose on given figure with given `axis_length`. Args: - fignum (int): Integer representing the figure number to use for plotting. - pose (gtsam.Pose2): The pose to be plotted. - axis_length (float): The length of the camera axes. - covariance (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation. + fignum: Integer representing the figure number to use for plotting. + pose: The pose to be plotted. + axis_length: The length of the camera axes. + covariance: Marginal covariance matrix to plot + the uncertainty of the estimation. axis_labels (iterable[string]): List of axis labels to set. """ # get figure object fig = plt.figure(fignum) axes = fig.gca() - plot_pose2_on_axes(axes, pose, axis_length=axis_length, + plot_pose2_on_axes(axes, + pose, + axis_length=axis_length, covariance=covariance) axes.set_xlabel(axis_labels[0]) @@ -161,32 +183,40 @@ def plot_pose2(fignum, pose, axis_length=0.1, covariance=None, return fig -def plot_point3_on_axes(axes, point, linespec, P=None): +def plot_point3_on_axes(axes, + point: Point3, + linespec: str, + P: Optional[np.ndarray] = None) -> None: """ Plot a 3D point on given axis `axes` with given `linespec`. Args: axes (matplotlib.axes.Axes): Matplotlib axes. - point (gtsam.Point3): The point to be plotted. - linespec (string): String representing formatting options for Matplotlib. - P (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation. + point: The point to be plotted. + linespec: String representing formatting options for Matplotlib. + P: Marginal covariance matrix to plot the uncertainty of the estimation. """ axes.plot([point[0]], [point[1]], [point[2]], linespec) if P is not None: plot_covariance_ellipse_3d(axes, point, P) -def plot_point3(fignum, point, linespec, P=None, - axis_labels=('X axis', 'Y axis', 'Z axis')): +def plot_point3( + fignum: int, + point: Point3, + linespec: str, + P: np.ndarray = None, + axis_labels: Iterable[str] = ("X axis", "Y axis", "Z axis"), +) -> plt.Figure: """ Plot a 3D point on given figure with given `linespec`. Args: - fignum (int): Integer representing the figure number to use for plotting. - point (gtsam.Point3): The point to be plotted. - linespec (string): String representing formatting options for Matplotlib. - P (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation. - axis_labels (iterable[string]): List of axis labels to set. + fignum: Integer representing the figure number to use for plotting. + point: The point to be plotted. + linespec: String representing formatting options for Matplotlib. + P: Marginal covariance matrix to plot the uncertainty of the estimation. + axis_labels: List of axis labels to set. Returns: fig: The matplotlib figure. @@ -203,8 +233,12 @@ def plot_point3(fignum, point, linespec, P=None, return fig -def plot_3d_points(fignum, values, linespec="g*", marginals=None, - title="3D Points", axis_labels=('X axis', 'Y axis', 'Z axis')): +def plot_3d_points(fignum, + values, + linespec="g*", + marginals=None, + title="3D Points", + axis_labels=('X axis', 'Y axis', 'Z axis')): """ Plots the Point3s in `values`, with optional covariances. Finds all the Point3 objects in the given Values object and plots them. @@ -215,7 +249,8 @@ def plot_3d_points(fignum, values, linespec="g*", marginals=None, fignum (int): Integer representing the figure number to use for plotting. values (gtsam.Values): Values dictionary consisting of points to be plotted. linespec (string): String representing formatting options for Matplotlib. - marginals (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation. + marginals (numpy.ndarray): Marginal covariance matrix to plot the + uncertainty of the estimation. title (string): The title of the plot. axis_labels (iterable[string]): List of axis labels to set. """ @@ -231,13 +266,17 @@ def plot_3d_points(fignum, values, linespec="g*", marginals=None, else: covariance = None - fig = plot_point3(fignum, point, linespec, covariance, + fig = plot_point3(fignum, + point, + linespec, + covariance, axis_labels=axis_labels) except RuntimeError: continue # I guess it's not a Point3 + fig = plt.figure(fignum) fig.suptitle(title) fig.canvas.set_window_title(title.lower()) @@ -278,17 +317,22 @@ def plot_pose3_on_axes(axes, pose, axis_length=0.1, P=None, scale=1): plot_covariance_ellipse_3d(axes, origin, gPp) -def plot_pose3(fignum, pose, axis_length=0.1, P=None, - axis_labels=('X axis', 'Y axis', 'Z axis')): +def plot_pose3( + fignum: int, + pose: Pose3, + axis_length: float = 0.1, + P: np.ndarray = None, + axis_labels: Iterable[str] = ("X axis", "Y axis", "Z axis"), +) -> plt.Figure: """ Plot a 3D pose on given figure with given `axis_length`. Args: - fignum (int): Integer representing the figure number to use for plotting. + fignum: Integer representing the figure number to use for plotting. pose (gtsam.Pose3): 3D pose to be plotted. - linespec (string): String representing formatting options for Matplotlib. - P (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation. - axis_labels (iterable[string]): List of axis labels to set. + axis_length: The length of the camera axes. + P: Marginal covariance matrix to plot the uncertainty of the estimation. + axis_labels: List of axis labels to set. Returns: fig: The matplotlib figure. @@ -296,8 +340,7 @@ def plot_pose3(fignum, pose, axis_length=0.1, P=None, # get figure object fig = plt.figure(fignum) axes = fig.gca(projection='3d') - plot_pose3_on_axes(axes, pose, P=P, - axis_length=axis_length) + plot_pose3_on_axes(axes, pose, P=P, axis_length=axis_length) axes.set_xlabel(axis_labels[0]) axes.set_ylabel(axis_labels[1]) @@ -306,18 +349,24 @@ def plot_pose3(fignum, pose, axis_length=0.1, P=None, return fig -def plot_trajectory(fignum, values, scale=1, marginals=None, - title="Plot Trajectory", axis_labels=('X axis', 'Y axis', 'Z axis')): +def plot_trajectory( + fignum: int, + values: Values, + scale: float = 1, + marginals: Marginals = None, + title: str = "Plot Trajectory", + axis_labels: Iterable[str] = ("X axis", "Y axis", "Z axis"), +) -> None: """ Plot a complete 2D/3D trajectory using poses in `values`. Args: - fignum (int): Integer representing the figure number to use for plotting. - values (gtsam.Values): Values containing some Pose2 and/or Pose3 values. - scale (float): Value to scale the poses by. - marginals (gtsam.Marginals): Marginalized probability values of the estimation. + fignum: Integer representing the figure number to use for plotting. + values: Values containing some Pose2 and/or Pose3 values. + scale: Value to scale the poses by. + marginals: Marginalized probability values of the estimation. Used to plot uncertainty bounds. - title (string): The title of the plot. + title: The title of the plot. axis_labels (iterable[string]): List of axis labels to set. """ fig = plt.figure(fignum) @@ -336,7 +385,9 @@ def plot_trajectory(fignum, values, scale=1, marginals=None, else: covariance = None - plot_pose2_on_axes(axes, pose, covariance=covariance, + plot_pose2_on_axes(axes, + pose, + covariance=covariance, axis_length=scale) # Then 3D poses, if any @@ -348,27 +399,29 @@ def plot_trajectory(fignum, values, scale=1, marginals=None, else: covariance = None - plot_pose3_on_axes(axes, pose, P=covariance, - axis_length=scale) + plot_pose3_on_axes(axes, pose, P=covariance, axis_length=scale) fig.suptitle(title) fig.canvas.set_window_title(title.lower()) -def plot_incremental_trajectory(fignum, values, start=0, - scale=1, marginals=None, - time_interval=0.0): +def plot_incremental_trajectory(fignum: int, + values: Values, + start: int = 0, + scale: float = 1, + marginals: Optional[Marginals] = None, + time_interval: float = 0.0) -> None: """ Incrementally plot a complete 3D trajectory using poses in `values`. Args: - fignum (int): Integer representing the figure number to use for plotting. - values (gtsam.Values): Values dict containing the poses. - start (int): Starting index to start plotting from. - scale (float): Value to scale the poses by. - marginals (gtsam.Marginals): Marginalized probability values of the estimation. + fignum: Integer representing the figure number to use for plotting. + values: Values dict containing the poses. + start: Starting index to start plotting from. + scale: Value to scale the poses by. + marginals: Marginalized probability values of the estimation. Used to plot uncertainty bounds. - time_interval (float): Time in seconds to pause between each rendering. + time_interval: Time in seconds to pause between each rendering. Used to create animation effect. """ fig = plt.figure(fignum) diff --git a/python/gtsam/utils/test_case.py b/python/gtsam/utils/test_case.py index 3effd7f65..50af004f4 100644 --- a/python/gtsam/utils/test_case.py +++ b/python/gtsam/utils/test_case.py @@ -8,6 +8,7 @@ See LICENSE for the license information TestCase class with GTSAM assert utils. Author: Frank Dellaert """ +import pickle import unittest @@ -29,3 +30,14 @@ class GtsamTestCase(unittest.TestCase): if not equal: raise self.failureException( "Values are not equal:\n{}!={}".format(actual, expected)) + + def assertEqualityOnPickleRoundtrip(self, obj: object, tol=1e-9) -> None: + """ Performs a round-trip using pickle and asserts equality. + + Usage: + self.assertEqualityOnPickleRoundtrip(obj) + Keyword Arguments: + tol {float} -- tolerance passed to 'equals', default 1e-9 + """ + roundTripObj = pickle.loads(pickle.dumps(obj)) + self.gtsamAssertEquals(roundTripObj, obj) diff --git a/python/gtsam/utils/visual_data_generator.py b/python/gtsam/utils/visual_data_generator.py index 32ccbc8fa..51852760a 100644 --- a/python/gtsam/utils/visual_data_generator.py +++ b/python/gtsam/utils/visual_data_generator.py @@ -1,8 +1,10 @@ from __future__ import print_function +from typing import Tuple -import numpy as np import math +import numpy as np from math import pi + import gtsam from gtsam import Point3, Pose3, PinholeCameraCal3_S2, Cal3_S2 @@ -12,7 +14,7 @@ class Options: Options to generate test scenario """ - def __init__(self, triangle=False, nrCameras=3, K=Cal3_S2()): + def __init__(self, triangle: bool = False, nrCameras: int = 3, K=Cal3_S2()) -> None: """ Options to generate test scenario @param triangle: generate a triangle scene with 3 points if True, otherwise @@ -29,12 +31,12 @@ class GroundTruth: Object holding generated ground-truth data """ - def __init__(self, K=Cal3_S2(), nrCameras=3, nrPoints=4): + def __init__(self, K=Cal3_S2(), nrCameras: int = 3, nrPoints: int = 4) -> None: self.K = K self.cameras = [Pose3()] * nrCameras self.points = [Point3(0, 0, 0)] * nrPoints - def print_(self, s=""): + def print_(self, s="") -> None: print(s) print("K = ", self.K) print("Cameras: ", len(self.cameras)) @@ -54,7 +56,7 @@ class Data: class NoiseModels: pass - def __init__(self, K=Cal3_S2(), nrCameras=3, nrPoints=4): + def __init__(self, K=Cal3_S2(), nrCameras: int = 3, nrPoints: int = 4) -> None: self.K = K self.Z = [x[:] for x in [[gtsam.Point2()] * nrPoints] * nrCameras] self.J = [x[:] for x in [[0] * nrPoints] * nrCameras] @@ -72,7 +74,7 @@ class Data: self.noiseModels.measurement = gtsam.noiseModel.Isotropic.Sigma(2, 1.0) -def generate_data(options): +def generate_data(options) -> Tuple[Data, GroundTruth]: """ Generate ground-truth and measurement data. """ K = Cal3_S2(500, 500, 0, 640. / 2., 480. / 2.) diff --git a/python/gtsam_unstable/gtsam_unstable.tpl b/python/gtsam_unstable/gtsam_unstable.tpl index 1d9dfaa40..aa7ac6bdb 100644 --- a/python/gtsam_unstable/gtsam_unstable.tpl +++ b/python/gtsam_unstable/gtsam_unstable.tpl @@ -13,8 +13,10 @@ #include #include #include +#include +#include #include "gtsam/base/serialization.h" -#include "gtsam/nonlinear/utilities.h" // for RedirectCout. +#include "gtsam/base/utilities.h" // for RedirectCout. // These are the included headers listed in `gtsam_unstable.i` {includes} @@ -22,7 +24,7 @@ {boost_class_export} -{hoder_type} +{holder_type} #include "python/gtsam_unstable/preamble.h" diff --git a/python/setup.py.in b/python/setup.py.in index 1ffe978f3..9aa4b71f4 100644 --- a/python/setup.py.in +++ b/python/setup.py.in @@ -1,6 +1,4 @@ -import glob -import os -import sys +"""Setup file to install the GTSAM package.""" try: from setuptools import setup, find_packages @@ -10,19 +8,17 @@ except ImportError: packages = find_packages(where=".") print("PACKAGES: ", packages) -data_path = '${GTSAM_SOURCE_DIR}/examples/Data/' -data_files_and_directories = glob.glob(data_path + '**', recursive=True) -data_files = [x for x in data_files_and_directories if not os.path.isdir(x)] - package_data = { '': [ - './*.so', - './*.dll', + "./*.so", + "./*.dll", + "Data/*" # Add the data files to the package + "Data/**/*" # Add the data files in subdirectories ] } # Cleaner to read in the contents rather than copy them over. -readme_contents = open("${PROJECT_SOURCE_DIR}/README.md").read() +readme_contents = open("${GTSAM_SOURCE_DIR}/README.md").read() setup( name='gtsam', @@ -49,9 +45,9 @@ setup( 'Programming Language :: Python :: 3', ], packages=packages, + include_package_data=True, package_data=package_data, - data_files=[('${GTSAM_PYTHON_DATASET_DIR}', data_files),], test_suite="gtsam.tests", - install_requires=["numpy"], + install_requires=open("${GTSAM_SOURCE_DIR}/python/requirements.txt").readlines(), zip_safe=False, ) diff --git a/tests/ImuMeasurement.h b/tests/ImuMeasurement.h new file mode 100644 index 000000000..c2c7851d1 --- /dev/null +++ b/tests/ImuMeasurement.h @@ -0,0 +1,35 @@ +#pragma once + +#include + +namespace gtsam { + +/** + *\brief Contains data from the IMU mesaurements. + */ +class ImuMeasurement : public Measurement { + public: + enum Name { BODY = 0, RF_FOOT = 1, RH_FOOT = 2 }; + + Name name; ///< Unique string identifier + Eigen::Vector3d I_a_WI; ///< Raw acceleration from the IMU (m/s/s) + Eigen::Vector3d I_w_WI; ///< Raw angular velocity from the IMU (rad/s) + + ImuMeasurement() + : Measurement("ImuMeasurement"), I_a_WI{0, 0, 0}, I_w_WI{0, 0, 0} {} + + ~ImuMeasurement() override {} + + friend std::ostream& operator<<(std::ostream& stream, + const ImuMeasurement& meas); +}; + +std::ostream& operator<<(std::ostream& stream, const ImuMeasurement& meas) { + stream << "IMU Measurement at time = " << meas.time << " : \n" + << "dt : " << meas.dt << "\n" + << "I_a_WI: " << meas.I_a_WI.transpose() << "\n" + << "I_w_WI: " << meas.I_w_WI.transpose() << "\n"; + return stream; +} + +} // namespace gtsam diff --git a/tests/Measurement.h b/tests/Measurement.h new file mode 100644 index 000000000..be38ac4f3 --- /dev/null +++ b/tests/Measurement.h @@ -0,0 +1,25 @@ +#pragma once + +#include +#include + +namespace gtsam { + +/** + * \brief This is the base class for all measurement types. + */ +class Measurement { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + size_t dt; ///< Time since the last message of this type (nanoseconds). + size_t time; ///< ROS time message recieved (nanoseconds). + ///< The type of message (to enable dynamic/static casting). + std::string type; + + Measurement() : dt(0), time(0), type("UNDEFINED") {} + Measurement(std::string _type) : dt(0), time(0), type(_type) {} + + virtual ~Measurement() {} +}; + +} // namespace gtsam diff --git a/tests/simulated2D.h b/tests/simulated2D.h index ed412bba8..097dbd3fe 100644 --- a/tests/simulated2D.h +++ b/tests/simulated2D.h @@ -143,7 +143,7 @@ namespace simulated2D { return (prior(x, H) - measured_); } - virtual ~GenericPrior() {} + ~GenericPrior() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -189,7 +189,7 @@ namespace simulated2D { return (odo(x1, x2, H1, H2) - measured_); } - virtual ~GenericOdometry() {} + ~GenericOdometry() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -236,7 +236,7 @@ namespace simulated2D { return (mea(x1, x2, H1, H2) - measured_); } - virtual ~GenericMeasurement() {} + ~GenericMeasurement() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/tests/simulated2DConstraints.h b/tests/simulated2DConstraints.h index cb8c09fc8..1609876b6 100644 --- a/tests/simulated2DConstraints.h +++ b/tests/simulated2DConstraints.h @@ -57,7 +57,7 @@ namespace simulated2D { typedef boost::shared_ptr > shared_ptr; ///< boost::shared_ptr convenience typedef typedef VALUE Point; ///< Constrained variable type - virtual ~ScalarCoordConstraint1() {} + ~ScalarCoordConstraint1() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -125,7 +125,7 @@ namespace simulated2D { typedef MaxDistanceConstraint This; ///< This class for factor typedef VALUE Point; ///< Type of variable constrained - virtual ~MaxDistanceConstraint() {} + ~MaxDistanceConstraint() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { @@ -174,7 +174,7 @@ namespace simulated2D { typedef POSE Pose; ///< Type of pose variable constrained typedef POINT Point; ///< Type of point variable constrained - virtual ~MinDistanceConstraint() {} + ~MinDistanceConstraint() override {} /// @return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr clone() const override { diff --git a/tests/simulated2DOriented.h b/tests/simulated2DOriented.h index 27932415b..924a5fe4e 100644 --- a/tests/simulated2DOriented.h +++ b/tests/simulated2DOriented.h @@ -114,7 +114,7 @@ namespace simulated2DOriented { NoiseModelFactor2(model, i1, i2), measured_(measured) { } - virtual ~GenericOdometry() {} + ~GenericOdometry() override {} /// Evaluate error and optionally derivative Vector evaluateError(const VALUE& x1, const VALUE& x2, diff --git a/tests/smallExample.h b/tests/smallExample.h index 0c933d106..944899e70 100644 --- a/tests/smallExample.h +++ b/tests/smallExample.h @@ -342,10 +342,25 @@ struct UnaryFactor: public gtsam::NoiseModelFactor1 { return (h(x) - z_); } + gtsam::NonlinearFactor::shared_ptr clone() const override { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new UnaryFactor(*this))); } }; } +/* ************************************************************************* */ +inline NonlinearFactorGraph nonlinearFactorGraphWithGivenSigma(const double sigma) { + using symbol_shorthand::X; + using symbol_shorthand::L; + boost::shared_ptr fg(new NonlinearFactorGraph); + Point2 z(1.0, 0.0); + boost::shared_ptr factor( + new smallOptimize::UnaryFactor(z, noiseModel::Isotropic::Sigma(2,sigma), X(1))); + fg->push_back(factor); + return *fg; +} + /* ************************************************************************* */ inline boost::shared_ptr sharedReallyNonlinearFactorGraph() { using symbol_shorthand::X; @@ -363,6 +378,54 @@ inline NonlinearFactorGraph createReallyNonlinearFactorGraph() { return *sharedReallyNonlinearFactorGraph(); } +/* ************************************************************************* */ +inline NonlinearFactorGraph sharedNonRobustFactorGraphWithOutliers() { + using symbol_shorthand::X; + boost::shared_ptr fg(new NonlinearFactorGraph); + Point2 z(0.0, 0.0); + double sigma = 0.1; + + boost::shared_ptr> factor( + new PriorFactor(X(1), z, noiseModel::Isotropic::Sigma(2,sigma))); + // 3 noiseless inliers + fg->push_back(factor); + fg->push_back(factor); + fg->push_back(factor); + + // 1 outlier + Point2 z_out(1.0, 0.0); + boost::shared_ptr> factor_out( + new PriorFactor(X(1), z_out, noiseModel::Isotropic::Sigma(2,sigma))); + fg->push_back(factor_out); + + return *fg; +} + +/* ************************************************************************* */ +inline NonlinearFactorGraph sharedRobustFactorGraphWithOutliers() { + using symbol_shorthand::X; + boost::shared_ptr fg(new NonlinearFactorGraph); + Point2 z(0.0, 0.0); + double sigma = 0.1; + auto gmNoise = noiseModel::Robust::Create( + noiseModel::mEstimator::GemanMcClure::Create(1.0), noiseModel::Isotropic::Sigma(2,sigma)); + boost::shared_ptr> factor( + new PriorFactor(X(1), z, gmNoise)); + // 3 noiseless inliers + fg->push_back(factor); + fg->push_back(factor); + fg->push_back(factor); + + // 1 outlier + Point2 z_out(1.0, 0.0); + boost::shared_ptr> factor_out( + new PriorFactor(X(1), z_out, gmNoise)); + fg->push_back(factor_out); + + return *fg; +} + + /* ************************************************************************* */ inline std::pair createNonlinearSmoother(int T) { using namespace impl; diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp index b0978feb9..ec41bf678 100644 --- a/tests/testDoglegOptimizer.cpp +++ b/tests/testDoglegOptimizer.cpp @@ -29,14 +29,6 @@ #include #include -#ifdef __GNUC__ -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wunused-variable" -#endif -#include -#ifdef __GNUC__ -#pragma GCC diagnostic pop -#endif #include // for 'list_of()' #include #include diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp index e3e37e7c7..66dbed1eb 100644 --- a/tests/testExpressionFactor.cpp +++ b/tests/testExpressionFactor.cpp @@ -17,20 +17,19 @@ * @brief unit tests for Block Automatic Differentiation */ -#include -#include -#include -#include -#include +#include +#include #include #include +#include #include -#include - -#include +#include +#include +#include #include using boost::assign::list_of; +using namespace std::placeholders; using namespace std; using namespace gtsam; @@ -59,40 +58,42 @@ Point2_ p(2); TEST(ExpressionFactor, Leaf) { using namespace leaf; - // Create old-style factor to create expected value and derivatives + // Create old-style factor to create expected value and derivatives. PriorFactor old(2, Point2(0, 0), model); - // Concise version + // Create the equivalent factor with expression. ExpressionFactor f(model, Point2(0, 0), p); + + // Check values and derivatives. EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9); EXPECT_LONGS_EQUAL(2, f.dim()); boost::shared_ptr gf2 = f.linearize(values); - EXPECT( assert_equal(*old.linearize(values), *gf2, 1e-9)); + EXPECT(assert_equal(*old.linearize(values), *gf2, 1e-9)); } /* ************************************************************************* */ -// non-zero noise model +// Test leaf expression with noise model of different variance. TEST(ExpressionFactor, Model) { using namespace leaf; SharedNoiseModel model = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.01)); - // Create old-style factor to create expected value and derivatives + // Create old-style factor to create expected value and derivatives. PriorFactor old(2, Point2(0, 0), model); - // Concise version + // Create the equivalent factor with expression. ExpressionFactor f(model, Point2(0, 0), p); - // Check values and derivatives + // Check values and derivatives. EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9); EXPECT_LONGS_EQUAL(2, f.dim()); boost::shared_ptr gf2 = f.linearize(values); - EXPECT( assert_equal(*old.linearize(values), *gf2, 1e-9)); + EXPECT(assert_equal(*old.linearize(values), *gf2, 1e-9)); EXPECT_CORRECT_FACTOR_JACOBIANS(f, values, 1e-5, 1e-5); // another way } /* ************************************************************************* */ -// Constrained noise model +// Test leaf expression with constrained noise model. TEST(ExpressionFactor, Constrained) { using namespace leaf; @@ -106,7 +107,7 @@ TEST(ExpressionFactor, Constrained) { EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9); EXPECT_LONGS_EQUAL(2, f.dim()); boost::shared_ptr gf2 = f.linearize(values); - EXPECT( assert_equal(*old.linearize(values), *gf2, 1e-9)); + EXPECT(assert_equal(*old.linearize(values), *gf2, 1e-9)); } /* ************************************************************************* */ @@ -130,7 +131,7 @@ TEST(ExpressionFactor, Unary) { boost::shared_ptr gf = f.linearize(values); boost::shared_ptr jf = // boost::dynamic_pointer_cast(gf); - EXPECT( assert_equal(expected, *jf, 1e-9)); + EXPECT(assert_equal(expected, *jf, 1e-9)); } /* ************************************************************************* */ @@ -143,11 +144,13 @@ Vector9 wide(const Point3& p, OptionalJacobian<9,3> H) { if (H) *H << I_3x3, I_3x3, I_3x3; return v; } + typedef Eigen::Matrix Matrix9; Vector9 id9(const Vector9& v, OptionalJacobian<9,9> H) { if (H) *H = Matrix9::Identity(); return v; } + TEST(ExpressionFactor, Wide) { // Create some values Values values; @@ -208,6 +211,7 @@ TEST(ExpressionFactor, Binary) { EXPECT(assert_equal(expected25, (Matrix ) (*r)->dTdA1, 1e-9)); EXPECT(assert_equal(expected22, (Matrix ) (*r)->dTdA2, 1e-9)); } + /* ************************************************************************* */ // Unary(Binary(Leaf,Leaf)) TEST(ExpressionFactor, Shallow) { @@ -264,7 +268,7 @@ TEST(ExpressionFactor, Shallow) { EXPECT_DOUBLES_EQUAL(expected_error, f2.error(values), 1e-9); EXPECT_LONGS_EQUAL(2, f2.dim()); boost::shared_ptr gf2 = f2.linearize(values); - EXPECT( assert_equal(*expected, *gf2, 1e-9)); + EXPECT(assert_equal(*expected, *gf2, 1e-9)); } /* ************************************************************************* */ @@ -297,7 +301,7 @@ TEST(ExpressionFactor, tree) { EXPECT_DOUBLES_EQUAL(expected_error, f.error(values), 1e-9); EXPECT_LONGS_EQUAL(2, f.dim()); boost::shared_ptr gf = f.linearize(values); - EXPECT( assert_equal(*expected, *gf, 1e-9)); + EXPECT(assert_equal(*expected, *gf, 1e-9)); // Concise version ExpressionFactor f2(model, measured, @@ -305,14 +309,14 @@ TEST(ExpressionFactor, tree) { EXPECT_DOUBLES_EQUAL(expected_error, f2.error(values), 1e-9); EXPECT_LONGS_EQUAL(2, f2.dim()); boost::shared_ptr gf2 = f2.linearize(values); - EXPECT( assert_equal(*expected, *gf2, 1e-9)); + EXPECT(assert_equal(*expected, *gf2, 1e-9)); // Try ternary version ExpressionFactor f3(model, measured, project3(x, p, K)); EXPECT_DOUBLES_EQUAL(expected_error, f3.error(values), 1e-9); EXPECT_LONGS_EQUAL(2, f3.dim()); boost::shared_ptr gf3 = f3.linearize(values); - EXPECT( assert_equal(*expected, *gf3, 1e-9)); + EXPECT(assert_equal(*expected, *gf3, 1e-9)); } /* ************************************************************************* */ @@ -333,15 +337,15 @@ TEST(ExpressionFactor, Compose1) { // Check unwhitenedError std::vector H(2); Vector actual = f.unwhitenedError(values, H); - EXPECT( assert_equal(I_3x3, H[0],1e-9)); - EXPECT( assert_equal(I_3x3, H[1],1e-9)); + EXPECT(assert_equal(I_3x3, H[0],1e-9)); + EXPECT(assert_equal(I_3x3, H[1],1e-9)); // Check linearization JacobianFactor expected(1, I_3x3, 2, I_3x3, Z_3x1); boost::shared_ptr gf = f.linearize(values); boost::shared_ptr jf = // boost::dynamic_pointer_cast(gf); - EXPECT( assert_equal(expected, *jf,1e-9)); + EXPECT(assert_equal(expected, *jf,1e-9)); } /* ************************************************************************* */ @@ -363,14 +367,14 @@ TEST(ExpressionFactor, compose2) { std::vector H(1); Vector actual = f.unwhitenedError(values, H); EXPECT_LONGS_EQUAL(1, H.size()); - EXPECT( assert_equal(2*I_3x3, H[0],1e-9)); + EXPECT(assert_equal(2*I_3x3, H[0],1e-9)); // Check linearization JacobianFactor expected(1, 2 * I_3x3, Z_3x1); boost::shared_ptr gf = f.linearize(values); boost::shared_ptr jf = // boost::dynamic_pointer_cast(gf); - EXPECT( assert_equal(expected, *jf,1e-9)); + EXPECT(assert_equal(expected, *jf,1e-9)); } /* ************************************************************************* */ @@ -392,14 +396,14 @@ TEST(ExpressionFactor, compose3) { std::vector H(1); Vector actual = f.unwhitenedError(values, H); EXPECT_LONGS_EQUAL(1, H.size()); - EXPECT( assert_equal(I_3x3, H[0],1e-9)); + EXPECT(assert_equal(I_3x3, H[0],1e-9)); // Check linearization JacobianFactor expected(3, I_3x3, Z_3x1); boost::shared_ptr gf = f.linearize(values); boost::shared_ptr jf = // boost::dynamic_pointer_cast(gf); - EXPECT( assert_equal(expected, *jf,1e-9)); + EXPECT(assert_equal(expected, *jf,1e-9)); } /* ************************************************************************* */ @@ -435,16 +439,16 @@ TEST(ExpressionFactor, composeTernary) { std::vector H(3); Vector actual = f.unwhitenedError(values, H); EXPECT_LONGS_EQUAL(3, H.size()); - EXPECT( assert_equal(I_3x3, H[0],1e-9)); - EXPECT( assert_equal(I_3x3, H[1],1e-9)); - EXPECT( assert_equal(I_3x3, H[2],1e-9)); + EXPECT(assert_equal(I_3x3, H[0],1e-9)); + EXPECT(assert_equal(I_3x3, H[1],1e-9)); + EXPECT(assert_equal(I_3x3, H[2],1e-9)); // Check linearization JacobianFactor expected(1, I_3x3, 2, I_3x3, 3, I_3x3, Z_3x1); boost::shared_ptr gf = f.linearize(values); boost::shared_ptr jf = // boost::dynamic_pointer_cast(gf); - EXPECT( assert_equal(expected, *jf,1e-9)); + EXPECT(assert_equal(expected, *jf,1e-9)); } TEST(ExpressionFactor, tree_finite_differences) { @@ -619,9 +623,10 @@ TEST(ExpressionFactor, MultiplyWithInverseFunction) { Matrix3 A; const Vector Ab = f(a, b, H1, A); CHECK(assert_equal(A * b, Ab)); - CHECK(assert_equal(numericalDerivative11( - boost::bind(f, _1, b, boost::none, boost::none), a), - H1)); + CHECK(assert_equal( + numericalDerivative11( + std::bind(f, std::placeholders::_1, b, boost::none, boost::none), a), + H1)); Values values; values.insert(0, a); @@ -636,7 +641,7 @@ TEST(ExpressionFactor, MultiplyWithInverseFunction) { class TestNaryFactor : public gtsam::ExpressionFactorN { + gtsam::Rot3, gtsam::Point3> { private: using This = TestNaryFactor; using Base = @@ -727,6 +732,39 @@ TEST(ExpressionFactor, variadicTemplate) { } +TEST(ExpressionFactor, crossProduct) { + auto model = noiseModel::Isotropic::Sigma(3, 1); + + // Create expression + const auto a = Vector3_(1); + const auto b = Vector3_(2); + Vector3_ f_expr = cross(a, b); + + // Check derivatives + Values values; + values.insert(1, Vector3(0.1, 0.2, 0.3)); + values.insert(2, Vector3(0.4, 0.5, 0.6)); + ExpressionFactor factor(model, Vector3::Zero(), f_expr); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); +} + +TEST(ExpressionFactor, dotProduct) { + auto model = noiseModel::Isotropic::Sigma(1, 1); + + // Create expression + const auto a = Vector3_(1); + const auto b = Vector3_(2); + Double_ f_expr = dot(a, b); + + // Check derivatives + Values values; + values.insert(1, Vector3(0.1, 0.2, 0.3)); + values.insert(2, Vector3(0.4, 0.5, 0.6)); + ExpressionFactor factor(model, .0, f_expr); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); +} + + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/tests/testExtendedKalmanFilter.cpp b/tests/testExtendedKalmanFilter.cpp index 0ea507a36..f0c1b4b70 100644 --- a/tests/testExtendedKalmanFilter.cpp +++ b/tests/testExtendedKalmanFilter.cpp @@ -120,7 +120,7 @@ public: Q_invsqrt_ = inverse_square_root(Q_); } - virtual ~NonlinearMotionModel() {} + ~NonlinearMotionModel() override {} // Calculate the next state prediction using the nonlinear function f() Point2 f(const Point2& x_t0) const { @@ -255,7 +255,7 @@ public: R_invsqrt_ = inverse_square_root(R_); } - virtual ~NonlinearMeasurementModel() {} + ~NonlinearMeasurementModel() override {} // Calculate the predicted measurement using the nonlinear function h() // Byproduct: updates Jacobian H, and noiseModel (R) diff --git a/tests/testGncOptimizer.cpp b/tests/testGncOptimizer.cpp new file mode 100644 index 000000000..a3d1e4e9b --- /dev/null +++ b/tests/testGncOptimizer.cpp @@ -0,0 +1,928 @@ +/* ---------------------------------------------------------------------------- + + * 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 testGncOptimizer.cpp + * @brief Unit tests for GncOptimizer class + * @author Jingnan Shi + * @author Luca Carlone + * @author Frank Dellaert + * + * Implementation of the paper: Yang, Antonante, Tzoumas, Carlone, "Graduated + * Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to + * Global Outlier Rejection", ICRA/RAL, 2020. (arxiv version: + * https://arxiv.org/pdf/1909.08605.pdf) + * + * See also: + * Antonante, Tzoumas, Yang, Carlone, "Outlier-Robust Estimation: Hardness, + * Minimally-Tuned Algorithms, and Applications", arxiv: + * https://arxiv.org/pdf/2007.15109.pdf, 2020. + */ + +#include +#include +#include +#include +#include + +#include +#include + +using namespace std; +using namespace gtsam; + +using symbol_shorthand::L; +using symbol_shorthand::X; +static double tol = 1e-7; + +/* ************************************************************************* */ +TEST(GncOptimizer, gncParamsConstructor) { + // check params are correctly parsed + LevenbergMarquardtParams lmParams; + GncParams gncParams1(lmParams); + CHECK(lmParams.equals(gncParams1.baseOptimizerParams)); + + // check also default constructor + GncParams gncParams1b; + CHECK(lmParams.equals(gncParams1b.baseOptimizerParams)); + + // and check params become different if we change lmParams + lmParams.setVerbosity("DELTA"); + CHECK(!lmParams.equals(gncParams1.baseOptimizerParams)); + + // and same for GN + GaussNewtonParams gnParams; + GncParams gncParams2(gnParams); + CHECK(gnParams.equals(gncParams2.baseOptimizerParams)); + + // check default constructor + GncParams gncParams2b; + CHECK(gnParams.equals(gncParams2b.baseOptimizerParams)); + + // change something at the gncParams level + GncParams gncParams2c(gncParams2b); + gncParams2c.setLossType(GncLossType::GM); + CHECK(!gncParams2c.equals(gncParams2b.baseOptimizerParams)); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, gncConstructor) { + // has to have Gaussian noise models ! + auto fg = example::createReallyNonlinearFactorGraph(); // just a unary factor + // on a 2D point + + Point2 p0(3, 3); + Values initial; + initial.insert(X(1), p0); + + GncParams gncParams; + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + CHECK(gnc.getFactors().equals(fg)); + CHECK(gnc.getState().equals(initial)); + CHECK(gnc.getParams().equals(gncParams)); + + auto gnc2 = GncOptimizer>(fg, initial, + gncParams); + + // check the equal works + CHECK(gnc.equals(gnc2)); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, gncConstructorWithRobustGraphAsInput) { + auto fg = example::sharedNonRobustFactorGraphWithOutliers(); + // same graph with robust noise model + auto fg_robust = example::sharedRobustFactorGraphWithOutliers(); + + Point2 p0(3, 3); + Values initial; + initial.insert(X(1), p0); + + GncParams gncParams; + auto gnc = GncOptimizer>(fg_robust, + initial, + gncParams); + + // make sure that when parsing the graph is transformed into one without + // robust loss + CHECK(fg.equals(gnc.getFactors())); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, initializeMu) { + auto fg = example::createReallyNonlinearFactorGraph(); + + Point2 p0(3, 3); + Values initial; + initial.insert(X(1), p0); + + // testing GM mu initialization + GncParams gncParams; + gncParams.setLossType(GncLossType::GM); + auto gnc_gm = GncOptimizer>(fg, initial, + gncParams); + gnc_gm.setInlierCostThresholds(1.0); + // according to rmk 5 in the gnc paper: m0 = 2 rmax^2 / barcSq + // (barcSq=1 in this example) + EXPECT_DOUBLES_EQUAL(gnc_gm.initializeMu(), 2 * 198.999, 1e-3); + + // testing TLS mu initialization + gncParams.setLossType(GncLossType::TLS); + auto gnc_tls = GncOptimizer>(fg, initial, + gncParams); + gnc_tls.setInlierCostThresholds(1.0); + // according to rmk 5 in the gnc paper: m0 = barcSq / (2 * rmax^2 - barcSq) + // (barcSq=1 in this example) + EXPECT_DOUBLES_EQUAL(gnc_tls.initializeMu(), 1 / (2 * 198.999 - 1), 1e-3); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, updateMuGM) { + // has to have Gaussian noise models ! + auto fg = example::createReallyNonlinearFactorGraph(); + + Point2 p0(3, 3); + Values initial; + initial.insert(X(1), p0); + + GncParams gncParams; + gncParams.setLossType(GncLossType::GM); + gncParams.setMuStep(1.4); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + double mu = 5.0; + EXPECT_DOUBLES_EQUAL(gnc.updateMu(mu), mu / 1.4, tol); + + // check it correctly saturates to 1 for GM + mu = 1.2; + EXPECT_DOUBLES_EQUAL(gnc.updateMu(mu), 1.0, tol); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, updateMuTLS) { + // has to have Gaussian noise models ! + auto fg = example::createReallyNonlinearFactorGraph(); + + Point2 p0(3, 3); + Values initial; + initial.insert(X(1), p0); + + GncParams gncParams; + gncParams.setMuStep(1.4); + gncParams.setLossType(GncLossType::TLS); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + double mu = 5.0; + EXPECT_DOUBLES_EQUAL(gnc.updateMu(mu), mu * 1.4, tol); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, checkMuConvergence) { + // has to have Gaussian noise models ! + auto fg = example::createReallyNonlinearFactorGraph(); + + Point2 p0(3, 3); + Values initial; + initial.insert(X(1), p0); + + { + GncParams gncParams; + gncParams.setLossType(GncLossType::GM); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + double mu = 1.0; + CHECK(gnc.checkMuConvergence(mu)); + } + { + GncParams gncParams; + gncParams.setLossType( + GncLossType::TLS); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + double mu = 1.0; + CHECK(!gnc.checkMuConvergence(mu)); //always false for TLS + } +} + +/* ************************************************************************* */ +TEST(GncOptimizer, checkCostConvergence) { + // has to have Gaussian noise models ! + auto fg = example::createReallyNonlinearFactorGraph(); + + Point2 p0(3, 3); + Values initial; + initial.insert(X(1), p0); + + { + GncParams gncParams; + gncParams.setRelativeCostTol(0.49); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + double prev_cost = 1.0; + double cost = 0.5; + // relative cost reduction = 0.5 > 0.49, hence checkCostConvergence = false + CHECK(!gnc.checkCostConvergence(cost, prev_cost)); + } + { + GncParams gncParams; + gncParams.setRelativeCostTol(0.51); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + double prev_cost = 1.0; + double cost = 0.5; + // relative cost reduction = 0.5 < 0.51, hence checkCostConvergence = true + CHECK(gnc.checkCostConvergence(cost, prev_cost)); + } +} + +/* ************************************************************************* */ +TEST(GncOptimizer, checkWeightsConvergence) { + // has to have Gaussian noise models ! + auto fg = example::createReallyNonlinearFactorGraph(); + + Point2 p0(3, 3); + Values initial; + initial.insert(X(1), p0); + + { + GncParams gncParams; + gncParams.setLossType(GncLossType::GM); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + Vector weights = Vector::Ones(fg.size()); + CHECK(!gnc.checkWeightsConvergence(weights)); //always false for GM + } + { + GncParams gncParams; + gncParams.setLossType( + GncLossType::TLS); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + Vector weights = Vector::Ones(fg.size()); + // weights are binary, so checkWeightsConvergence = true + CHECK(gnc.checkWeightsConvergence(weights)); + } + { + GncParams gncParams; + gncParams.setLossType( + GncLossType::TLS); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + Vector weights = Vector::Ones(fg.size()); + weights[0] = 0.9; // more than weightsTol = 1e-4 from 1, hence checkWeightsConvergence = false + CHECK(!gnc.checkWeightsConvergence(weights)); + } + { + GncParams gncParams; + gncParams.setLossType( + GncLossType::TLS); + gncParams.setWeightsTol(0.1); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + Vector weights = Vector::Ones(fg.size()); + weights[0] = 0.9; // exactly weightsTol = 0.1 from 1, hence checkWeightsConvergence = true + CHECK(gnc.checkWeightsConvergence(weights)); + } +} + +/* ************************************************************************* */ +TEST(GncOptimizer, checkConvergenceTLS) { + // has to have Gaussian noise models ! + auto fg = example::createReallyNonlinearFactorGraph(); + + Point2 p0(3, 3); + Values initial; + initial.insert(X(1), p0); + + GncParams gncParams; + gncParams.setRelativeCostTol(1e-5); + gncParams.setLossType(GncLossType::TLS); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + CHECK(gnc.checkCostConvergence(1.0, 1.0)); + CHECK(!gnc.checkCostConvergence(1.0, 2.0)); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, calculateWeightsGM) { + auto fg = example::sharedNonRobustFactorGraphWithOutliers(); + + Point2 p0(0, 0); + Values initial; + initial.insert(X(1), p0); + + // we have 4 factors, 3 with zero errors (inliers), 1 with error 50 = 0.5 * + // 1/sigma^2 || [1;0] - [0;0] ||^2 (outlier) + Vector weights_expected = Vector::Zero(4); + weights_expected[0] = 1.0; // zero error + weights_expected[1] = 1.0; // zero error + weights_expected[2] = 1.0; // zero error + weights_expected[3] = std::pow(1.0 / (50.0 + 1.0), 2); // outlier, error = 50 + + GaussNewtonParams gnParams; + GncParams gncParams(gnParams); + gncParams.setLossType(GncLossType::GM); + auto gnc = GncOptimizer>(fg, initial, gncParams); + gnc.setInlierCostThresholds(1.0); + double mu = 1.0; + Vector weights_actual = gnc.calculateWeights(initial, mu); + CHECK(assert_equal(weights_expected, weights_actual, tol)); + + mu = 2.0; + double barcSq = 5.0; + weights_expected[3] = std::pow(mu * barcSq / (50.0 + mu * barcSq), 2); // outlier, error = 50 + + auto gnc2 = GncOptimizer>(fg, initial, + gncParams); + gnc2.setInlierCostThresholds(barcSq); + weights_actual = gnc2.calculateWeights(initial, mu); + CHECK(assert_equal(weights_expected, weights_actual, tol)); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, calculateWeightsTLS) { + auto fg = example::sharedNonRobustFactorGraphWithOutliers(); + + Point2 p0(0, 0); + Values initial; + initial.insert(X(1), p0); + + // we have 4 factors, 3 with zero errors (inliers), 1 with error + Vector weights_expected = Vector::Zero(4); + weights_expected[0] = 1.0; // zero error + weights_expected[1] = 1.0; // zero error + weights_expected[2] = 1.0; // zero error + weights_expected[3] = 0; // outliers + + GaussNewtonParams gnParams; + GncParams gncParams(gnParams); + gncParams.setLossType(GncLossType::TLS); + auto gnc = GncOptimizer>(fg, initial, gncParams); + double mu = 1.0; + Vector weights_actual = gnc.calculateWeights(initial, mu); + CHECK(assert_equal(weights_expected, weights_actual, tol)); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, calculateWeightsTLS2) { + + // create values + Point2 x_val(0.0, 0.0); + Point2 x_prior(1.0, 0.0); + Values initial; + initial.insert(X(1), x_val); + + // create very simple factor graph with a single factor 0.5 * 1/sigma^2 * || x - [1;0] ||^2 + double sigma = 1; + SharedDiagonal noise = noiseModel::Diagonal::Sigmas(Vector2(sigma, sigma)); + NonlinearFactorGraph nfg; + nfg.add(PriorFactor(X(1), x_prior, noise)); + + // cost of the factor: + DOUBLES_EQUAL(0.5 * 1 / (sigma * sigma), nfg.error(initial), tol); + + // check the TLS weights are correct: CASE 1: residual below barcsq + { + // expected: + Vector weights_expected = Vector::Zero(1); + weights_expected[0] = 1.0; // inlier + // actual: + GaussNewtonParams gnParams; + GncParams gncParams(gnParams); + gncParams.setLossType(GncLossType::TLS); + auto gnc = GncOptimizer>(nfg, initial, + gncParams); + gnc.setInlierCostThresholds(0.51); // if inlier threshold is slightly larger than 0.5, then measurement is inlier + + double mu = 1e6; + Vector weights_actual = gnc.calculateWeights(initial, mu); + CHECK(assert_equal(weights_expected, weights_actual, tol)); + } + // check the TLS weights are correct: CASE 2: residual above barcsq + { + // expected: + Vector weights_expected = Vector::Zero(1); + weights_expected[0] = 0.0; // outlier + // actual: + GaussNewtonParams gnParams; + GncParams gncParams(gnParams); + gncParams.setLossType(GncLossType::TLS); + auto gnc = GncOptimizer>(nfg, initial, + gncParams); + gnc.setInlierCostThresholds(0.49); // if inlier threshold is slightly below 0.5, then measurement is outlier + double mu = 1e6; // very large mu recovers original TLS cost + Vector weights_actual = gnc.calculateWeights(initial, mu); + CHECK(assert_equal(weights_expected, weights_actual, tol)); + } + // check the TLS weights are correct: CASE 2: residual at barcsq + { + // expected: + Vector weights_expected = Vector::Zero(1); + weights_expected[0] = 0.5; // undecided + // actual: + GaussNewtonParams gnParams; + GncParams gncParams(gnParams); + gncParams.setLossType(GncLossType::TLS); + auto gnc = GncOptimizer>(nfg, initial, + gncParams); + gnc.setInlierCostThresholds(0.5); // if inlier threshold is slightly below 0.5, then measurement is outlier + double mu = 1e6; // very large mu recovers original TLS cost + Vector weights_actual = gnc.calculateWeights(initial, mu); + CHECK(assert_equal(weights_expected, weights_actual, 1e-5)); + } +} + +/* ************************************************************************* */ +TEST(GncOptimizer, makeWeightedGraph) { + // create original factor + double sigma1 = 0.1; + NonlinearFactorGraph nfg = example::nonlinearFactorGraphWithGivenSigma( + sigma1); + + // create expected + double sigma2 = 10; + NonlinearFactorGraph expected = example::nonlinearFactorGraphWithGivenSigma( + sigma2); + + // create weights + Vector weights = Vector::Ones(1); // original info:1/0.1^2 = 100. New info: 1/10^2 = 0.01. Ratio is 10-4 + weights[0] = 1e-4; + + // create actual + Point2 p0(3, 3); + Values initial; + initial.insert(X(1), p0); + + LevenbergMarquardtParams lmParams; + GncParams gncParams(lmParams); + auto gnc = GncOptimizer>(nfg, initial, + gncParams); + NonlinearFactorGraph actual = gnc.makeWeightedGraph(weights); + + // check it's all good + CHECK(assert_equal(expected, actual)); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, optimizeSimple) { + auto fg = example::createReallyNonlinearFactorGraph(); + + Point2 p0(3, 3); + Values initial; + initial.insert(X(1), p0); + + LevenbergMarquardtParams lmParams; + GncParams gncParams(lmParams); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + Values actual = gnc.optimize(); + DOUBLES_EQUAL(0, fg.error(actual), tol); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, optimize) { + auto fg = example::sharedNonRobustFactorGraphWithOutliers(); + + Point2 p0(1, 0); + Values initial; + initial.insert(X(1), p0); + + // try with nonrobust cost function and standard GN + GaussNewtonParams gnParams; + GaussNewtonOptimizer gn(fg, initial, gnParams); + Values gn_results = gn.optimize(); + // converges to incorrect point due to lack of robustness to an outlier, ideal + // solution is Point2(0,0) + CHECK(assert_equal(Point2(0.25, 0.0), gn_results.at(X(1)), 1e-3)); + + // try with robust loss function and standard GN + auto fg_robust = example::sharedRobustFactorGraphWithOutliers(); // same as fg, but with + // factors wrapped in + // Geman McClure losses + GaussNewtonOptimizer gn2(fg_robust, initial, gnParams); + Values gn2_results = gn2.optimize(); + // converges to incorrect point, this time due to the nonconvexity of the loss + CHECK(assert_equal(Point2(0.999706, 0.0), gn2_results.at(X(1)), 1e-3)); + + // .. but graduated nonconvexity ensures both robustness and convergence in + // the face of nonconvexity + GncParams gncParams(gnParams); + // gncParams.setVerbosityGNC(GncParams::Verbosity::SUMMARY); + auto gnc = GncOptimizer>(fg, initial, gncParams); + Values gnc_result = gnc.optimize(); + CHECK(assert_equal(Point2(0.0, 0.0), gnc_result.at(X(1)), 1e-3)); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, optimizeWithKnownInliers) { + auto fg = example::sharedNonRobustFactorGraphWithOutliers(); + + Point2 p0(1, 0); + Values initial; + initial.insert(X(1), p0); + + std::vector knownInliers; + knownInliers.push_back(0); + knownInliers.push_back(1); + knownInliers.push_back(2); + + // nonconvexity with known inliers + { + GncParams gncParams; + gncParams.setKnownInliers(knownInliers); + gncParams.setLossType(GncLossType::GM); + //gncParams.setVerbosityGNC(GncParams::Verbosity::SUMMARY); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + gnc.setInlierCostThresholds(1.0); + Values gnc_result = gnc.optimize(); + CHECK(assert_equal(Point2(0.0, 0.0), gnc_result.at(X(1)), 1e-3)); + + // check weights were actually fixed: + Vector finalWeights = gnc.getWeights(); + DOUBLES_EQUAL(1.0, finalWeights[0], tol); + DOUBLES_EQUAL(1.0, finalWeights[1], tol); + DOUBLES_EQUAL(1.0, finalWeights[2], tol); + } + { + GncParams gncParams; + gncParams.setKnownInliers(knownInliers); + gncParams.setLossType(GncLossType::TLS); + // gncParams.setVerbosityGNC(GncParams::Verbosity::SUMMARY); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + + Values gnc_result = gnc.optimize(); + CHECK(assert_equal(Point2(0.0, 0.0), gnc_result.at(X(1)), 1e-3)); + + // check weights were actually fixed: + Vector finalWeights = gnc.getWeights(); + DOUBLES_EQUAL(1.0, finalWeights[0], tol); + DOUBLES_EQUAL(1.0, finalWeights[1], tol); + DOUBLES_EQUAL(1.0, finalWeights[2], tol); + DOUBLES_EQUAL(0.0, finalWeights[3], tol); + } + { + // if we set the threshold large, they are all inliers + GncParams gncParams; + gncParams.setKnownInliers(knownInliers); + gncParams.setLossType(GncLossType::TLS); + //gncParams.setVerbosityGNC(GncParams::Verbosity::VALUES); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + gnc.setInlierCostThresholds(100.0); + + Values gnc_result = gnc.optimize(); + CHECK(assert_equal(Point2(0.25, 0.0), gnc_result.at(X(1)), 1e-3)); + + // check weights were actually fixed: + Vector finalWeights = gnc.getWeights(); + DOUBLES_EQUAL(1.0, finalWeights[0], tol); + DOUBLES_EQUAL(1.0, finalWeights[1], tol); + DOUBLES_EQUAL(1.0, finalWeights[2], tol); + DOUBLES_EQUAL(1.0, finalWeights[3], tol); + } +} + +/* ************************************************************************* */ +TEST(GncOptimizer, chi2inv) { + DOUBLES_EQUAL(8.807468393511950, Chi2inv(0.997, 1), tol); // from MATLAB: chi2inv(0.997, 1) = 8.807468393511950 + DOUBLES_EQUAL(13.931422665512077, Chi2inv(0.997, 3), tol); // from MATLAB: chi2inv(0.997, 3) = 13.931422665512077 +} + +/* ************************************************************************* */ +TEST(GncOptimizer, barcsq) { + auto fg = example::sharedNonRobustFactorGraphWithOutliers(); + + Point2 p0(1, 0); + Values initial; + initial.insert(X(1), p0); + + std::vector knownInliers; + knownInliers.push_back(0); + knownInliers.push_back(1); + knownInliers.push_back(2); + + GncParams gncParams; + gncParams.setKnownInliers(knownInliers); + gncParams.setLossType(GncLossType::GM); + //gncParams.setVerbosityGNC(GncParams::Verbosity::SUMMARY); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + // expected: chi2inv(0.99, 2)/2 + CHECK(assert_equal(4.605170185988091 * Vector::Ones(fg.size()), gnc.getInlierCostThresholds(), 1e-3)); +} + +/* ************************************************************************* */ +TEST(GncOptimizer, barcsq_heterogeneousFactors) { + NonlinearFactorGraph fg; + // specify noise model, otherwise it segfault if we leave default noise model + SharedNoiseModel model3D(noiseModel::Isotropic::Sigma(3, 0.5)); + fg.add( PriorFactor( 0, Pose2(0.0, 0.0, 0.0) , model3D )); // size 3 + SharedNoiseModel model2D(noiseModel::Isotropic::Sigma(2, 0.5)); + fg.add( PriorFactor( 1, Point2(0.0,0.0), model2D )); // size 2 + SharedNoiseModel model1D(noiseModel::Isotropic::Sigma(1, 0.5)); + fg.add( BearingFactor( 0, 1, 1.0, model1D) ); // size 1 + + Values initial; + initial.insert(0, Pose2(0.0, 0.0, 0.0)); + initial.insert(1, Point2(0.0,0.0)); + + auto gnc = GncOptimizer>(fg, initial); + CHECK(assert_equal(Vector3(5.672433365072185, 4.605170185988091, 3.317448300510607), + gnc.getInlierCostThresholds(), 1e-3)); + + // extra test: + // fg.add( PriorFactor( 0, Pose2(0.0, 0.0, 0.0) )); // works if we add model3D as noise model + // std::cout << "fg[3]->dim() " << fg[3]->dim() << std::endl; // this segfaults? +} + +/* ************************************************************************* */ +TEST(GncOptimizer, setInlierCostThresholds) { + auto fg = example::sharedNonRobustFactorGraphWithOutliers(); + + Point2 p0(1, 0); + Values initial; + initial.insert(X(1), p0); + + std::vector knownInliers; + knownInliers.push_back(0); + knownInliers.push_back(1); + knownInliers.push_back(2); + { + GncParams gncParams; + gncParams.setKnownInliers(knownInliers); + gncParams.setLossType(GncLossType::GM); + //gncParams.setVerbosityGNC(GncParams::Verbosity::SUMMARY); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + gnc.setInlierCostThresholds(2.0); + Values gnc_result = gnc.optimize(); + CHECK(assert_equal(Point2(0.0, 0.0), gnc_result.at(X(1)), 1e-3)); + + // check weights were actually fixed: + Vector finalWeights = gnc.getWeights(); + DOUBLES_EQUAL(1.0, finalWeights[0], tol); + DOUBLES_EQUAL(1.0, finalWeights[1], tol); + DOUBLES_EQUAL(1.0, finalWeights[2], tol); + CHECK(assert_equal(2.0 * Vector::Ones(fg.size()), gnc.getInlierCostThresholds(), 1e-3)); + } + { + GncParams gncParams; + gncParams.setKnownInliers(knownInliers); + gncParams.setLossType(GncLossType::GM); + //gncParams.setVerbosityGNC(GncParams::Verbosity::SUMMARY); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + gnc.setInlierCostThresholds(2.0 * Vector::Ones(fg.size())); + Values gnc_result = gnc.optimize(); + CHECK(assert_equal(Point2(0.0, 0.0), gnc_result.at(X(1)), 1e-3)); + + // check weights were actually fixed: + Vector finalWeights = gnc.getWeights(); + DOUBLES_EQUAL(1.0, finalWeights[0], tol); + DOUBLES_EQUAL(1.0, finalWeights[1], tol); + DOUBLES_EQUAL(1.0, finalWeights[2], tol); + CHECK(assert_equal(2.0 * Vector::Ones(fg.size()), gnc.getInlierCostThresholds(), 1e-3)); + } +} + +/* ************************************************************************* */ +TEST(GncOptimizer, optimizeSmallPoseGraph) { + /// load small pose graph + const string filename = findExampleDataFile("w100.graph"); + NonlinearFactorGraph::shared_ptr graph; + Values::shared_ptr initial; + boost::tie(graph, initial) = load2D(filename); + // 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); + + /// get expected values by optimizing outlier-free graph + Values expected = LevenbergMarquardtOptimizer(*graph, *initial).optimize(); + + // add a few outliers + SharedDiagonal betweenNoise = noiseModel::Diagonal::Sigmas( + Vector3(0.1, 0.1, 0.01)); + graph->push_back(BetweenFactor(90, 50, Pose2(), betweenNoise)); // some arbitrary and incorrect between factor + + /// get expected values by optimizing outlier-free graph + Values expectedWithOutliers = LevenbergMarquardtOptimizer(*graph, *initial) + .optimize(); + // as expected, the following test fails due to the presence of an outlier! + // CHECK(assert_equal(expected, expectedWithOutliers, 1e-3)); + + // GNC + // Note: in difficult instances, we set the odometry measurements to be + // inliers, but this problem is simple enought to succeed even without that + // assumption std::vector knownInliers; + GncParams gncParams; + auto gnc = GncOptimizer>(*graph, *initial, + gncParams); + Values actual = gnc.optimize(); + + // compare + CHECK(assert_equal(expected, actual, 1e-3)); // yay! we are robust to outliers! +} + +/* ************************************************************************* */ +TEST(GncOptimizer, knownInliersAndOutliers) { + auto fg = example::sharedNonRobustFactorGraphWithOutliers(); + + Point2 p0(1, 0); + Values initial; + initial.insert(X(1), p0); + + // nonconvexity with known inliers and known outliers (check early stopping + // when all measurements are known to be inliers or outliers) + { + std::vector knownInliers; + knownInliers.push_back(0); + knownInliers.push_back(1); + knownInliers.push_back(2); + + std::vector knownOutliers; + knownOutliers.push_back(3); + + GncParams gncParams; + gncParams.setKnownInliers(knownInliers); + gncParams.setKnownOutliers(knownOutliers); + gncParams.setLossType(GncLossType::GM); + //gncParams.setVerbosityGNC(GncParams::Verbosity::SUMMARY); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + gnc.setInlierCostThresholds(1.0); + Values gnc_result = gnc.optimize(); + CHECK(assert_equal(Point2(0.0, 0.0), gnc_result.at(X(1)), 1e-3)); + + // check weights were actually fixed: + Vector finalWeights = gnc.getWeights(); + DOUBLES_EQUAL(1.0, finalWeights[0], tol); + DOUBLES_EQUAL(1.0, finalWeights[1], tol); + DOUBLES_EQUAL(1.0, finalWeights[2], tol); + DOUBLES_EQUAL(0.0, finalWeights[3], tol); + } + + // nonconvexity with known inliers and known outliers + { + std::vector knownInliers; + knownInliers.push_back(2); + knownInliers.push_back(0); + + std::vector knownOutliers; + knownOutliers.push_back(3); + + GncParams gncParams; + gncParams.setKnownInliers(knownInliers); + gncParams.setKnownOutliers(knownOutliers); + gncParams.setLossType(GncLossType::GM); + //gncParams.setVerbosityGNC(GncParams::Verbosity::SUMMARY); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + gnc.setInlierCostThresholds(1.0); + Values gnc_result = gnc.optimize(); + CHECK(assert_equal(Point2(0.0, 0.0), gnc_result.at(X(1)), 1e-3)); + + // check weights were actually fixed: + Vector finalWeights = gnc.getWeights(); + DOUBLES_EQUAL(1.0, finalWeights[0], tol); + DOUBLES_EQUAL(1.0, finalWeights[1], 1e-5); + DOUBLES_EQUAL(1.0, finalWeights[2], tol); + DOUBLES_EQUAL(0.0, finalWeights[3], tol); + } + + // only known outliers + { + std::vector knownOutliers; + knownOutliers.push_back(3); + + GncParams gncParams; + gncParams.setKnownOutliers(knownOutliers); + gncParams.setLossType(GncLossType::GM); + //gncParams.setVerbosityGNC(GncParams::Verbosity::SUMMARY); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + gnc.setInlierCostThresholds(1.0); + Values gnc_result = gnc.optimize(); + CHECK(assert_equal(Point2(0.0, 0.0), gnc_result.at(X(1)), 1e-3)); + + // check weights were actually fixed: + Vector finalWeights = gnc.getWeights(); + DOUBLES_EQUAL(1.0, finalWeights[0], tol); + DOUBLES_EQUAL(1.0, finalWeights[1], 1e-5); + DOUBLES_EQUAL(1.0, finalWeights[2], tol); + DOUBLES_EQUAL(0.0, finalWeights[3], tol); + } +} + +/* ************************************************************************* */ +TEST(GncOptimizer, setWeights) { + auto fg = example::sharedNonRobustFactorGraphWithOutliers(); + + Point2 p0(1, 0); + Values initial; + initial.insert(X(1), p0); + // initialize weights to be the same + { + GncParams gncParams; + gncParams.setLossType(GncLossType::TLS); + + Vector weights = 0.5 * Vector::Ones(fg.size()); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + gnc.setWeights(weights); + gnc.setInlierCostThresholds(1.0); + Values gnc_result = gnc.optimize(); + CHECK(assert_equal(Point2(0.0, 0.0), gnc_result.at(X(1)), 1e-3)); + + // check weights were actually fixed: + Vector finalWeights = gnc.getWeights(); + DOUBLES_EQUAL(1.0, finalWeights[0], tol); + DOUBLES_EQUAL(1.0, finalWeights[1], tol); + DOUBLES_EQUAL(1.0, finalWeights[2], tol); + DOUBLES_EQUAL(0.0, finalWeights[3], tol); + } + // try a more challenging initialization + { + GncParams gncParams; + gncParams.setLossType(GncLossType::TLS); + + Vector weights = Vector::Zero(fg.size()); + weights(2) = 1.0; + weights(3) = 1.0; // bad initialization: we say the outlier is inlier + // GNC can still recover (but if you omit weights(2) = 1.0, then it would fail) + auto gnc = GncOptimizer>(fg, initial, + gncParams); + gnc.setWeights(weights); + gnc.setInlierCostThresholds(1.0); + Values gnc_result = gnc.optimize(); + CHECK(assert_equal(Point2(0.0, 0.0), gnc_result.at(X(1)), 1e-3)); + + // check weights were actually fixed: + Vector finalWeights = gnc.getWeights(); + DOUBLES_EQUAL(1.0, finalWeights[0], tol); + DOUBLES_EQUAL(1.0, finalWeights[1], tol); + DOUBLES_EQUAL(1.0, finalWeights[2], tol); + DOUBLES_EQUAL(0.0, finalWeights[3], tol); + } + // initialize weights and also set known inliers/outliers + { + GncParams gncParams; + std::vector knownInliers; + knownInliers.push_back(2); + knownInliers.push_back(0); + + std::vector knownOutliers; + knownOutliers.push_back(3); + gncParams.setKnownInliers(knownInliers); + gncParams.setKnownOutliers(knownOutliers); + + gncParams.setLossType(GncLossType::TLS); + + Vector weights = 0.5 * Vector::Ones(fg.size()); + auto gnc = GncOptimizer>(fg, initial, + gncParams); + gnc.setWeights(weights); + gnc.setInlierCostThresholds(1.0); + Values gnc_result = gnc.optimize(); + CHECK(assert_equal(Point2(0.0, 0.0), gnc_result.at(X(1)), 1e-3)); + + // check weights were actually fixed: + Vector finalWeights = gnc.getWeights(); + DOUBLES_EQUAL(1.0, finalWeights[0], tol); + DOUBLES_EQUAL(1.0, finalWeights[1], tol); + DOUBLES_EQUAL(1.0, finalWeights[2], tol); + DOUBLES_EQUAL(0.0, finalWeights[3], tol); + } +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ diff --git a/tests/testImuPreintegration.cpp b/tests/testImuPreintegration.cpp new file mode 100644 index 000000000..1f584be0e --- /dev/null +++ b/tests/testImuPreintegration.cpp @@ -0,0 +1,127 @@ +/* ---------------------------------------------------------------------------- + + * 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 testImuPreintegration.cpp + * @brief Unit tests for IMU Preintegration + * @author Russell Buchanan + **/ + +#include +#include +#include +#include +#include +#include + +#include +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +/** + * \brief Uses the GTSAM library to perform IMU preintegration on an + * acceleration input. + */ +TEST(TestImuPreintegration, LoadedSimulationData) { + Vector3 finalPos(0, 0, 0); + + vector imuMeasurements; + + double accNoiseSigma = 0.001249; + double accBiasRwSigma = 0.000106; + double gyrNoiseSigma = 0.000208; + double gyrBiasRwSigma = 0.000004; + double integrationCovariance = 1e-8; + double biasAccOmegaInt = 1e-5; + + double gravity = 9.81; + double rate = 400.0; // Hz + + string inFileString = findExampleDataFile("quadraped_imu_data.csv"); + ifstream inputFile(inFileString); + string line; + while (getline(inputFile, line)) { + stringstream ss(line); + string str; + vector results; + while (getline(ss, str, ',')) { + results.push_back(atof(str.c_str())); + } + ImuMeasurement measurement; + measurement.dt = static_cast(1e9 * (1 / rate)); + measurement.time = results[2]; + measurement.I_a_WI = {results[29], results[30], results[31]}; + measurement.I_w_WI = {results[17], results[18], results[19]}; + imuMeasurements.push_back(measurement); + } + + // Assume a Z-up navigation (assuming we are performing optimization in the + // IMU frame). + auto imuPreintegratedParams = + PreintegratedCombinedMeasurements::Params::MakeSharedU(gravity); + imuPreintegratedParams->accelerometerCovariance = + I_3x3 * pow(accNoiseSigma, 2); + imuPreintegratedParams->biasAccCovariance = I_3x3 * pow(accBiasRwSigma, 2); + imuPreintegratedParams->gyroscopeCovariance = I_3x3 * pow(gyrNoiseSigma, 2); + imuPreintegratedParams->biasOmegaCovariance = I_3x3 * pow(gyrBiasRwSigma, 2); + imuPreintegratedParams->integrationCovariance = I_3x3 * integrationCovariance; + imuPreintegratedParams->biasAccOmegaInt = I_6x6 * biasAccOmegaInt; + + // Initial state + Pose3 priorPose; + Vector3 priorVelocity(0, 0, 0); + imuBias::ConstantBias priorImuBias; + PreintegratedCombinedMeasurements imuPreintegrated; + Vector3 position(0, 0, 0); + Vector3 velocity(0, 0, 0); + NavState propState; + + NavState initialNavState(priorPose, priorVelocity); + + // Assume zero bias for simulated data + priorImuBias = + imuBias::ConstantBias(Eigen::Vector3d(0, 0, 0), Eigen::Vector3d(0, 0, 0)); + + imuPreintegrated = + PreintegratedCombinedMeasurements(imuPreintegratedParams, priorImuBias); + + // start at 1 to skip header + for (size_t n = 1; n < imuMeasurements.size(); n++) { + // integrate + imuPreintegrated.integrateMeasurement(imuMeasurements[n].I_a_WI, + imuMeasurements[n].I_w_WI, 1 / rate); + // predict + propState = imuPreintegrated.predict(initialNavState, priorImuBias); + position = propState.pose().translation(); + velocity = propState.velocity(); + } + + Vector3 rotation = propState.pose().rotation().rpy(); + + // Dont have ground truth for x and y position yet + // DOUBLES_EQUAL(0.1, position[0], 1e-2); + // DOUBLES_EQUAL(0.1, position[1], 1e-2); + DOUBLES_EQUAL(0.0, position[2], 1e-2); + + DOUBLES_EQUAL(0.0, rotation[0], 1e-2); + DOUBLES_EQUAL(0.0, rotation[1], 1e-2); + DOUBLES_EQUAL(0.0, rotation[2], 1e-2); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp index 662b071df..84bba850b 100644 --- a/tests/testNonlinearFactor.cpp +++ b/tests/testNonlinearFactor.cpp @@ -233,6 +233,26 @@ TEST( NonlinearFactor, linearize_constraint2 ) CHECK(assert_equal((const GaussianFactor&)expected, *actual)); } +/* ************************************************************************* */ +TEST( NonlinearFactor, cloneWithNewNoiseModel ) +{ + // create original factor + double sigma1 = 0.1; + NonlinearFactorGraph nfg = example::nonlinearFactorGraphWithGivenSigma(sigma1); + + // create expected + double sigma2 = 10; + NonlinearFactorGraph expected = example::nonlinearFactorGraphWithGivenSigma(sigma2); + + // create actual + NonlinearFactorGraph actual; + SharedNoiseModel noise2 = noiseModel::Isotropic::Sigma(2,sigma2); + actual.push_back( boost::dynamic_pointer_cast(nfg[0])->cloneWithNewNoiseModel(noise2) ); + + // check it's all good + CHECK(assert_equal(expected, actual)); +} + /* ************************************************************************* */ class TestFactor4 : public NoiseModelFactor4 { public: diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 6415174d5..295721cc4 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -48,6 +48,19 @@ const double tol = 1e-5; using symbol_shorthand::X; using symbol_shorthand::L; +/* ************************************************************************* */ +TEST( NonlinearOptimizer, paramsEquals ) +{ + // default constructors lead to two identical params + GaussNewtonParams gnParams1; + GaussNewtonParams gnParams2; + CHECK(gnParams1.equals(gnParams2)); + + // but the params become different if we change something in gnParams2 + gnParams2.setVerbosity("DELTA"); + CHECK(!gnParams1.equals(gnParams2)); +} + /* ************************************************************************* */ TEST( NonlinearOptimizer, iterateLM ) { diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp index 84e521156..2e99aff71 100644 --- a/tests/testSerializationSLAM.cpp +++ b/tests/testSerializationSLAM.cpp @@ -89,10 +89,8 @@ 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; @@ -102,7 +100,7 @@ typedef GenericProjectionFactor GenericProjectionFactorC typedef GenericProjectionFactor GenericProjectionFactorCal3DS2; typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3_S2; -//typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; +typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; typedef gtsam::GeneralSFMFactor2 GeneralSFMFactor2Cal3_S2; @@ -145,7 +143,6 @@ GTSAM_VALUE_EXPORT(gtsam::Cal3_S2); 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); @@ -190,9 +187,9 @@ BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D"); BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2"); BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3"); BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint"); -BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint"); +BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2Point, "gtsam::RangeFactorPinholeCameraCal3_S2Point"); BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera"); -BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera"); +BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2, "gtsam::RangeFactorPinholeCameraCal3_S2"); BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D"); @@ -200,7 +197,7 @@ BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectio BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2"); BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2"); -//BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2"); +BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2"); BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2"); @@ -352,9 +349,9 @@ TEST (testSerializationSLAM, factors) { RangeFactorPose2 rangeFactorPose2(a08, b08, 2.0, model1); RangeFactorPose3 rangeFactorPose3(a09, b09, 2.0, model1); RangeFactorCalibratedCameraPoint rangeFactorCalibratedCameraPoint(a12, a05, 2.0, model1); - RangeFactorSimpleCameraPoint rangeFactorSimpleCameraPoint(a13, a05, 2.0, model1); + RangeFactorPinholeCameraCal3_S2Point rangeFactorPinholeCameraCal3_S2Point(a13, a05, 2.0, model1); RangeFactorCalibratedCamera rangeFactorCalibratedCamera(a12, b12, 2.0, model1); - RangeFactorSimpleCamera rangeFactorSimpleCamera(a13, b13, 2.0, model1); + RangeFactorPinholeCameraCal3_S2 rangeFactorPinholeCameraCal3_S2(a13, b13, 2.0, model1); BearingRangeFactor2D bearingRangeFactor2D(a08, a03, rot2, 2.0, model2); @@ -405,9 +402,9 @@ TEST (testSerializationSLAM, factors) { graph += rangeFactorPose2; graph += rangeFactorPose3; graph += rangeFactorCalibratedCameraPoint; - graph += rangeFactorSimpleCameraPoint; + graph += rangeFactorPinholeCameraCal3_S2Point; graph += rangeFactorCalibratedCamera; - graph += rangeFactorSimpleCamera; + graph += rangeFactorPinholeCameraCal3_S2; graph += bearingRangeFactor2D; @@ -463,9 +460,9 @@ TEST (testSerializationSLAM, factors) { EXPECT(equalsObj(rangeFactorPose2)); EXPECT(equalsObj(rangeFactorPose3)); EXPECT(equalsObj(rangeFactorCalibratedCameraPoint)); - EXPECT(equalsObj(rangeFactorSimpleCameraPoint)); + EXPECT(equalsObj(rangeFactorPinholeCameraCal3_S2Point)); EXPECT(equalsObj(rangeFactorCalibratedCamera)); - EXPECT(equalsObj(rangeFactorSimpleCamera)); + EXPECT(equalsObj(rangeFactorPinholeCameraCal3_S2)); EXPECT(equalsObj(bearingRangeFactor2D)); @@ -521,9 +518,9 @@ TEST (testSerializationSLAM, factors) { EXPECT(equalsXML(rangeFactorPose2)); EXPECT(equalsXML(rangeFactorPose3)); EXPECT(equalsXML(rangeFactorCalibratedCameraPoint)); - EXPECT(equalsXML(rangeFactorSimpleCameraPoint)); + EXPECT(equalsXML(rangeFactorPinholeCameraCal3_S2Point)); EXPECT(equalsXML(rangeFactorCalibratedCamera)); - EXPECT(equalsXML(rangeFactorSimpleCamera)); + EXPECT(equalsXML(rangeFactorPinholeCameraCal3_S2)); EXPECT(equalsXML(bearingRangeFactor2D)); @@ -579,9 +576,9 @@ TEST (testSerializationSLAM, factors) { EXPECT(equalsBinary(rangeFactorPose2)); EXPECT(equalsBinary(rangeFactorPose3)); EXPECT(equalsBinary(rangeFactorCalibratedCameraPoint)); - EXPECT(equalsBinary(rangeFactorSimpleCameraPoint)); + EXPECT(equalsBinary(rangeFactorPinholeCameraCal3_S2Point)); EXPECT(equalsBinary(rangeFactorCalibratedCamera)); - EXPECT(equalsBinary(rangeFactorSimpleCamera)); + EXPECT(equalsBinary(rangeFactorPinholeCameraCal3_S2)); EXPECT(equalsBinary(bearingRangeFactor2D)); diff --git a/tests/testSimulated3D.cpp b/tests/testSimulated3D.cpp index 02f6ed762..2bc381f7a 100644 --- a/tests/testSimulated3D.cpp +++ b/tests/testSimulated3D.cpp @@ -21,10 +21,12 @@ #include #include +#include #include #include +using namespace std::placeholders; using namespace gtsam; // Convenience for named keys @@ -44,7 +46,7 @@ TEST( simulated3D, Values ) TEST( simulated3D, Dprior ) { Point3 x(1,-9, 7); - Matrix numerical = numericalDerivative11(boost::bind(simulated3D::prior, _1, boost::none),x); + Matrix numerical = numericalDerivative11(std::bind(simulated3D::prior, std::placeholders::_1, boost::none),x); Matrix computed; simulated3D::prior(x,computed); EXPECT(assert_equal(numerical,computed,1e-9)); @@ -53,13 +55,19 @@ TEST( simulated3D, Dprior ) /* ************************************************************************* */ TEST( simulated3D, DOdo ) { - Point3 x1(1,-9,7),x2(-5,6,7); - Matrix H1,H2; - simulated3D::odo(x1,x2,H1,H2); - Matrix A1 = numericalDerivative21(boost::bind(simulated3D::odo, _1, _2, boost::none, boost::none),x1,x2); - EXPECT(assert_equal(A1,H1,1e-9)); - Matrix A2 = numericalDerivative22(boost::bind(simulated3D::odo, _1, _2, boost::none, boost::none),x1,x2); - EXPECT(assert_equal(A2,H2,1e-9)); + Point3 x1(1, -9, 7), x2(-5, 6, 7); + Matrix H1, H2; + simulated3D::odo(x1, x2, H1, H2); + Matrix A1 = numericalDerivative21( + std::bind(simulated3D::odo, std::placeholders::_1, std::placeholders::_2, + boost::none, boost::none), + x1, x2); + EXPECT(assert_equal(A1, H1, 1e-9)); + Matrix A2 = numericalDerivative22( + std::bind(simulated3D::odo, std::placeholders::_1, std::placeholders::_2, + boost::none, boost::none), + x1, x2); + EXPECT(assert_equal(A2, H2, 1e-9)); } diff --git a/tests/testTranslationRecovery.cpp b/tests/testTranslationRecovery.cpp index eb34ba803..2915a375e 100644 --- a/tests/testTranslationRecovery.cpp +++ b/tests/testTranslationRecovery.cpp @@ -11,19 +11,28 @@ /** * @file testTranslationRecovery.cpp - * @author Frank Dellaert + * @author Frank Dellaert, Akshay Krishnan * @date March 2020 * @brief test recovering translations when rotations are given. */ -#include - #include +#include #include using namespace std; using namespace gtsam; +// Returns the Unit3 direction as measured in the binary measurement, but +// computed from the input poses. Helper function used in the unit tests. +Unit3 GetDirectionFromPoses(const Values& poses, + const BinaryMeasurement& unitTranslation) { + const Pose3 wTa = poses.at(unitTranslation.key1()), + wTb = poses.at(unitTranslation.key2()); + const Point3 Ta = wTa.translation(), Tb = wTb.translation(); + return Unit3(Tb - Ta); +} + /* ************************************************************************* */ // We read the BAL file, which has 3 cameras in it, with poses. We then assume // the rotations are correct, but translations have to be estimated from @@ -48,43 +57,215 @@ TEST(TranslationRecovery, BAL) { const auto relativeTranslations = TranslationRecovery::SimulateMeasurements( poses, {{0, 1}, {0, 2}, {1, 2}}); - // Check - Unit3 w_aZb_stored; // measurement between 0 and 1 stored for next unit test - for(auto& unitTranslation : relativeTranslations) { - const Pose3 wTa = poses.at(unitTranslation.key1()), - wTb = poses.at(unitTranslation.key2()); - const Point3 Ta = wTa.translation(), Tb = wTb.translation(); - const Unit3 w_aZb = unitTranslation.measured(); - EXPECT(assert_equal(Unit3(Tb - Ta), w_aZb)); - if(unitTranslation.key1() == 0 && unitTranslation.key2() == 1) { - w_aZb_stored = unitTranslation.measured(); - } + // Check simulated measurements. + for (auto& unitTranslation : relativeTranslations) { + EXPECT(assert_equal(GetDirectionFromPoses(poses, unitTranslation), + unitTranslation.measured())); } TranslationRecovery algorithm(relativeTranslations); const auto graph = algorithm.buildGraph(); EXPECT_LONGS_EQUAL(3, graph.size()); - // Translation recovery, version 1 + // Run translation recovery const double scale = 2.0; const auto result = algorithm.run(scale); // Check result for first two translations, determined by prior EXPECT(assert_equal(Point3(0, 0, 0), result.at(0))); - EXPECT(assert_equal(Point3(2 * w_aZb_stored.point3()), result.at(1))); + EXPECT(assert_equal( + Point3(2 * GetDirectionFromPoses(poses, relativeTranslations[0])), + result.at(1))); // Check that the third translations is correct Point3 Ta = poses.at(0).translation(); Point3 Tb = poses.at(1).translation(); Point3 Tc = poses.at(2).translation(); - Point3 expected = - (Tc - Ta) * (scale / (Tb - Ta).norm()); + Point3 expected = (Tc - Ta) * (scale / (Tb - Ta).norm()); EXPECT(assert_equal(expected, result.at(2), 1e-4)); // TODO(frank): how to get stats back? // EXPECT_DOUBLES_EQUAL(0.0199833, actualError, 1e-5); } +TEST(TranslationRecovery, TwoPoseTest) { + // Create a dataset with 2 poses. + // __ __ + // \/ \/ + // 0 _____ 1 + // + // 0 and 1 face in the same direction but have a translation offset. + Values poses; + poses.insert(0, Pose3(Rot3(), Point3(0, 0, 0))); + poses.insert(1, Pose3(Rot3(), Point3(2, 0, 0))); + + auto relativeTranslations = + TranslationRecovery::SimulateMeasurements(poses, {{0, 1}}); + + // Check simulated measurements. + for (auto& unitTranslation : relativeTranslations) { + EXPECT(assert_equal(GetDirectionFromPoses(poses, unitTranslation), + unitTranslation.measured())); + } + + TranslationRecovery algorithm(relativeTranslations); + const auto graph = algorithm.buildGraph(); + EXPECT_LONGS_EQUAL(1, graph.size()); + + // Run translation recovery + const auto result = algorithm.run(/*scale=*/3.0); + + // Check result for first two translations, determined by prior + EXPECT(assert_equal(Point3(0, 0, 0), result.at(0))); + EXPECT(assert_equal(Point3(3, 0, 0), result.at(1))); +} + +TEST(TranslationRecovery, ThreePoseTest) { + // Create a dataset with 3 poses. + // __ __ + // \/ \/ + // 0 _____ 1 + // \ __ / + // \\// + // 3 + // + // 0 and 1 face in the same direction but have a translation offset. 3 is in + // the same direction as 0 and 1, in between 0 and 1, with some Y axis offset. + + Values poses; + poses.insert(0, Pose3(Rot3(), Point3(0, 0, 0))); + poses.insert(1, Pose3(Rot3(), Point3(2, 0, 0))); + poses.insert(3, Pose3(Rot3(), Point3(1, -1, 0))); + + auto relativeTranslations = TranslationRecovery::SimulateMeasurements( + poses, {{0, 1}, {1, 3}, {3, 0}}); + + // Check simulated measurements. + for (auto& unitTranslation : relativeTranslations) { + EXPECT(assert_equal(GetDirectionFromPoses(poses, unitTranslation), + unitTranslation.measured())); + } + + TranslationRecovery algorithm(relativeTranslations); + const auto graph = algorithm.buildGraph(); + EXPECT_LONGS_EQUAL(3, graph.size()); + + const auto result = algorithm.run(/*scale=*/3.0); + + // Check result + EXPECT(assert_equal(Point3(0, 0, 0), result.at(0))); + EXPECT(assert_equal(Point3(3, 0, 0), result.at(1))); + EXPECT(assert_equal(Point3(1.5, -1.5, 0), result.at(3))); +} + +TEST(TranslationRecovery, ThreePosesIncludingZeroTranslation) { + // Create a dataset with 3 poses. + // __ __ + // \/ \/ + // 0 _____ 1 + // 2 <| + // + // 0 and 1 face in the same direction but have a translation offset. 2 is at + // the same point as 1 but is rotated, with little FOV overlap. + Values poses; + poses.insert(0, Pose3(Rot3(), Point3(0, 0, 0))); + poses.insert(1, Pose3(Rot3(), Point3(2, 0, 0))); + poses.insert(2, Pose3(Rot3::RzRyRx(-M_PI / 2, 0, 0), Point3(2, 0, 0))); + + auto relativeTranslations = + TranslationRecovery::SimulateMeasurements(poses, {{0, 1}, {1, 2}}); + + // Check simulated measurements. + for (auto& unitTranslation : relativeTranslations) { + EXPECT(assert_equal(GetDirectionFromPoses(poses, unitTranslation), + unitTranslation.measured())); + } + + TranslationRecovery algorithm(relativeTranslations); + const auto graph = algorithm.buildGraph(); + // There is only 1 non-zero translation edge. + EXPECT_LONGS_EQUAL(1, graph.size()); + + // Run translation recovery + const auto result = algorithm.run(/*scale=*/3.0); + + // Check result + EXPECT(assert_equal(Point3(0, 0, 0), result.at(0))); + EXPECT(assert_equal(Point3(3, 0, 0), result.at(1))); + EXPECT(assert_equal(Point3(3, 0, 0), result.at(2))); +} + +TEST(TranslationRecovery, FourPosesIncludingZeroTranslation) { + // Create a dataset with 4 poses. + // __ __ + // \/ \/ + // 0 _____ 1 + // \ __ 2 <| + // \\// + // 3 + // + // 0 and 1 face in the same direction but have a translation offset. 2 is at + // the same point as 1 but is rotated, with very little FOV overlap. 3 is in + // the same direction as 0 and 1, in between 0 and 1, with some Y axis offset. + + Values poses; + poses.insert(0, Pose3(Rot3(), Point3(0, 0, 0))); + poses.insert(1, Pose3(Rot3(), Point3(2, 0, 0))); + poses.insert(2, Pose3(Rot3::RzRyRx(-M_PI / 2, 0, 0), Point3(2, 0, 0))); + poses.insert(3, Pose3(Rot3(), Point3(1, -1, 0))); + + auto relativeTranslations = TranslationRecovery::SimulateMeasurements( + poses, {{0, 1}, {1, 2}, {1, 3}, {3, 0}}); + + // Check simulated measurements. + for (auto& unitTranslation : relativeTranslations) { + EXPECT(assert_equal(GetDirectionFromPoses(poses, unitTranslation), + unitTranslation.measured())); + } + + TranslationRecovery algorithm(relativeTranslations); + const auto graph = algorithm.buildGraph(); + EXPECT_LONGS_EQUAL(3, graph.size()); + + // Run translation recovery + const auto result = algorithm.run(/*scale=*/4.0); + + // Check result + EXPECT(assert_equal(Point3(0, 0, 0), result.at(0))); + EXPECT(assert_equal(Point3(4, 0, 0), result.at(1))); + EXPECT(assert_equal(Point3(4, 0, 0), result.at(2))); + EXPECT(assert_equal(Point3(2, -2, 0), result.at(3))); +} + +TEST(TranslationRecovery, ThreePosesWithZeroTranslation) { + Values poses; + poses.insert(0, Pose3(Rot3::RzRyRx(-M_PI / 6, 0, 0), Point3(0, 0, 0))); + poses.insert(1, Pose3(Rot3(), Point3(0, 0, 0))); + poses.insert(2, Pose3(Rot3::RzRyRx(M_PI / 6, 0, 0), Point3(0, 0, 0))); + + auto relativeTranslations = TranslationRecovery::SimulateMeasurements( + poses, {{0, 1}, {1, 2}, {2, 0}}); + + // Check simulated measurements. + for (auto& unitTranslation : relativeTranslations) { + EXPECT(assert_equal(GetDirectionFromPoses(poses, unitTranslation), + unitTranslation.measured())); + } + + TranslationRecovery algorithm(relativeTranslations); + const auto graph = algorithm.buildGraph(); + // Graph size will be zero as there no 'non-zero distance' edges. + EXPECT_LONGS_EQUAL(0, graph.size()); + + // Run translation recovery + const auto result = algorithm.run(/*scale=*/4.0); + + // Check result + EXPECT(assert_equal(Point3(0, 0, 0), result.at(0))); + EXPECT(assert_equal(Point3(0, 0, 0), result.at(1))); + EXPECT(assert_equal(Point3(0, 0, 0), result.at(2))); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/timing/timeLago.cpp b/timing/timeLago.cpp index 7aaf37e92..c3ee6ff4b 100644 --- a/timing/timeLago.cpp +++ b/timing/timeLago.cpp @@ -41,11 +41,11 @@ int main(int argc, char *argv[]) { // add noise to create initial estimate Values initial; - Sampler sampler(42u); Values::ConstFiltered poses = solution->filter(); SharedDiagonal noise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 15.0 * M_PI / 180.0).finished()); + Sampler sampler(noise); for(const Values::ConstFiltered::KeyValuePair& it: poses) - initial.insert(it.key, it.value.retract(sampler.sampleNewModel(noise))); + initial.insert(it.key, it.value.retract(sampler.sample())); // Add prior on the pose having index (key) = 0 noiseModel::Diagonal::shared_ptr priorModel = // diff --git a/timing/timeVirtual2.cpp b/timing/timeVirtual2.cpp index 303468150..8c7c40246 100644 --- a/timing/timeVirtual2.cpp +++ b/timing/timeVirtual2.cpp @@ -34,7 +34,7 @@ struct DtorTestBase { struct DtorTestDerived : public DtorTestBase { DtorTestDerived() { cout << " DtorTestDerived" << endl; } - virtual ~DtorTestDerived() { cout << " ~DtorTestDerived" << endl; } + ~DtorTestDerived() override { cout << " ~DtorTestDerived" << endl; } }; @@ -47,8 +47,8 @@ struct VirtualBase { struct VirtualDerived : public VirtualBase { double data; VirtualDerived() { data = rand(); } - virtual void method() { data = rand(); } - virtual ~VirtualDerived() { } + void method() override { data = rand(); } + ~VirtualDerived() override { } }; struct NonVirtualBase { diff --git a/wrap/.github/workflows/ci.yml b/wrap/.github/workflows/ci.yml deleted file mode 100644 index 2e38bc3dd..000000000 --- a/wrap/.github/workflows/ci.yml +++ /dev/null @@ -1,52 +0,0 @@ -name: Python CI - -on: [push, pull_request] - -jobs: - build: - name: ${{ matrix.name }} 🐍 ${{ matrix.python_version }} - runs-on: ${{ matrix.os }} - - env: - PYTHON_VERSION: ${{ matrix.python_version }} - strategy: - fail-fast: false - matrix: - # Github Actions requires a single row to be added to the build matrix. - # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. - name: [ - ubuntu-18.04 - ] - - python_version: [3] - include: - - name: ubuntu-18.04 - os: ubuntu-18.04 - - steps: - - name: Checkout - uses: actions/checkout@master - - name: Install (Linux) - if: runner.os == 'Linux' - run: | - sudo apt-get -y update - - sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev - - name: Install (macOS) - if: runner.os == 'macOS' - run: | - brew install cmake ninja boost - - name: Build (Linux) - if: runner.os == 'Linux' - run: | - sudo pip$PYTHON_VERSION install -r requirements.txt - cd tests - python$PYTHON_VERSION test_pybind_wrapper.py - python$PYTHON_VERSION test_matlab_wrapper.py - - name: Build (macOS) - if: runner.os == 'macOS' - run: | - pip$PYTHON_VERSION install -r requirements.txt - cd tests - python$PYTHON_VERSION test_pybind_wrapper.py - python$PYTHON_VERSION test_matlab_wrapper.py \ No newline at end of file diff --git a/wrap/.github/workflows/linux-ci.yml b/wrap/.github/workflows/linux-ci.yml new file mode 100644 index 000000000..34623385e --- /dev/null +++ b/wrap/.github/workflows/linux-ci.yml @@ -0,0 +1,39 @@ +name: Wrap CI for Linux + +on: [pull_request] + +jobs: + build: + name: Tests for 🐍 ${{ matrix.python-version }} + runs-on: ubuntu-18.04 + + strategy: + fail-fast: false + matrix: + python-version: [3.6, 3.7, 3.8, 3.9] + + steps: + - name: Checkout + uses: actions/checkout@v2 + + - name: Install Dependencies + run: | + sudo apt-get -y update + sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev + + - name: Set up Python ${{ matrix.python-version }} + uses: actions/setup-python@v2 + with: + python-version: ${{ matrix.python-version }} + + - name: Python Dependencies + run: | + sudo pip3 install -U pip setuptools + sudo pip3 install -r requirements.txt + + - name: Build and Test + run: | + cmake . + cd tests + # Use Pytest to run all the tests. + pytest diff --git a/wrap/.github/workflows/macos-ci.yml b/wrap/.github/workflows/macos-ci.yml new file mode 100644 index 000000000..3910d28d8 --- /dev/null +++ b/wrap/.github/workflows/macos-ci.yml @@ -0,0 +1,38 @@ +name: Wrap CI for macOS + +on: [pull_request] + +jobs: + build: + name: Tests for 🐍 ${{ matrix.python-version }} + runs-on: macos-10.15 + + strategy: + fail-fast: false + matrix: + python-version: [3.6, 3.7, 3.8, 3.9] + + steps: + - name: Checkout + uses: actions/checkout@v2 + + - name: Install Dependencies + run: | + brew install cmake ninja boost + + - name: Set up Python ${{ matrix.python-version }} + uses: actions/setup-python@v2 + with: + python-version: ${{ matrix.python-version }} + + - name: Python Dependencies + run: | + pip3 install -r requirements.txt + + - name: Build and Test + run: | + cmake . + cd tests + # Use Pytest to run all the tests. + pytest + diff --git a/wrap/.gitignore b/wrap/.gitignore index 38da6d9d1..9f79deafa 100644 --- a/wrap/.gitignore +++ b/wrap/.gitignore @@ -1,2 +1,11 @@ __pycache__/ .vscode/ +*build* +*install* +*dist* +*.egg-info + +# Files related to code coverage stats +**/.coverage + +gtwrap/matlab_wrapper/matlab_wrapper.tpl diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt new file mode 100644 index 000000000..2a11a760d --- /dev/null +++ b/wrap/CMakeLists.txt @@ -0,0 +1,87 @@ +cmake_minimum_required(VERSION 3.9) + +# Set the project name and version +project(gtwrap VERSION 1.0) + +# ############################################################################## +# General configuration + +include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/GtwrapUtils.cmake) +gtwrap_get_python_version(${WRAP_PYTHON_VERSION}) + +# Set the variables to be used for the cmake config file. +if(WIN32 AND NOT CYGWIN) + set(INSTALL_CMAKE_DIR CMake/${PROJECT_NAME}) +else() + set(INSTALL_CMAKE_DIR lib/cmake/${PROJECT_NAME}) +endif() + +set(INSTALL_LIB_DIR lib/${PROJECT_NAME}) +set(INSTALL_BIN_DIR bin/${PROJECT_NAME}) +set(INSTALL_INCLUDE_DIR include/${PROJECT_NAME}) + +# ############################################################################## +# Package Configuration + +# Helper functions for generating the gtwrapConfig.cmake file correctly. +include(CMakePackageConfigHelpers) + +# Configure the config file which is used for `find_package`. +configure_package_config_file( + ${CMAKE_CURRENT_SOURCE_DIR}/cmake/gtwrapConfig.cmake.in + ${CMAKE_CURRENT_BINARY_DIR}/cmake/gtwrapConfig.cmake + INSTALL_DESTINATION "${INSTALL_CMAKE_DIR}" + PATH_VARS INSTALL_CMAKE_DIR INSTALL_LIB_DIR INSTALL_BIN_DIR + INSTALL_INCLUDE_DIR + INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX}) + +# Set all the install paths +set(GTWRAP_CMAKE_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}) +set(GTWRAP_LIB_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR}) +set(GTWRAP_BIN_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${INSTALL_BIN_DIR}) +set(GTWRAP_INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}) + +# ############################################################################## +# Install the package + +# Install CMake scripts to the standard CMake script directory. +install(FILES ${CMAKE_CURRENT_BINARY_DIR}/cmake/gtwrapConfig.cmake + cmake/MatlabWrap.cmake cmake/PybindWrap.cmake + cmake/GtwrapUtils.cmake DESTINATION "${GTWRAP_CMAKE_INSTALL_DIR}") + +# Configure the include directory for matlab.h This allows the #include to be +# either gtwrap/matlab.h, wrap/matlab.h or something custom. +if(NOT DEFINED GTWRAP_INCLUDE_NAME) + set(GTWRAP_INCLUDE_NAME + "gtwrap" + CACHE INTERNAL "Directory name for Matlab includes") +endif() + +configure_file(${PROJECT_SOURCE_DIR}/templates/matlab_wrapper.tpl.in + ${PROJECT_SOURCE_DIR}/gtwrap/matlab_wrapper/matlab_wrapper.tpl) + +# Install the gtwrap python package as a directory so it can be found by CMake +# for wrapping. +install(DIRECTORY gtwrap DESTINATION "${GTWRAP_LIB_INSTALL_DIR}") + +# Install pybind11 directory to `CMAKE_INSTALL_PREFIX/lib/gtwrap/pybind11` This +# will allow the gtwrapConfig.cmake file to load it later. +install(DIRECTORY pybind11 DESTINATION "${GTWRAP_LIB_INSTALL_DIR}") + +# Install wrapping scripts as binaries to `CMAKE_INSTALL_PREFIX/bin` so they can +# be invoked for wrapping. We use DESTINATION (instead of TYPE) so we can +# support older CMake versions. +install(PROGRAMS scripts/pybind_wrap.py scripts/matlab_wrap.py + DESTINATION "${GTWRAP_BIN_INSTALL_DIR}") + +# Install the matlab.h file to `CMAKE_INSTALL_PREFIX/lib/gtwrap/matlab.h`. +install(FILES matlab.h DESTINATION "${GTWRAP_INCLUDE_INSTALL_DIR}") + +string(ASCII 27 Esc) +set(gtwrap "${Esc}[1;36mgtwrap${Esc}[m") +message(STATUS "${gtwrap} Package config : ${GTWRAP_CMAKE_INSTALL_DIR}") +message(STATUS "${gtwrap} version : ${PROJECT_VERSION}") +message(STATUS "${gtwrap} CMake path : ${GTWRAP_CMAKE_INSTALL_DIR}") +message(STATUS "${gtwrap} library path : ${GTWRAP_LIB_INSTALL_DIR}") +message(STATUS "${gtwrap} binary path : ${GTWRAP_BIN_INSTALL_DIR}") +message(STATUS "${gtwrap} header path : ${GTWRAP_INCLUDE_INSTALL_DIR}") diff --git a/wrap/DOCS.md b/wrap/DOCS.md new file mode 100644 index 000000000..c8285baef --- /dev/null +++ b/wrap/DOCS.md @@ -0,0 +1,205 @@ +## Wrap Module Definition + +### Important + +The python wrapper supports keyword arguments for functions/methods. Hence, the argument names matter. An implementation restriction is that in overloaded methods or functions, arguments of different types *have* to have different names. + +### Requirements + +- Classes must start with an uppercase letter. + - The wrapper can wrap a typedef, e.g. `typedef TemplatedClass EasyName;`. + +- Only one Method/Constructor per line, though methods/constructors can extend across multiple lines. + +- Methods can return + - Eigen types: `Matrix`, `Vector`. + - C/C++ basic types: `string`, `bool`, `size_t`, `int`, `double`, `char`, `unsigned char`. + - `void` + - Any class with which be copied with `boost::make_shared()`. + - `boost::shared_ptr` of any object type. + +- Constructors + - Overloads are supported, but arguments of different types *have* to have different names. + - A class with no constructors can be returned from other functions but not allocated directly in MATLAB. + +- Methods + - Constness has no effect. + - Specify by-value (not reference) return types, even if C++ method returns reference. + - Must start with a letter (upper or lowercase). + - Overloads are supported. + +- Static methods + - Must start with a letter (upper or lowercase) and use the "static" keyword, e.g. `static void func()`. + - The first letter will be made uppercase in the generated MATLAB interface. + - Overloads are supported, but arguments of different types *have* to have different names. + +- Arguments to functions can be any of + - Eigen types: `Matrix`, `Vector`. + - Eigen types and classes as an optionally const reference. + - C/C++ basic types: `string`, `bool`, `size_t`, `size_t`, `double`, `char`, `unsigned char`. + - Any class with which be copied with `boost::make_shared()` (except Eigen). + - `boost::shared_ptr` of any object type (except Eigen). + +- Properties or Variables + - You can specify class variables in the interface file as long as they are in the `public` scope, e.g. + + ```cpp + class Sample { + double seed; + }; + ``` + + - Class variables are read-write so they can be updated directly in Python. + +- Operator Overloading (Python only) + - You can overload operators just like in C++. + + ```cpp + class Overload { + Overload operator*(const Overload& other) const; + }; + ``` + - Supported operators are the intersection of those supported in C++ and in Python. + - Operator overloading definitions have to be marked as `const` methods. + +- Pointer types + - To declare a simple/raw pointer, simply add an `@` to the class name, e.g.`Pose3@`. + - To declare a shared pointer (e.g. `gtsam::noiseModel::Base::shared_ptr`), use an asterisk (i.e. `*`). E.g. `gtsam::noiseModel::Base*` to define the wrapping for the `Base` noise model shared pointer. + +- Comments can use either C++ or C style, with multiple lines. + +- Namespace definitions + - Names of namespaces must start with a lowercase letter. + - Start a namespace with `namespace example_ns {`, where `example_ns` is the namespace name. + - End a namespace with exactly `}` + - Namespaces can be nested. + +- Namespace usage + - Namespaces can be specified for classes in arguments and return values. + - In each case, the namespace must be fully specified, e.g., `namespace1::namespace2::ClassName`. + +- Includes in C++ wrappers + - All includes will be collected and added in a single file. + - All namespaces must have angle brackets, e.g. `#include `. + - No default includes will be added. + +- Global/Namespace functions + - Functions specified outside of a class are **global**. + - Can be overloaded with different arguments. + - Can have multiple functions of the same name in different namespaces. + - Functions can be templated and have multiple template arguments, e.g. + ```cpp + template + ``` +- Global variables + - Similar to global functions, the wrapper supports global variables as well. + - Currently we only support primitive types, such as `double`, `int`, `string`, etc. + - E.g. + ```cpp + const double kGravity = -9.81; + ``` + +- Using classes defined in other modules + - If you are using a class `OtherClass` not wrapped in an interface file, add `class OtherClass;` as a forward declaration to avoid a dependency error. + - `OtherClass` may not be in the same project. If this is the case, include the header for the appropriate project `#include `. + +- Virtual inheritance + - Specify fully-qualified base classes, i.e. `virtual class Derived : ns::Base {` where `ns` is the namespace. + - Mark with `virtual` keyword, e.g. `virtual class Base {`, and also `virtual class Derived : ns::Base {`. + - Base classes can be templated, e.g. `virtual class Dog: ns::Animal {};`. This is useful when you want to inherit from specialized classes. + - Forward declarations must also be marked virtual, e.g. `virtual class ns::Base;` and + also `virtual class ns::Derived;`. + - Pure virtual (abstract) classes should list no constructors in the interface file. + - Virtual classes must have a `clone()` function in C++ (though it does not have to be included + in the interface file). `clone()` will be called whenever an object copy is needed, instead + of using the copy constructor (which is used for non-virtual objects). + - Signature of clone function - `clone()` will be called virtually, so must appear at least at the top of the inheritance tree + + ```cpp + virtual boost::shared_ptr clone() const; + ``` + +- Templates + - Basic templates are supported either with an explicit list of types to instantiate, + e.g. + + ```cpp + template class Class1 { ... }; + ``` + + or with typedefs, e.g. + + ```cpp + template class Class2 { ... }; + typedef Class2 MyInstantiatedClass; + ``` + - Templates can also be defined for methods, properties and static methods. + - In the class definition, appearances of the template argument(s) will be replaced with their + instantiated types, e.g. `void setValue(const T& value);`. + - To refer to the instantiation of the template class itself, use `This`, i.e. `static This Create();`. + - To create new instantiations in other modules, you must copy-and-paste the whole class definition + into the new module, but use only your new instantiation types. + - When forward-declaring template instantiations, use the generated/typedef'd name, e.g. + + ```cpp + class gtsam::Class1Pose2; + class gtsam::MyInstantiatedClass; + ``` + - Template arguments can be templates themselves, e.g. + + ```cpp + // Typedef'd PinholeCamera + template + class PinholeCamera { ... }; + typedef gtsam::PinholeCamera PinholeCameraCal3_S2; + + template + class SfmFactor { ... }; + // This is valid. + typedef gtsam::SfmFactor> BasicSfmFactor; + ``` + +- `Boost.serialization` within the wrapper: + - You need to mark classes as being serializable in the markup file (see `gtsam.i` for examples). + - There are two options currently, depending on the class. To "mark" a class as serializable, + add a function with a particular signature so that `wrap` will catch it. + - Add `void serialize()` to a class to create serialization functions for a class. + Adding this flag subsumes the `serializable()` flag below. + + Requirements: + - A default constructor must be publicly accessible. + - Must not be an abstract base class. + - The class must have an actual boost.serialization `serialize()` function. + + - Add `void serializable()` to a class if you only want the class to be serialized as a + part of a container (such as `noiseModel`). This version does not require a publicly + accessible default constructor. + +- Forward declarations and class definitions for **Pybind**: + - Need to specify the base class (both this forward class and base class are declared in an external Pybind header) + - This is so that Pybind can generate proper inheritance. + + - Example for when wrapping a gtsam-based project: + + ```cpp + // forward declarations + virtual class gtsam::NonlinearFactor + virtual class gtsam::NoiseModelFactor : gtsam::NonlinearFactor + // class definition + #include + virtual class MyFactor : gtsam::NoiseModelFactor {...}; + ``` + + - **DO NOT** re-define an overriden function already declared in the external (forward-declared) base class. This will cause an ambiguity problem in the Pybind header file. + +- Splitting wrapper over multiple files + - The Pybind11 wrapper supports splitting the wrapping code over multiple files. + - To be able to use classes from another module, simply import the C++ header file in that wrapper file. + - Unfortunately, this means that aliases can no longer be used. + - Similarly, there can be multiple `preamble.h` and `specializations.h` files. Each of these should match the module file name. + +### TODO +- Handle `gtsam::Rot3M` conversions to quaternions. +- Parse return of const ref arguments. +- Parse `std::string` variants and convert directly to special string. +- Add generalized serialization support via `boost.serialization` with hooks to MATLAB save/load. diff --git a/wrap/LICENSE b/wrap/LICENSE new file mode 100644 index 000000000..406b266b7 --- /dev/null +++ b/wrap/LICENSE @@ -0,0 +1,13 @@ +Copyright (c) 2010, Georgia Tech Research Corporation +Atlanta, Georgia 30332-0415 +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. \ No newline at end of file diff --git a/wrap/README.md b/wrap/README.md index f72c3f652..a04a2ef2d 100644 --- a/wrap/README.md +++ b/wrap/README.md @@ -1,76 +1,125 @@ - # WRAP The wrap library wraps the GTSAM library into a Python library or MATLAB toolbox. It was designed to be more general than just wrapping GTSAM. For notes on creating a wrap interface, see `gtsam.h` for what features can be wrapped into a toolbox, as well as the current state of the toolbox for GTSAM. -## Prerequisites: Pybind11 and pyparsing +## Prerequisites + +`Pybind11` and `pyparsing` 1. This library uses `pybind11`, which is included as a subdirectory in GTSAM. 2. The `interface_parser.py` in this library uses `pyparsing` to parse the interface file `gtsam.h`. Please install it first in your current Python environment before attempting the build. - ``` - python3 -m pip install pyparsing - ``` -## GTSAM Python wrapper +```sh +python3 -m pip install pyparsing +``` + +## Getting Started + +Clone this repository to your local machine and perform the standard CMake install: + +```sh +mkdir build && cd build +cmake .. +make install # use sudo if needed +``` + +Using `wrap` in your project is straightforward from here. In your `CMakeLists.txt` file, you just need to add the following: + +```cmake +find_package(gtwrap) + +set(interface_files ${PROJECT_SOURCE_DIR}/cpp/${PROJECT_NAME}.h) + +pybind_wrap(${PROJECT_NAME}_py # target + "${interface_files}" # list of interface header files + "${PROJECT_NAME}.cpp" # the generated cpp + "${PROJECT_NAME}" # module_name + "${PROJECT_MODULE_NAME}" # top namespace in the cpp file e.g. gtsam + "${ignore}" # ignore classes + ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.tpl # the wrapping template file + ${PROJECT_NAME} # libs + "${PROJECT_NAME}" # dependencies + ON # use boost + ) +``` + +For more information, please follow our [tutorial](https://github.com/borglab/gtsam-project-python). + +## Documentation + +Documentation for wrapping C++ code can be found [here](https://github.com/borglab/wrap/blob/master/DOCS.md). + +## Python Wrapper **WARNING: On macOS, you have to statically build GTSAM to use the wrapper.** 1. Set `GTSAM_BUILD_PYTHON=ON` while configuring the build with `cmake`. 1. What you can do in the `build` folder: - 1. Just run python then import GTSAM and play around: - ``` - import gtsam - gtsam.__dir__() - ``` + 1. Just run python then import GTSAM and play around: + + ```python + import gtsam + gtsam.__dir__() + ``` + + 1. Run the unittests: + ```sh + python -m unittest discover + ``` + 1. Edit the unittests in `python/gtsam/*.py` and simply rerun the test. + They were symlinked to `/gtsam/*.py` to facilitate fast development. + `python -m unittest gtsam/tests/test_Pose3.py` - NOTE: You might need to re-run `cmake ..` if files are deleted or added. - 1. Run the unittests: - ``` - python -m unittest discover - ``` - 1. Edit the unittests in `python/gtsam/*.py` and simply rerun the test. - They were symlinked to `/gtsam/*.py` to facilitate fast development. - ``` - python -m unittest gtsam/tests/test_Pose3.py - ``` - - NOTE: You might need to re-run `cmake ..` if files are deleted or added. 1. Do `make install` and `cd /python`. Here, you can: - 1. Run the unittests: - ``` - python setup.py test - ``` - 2. Install `gtsam` to your current Python environment. - ``` - python setup.py install - ``` - - NOTE: It's a good idea to create a virtual environment otherwise it will be installed in your system Python's site-packages. + 1. Run the unittests: + ```sh + python setup.py test + ``` + 2. Install `gtsam` to your current Python environment. + ```sh + python setup.py install + ``` + - NOTE: It's a good idea to create a virtual environment otherwise it will be installed in your system Python's site-packages. +## Matlab Wrapper -## Old GTSAM Wrapper +In the CMake, simply include the `MatlabWrap.cmake` file. -*Outdated note from the original wrap.* +```cmake +include(MatlabWrap) +``` -TODO: Update this. +This cmake file defines functions for generating MATLAB wrappers. -It was designed to be more general than just wrapping GTSAM, but a small amount of GTSAM specific code exists in `matlab.h`, the include file that is included by the `mex` files. The GTSAM-specific functionality consists primarily of handling of Eigen Matrix and Vector classes. +- `wrap_and_install_library(interfaceHeader linkLibraries extraIncludeDirs extraMexFlags)` Generates wrap code and compiles the wrapper. -For notes on creating a wrap interface, see `gtsam.h` for what features can be wrapped into a toolbox, as well as the current state of the toolbox for GTSAM. For more technical details on the interface, please read comments in `matlab.h` +Usage example: -Some good things to know: + `wrap_and_install_library("lba.h" "" "" "")` -OBJECT CREATION +Arguments: -- Classes are created by special constructors, e.g., `new_GaussianFactorGraph_.cpp`. - These constructors are called from the MATLAB class `@GaussianFactorGraph`. - `new_GaussianFactorGraph_` calls wrap_constructed in `matlab.h`, see documentation there +- `interfaceHeader`: The relative or absolute path to the wrapper interface definition file. +- `linkLibraries`: Any _additional_ libraries to link. Your project library + (e.g. `lba`), libraries it depends on, and any necessary + MATLAB libraries will be linked automatically. So normally, + leave this empty. +- `extraIncludeDirs`: Any _additional_ include paths required by dependent + libraries that have not already been added by + include_directories. Again, normally, leave this empty. +- `extraMexFlags`: Any _additional_ flags to pass to the compiler when building + the wrap code. Normally, leave this empty. -METHOD (AND CONSTRUCTOR) ARGUMENTS +## Git subtree and Contributing -- Simple argument types of methods, such as "double", will be converted in the - `mex` wrappers by calling unwrap, defined in matlab.h -- Vector and Matrix arguments are normally passed by reference in GTSAM, but - in `gtsam.h` you need to pretend they are passed by value, to trigger the - generation of the correct conversion routines `unwrap` and `unwrap` -- passing classes as arguments works, provided they are passed by reference. - This triggers a call to unwrap_shared_ptr +**\*WARNING\*: Running the ./update_wrap.sh script from the GTSAM repo creates 2 new commits in GTSAM. Be sure to _NOT_ push these directly to master/develop. Preferably, open up a new PR with these updates (see below).** + +The [wrap library](https://github.com/borglab/wrap) is included in GTSAM as a git subtree. This means that sometimes the wrap library can have new features or changes that are not yet reflected in GTSAM. There are two options to get the most up-to-date versions of wrap: + 1. Clone and install the [wrap repository](https://github.com/borglab/wrap). For external projects, make sure cmake is using the external `wrap` rather than the one pre-packaged with GTSAM. + 2. Run `./update_wrap.sh` from the root of GTSAM's repository to pull in the newest version of wrap to your local GTSAM installation. See the warning above about this script automatically creating commits. + +To make a PR on GTSAM with the most recent wrap updates, create a new branch/fork then pull in the most recent wrap changes using `./update_wrap.sh`. You should find that two new commits have been made: a squash and a merge from master. You can push these (to the non-develop branch) and open a PR. + +For any code contributions to the wrap project, please make them on the [wrap repository](https://github.com/borglab/wrap). diff --git a/wrap/cmake/GtwrapUtils.cmake b/wrap/cmake/GtwrapUtils.cmake new file mode 100644 index 000000000..3c26e70ae --- /dev/null +++ b/wrap/cmake/GtwrapUtils.cmake @@ -0,0 +1,139 @@ +# Utilities to help with wrapping. + +# Use CMake's find_package to find the version of Python installed. +macro(get_python_version) + if(${CMAKE_VERSION} VERSION_LESS "3.12.0") + # Use older version of cmake's find_python + find_package(PythonInterp) + + if(NOT ${PYTHONINTERP_FOUND}) + message( + FATAL_ERROR + "Cannot find Python interpreter. Please install Python>=3.5.") + endif() + + find_package(PythonLibs ${PYTHON_VERSION_STRING}) + + else() + # Get info about the Python interpreter + # https://cmake.org/cmake/help/latest/module/FindPython.html#module:FindPython + find_package(Python COMPONENTS Interpreter Development) + + if(NOT ${Python_FOUND}) + message( + FATAL_ERROR + "Cannot find Python interpreter. Please install Python>=3.5.") + endif() + + endif() +endmacro() + +# Depending on the version of CMake, ensure all the appropriate variables are set. +macro(configure_python_variables) + if(${CMAKE_VERSION} VERSION_LESS "3.12.0") + set(Python_VERSION_MAJOR + ${PYTHON_VERSION_MAJOR} + CACHE INTERNAL "") + set(Python_VERSION_MINOR + ${PYTHON_VERSION_MINOR} + CACHE INTERNAL "") + set(Python_VERSION_PATCH + ${PYTHON_VERSION_PATCH} + CACHE INTERNAL "") + set(Python_EXECUTABLE + ${PYTHON_EXECUTABLE} + CACHE PATH "") + + else() + # Set both sets of variables + set(PYTHON_VERSION_MAJOR + ${Python_VERSION_MAJOR} + CACHE INTERNAL "") + set(PYTHON_VERSION_MINOR + ${Python_VERSION_MINOR} + CACHE INTERNAL "") + set(PYTHON_VERSION_PATCH + ${Python_VERSION_PATCH} + CACHE INTERNAL "") + set(PYTHON_EXECUTABLE + ${Python_EXECUTABLE} + CACHE PATH "") + + endif() +endmacro() + +# Set the Python version for the wrapper and set the paths to the executable and +# include/library directories. +# WRAP_PYTHON_VERSION (optionally) can be "Default" or a +# specific major.minor version. +macro(gtwrap_get_python_version) + # Unset these cached variables to avoid surprises when the python in the + # current environment are different from the cached! + unset(Python_EXECUTABLE CACHE) + unset(Python_INCLUDE_DIRS CACHE) + unset(Python_VERSION_MAJOR CACHE) + unset(Python_VERSION_MINOR CACHE) + unset(Python_VERSION_PATCH CACHE) + + # Set default value if the parameter is not passed in + if(NOT WRAP_PYTHON_VERSION) + set(WRAP_PYTHON_VERSION "Default") + endif() + + # Allow override + if(${WRAP_PYTHON_VERSION} STREQUAL "Default") + # Check for Python3 or Python2 in order + get_python_version() + + # Set the wrapper python version + set(WRAP_PYTHON_VERSION + "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}.${Python_VERSION_PATCH}" + CACHE STRING "The version of Python to build the wrappers against." + FORCE) + + else() + # Find the Python that best matches the python version specified. + find_package( + Python ${WRAP_PYTHON_VERSION} + COMPONENTS Interpreter Development + EXACT) + endif() + + # (Always) Configure the variables once we find the python package + configure_python_variables() + +endmacro() + +# Concatenate multiple wrapper interface headers into one. +# The concatenation will be (re)performed if and only if any interface files +# change. +# +# Arguments: +# ~~~ +# destination: The concatenated master interface header file will be placed here. +# inputs (optional): All the input interface header files +function(combine_interface_headers + destination + #inputs + ) + # check if any interface headers changed + foreach(INTERFACE_FILE ${ARGN}) + if(NOT EXISTS ${destination} OR + ${INTERFACE_FILE} IS_NEWER_THAN ${destination}) + set(UPDATE_INTERFACE TRUE) + endif() + # trigger cmake on file change + set_property(DIRECTORY + APPEND + PROPERTY CMAKE_CONFIGURE_DEPENDS ${INTERFACE_FILE}) + endforeach() + # if so, then update the overall interface file + if (UPDATE_INTERFACE) + file(WRITE ${destination} "") + # append additional interface headers to end of gtdynamics.i + foreach(INTERFACE_FILE ${ARGN}) + file(READ ${INTERFACE_FILE} interface_contents) + file(APPEND ${destination} "${interface_contents}") + endforeach() + endif() +endfunction() diff --git a/wrap/cmake/MatlabWrap.cmake b/wrap/cmake/MatlabWrap.cmake new file mode 100644 index 000000000..083b88566 --- /dev/null +++ b/wrap/cmake/MatlabWrap.cmake @@ -0,0 +1,488 @@ +if(GTWRAP_PYTHON_PACKAGE_DIR) + # packaged + set(GTWRAP_PACKAGE_DIR "${GTWRAP_PYTHON_PACKAGE_DIR}") +else() + set(GTWRAP_PACKAGE_DIR ${CMAKE_CURRENT_LIST_DIR}/..) +endif() + +# Macro which finds and configure Matlab before we do any wrapping. +macro(find_and_configure_matlab) + find_package( + Matlab + COMPONENTS MEX_COMPILER + REQUIRED) + + if(NOT Matlab_MEX_COMPILER) + message( + FATAL_ERROR + "Cannot find MEX compiler binary. Please check your Matlab installation and ensure MEX in installed as well." + ) + endif() + + if(WRAP_BUILD_TYPE_POSTFIXES) + set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX}) + endif() + + # WRAP_MEX_BUILD_STATIC_MODULE is not for Windows - on Windows any static + # are already compiled into the library by the linker + if(WRAP_MEX_BUILD_STATIC_MODULE AND WIN32) + message(FATAL_ERROR "WRAP_MEX_BUILD_STATIC_MODULE should not be set on Windows - the linker already automatically compiles in any dependent static libraries. To create a standalone toolbox pacakge, simply ensure that CMake finds the static versions of all dependent libraries (Boost, etc).") + endif() + + set(MEX_COMMAND ${Matlab_MEX_COMPILER} CACHE PATH "Path to MATLAB MEX compiler") + set(MATLAB_ROOT ${Matlab_ROOT_DIR} CACHE PATH "Path to MATLAB installation root (e.g. /usr/local/MATLAB/R2012a)") + + # Try to automatically configure mex path from provided custom `bin` path. + if(WRAP_CUSTOM_MATLAB_PATH) + set(matlab_bin_directory ${WRAP_CUSTOM_MATLAB_PATH}) + + if(WIN32) + set(mex_program_name "mex.bat") + else() + set(mex_program_name "mex") + endif() + + # Run find_program explicitly putting $PATH after our predefined program + # directories using 'ENV PATH' and 'NO_SYSTEM_ENVIRONMENT_PATH' - this prevents + # finding the LaTeX mex program (totally unrelated to MATLAB Mex) when LaTeX is + # on the system path. + find_program(MEX_COMMAND ${mex_program_name} + PATHS ${matlab_bin_directory} ENV PATH + NO_DEFAULT_PATH) + mark_as_advanced(FORCE MEX_COMMAND) + # Now that we have mex, trace back to find the Matlab installation root + get_filename_component(MEX_COMMAND "${MEX_COMMAND}" REALPATH) + get_filename_component(mex_path "${MEX_COMMAND}" PATH) + if(mex_path MATCHES ".*/win64$") + get_filename_component(MATLAB_ROOT "${mex_path}/../.." ABSOLUTE) + else() + get_filename_component(MATLAB_ROOT "${mex_path}/.." ABSOLUTE) + endif() + endif() +endmacro() + +# Consistent and user-friendly wrap function +function(matlab_wrap interfaceHeader linkLibraries + extraIncludeDirs extraMexFlags ignore_classes) + find_and_configure_matlab() + wrap_and_install_library("${interfaceHeader}" "${linkLibraries}" + "${extraIncludeDirs}" "${extraMexFlags}" + "${ignore_classes}") +endfunction() + +# Wrapping function. Builds a mex module from the provided +# interfaceHeader. For example, for the interface header gtsam.h, this will +# build the wrap module 'gtsam'. +# +# Arguments: +# +# interfaceHeader: The relative path to the wrapper interface definition file. +# linkLibraries: Any *additional* libraries to link. Your project library +# (e.g. `lba`), libraries it depends on, and any necessary MATLAB libraries will +# be linked automatically. So normally, leave this empty. +# extraIncludeDirs: Any *additional* include paths required by dependent libraries that have not +# already been added by include_directories. Again, normally, leave this empty. +# extraMexFlags: Any *additional* flags to pass to the compiler when building +# the wrap code. Normally, leave this empty. +# ignore_classes: List of classes to ignore in the wrapping. +function(wrap_and_install_library interfaceHeader linkLibraries + extraIncludeDirs extraMexFlags ignore_classes) + wrap_library_internal("${interfaceHeader}" "${linkLibraries}" + "${extraIncludeDirs}" "${mexFlags}") + install_wrapped_library_internal("${interfaceHeader}") +endfunction() + +# Internal function that wraps a library and compiles the wrapper +function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs + extraMexFlags) + if(UNIX AND NOT APPLE) + if(CMAKE_SIZEOF_VOID_P EQUAL 8) + set(mexModuleExt mexa64) + else() + set(mexModuleExt mexglx) + endif() + elseif(APPLE) + set(mexModuleExt mexmaci64) + elseif(MSVC) + if(CMAKE_CL_64) + set(mexModuleExt mexw64) + else() + set(mexModuleExt mexw32) + endif() + endif() + + # Wrap codegen interface usage: wrap interfacePath moduleName toolboxPath + # headerPath interfacePath : *absolute* path to directory of module interface + # file moduleName : the name of the module, interface file must be called + # moduleName.h toolboxPath : the directory in which to generate the wrappers + # headerPath : path to matlab.h + + # Extract module name from interface header file name + get_filename_component(interfaceHeader "${interfaceHeader}" ABSOLUTE) + get_filename_component(modulePath "${interfaceHeader}" PATH) + get_filename_component(moduleName "${interfaceHeader}" NAME_WE) + + # Paths for generated files + set(generated_files_path "${PROJECT_BINARY_DIR}/wrap/${moduleName}") + set(generated_cpp_file "${generated_files_path}/${moduleName}_wrapper.cpp") + set(compiled_mex_modules_root "${PROJECT_BINARY_DIR}/wrap/${moduleName}_mex") + + message(STATUS "Building wrap module ${moduleName}") + + # Set matlab.h in project + set(matlab_h_path "${CMAKE_SOURCE_DIR}") + + # If building a static mex module, add all cmake-linked libraries to the + # explicit link libraries list so that the next block of code can unpack any + # static libraries + set(automaticDependencies "") + foreach(lib ${moduleName} ${linkLibraries}) + # message("MODULE NAME: ${moduleName}") + if(TARGET "${lib}") + get_target_property(dependentLibraries ${lib} INTERFACE_LINK_LIBRARIES) + # message("DEPENDENT LIBRARIES: ${dependentLibraries}") + if(dependentLibraries) + list(APPEND automaticDependencies ${dependentLibraries}) + endif() + endif() + endforeach() + + # CHRIS: Temporary fix. On my system the get_target_property above returned + # Not-found for gtsam module This needs to be fixed!! + if(UNIX AND NOT APPLE) + list( + APPEND + automaticDependencies + ${Boost_SERIALIZATION_LIBRARY_RELEASE} + ${Boost_FILESYSTEM_LIBRARY_RELEASE} + ${Boost_SYSTEM_LIBRARY_RELEASE} + ${Boost_THREAD_LIBRARY_RELEASE} + ${Boost_DATE_TIME_LIBRARY_RELEASE}) + # Only present in Boost >= 1.48.0 + if(Boost_TIMER_LIBRARY_RELEASE) + list(APPEND automaticDependencies ${Boost_TIMER_LIBRARY_RELEASE} + ${Boost_CHRONO_LIBRARY_RELEASE}) + if(WRAP_MEX_BUILD_STATIC_MODULE) + # list(APPEND automaticDependencies -Wl,--no-as-needed -lrt) + endif() + endif() + endif() + + # message("AUTOMATIC DEPENDENCIES: ${automaticDependencies}") CHRIS: End + # temporary fix + + # Separate dependencies + set(correctedOtherLibraries "") + set(otherLibraryTargets "") + set(otherLibraryNontargets "") + set(otherSourcesAndObjects "") + foreach(lib ${moduleName} ${linkLibraries} ${automaticDependencies}) + if(TARGET "${lib}") + if(WRAP_MEX_BUILD_STATIC_MODULE) + get_target_property(target_sources ${lib} SOURCES) + list(APPEND otherSourcesAndObjects ${target_sources}) + else() + list(APPEND correctedOtherLibraries ${lib}) + list(APPEND otherLibraryTargets ${lib}) + endif() + else() + get_filename_component(file_extension "${lib}" EXT) + get_filename_component(lib_name "${lib}" NAME_WE) + if(file_extension STREQUAL ".a" AND WRAP_MEX_BUILD_STATIC_MODULE) + # For building a static MEX module, unpack the static library and + # compile its object files into our module + file(MAKE_DIRECTORY "${generated_files_path}/${lib_name}_objects") + execute_process( + COMMAND ar -x "${lib}" + WORKING_DIRECTORY "${generated_files_path}/${lib_name}_objects" + RESULT_VARIABLE ar_result) + if(NOT ar_result EQUAL 0) + message(FATAL_ERROR "Failed extracting ${lib}") + endif() + + # Get list of object files + execute_process( + COMMAND ar -t "${lib}" + OUTPUT_VARIABLE object_files + RESULT_VARIABLE ar_result) + if(NOT ar_result EQUAL 0) + message(FATAL_ERROR "Failed listing ${lib}") + endif() + + # Add directory to object files + string(REPLACE "\n" ";" object_files_list "${object_files}") + foreach(object_file ${object_files_list}) + get_filename_component(file_extension "${object_file}" EXT) + if(file_extension STREQUAL ".o") + list(APPEND otherSourcesAndObjects + "${generated_files_path}/${lib_name}_objects/${object_file}") + endif() + endforeach() + else() + list(APPEND correctedOtherLibraries ${lib}) + list(APPEND otherLibraryNontargets ${lib}) + endif() + endif() + endforeach() + + # Check libraries for conflicting versions built-in to MATLAB + set(dependentLibraries "") + if(NOT "${otherLibraryTargets}" STREQUAL "") + foreach(target ${otherLibraryTargets}) + get_target_property(dependentLibrariesOne ${target} + INTERFACE_LINK_LIBRARIES) + list(APPEND dependentLibraries ${dependentLibrariesOne}) + endforeach() + endif() + list(APPEND dependentLibraries ${otherLibraryNontargets}) + check_conflicting_libraries_internal("${dependentLibraries}") + + # Set up generation of module source file + file(MAKE_DIRECTORY "${generated_files_path}") + + find_package(PythonInterp ${WRAP_PYTHON_VERSION} EXACT) + find_package(PythonLibs ${WRAP_PYTHON_VERSION} EXACT) + + add_custom_command( + OUTPUT ${generated_cpp_file} + DEPENDS ${interfaceHeader} ${module_library_target} ${otherLibraryTargets} + ${otherSourcesAndObjects} + COMMAND + ${CMAKE_COMMAND} -E env + "PYTHONPATH=${GTWRAP_PACKAGE_DIR}${GTWRAP_PATH_SEPARATOR}$ENV{PYTHONPATH}" + ${PYTHON_EXECUTABLE} ${MATLAB_WRAP_SCRIPT} --src ${interfaceHeader} + --module_name ${moduleName} --out ${generated_files_path} + --top_module_namespaces ${moduleName} --ignore ${ignore_classes} + VERBATIM + WORKING_DIRECTORY ${generated_files_path}) + + # Set up building of mex module + string(REPLACE ";" " " extraMexFlagsSpaced "${extraMexFlags}") + string(REPLACE ";" " " mexFlagsSpaced "${WRAP_BUILD_MEX_BINARY_FLAGS}") + add_library( + ${moduleName}_matlab_wrapper MODULE + ${generated_cpp_file} ${interfaceHeader} ${otherSourcesAndObjects}) + target_link_libraries(${moduleName}_matlab_wrapper ${correctedOtherLibraries}) + target_link_libraries(${moduleName}_matlab_wrapper ${moduleName}) + set_target_properties( + ${moduleName}_matlab_wrapper + PROPERTIES OUTPUT_NAME "${moduleName}_wrapper" + PREFIX "" + SUFFIX ".${mexModuleExt}" + LIBRARY_OUTPUT_DIRECTORY "${compiled_mex_modules_root}" + ARCHIVE_OUTPUT_DIRECTORY "${compiled_mex_modules_root}" + RUNTIME_OUTPUT_DIRECTORY "${compiled_mex_modules_root}" + CLEAN_DIRECT_OUTPUT 1) + set_property( + TARGET ${moduleName}_matlab_wrapper + APPEND_STRING + PROPERTY + COMPILE_FLAGS + " ${extraMexFlagsSpaced} ${mexFlagsSpaced} \"-I${MATLAB_ROOT}/extern/include\" -DMATLAB_MEX_FILE -DMX_COMPAT_32" + ) + set_property( + TARGET ${moduleName}_matlab_wrapper + APPEND + PROPERTY INCLUDE_DIRECTORIES ${extraIncludeDirs}) + # Disable build type postfixes for the mex module - we install in different + # directories for each build type instead + foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) + string(TOUPPER "${build_type}" build_type_upper) + set_target_properties(${moduleName}_matlab_wrapper + PROPERTIES ${build_type_upper}_POSTFIX "") + endforeach() + # Set up platform-specific flags + if(MSVC) + if(CMAKE_CL_64) + set(mxLibPath "${MATLAB_ROOT}/extern/lib/win64/microsoft") + else() + set(mxLibPath "${MATLAB_ROOT}/extern/lib/win32/microsoft") + endif() + target_link_libraries( + ${moduleName}_matlab_wrapper "${mxLibPath}/libmex.lib" + "${mxLibPath}/libmx.lib" "${mxLibPath}/libmat.lib") + set_target_properties(${moduleName}_matlab_wrapper + PROPERTIES LINK_FLAGS "/export:mexFunction") + set_property( + SOURCE "${generated_cpp_file}" + APPEND + PROPERTY COMPILE_FLAGS "/bigobj") + elseif(APPLE) + set(mxLibPath "${MATLAB_ROOT}/bin/maci64") + target_link_libraries( + ${moduleName}_matlab_wrapper "${mxLibPath}/libmex.dylib" + "${mxLibPath}/libmx.dylib" "${mxLibPath}/libmat.dylib") + endif() + + # Hacking around output issue with custom command Deletes generated build + # folder + add_custom_target( + wrap_${moduleName}_matlab_distclean + COMMAND cmake -E remove_directory ${generated_files_path} + COMMAND cmake -E remove_directory ${compiled_mex_modules_root}) +endfunction() + +# Internal function that installs a wrap toolbox +function(install_wrapped_library_internal interfaceHeader) + get_filename_component(moduleName "${interfaceHeader}" NAME_WE) + set(generated_files_path "${PROJECT_BINARY_DIR}/wrap/${moduleName}") + + # NOTE: only installs .m and mex binary files (not .cpp) - the trailing slash + # on the directory name here prevents creating the top-level module name + # directory in the destination. + message(STATUS "Installing Matlab Toolbox to ${WRAP_TOOLBOX_INSTALL_PATH}") + if(WRAP_BUILD_TYPE_POSTFIXES) + foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) + string(TOUPPER "${build_type}" build_type_upper) + if(${build_type_upper} STREQUAL "RELEASE") + set(build_type_tag "") # Don't create release mode tag on installed + # directory + else() + set(build_type_tag "${build_type}") + endif() + # Split up filename to strip trailing '/' in WRAP_TOOLBOX_INSTALL_PATH if + # there is one + get_filename_component(location "${WRAP_TOOLBOX_INSTALL_PATH}" PATH) + get_filename_component(name "${WRAP_TOOLBOX_INSTALL_PATH}" NAME) + install( + DIRECTORY "${generated_files_path}/" + DESTINATION "${location}/${name}${build_type_tag}" + CONFIGURATIONS "${build_type}" + FILES_MATCHING + PATTERN "*.m") + install( + TARGETS ${moduleName}_matlab_wrapper + LIBRARY DESTINATION "${location}/${name}${build_type_tag}" + CONFIGURATIONS "${build_type}" + RUNTIME DESTINATION "${location}/${name}${build_type_tag}" + CONFIGURATIONS "${build_type}") + endforeach() + else() + install( + DIRECTORY "${generated_files_path}/" + DESTINATION ${WRAP_TOOLBOX_INSTALL_PATH} + FILES_MATCHING + PATTERN "*.m") + install( + TARGETS ${moduleName}_matlab_wrapper + LIBRARY DESTINATION ${WRAP_TOOLBOX_INSTALL_PATH} + RUNTIME DESTINATION ${WRAP_TOOLBOX_INSTALL_PATH}) + endif() +endfunction() + +# Internal function to check for libraries installed with MATLAB that may +# conflict and prints a warning to move them if problems occur. +function(check_conflicting_libraries_internal libraries) + if(UNIX) + # Set path for matlab's built-in libraries + if(APPLE) + set(mxLibPath "${MATLAB_ROOT}/bin/maci64") + else() + if(CMAKE_CL_64) + set(mxLibPath "${MATLAB_ROOT}/bin/glnxa64") + else() + set(mxLibPath "${MATLAB_ROOT}/bin/glnx86") + endif() + endif() + + # List matlab's built-in libraries + file( + GLOB matlabLibs + RELATIVE "${mxLibPath}" + "${mxLibPath}/lib*") + + # Convert to base names + set(matlabLibNames "") + foreach(lib ${matlabLibs}) + get_filename_component(libName "${lib}" NAME_WE) + list(APPEND matlabLibNames "${libName}") + endforeach() + + # Get names of link libraries + set(linkLibNames "") + foreach(lib ${libraries}) + string(FIND "${lib}" "/" slashPos) + if(NOT slashPos EQUAL -1) + # If the name is a path, just get the library name + get_filename_component(libName "${lib}" NAME_WE) + list(APPEND linkLibNames "${libName}") + else() + # It's not a path, so see if it looks like a filename + get_filename_component(ext "${lib}" EXT) + if(NOT "${ext}" STREQUAL "") + # It's a filename, so get the base name + get_filename_component(libName "${lib}" NAME_WE) + list(APPEND linkLibNames "${libName}") + else() + # It's not a filename so it must be a short name, add the "lib" prefix + list(APPEND linkLibNames "lib${lib}") + endif() + endif() + endforeach() + + # Remove duplicates + list(REMOVE_DUPLICATES linkLibNames) + + set(conflictingLibs "") + foreach(lib ${linkLibNames}) + list(FIND matlabLibNames "${lib}" libPos) + if(NOT libPos EQUAL -1) + if(NOT conflictingLibs STREQUAL "") + set(conflictingLibs "${conflictingLibs}, ") + endif() + set(conflictingLibs "${conflictingLibs}${lib}") + endif() + endforeach() + + if(NOT "${conflictingLibs}" STREQUAL "") + message( + WARNING + "The project links to the libraries [ ${conflictingLibs} ] on your system, but " + "MATLAB is distributed with its own versions of these libraries which may conflict. " + "If you get strange errors or crashes with the MATLAB wrapper, move these " + "libraries out of MATLAB's built-in library directory, which is ${mxLibPath} on " + "your system. MATLAB will usually still work with these libraries moved away, but " + "if not, you'll have to compile the static MATLAB wrapper module." + ) + endif() + endif() +endfunction() + +# Helper function to install MATLAB scripts and handle multiple build types +# where the scripts should be installed to all build type toolboxes +function(install_matlab_scripts source_directory patterns) + set(patterns_args "") + set(exclude_patterns "") + + foreach(pattern ${patterns}) + list(APPEND patterns_args PATTERN "${pattern}") + endforeach() + if(WRAP_BUILD_TYPE_POSTFIXES) + foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) + string(TOUPPER "${build_type}" build_type_upper) + if(${build_type_upper} STREQUAL "RELEASE") + set(build_type_tag "") # Don't create release mode tag on installed + # directory + else() + set(build_type_tag "${build_type}") + endif() + # Split up filename to strip trailing '/' in WRAP_TOOLBOX_INSTALL_PATH if + # there is one + get_filename_component(location "${WRAP_TOOLBOX_INSTALL_PATH}" PATH) + get_filename_component(name "${WRAP_TOOLBOX_INSTALL_PATH}" NAME) + install( + DIRECTORY "${source_directory}" + DESTINATION "${location}/${name}${build_type_tag}" + CONFIGURATIONS "${build_type}" + FILES_MATCHING ${patterns_args} + PATTERN "${exclude_patterns}" EXCLUDE) + endforeach() + else() + install( + DIRECTORY "${source_directory}" + DESTINATION "${WRAP_TOOLBOX_INSTALL_PATH}" + FILES_MATCHING ${patterns_args} + PATTERN "${exclude_patterns}" EXCLUDE) + endif() + +endfunction() diff --git a/wrap/cmake/PybindWrap.cmake b/wrap/cmake/PybindWrap.cmake index ff69b5aed..f341c2f98 100644 --- a/wrap/cmake/PybindWrap.cmake +++ b/wrap/cmake/PybindWrap.cmake @@ -1,41 +1,26 @@ -# Unset these cached variables to avoid surprises when the python in the current -# environment are different from the cached! -unset(PYTHON_EXECUTABLE CACHE) -unset(PYTHON_INCLUDE_DIR CACHE) -unset(PYTHON_MAJOR_VERSION CACHE) - -# Allow override from command line -if(NOT DEFINED WRAP_USE_CUSTOM_PYTHON_LIBRARY) - if(WRAP_PYTHON_VERSION STREQUAL "Default") - find_package(PythonInterp REQUIRED) - find_package(PythonLibs REQUIRED) - else() - find_package(PythonInterp - ${WRAP_PYTHON_VERSION} - EXACT - REQUIRED) - find_package(PythonLibs - ${WRAP_PYTHON_VERSION} - EXACT - REQUIRED) - endif() +if(GTWRAP_PYTHON_PACKAGE_DIR) + # packaged + set(GTWRAP_PACKAGE_DIR "${GTWRAP_PYTHON_PACKAGE_DIR}") +else() + set(GTWRAP_PACKAGE_DIR ${CMAKE_CURRENT_LIST_DIR}/..) endif() -set(DIR_OF_WRAP_PYBIND_CMAKE ${CMAKE_CURRENT_LIST_DIR}) +# Get the Python version +include(GtwrapUtils) +message(STATUS "Checking Python Version") +gtwrap_get_python_version(${WRAP_PYTHON_VERSION}) +message(STATUS "Setting Python version for wrapper") set(PYBIND11_PYTHON_VERSION ${WRAP_PYTHON_VERSION}) -add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/../pybind11 pybind11) - -# User-friendly Pybind11 wrapping and installing function. -# Builds a Pybind11 module from the provided interface_header. -# For example, for the interface header gtsam.h, this will -# build the wrap module 'gtsam_py.cc'. +# User-friendly Pybind11 wrapping and installing function. Builds a Pybind11 +# module from the provided interface_headers. For example, for the interface +# header gtsam.h, this will build the wrap module 'gtsam_py.cc'. # # Arguments: # ~~~ # target: The Make target -# interface_header: The relative path to the wrapper interface definition file. +# interface_headers: List of paths to the wrapper interface definition files. The top level interface file should be first. # generated_cpp: The name of the cpp file which is generated from the tpl file. # module_name: The name of the Python module to use. # top_namespace: The C++ namespace under which the code to be wrapped exists. @@ -45,16 +30,17 @@ add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/../pybind11 pybind11) # libs: Libraries to link with. # dependencies: Dependencies which need to be built before the wrapper. # use_boost (optional): Flag indicating whether to include Boost. -function(pybind_wrap - target - interface_header - generated_cpp - module_name - top_namespace - ignore_classes - module_template - libs - dependencies) +function( + pybind_wrap + target + interface_headers + generated_cpp + module_name + top_namespace + ignore_classes + module_template + libs + dependencies) set(ExtraMacroArgs ${ARGN}) list(GET ExtraMacroArgs 0 USE_BOOST) if(USE_BOOST) @@ -62,50 +48,63 @@ function(pybind_wrap else(USE_BOOST) set(_WRAP_BOOST_ARG "") endif(USE_BOOST) - - add_custom_command(OUTPUT ${generated_cpp} - COMMAND ${PYTHON_EXECUTABLE} - ${CMAKE_SOURCE_DIR}/wrap/pybind_wrapper.py - --src - ${interface_header} - --out - ${generated_cpp} - --module_name - ${module_name} - --top_module_namespaces - "${top_namespace}" - --ignore - ${ignore_classes} - --template - ${module_template} - ${_WRAP_BOOST_ARG} - VERBATIM) - add_custom_target(pybind_wrap_${module_name} ALL DEPENDS ${generated_cpp}) + + if(UNIX) + set(GTWRAP_PATH_SEPARATOR ":") + else() + set(GTWRAP_PATH_SEPARATOR ";") + endif() + + # Convert .i file names to .cpp file names. + foreach(filepath ${interface_headers}) + get_filename_component(interface ${filepath} NAME) + string(REPLACE ".i" ".cpp" cpp_file ${interface}) + list(APPEND cpp_files ${cpp_file}) + endforeach() + + add_custom_command( + OUTPUT ${cpp_files} + COMMAND + ${CMAKE_COMMAND} -E env + "PYTHONPATH=${GTWRAP_PACKAGE_DIR}${GTWRAP_PATH_SEPARATOR}$ENV{PYTHONPATH}" + ${PYTHON_EXECUTABLE} ${PYBIND_WRAP_SCRIPT} --src "${interface_headers}" + --out "${generated_cpp}" --module_name ${module_name} + --top_module_namespaces "${top_namespace}" --ignore ${ignore_classes} + --template ${module_template} ${_WRAP_BOOST_ARG} + DEPENDS "${interface_headers}" ${module_template} + VERBATIM) + + add_custom_target(pybind_wrap_${module_name} ALL DEPENDS ${cpp_files}) # Late dependency injection, to make sure this gets called whenever the # interface header or the wrap library are updated. # ~~~ # See: https://stackoverflow.com/questions/40032593/cmake-does-not-rebuild-dependent-after-prerequisite-changes # ~~~ - add_custom_command(OUTPUT ${generated_cpp} - DEPENDS ${interface_header} - ${CMAKE_SOURCE_DIR}/wrap/interface_parser.py - ${CMAKE_SOURCE_DIR}/wrap/pybind_wrapper.py - ${CMAKE_SOURCE_DIR}/wrap/template_instantiator.py - APPEND) + add_custom_command( + OUTPUT ${cpp_files} + DEPENDS ${interface_headers} + # @GTWRAP_SOURCE_DIR@/gtwrap/interface_parser.py + # @GTWRAP_SOURCE_DIR@/gtwrap/pybind_wrapper.py + # @GTWRAP_SOURCE_DIR@/gtwrap/template_instantiator.py + APPEND) - pybind11_add_module(${target} ${generated_cpp}) + pybind11_add_module(${target} "${cpp_files}") if(APPLE) - # `type_info` objects will become "weak private external" if the templated class is initialized implicitly even if we explicitly - # export them with `WRAP_EXPORT`. If that happens, the `type_info` for the same templated class will diverge between shared - # libraries, causing `dynamic_cast` to fail. This is mitigated by telling Clang to mimic the MSVC behavior. - # See https://developer.apple.com/library/archive/technotes/tn2185/_index.html#//apple_ref/doc/uid/DTS10004200-CH1-SUBSECTION2 + # `type_info` objects will become "weak private external" if the templated + # class is initialized implicitly even if we explicitly export them with + # `WRAP_EXPORT`. If that happens, the `type_info` for the same templated + # class will diverge between shared libraries, causing `dynamic_cast` to + # fail. This is mitigated by telling Clang to mimic the MSVC behavior. See + # https://developer.apple.com/library/archive/technotes/tn2185/_index.html#//apple_ref/doc/uid/DTS10004200-CH1-SUBSECTION2 # https://github.com/CppMicroServices/CppMicroServices/pull/82/files # https://www.russellmcc.com/posts/2013-08-03-rtti.html target_compile_options(${target} PRIVATE "-fvisibility-ms-compat") endif() + add_dependencies(${target} pybind_wrap_${module_name}) + if(NOT "${libs}" STREQUAL "") target_link_libraries(${target} PRIVATE "${libs}") endif() @@ -127,10 +126,7 @@ endfunction() # dest_directory: The destination directory to install to. # patterns: list of file patterns to install # ~~~ -function(install_python_scripts - source_directory - dest_directory - patterns) +function(install_python_scripts source_directory dest_directory patterns) set(patterns_args "") set(exclude_patterns "") @@ -150,17 +146,19 @@ function(install_python_scripts # there is one get_filename_component(location "${dest_directory}" PATH) get_filename_component(name "${dest_directory}" NAME) - install(DIRECTORY "${source_directory}" - DESTINATION "${location}/${name}${build_type_tag}" - CONFIGURATIONS "${build_type}" - FILES_MATCHING ${patterns_args} - PATTERN "${exclude_patterns}" EXCLUDE) + install( + DIRECTORY "${source_directory}" + DESTINATION "${location}/${name}${build_type_tag}" + CONFIGURATIONS "${build_type}" + FILES_MATCHING ${patterns_args} + PATTERN "${exclude_patterns}" EXCLUDE) endforeach() else() - install(DIRECTORY "${source_directory}" - DESTINATION "${dest_directory}" - FILES_MATCHING ${patterns_args} - PATTERN "${exclude_patterns}" EXCLUDE) + install( + DIRECTORY "${source_directory}" + DESTINATION "${dest_directory}" + FILES_MATCHING ${patterns_args} + PATTERN "${exclude_patterns}" EXCLUDE) endif() endfunction() @@ -178,13 +176,14 @@ function(install_python_files source_files dest_directory) foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) string(TOUPPER "${build_type}" build_type_upper) set(build_type_tag "") - # Split up filename to strip trailing '/' in WRAP_PY_INSTALL_PATH if - # there is one + # Split up filename to strip trailing '/' in WRAP_PY_INSTALL_PATH if there + # is one get_filename_component(location "${dest_directory}" PATH) get_filename_component(name "${dest_directory}" NAME) - install(FILES "${source_files}" - DESTINATION "${location}/${name}${build_type_tag}" - CONFIGURATIONS "${build_type}") + install( + FILES "${source_files}" + DESTINATION "${location}/${name}${build_type_tag}" + CONFIGURATIONS "${build_type}") endforeach() else() install(FILES "${source_files}" DESTINATION "${dest_directory}") @@ -200,18 +199,19 @@ function(create_symlinks source_folder dest_folder) return() endif() - file(GLOB files - LIST_DIRECTORIES true - RELATIVE "${source_folder}" - "${source_folder}/*") + file( + GLOB files + LIST_DIRECTORIES true + RELATIVE "${source_folder}" + "${source_folder}/*") foreach(path_file ${files}) get_filename_component(folder ${path_file} PATH) get_filename_component(ext ${path_file} EXT) set(ignored_ext ".tpl" ".h") - list (FIND ignored_ext "${ext}" _index) - if (${_index} GREATER -1) + list(FIND ignored_ext "${ext}" _index) + if(${_index} GREATER -1) continue() - endif () + endif() # Create REAL folder file(MAKE_DIRECTORY "${dest_folder}") @@ -230,9 +230,10 @@ function(create_symlinks source_folder dest_folder) endif() # cmake-format: on - execute_process(COMMAND ${command} - RESULT_VARIABLE result - ERROR_VARIABLE output) + execute_process( + COMMAND ${command} + RESULT_VARIABLE result + ERROR_VARIABLE output) if(NOT ${result} EQUAL 0) message( diff --git a/wrap/cmake/gtwrapConfig.cmake.in b/wrap/cmake/gtwrapConfig.cmake.in new file mode 100644 index 000000000..5565a867a --- /dev/null +++ b/wrap/cmake/gtwrapConfig.cmake.in @@ -0,0 +1,24 @@ +# This config file modifies CMAKE_MODULE_PATH so that the wrap cmake files may +# be included This file also allows the use of `find_package(gtwrap)` in CMake. + +@PACKAGE_INIT@ + +list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}") + +# Set the path to the Python package directory so we can add it to the PYTHONPATH. +# Used in the *Wrap.cmake files. +set_and_check(GTWRAP_PYTHON_PACKAGE_DIR @PACKAGE_INSTALL_LIB_DIR@) + +# Load all the CMake scripts from the standard location +include(@PACKAGE_INSTALL_CMAKE_DIR@/PybindWrap.cmake) +include(@PACKAGE_INSTALL_CMAKE_DIR@/MatlabWrap.cmake) +include(@PACKAGE_INSTALL_CMAKE_DIR@/GtwrapUtils.cmake) + +# Set the variables for the wrapping scripts to be used in the build. +set_and_check(PYBIND_WRAP_SCRIPT "@PACKAGE_INSTALL_BIN_DIR@/pybind_wrap.py") +set_and_check(MATLAB_WRAP_SCRIPT "@PACKAGE_INSTALL_BIN_DIR@/matlab_wrap.py") + +# Load the pybind11 code from the library installation path +add_subdirectory(@PACKAGE_INSTALL_LIB_DIR@/pybind11 pybind11) + +check_required_components(gtwrap) diff --git a/wrap/docs/parser/conf_doxygen.py b/wrap/docs/parser/doxygen.conf similarity index 87% rename from wrap/docs/parser/conf_doxygen.py rename to wrap/docs/parser/doxygen.conf index 2cf66c07f..669e2323b 100644 --- a/wrap/docs/parser/conf_doxygen.py +++ b/wrap/docs/parser/doxygen.conf @@ -1,4 +1,4 @@ -# Doxyfile 1.8.11 +# Doxyfile 1.9.1 # This file describes the settings to be used by the documentation system # doxygen (www.doxygen.org) for a project. @@ -17,11 +17,11 @@ # Project related configuration options #--------------------------------------------------------------------------- -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all text -# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv -# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv -# for the list of possible encodings. +# This tag specifies the encoding used for all characters in the configuration +# file that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# https://www.gnu.org/software/libiconv/ for the list of possible encodings. # The default value is: UTF-8. DOXYFILE_ENCODING = UTF-8 @@ -32,7 +32,7 @@ DOXYFILE_ENCODING = UTF-8 # title of most generated pages and in a few other places. # The default value is: My Project. -PROJECT_NAME = "GTSAM" +PROJECT_NAME = GTSAM # The PROJECT_NUMBER tag can be used to enter a project or revision number. This # could be handy for archiving the generated documentation or if some version @@ -44,7 +44,7 @@ PROJECT_NUMBER = 0.0 # for a project that appears at the top of each page and should give viewer a # quick idea about the purpose of the project. Keep the description short. -PROJECT_BRIEF = +PROJECT_BRIEF = # With the PROJECT_LOGO tag one can specify a logo or an icon that is included # in the documentation. The maximum height of the logo should not exceed 55 @@ -93,6 +93,14 @@ ALLOW_UNICODE_NAMES = NO OUTPUT_LANGUAGE = English +# The OUTPUT_TEXT_DIRECTION tag is used to specify the direction in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all generated output in the proper direction. +# Possible values are: None, LTR, RTL and Context. +# The default value is: None. + +OUTPUT_TEXT_DIRECTION = None + # If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member # descriptions after the members that are listed in the file and class # documentation (similar to Javadoc). Set to NO to disable this. @@ -179,6 +187,16 @@ SHORT_NAMES = NO JAVADOC_AUTOBRIEF = NO +# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line +# such as +# /*************** +# as being the beginning of a Javadoc-style comment "banner". If set to NO, the +# Javadoc-style will behave just like regular comments and it will not be +# interpreted by doxygen. +# The default value is: NO. + +JAVADOC_BANNER = NO + # If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first # line (until the first dot) of a Qt-style comment as the brief description. If # set to NO, the Qt-style will behave just like regular Qt-style comments (thus @@ -199,6 +217,14 @@ QT_AUTOBRIEF = NO MULTILINE_CPP_IS_BRIEF = NO +# By default Python docstrings are displayed as preformatted text and doxygen's +# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the +# doxygen's special commands can be used and the contents of the docstring +# documentation blocks is shown as doxygen documentation. +# The default value is: YES. + +PYTHON_DOCSTRING = YES + # If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the # documentation from any documented member that it re-implements. # The default value is: YES. @@ -226,16 +252,15 @@ TAB_SIZE = 4 # will allow you to put the command \sideeffect (or @sideeffect) in the # documentation, which will result in a user-defined paragraph with heading # "Side Effects:". You can put \n's in the value part of an alias to insert -# newlines. +# newlines (in the resulting output). You can put ^^ in the value part of an +# alias to insert a newline as if a physical newline was in the original file. +# When you need a literal { or } or , in the value part of an alias you have to +# escape them by means of a backslash (\), this can lead to conflicts with the +# commands \{ and \} for these it is advised to use the version @{ and @} or use +# a double escape (\\{ and \\}) ALIASES = -# This tag can be used to specify a number of word-keyword mappings (TCL only). -# A mapping has the form "name=value". For example adding "class=itcl::class" -# will allow you to use the command class in the itcl::class meaning. - -TCL_SUBST = - # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources # only. Doxygen will then generate output that is more tailored for C. For # instance, some of the names that are used will be different. The list of all @@ -264,28 +289,40 @@ OPTIMIZE_FOR_FORTRAN = NO OPTIMIZE_OUTPUT_VHDL = NO +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + # Doxygen selects the parser to use depending on the extension of the files it # parses. With this tag you can assign which parser to use for a given # extension. Doxygen has a built-in mapping, but you can override or extend it # using this tag. The format is ext=language, where ext is a file extension, and -# language is one of the parsers supported by doxygen: IDL, Java, Javascript, -# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: -# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: -# Fortran. In the later case the parser tries to guess whether the code is fixed -# or free formatted code, this is the default for Fortran type files), VHDL. For -# instance to make doxygen treat .inc files as Fortran files (default is PHP), -# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, VHDL, +# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files). For instance to make doxygen treat .inc files +# as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. # # Note: For files without extension you can use no_extension as a placeholder. # # Note that for custom extensions you also need to set FILE_PATTERNS otherwise -# the files are not read by doxygen. +# the files are not read by doxygen. When specifying no_extension you should add +# * to the FILE_PATTERNS. +# +# Note see also the list of default file extension mappings. EXTENSION_MAPPING = # If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments # according to the Markdown format, which allows for more readable -# documentation. See http://daringfireball.net/projects/markdown/ for details. +# documentation. See https://daringfireball.net/projects/markdown/ for details. # The output of markdown processing is further processed by doxygen, so you can # mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in # case of backward compatibilities issues. @@ -293,6 +330,15 @@ EXTENSION_MAPPING = MARKDOWN_SUPPORT = YES +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 5. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 5 + # When enabled doxygen tries to link words that correspond to documented # classes, or namespaces to their corresponding documentation. Such a link can # be prevented in individual cases by putting a % sign in front of the word or @@ -318,7 +364,7 @@ BUILTIN_STL_SUPPORT = NO CPP_CLI_SUPPORT = NO # Set the SIP_SUPPORT tag to YES if your project consists of sip (see: -# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen +# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen # will parse them like normal C++ but will assume all classes use public instead # of private inheritance when no explicit protection keyword is present. # The default value is: NO. @@ -404,6 +450,19 @@ TYPEDEF_HIDES_STRUCT = NO LOOKUP_CACHE_SIZE = 0 +# The NUM_PROC_THREADS specifies the number threads doxygen is allowed to use +# during processing. When set to 0 doxygen will based this on the number of +# cores available in the system. You can set it explicitly to a value larger +# than 0 to get more control over the balance between CPU load and processing +# speed. At this moment only the input processing can be done using multiple +# threads. Since this is still an experimental feature the default is set to 1, +# which efficively disables parallel processing. Please report any issues you +# encounter. Generating dot graphs in parallel is controlled by the +# DOT_NUM_THREADS setting. +# Minimum value: 0, maximum value: 32, default value: 1. + +NUM_PROC_THREADS = 1 + #--------------------------------------------------------------------------- # Build related configuration options #--------------------------------------------------------------------------- @@ -416,7 +475,7 @@ LOOKUP_CACHE_SIZE = 0 # normally produced when WARNINGS is set to YES. # The default value is: NO. -EXTRACT_ALL = +EXTRACT_ALL = NO # If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will # be included in the documentation. @@ -424,6 +483,12 @@ EXTRACT_ALL = EXTRACT_PRIVATE = NO +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + # If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal # scope will be included in the documentation. # The default value is: NO. @@ -461,6 +526,13 @@ EXTRACT_LOCAL_METHODS = NO EXTRACT_ANON_NSPACES = NO +# If this flag is set to YES, the name of an unnamed parameter in a declaration +# will be determined by the corresponding definition. By default unnamed +# parameters remain unnamed in the output. +# The default value is: YES. + +RESOLVE_UNNAMED_PARAMS = YES + # If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all # undocumented members inside documented classes or files. If set to NO these # members will be included in the various overviews, but no documentation @@ -478,8 +550,8 @@ HIDE_UNDOC_MEMBERS = NO HIDE_UNDOC_CLASSES = NO # If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend -# (class|struct|union) declarations. If set to NO, these declarations will be -# included in the documentation. +# declarations. If set to NO, these declarations will be included in the +# documentation. # The default value is: NO. HIDE_FRIEND_COMPOUNDS = NO @@ -498,11 +570,18 @@ HIDE_IN_BODY_DOCS = NO INTERNAL_DOCS = NO -# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file -# names in lower-case letters. If set to YES, upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# and Mac users are advised to set this option to NO. +# With the correct setting of option CASE_SENSE_NAMES doxygen will better be +# able to match the capabilities of the underlying filesystem. In case the +# filesystem is case sensitive (i.e. it supports files in the same directory +# whose names only differ in casing), the option must be set to YES to properly +# deal with such files in case they appear in the input. For filesystems that +# are not case sensitive the option should be be set to NO to properly deal with +# output files written for symbols that only differ in casing, such as for two +# classes, one named CLASS and the other named Class, and to also support +# references to files without having to specify the exact matching casing. On +# Windows (including Cygwin) and MacOS, users should typically set this option +# to NO, whereas on Linux or other Unix flavors it should typically be set to +# YES. # The default value is: system dependent. CASE_SENSE_NAMES = YES @@ -689,7 +768,7 @@ LAYOUT_FILE = # The CITE_BIB_FILES tag can be used to specify one or more bib files containing # the reference definitions. This must be a list of .bib files. The .bib # extension is automatically appended if omitted. This requires the bibtex tool -# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. # For LaTeX the style of the bibliography can be controlled using # LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the # search path. See also \cite for info how to create references. @@ -734,13 +813,17 @@ WARN_IF_DOC_ERROR = YES # This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that # are documented, but have no documentation for their parameters or return # value. If set to NO, doxygen will only warn about wrong or incomplete -# parameter documentation, but not about the absence of documentation. +# parameter documentation, but not about the absence of documentation. If +# EXTRACT_ALL is set to YES then this flag will automatically be disabled. # The default value is: NO. WARN_NO_PARAMDOC = NO # If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when -# a warning is encountered. +# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS +# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but +# at the end of the doxygen process doxygen will return with a non-zero status. +# Possible values are: NO, YES and FAIL_ON_WARNINGS. # The default value is: NO. WARN_AS_ERROR = NO @@ -771,13 +854,13 @@ WARN_LOGFILE = # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING # Note: If this tag is empty the current directory is searched. -INPUT = +INPUT = # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses # libiconv (or the iconv built into libc) for the transcoding. See the libiconv -# documentation (see: http://www.gnu.org/software/libiconv) for the list of -# possible encodings. +# documentation (see: +# https://www.gnu.org/software/libiconv/) for the list of possible encodings. # The default value is: UTF-8. INPUT_ENCODING = UTF-8 @@ -790,11 +873,15 @@ INPUT_ENCODING = UTF-8 # need to set EXTENSION_MAPPING for the extension otherwise the files are not # read by doxygen. # +# Note the list of default checked file patterns might differ from the list of +# default file extension mappings. +# # If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, # *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, # *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, -# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, -# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. +# *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment), +# *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, *.vhdl, +# *.ucf, *.qsf and *.ice. FILE_PATTERNS = @@ -949,7 +1036,7 @@ INLINE_SOURCES = NO STRIP_CODE_COMMENTS = YES # If the REFERENCED_BY_RELATION tag is set to YES then for each documented -# function all documented functions referencing it will be listed. +# entity all documented functions referencing it will be listed. # The default value is: NO. REFERENCED_BY_RELATION = NO @@ -981,12 +1068,12 @@ SOURCE_TOOLTIPS = YES # If the USE_HTAGS tag is set to YES then the references to source code will # point to the HTML generated by the htags(1) tool instead of doxygen built-in # source browser. The htags tool is part of GNU's global source tagging system -# (see http://www.gnu.org/software/global/global.html). You will need version +# (see https://www.gnu.org/software/global/global.html). You will need version # 4.8.6 or higher. # # To use it do the following: # - Install the latest version of global -# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file # - Make sure the INPUT points to the root of the source tree # - Run doxygen as normal # @@ -1008,25 +1095,6 @@ USE_HTAGS = NO VERBATIM_HEADERS = YES -# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the -# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the -# cost of reduced performance. This can be particularly helpful with template -# rich C++ code for which doxygen's built-in parser lacks the necessary type -# information. -# Note: The availability of this option depends on whether or not doxygen was -# generated with the -Duse-libclang=ON option for CMake. -# The default value is: NO. - -CLANG_ASSISTED_PARSING = NO - -# If clang assisted parsing is enabled you can provide the compiler with command -# line options that you would normally use when invoking the compiler. Note that -# the include paths will already be set by doxygen for the files and directories -# specified with INPUT and INCLUDE_PATH. -# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. - -CLANG_OPTIONS = - #--------------------------------------------------------------------------- # Configuration options related to the alphabetical class index #--------------------------------------------------------------------------- @@ -1038,13 +1106,6 @@ CLANG_OPTIONS = ALPHABETICAL_INDEX = YES -# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in -# which the alphabetical index list will be split. -# Minimum value: 1, maximum value: 20, default value: 5. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -COLS_IN_ALPHA_INDEX = 5 - # In case all classes in a project start with a common prefix, all classes will # be put under the same header in the alphabetical index. The IGNORE_PREFIX tag # can be used to specify a prefix (or a list of prefixes) that should be ignored @@ -1145,7 +1206,7 @@ HTML_EXTRA_FILES = # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen # will adjust the colors in the style sheet and background images according to # this color. Hue is specified as an angle on a colorwheel, see -# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 # purple, and 360 is red again. # Minimum value: 0, maximum value: 359, default value: 220. @@ -1181,6 +1242,17 @@ HTML_COLORSTYLE_GAMMA = 80 HTML_TIMESTAMP = NO +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = YES + # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML # documentation will contain sections that can be hidden and shown after the # page has loaded. @@ -1204,13 +1276,14 @@ HTML_INDEX_NUM_ENTRIES = 100 # If the GENERATE_DOCSET tag is set to YES, additional index files will be # generated that can be used as input for Apple's Xcode 3 integrated development -# environment (see: http://developer.apple.com/tools/xcode/), introduced with -# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a -# Makefile in the HTML output directory. Running make will produce the docset in -# that directory and running make install will install the docset in +# environment (see: +# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To +# create a documentation set, doxygen will generate a Makefile in the HTML +# output directory. Running make will produce the docset in that directory and +# running make install will install the docset in # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at -# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html -# for more information. +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. @@ -1249,8 +1322,8 @@ DOCSET_PUBLISHER_NAME = Publisher # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three # additional HTML index files: index.hhp, index.hhc, and index.hhk. The # index.hhp is a project file that can be read by Microsoft's HTML Help Workshop -# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on -# Windows. +# (see: +# https://www.microsoft.com/en-us/download/details.aspx?id=21138) on Windows. # # The HTML Help Workshop contains a compiler that can convert all HTML output # generated by doxygen into a single compiled HTML file (.chm). Compiled HTML @@ -1280,7 +1353,7 @@ CHM_FILE = HHC_LOCATION = # The GENERATE_CHI flag controls if a separate .chi index file is generated -# (YES) or that it should be included in the master .chm file (NO). +# (YES) or that it should be included in the main .chm file (NO). # The default value is: NO. # This tag requires that the tag GENERATE_HTMLHELP is set to YES. @@ -1325,7 +1398,8 @@ QCH_FILE = # The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help # Project output. For more information please see Qt Help Project / Namespace -# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). # The default value is: org.doxygen.Project. # This tag requires that the tag GENERATE_QHP is set to YES. @@ -1333,8 +1407,8 @@ QHP_NAMESPACE = org.doxygen.Project # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt # Help Project output. For more information please see Qt Help Project / Virtual -# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- -# folders). +# Folders (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). # The default value is: doc. # This tag requires that the tag GENERATE_QHP is set to YES. @@ -1342,30 +1416,30 @@ QHP_VIRTUAL_FOLDER = doc # If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom # filter to add. For more information please see Qt Help Project / Custom -# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- -# filters). +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). # This tag requires that the tag GENERATE_QHP is set to YES. QHP_CUST_FILTER_NAME = # The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the # custom filter to add. For more information please see Qt Help Project / Custom -# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- -# filters). +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). # This tag requires that the tag GENERATE_QHP is set to YES. QHP_CUST_FILTER_ATTRS = # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this # project's filter section matches. Qt Help Project / Filter Attributes (see: -# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). # This tag requires that the tag GENERATE_QHP is set to YES. QHP_SECT_FILTER_ATTRS = -# The QHG_LOCATION tag can be used to specify the location of Qt's -# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the -# generated .qhp file. +# The QHG_LOCATION tag can be used to specify the location (absolute path +# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to +# run qhelpgenerator on the generated .qhp file. # This tag requires that the tag GENERATE_QHP is set to YES. QHG_LOCATION = @@ -1442,6 +1516,17 @@ TREEVIEW_WIDTH = 250 EXT_LINKS_IN_WINDOW = NO +# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg +# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see +# https://inkscape.org) to generate formulas as SVG images instead of PNGs for +# the HTML output. These images will generally look nicer at scaled resolutions. +# Possible values are: png (the default) and svg (looks nicer but requires the +# pdf2svg or inkscape tool). +# The default value is: png. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FORMULA_FORMAT = png + # Use this tag to change the font size of LaTeX formulas included as images in # the HTML documentation. When you change the font size after a successful # doxygen run you need to manually remove any form_*.png images from the HTML @@ -1451,7 +1536,7 @@ EXT_LINKS_IN_WINDOW = NO FORMULA_FONTSIZE = 10 -# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# Use the FORMULA_TRANSPARENT tag to determine whether or not the images # generated for formulas are transparent PNGs. Transparent PNGs are not # supported properly for IE 6.0, but are supported on all modern browsers. # @@ -1462,8 +1547,14 @@ FORMULA_FONTSIZE = 10 FORMULA_TRANSPARENT = YES +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. + +FORMULA_MACROFILE = + # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see -# http://www.mathjax.org) which uses client side Javascript for the rendering +# https://www.mathjax.org) which uses client side JavaScript for the rendering # instead of using pre-rendered bitmaps. Use this if you do not have LaTeX # installed or if you want to formulas look prettier in the HTML output. When # enabled you may also need to install MathJax separately and configure the path @@ -1475,7 +1566,7 @@ USE_MATHJAX = NO # When MathJax is enabled you can set the default output format to be used for # the MathJax output. See the MathJax site (see: -# http://docs.mathjax.org/en/latest/output.html) for more details. +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. # Possible values are: HTML-CSS (which is slower, but has the best # compatibility), NativeMML (i.e. MathML) and SVG. # The default value is: HTML-CSS. @@ -1490,8 +1581,8 @@ MATHJAX_FORMAT = HTML-CSS # MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax # Content Delivery Network so you can quickly see the result without installing # MathJax. However, it is strongly recommended to install a local copy of -# MathJax from http://www.mathjax.org before deployment. -# The default value is: http://cdn.mathjax.org/mathjax/latest. +# MathJax from https://www.mathjax.org before deployment. +# The default value is: https://cdn.jsdelivr.net/npm/mathjax@2. # This tag requires that the tag USE_MATHJAX is set to YES. MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest @@ -1505,7 +1596,8 @@ MATHJAX_EXTENSIONS = # The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces # of code that will be used on startup of the MathJax code. See the MathJax site -# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an # example see the documentation. # This tag requires that the tag USE_MATHJAX is set to YES. @@ -1533,7 +1625,7 @@ MATHJAX_CODEFILE = SEARCHENGINE = YES # When the SERVER_BASED_SEARCH tag is enabled the search engine will be -# implemented using a web server instead of a web client using Javascript. There +# implemented using a web server instead of a web client using JavaScript. There # are two flavors of web server based searching depending on the EXTERNAL_SEARCH # setting. When disabled, doxygen will generate a PHP script for searching and # an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing @@ -1552,7 +1644,8 @@ SERVER_BASED_SEARCH = NO # # Doxygen ships with an example indexer (doxyindexer) and search engine # (doxysearch.cgi) which are based on the open source search engine library -# Xapian (see: http://xapian.org/). +# Xapian (see: +# https://xapian.org/). # # See the section "External Indexing and Searching" for details. # The default value is: NO. @@ -1565,8 +1658,9 @@ EXTERNAL_SEARCH = NO # # Doxygen ships with an example indexer (doxyindexer) and search engine # (doxysearch.cgi) which are based on the open source search engine library -# Xapian (see: http://xapian.org/). See the section "External Indexing and -# Searching" for details. +# Xapian (see: +# https://xapian.org/). See the section "External Indexing and Searching" for +# details. # This tag requires that the tag SEARCHENGINE is set to YES. SEARCHENGINE_URL = @@ -1617,21 +1711,35 @@ LATEX_OUTPUT = latex # The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be # invoked. # -# Note that when enabling USE_PDFLATEX this option is only used for generating -# bitmaps for formulas in the HTML output, but not in the Makefile that is -# written to the output directory. -# The default file is: latex. +# Note that when not enabling USE_PDFLATEX the default is latex when enabling +# USE_PDFLATEX the default is pdflatex and when in the later case latex is +# chosen this is overwritten by pdflatex. For specific output languages the +# default can have been set differently, this depends on the implementation of +# the output language. # This tag requires that the tag GENERATE_LATEX is set to YES. LATEX_CMD_NAME = latex # The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate # index for LaTeX. +# Note: This tag is used in the Makefile / make.bat. +# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file +# (.tex). # The default file is: makeindex. # This tag requires that the tag GENERATE_LATEX is set to YES. MAKEINDEX_CMD_NAME = makeindex +# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to +# generate index for LaTeX. In case there is no backslash (\) as first character +# it will be automatically added in the LaTeX code. +# Note: This tag is used in the generated output file (.tex). +# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat. +# The default value is: makeindex. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_MAKEINDEX_CMD = makeindex + # If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX # documents. This may be useful for small projects and may help to save some # trees in general. @@ -1716,9 +1824,11 @@ LATEX_EXTRA_FILES = PDF_HYPERLINKS = YES -# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate -# the PDF file directly from the LaTeX files. Set this option to YES, to get a -# higher quality PDF documentation. +# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as +# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX +# files. Set this option to YES, to get a higher quality PDF documentation. +# +# See also section LATEX_CMD_NAME for selecting the engine. # The default value is: YES. # This tag requires that the tag GENERATE_LATEX is set to YES. @@ -1752,7 +1862,7 @@ LATEX_SOURCE_CODE = NO # The LATEX_BIB_STYLE tag can be used to specify the style to use for the # bibliography, e.g. plainnat, or ieeetr. See -# http://en.wikipedia.org/wiki/BibTeX and \cite for more info. +# https://en.wikipedia.org/wiki/BibTeX and \cite for more info. # The default value is: plain. # This tag requires that the tag GENERATE_LATEX is set to YES. @@ -1766,6 +1876,14 @@ LATEX_BIB_STYLE = plain LATEX_TIMESTAMP = NO +# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute) +# path from which the emoji images will be read. If a relative path is entered, +# it will be relative to the LATEX_OUTPUT directory. If left blank the +# LATEX_OUTPUT directory will be used. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_EMOJI_DIRECTORY = + #--------------------------------------------------------------------------- # Configuration options related to the RTF output #--------------------------------------------------------------------------- @@ -1805,9 +1923,9 @@ COMPACT_RTF = NO RTF_HYPERLINKS = NO -# Load stylesheet definitions from file. Syntax is similar to doxygen's config -# file, i.e. a series of assignments. You only have to provide replacements, -# missing definitions are set to their default value. +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# configuration file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. # # See also section "Doxygen usage" for information on how to generate the # default style sheet that doxygen normally uses. @@ -1816,8 +1934,8 @@ RTF_HYPERLINKS = NO RTF_STYLESHEET_FILE = # Set optional variables used in the generation of an RTF document. Syntax is -# similar to doxygen's config file. A template extensions file can be generated -# using doxygen -e rtf extensionFile. +# similar to doxygen's configuration file. A template extensions file can be +# generated using doxygen -e rtf extensionFile. # This tag requires that the tag GENERATE_RTF is set to YES. RTF_EXTENSIONS_FILE = @@ -1903,6 +2021,13 @@ XML_OUTPUT = xml XML_PROGRAMLISTING = YES +# If the XML_NS_MEMB_FILE_SCOPE tag is set to YES, doxygen will include +# namespace members in file scope as well, matching the HTML output. +# The default value is: NO. +# This tag requires that the tag GENERATE_XML is set to YES. + +XML_NS_MEMB_FILE_SCOPE = NO + #--------------------------------------------------------------------------- # Configuration options related to the DOCBOOK output #--------------------------------------------------------------------------- @@ -1935,9 +2060,9 @@ DOCBOOK_PROGRAMLISTING = NO #--------------------------------------------------------------------------- # If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an -# AutoGen Definitions (see http://autogen.sf.net) file that captures the -# structure of the code including all documentation. Note that this feature is -# still experimental and incomplete at the moment. +# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures +# the structure of the code including all documentation. Note that this feature +# is still experimental and incomplete at the moment. # The default value is: NO. GENERATE_AUTOGEN_DEF = NO @@ -2104,12 +2229,6 @@ EXTERNAL_GROUPS = YES EXTERNAL_PAGES = YES -# The PERL_PATH should be the absolute path and name of the perl script -# interpreter (i.e. the result of 'which perl'). -# The default file (with absolute path) is: /usr/bin/perl. - -PERL_PATH = /usr/bin/perl - #--------------------------------------------------------------------------- # Configuration options related to the dot tool #--------------------------------------------------------------------------- @@ -2123,15 +2242,6 @@ PERL_PATH = /usr/bin/perl CLASS_DIAGRAMS = YES -# You can define message sequence charts within doxygen comments using the \msc -# command. Doxygen will then run the mscgen tool (see: -# http://www.mcternan.me.uk/mscgen/)) to produce the chart and insert it in the -# documentation. The MSCGEN_PATH tag allows you to specify the directory where -# the mscgen tool resides. If left empty the tool is assumed to be found in the -# default search path. - -MSCGEN_PATH = - # You can include diagrams made with dia in doxygen documentation. Doxygen will # then run dia to produce the diagram and insert it in the documentation. The # DIA_PATH tag allows you to specify the directory where the dia binary resides. @@ -2150,7 +2260,7 @@ HIDE_UNDOC_RELATIONS = YES # http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent # Bell Labs. The other options in this section have no effect if this option is # set to NO -# The default value is: YES. +# The default value is: NO. HAVE_DOT = YES @@ -2229,10 +2339,32 @@ UML_LOOK = NO # but if the number exceeds 15, the total amount of fields shown is limited to # 10. # Minimum value: 0, maximum value: 100, default value: 10. -# This tag requires that the tag HAVE_DOT is set to YES. +# This tag requires that the tag UML_LOOK is set to YES. UML_LIMIT_NUM_FIELDS = 10 +# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and +# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS +# tag is set to YES, doxygen will add type and arguments for attributes and +# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen +# will not generate fields with class member information in the UML graphs. The +# class diagrams will look similar to the default class diagrams but using UML +# notation for the relationships. +# Possible values are: NO, YES and NONE. +# The default value is: NO. +# This tag requires that the tag UML_LOOK is set to YES. + +DOT_UML_DETAILS = NO + +# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters +# to display on a single line. If the actual line length exceeds this threshold +# significantly it will wrapped across multiple lines. Some heuristics are apply +# to avoid ugly line breaks. +# Minimum value: 0, maximum value: 1000, default value: 17. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_WRAP_THRESHOLD = 17 + # If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and # collaboration graphs will show the relations between templates and their # instances. @@ -2306,9 +2438,7 @@ DIRECTORY_GRAPH = YES # Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order # to make the SVG files visible in IE 9+ (other browsers do not have this # requirement). -# Possible values are: png, png:cairo, png:cairo:cairo, png:cairo:gd, png:gd, -# png:gd:gd, jpg, jpg:cairo, jpg:cairo:gd, jpg:gd, jpg:gd:gd, gif, gif:cairo, -# gif:cairo:gd, gif:gd, gif:gd:gd, svg, png:gd, png:gd:gd, png:cairo, +# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo, # png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and # png:gdiplus:gdiplus. # The default value is: png. @@ -2361,6 +2491,11 @@ DIAFILE_DIRS = PLANTUML_JAR_PATH = +# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a +# configuration file for plantuml. + +PLANTUML_CFG_FILE = + # When using plantuml, the specified paths are searched for files specified by # the !include statement in a plantuml block. @@ -2419,9 +2554,11 @@ DOT_MULTI_TARGETS = NO GENERATE_LEGEND = YES -# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot +# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate # files that are used to generate the various graphs. +# +# Note: This setting is not only used for dot files but also for msc and +# plantuml temporary files. # The default value is: YES. -# This tag requires that the tag HAVE_DOT is set to YES. DOT_CLEANUP = YES diff --git a/wrap/docs/parser/parse_doxygen_xml.py b/wrap/docs/parser/parse_doxygen_xml.py index 54e9cbcbf..fd267b48f 100644 --- a/wrap/docs/parser/parse_doxygen_xml.py +++ b/wrap/docs/parser/parse_doxygen_xml.py @@ -4,7 +4,7 @@ import xml.etree.ElementTree as ET from docs.docs import ClassDoc, Doc, Docs, FreeDoc -DOXYGEN_CONF = 'conf_doxygen.py' +DOXYGEN_CONF = 'doxygen.conf' class ParseDoxygenXML(): diff --git a/wrap/docs/parser/parse_xml.py b/wrap/docs/parser/parse_xml.py index 813608ec8..5bee4ad1a 100644 --- a/wrap/docs/parser/parse_xml.py +++ b/wrap/docs/parser/parse_xml.py @@ -4,7 +4,7 @@ from docs.doc_template import ClassDoc, Doc, Docs, FreeDoc import os.path as path import xml.etree.ElementTree as ET -DOXYGEN_CONF = 'conf_doxygen.py' +DOXYGEN_CONF = 'doxygen.conf' def parse(input_path, output_path, quiet=False, generate_xml_flag=True): diff --git a/wrap/gtwrap/__init__.py b/wrap/gtwrap/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/wrap/gtwrap/interface_parser/__init__.py b/wrap/gtwrap/interface_parser/__init__.py new file mode 100644 index 000000000..3be52d7d9 --- /dev/null +++ b/wrap/gtwrap/interface_parser/__init__.py @@ -0,0 +1,45 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Parser to get the interface of a C++ source file + +Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert +""" + +import sys + +import pyparsing # type: ignore + +from .classes import * +from .declaration import * +from .enum import * +from .function import * +from .module import * +from .namespace import * +from .template import * +from .tokens import * +from .type import * + +# Fix deepcopy issue with pyparsing +# Can remove once https://github.com/pyparsing/pyparsing/issues/208 is resolved. +if sys.version_info >= (3, 8): + + def fixed_get_attr(self, item): + """ + Fix for monkey-patching issue with deepcopy in pyparsing.ParseResults + """ + if item == '__deepcopy__': + raise AttributeError(item) + try: + return self[item] + except KeyError: + return "" + + # apply the monkey-patch + pyparsing.ParseResults.__getattr__ = fixed_get_attr + +pyparsing.ParserElement.enablePackrat() diff --git a/wrap/gtwrap/interface_parser/classes.py b/wrap/gtwrap/interface_parser/classes.py new file mode 100644 index 000000000..11317962d --- /dev/null +++ b/wrap/gtwrap/interface_parser/classes.py @@ -0,0 +1,335 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Parser classes and rules for parsing C++ classes. + +Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert +""" + +from typing import Any, Iterable, List, Union + +from pyparsing import Literal, Optional, ZeroOrMore # type: ignore + +from .enum import Enum +from .function import ArgumentList, ReturnType +from .template import Template +from .tokens import (CLASS, COLON, CONST, IDENT, LBRACE, LPAREN, OPERATOR, + RBRACE, RPAREN, SEMI_COLON, STATIC, VIRTUAL) +from .type import TemplatedType, Typename +from .utils import collect_namespaces +from .variable import Variable + + +class Method: + """ + Rule to parse a method in a class. + + E.g. + ``` + class Hello { + void sayHello() const; + }; + ``` + """ + rule = ( + Optional(Template.rule("template")) # + + ReturnType.rule("return_type") # + + IDENT("name") # + + LPAREN # + + ArgumentList.rule("args_list") # + + RPAREN # + + Optional(CONST("is_const")) # + + SEMI_COLON # BR + ).setParseAction(lambda t: Method(t.template, t.name, t.return_type, t. + args_list, t.is_const)) + + def __init__(self, + template: Union[Template, Any], + name: str, + return_type: ReturnType, + args: ArgumentList, + is_const: str, + parent: Union["Class", Any] = ''): + self.template = template + self.name = name + self.return_type = return_type + self.args = args + self.is_const = is_const + + self.parent = parent + + def __repr__(self) -> str: + return "Method: {} {} {}({}){}".format( + self.template, + self.return_type, + self.name, + self.args, + self.is_const, + ) + + +class StaticMethod: + """ + Rule to parse all the static methods in a class. + + E.g. + ``` + class Hello { + static void changeGreeting(); + }; + ``` + """ + rule = ( + STATIC # + + ReturnType.rule("return_type") # + + IDENT("name") # + + LPAREN # + + ArgumentList.rule("args_list") # + + RPAREN # + + SEMI_COLON # BR + ).setParseAction( + lambda t: StaticMethod(t.name, t.return_type, t.args_list)) + + def __init__(self, + name: str, + return_type: ReturnType, + args: ArgumentList, + parent: Union["Class", Any] = ''): + self.name = name + self.return_type = return_type + self.args = args + + self.parent = parent + + def __repr__(self) -> str: + return "static {} {}{}".format(self.return_type, self.name, self.args) + + def to_cpp(self) -> str: + """Generate the C++ code for wrapping.""" + return self.name + + +class Constructor: + """ + Rule to parse the class constructor. + Can have 0 or more arguments. + """ + rule = ( + IDENT("name") # + + LPAREN # + + ArgumentList.rule("args_list") # + + RPAREN # + + SEMI_COLON # BR + ).setParseAction(lambda t: Constructor(t.name, t.args_list)) + + def __init__(self, + name: str, + args: ArgumentList, + parent: Union["Class", Any] = ''): + self.name = name + self.args = args + + self.parent = parent + + def __repr__(self) -> str: + return "Constructor: {}".format(self.name) + + +class Operator: + """ + Rule for parsing operator overloads. + + E.g. + ``` + class Overload { + Vector2 operator+(const Vector2 &v) const; + }; + """ + rule = ( + ReturnType.rule("return_type") # + + Literal("operator")("name") # + + OPERATOR("operator") # + + LPAREN # + + ArgumentList.rule("args_list") # + + RPAREN # + + CONST("is_const") # + + SEMI_COLON # BR + ).setParseAction(lambda t: Operator(t.name, t.operator, t.return_type, t. + args_list, t.is_const)) + + def __init__(self, + name: str, + operator: str, + return_type: ReturnType, + args: ArgumentList, + is_const: str, + parent: Union["Class", Any] = ''): + self.name = name + self.operator = operator + self.return_type = return_type + self.args = args + self.is_const = is_const + self.is_unary = len(args) == 0 + + self.parent = parent + + # Check for valid unary operators + if self.is_unary and self.operator not in ('+', '-'): + raise ValueError("Invalid unary operator {} used for {}".format( + self.operator, self)) + + # Check that number of arguments are either 0 or 1 + assert 0 <= len(args) < 2, \ + "Operator overload should be at most 1 argument, " \ + "{} arguments provided".format(len(args)) + + # Check to ensure arg and return type are the same. + if len(args) == 1 and self.operator not in ("()", "[]"): + assert args.list()[0].ctype.typename.name == return_type.type1.typename.name, \ + "Mixed type overloading not supported. Both arg and return type must be the same." + + def __repr__(self) -> str: + return "Operator: {}{}{}({}) {}".format( + self.return_type, + self.name, + self.operator, + self.args, + self.is_const, + ) + + +class Class: + """ + Rule to parse a class defined in the interface file. + + E.g. + ``` + class Hello { + ... + }; + ``` + """ + class Members: + """ + Rule for all the members within a class. + """ + rule = ZeroOrMore(Constructor.rule # + ^ StaticMethod.rule # + ^ Method.rule # + ^ Variable.rule # + ^ Operator.rule # + ^ Enum.rule # + ).setParseAction(lambda t: Class.Members(t.asList())) + + def __init__(self, + members: List[Union[Constructor, Method, StaticMethod, + Variable, Operator]]): + self.ctors = [] + self.methods = [] + self.static_methods = [] + self.properties = [] + self.operators = [] + self.enums: List[Enum] = [] + for m in members: + if isinstance(m, Constructor): + self.ctors.append(m) + elif isinstance(m, Method): + self.methods.append(m) + elif isinstance(m, StaticMethod): + self.static_methods.append(m) + elif isinstance(m, Variable): + self.properties.append(m) + elif isinstance(m, Operator): + self.operators.append(m) + elif isinstance(m, Enum): + self.enums.append(m) + + _parent = COLON + (TemplatedType.rule ^ Typename.rule)("parent_class") + rule = ( + Optional(Template.rule("template")) # + + Optional(VIRTUAL("is_virtual")) # + + CLASS # + + IDENT("name") # + + Optional(_parent) # + + LBRACE # + + Members.rule("members") # + + RBRACE # + + SEMI_COLON # BR + ).setParseAction(lambda t: Class( + t.template, + t.is_virtual, + t.name, + t.parent_class, + t.members.ctors, + t.members.methods, + t.members.static_methods, + t.members.properties, + t.members.operators, + t.members.enums + )) + + def __init__( + self, + template: Union[Template, None], + is_virtual: str, + name: str, + parent_class: list, + ctors: List[Constructor], + methods: List[Method], + static_methods: List[StaticMethod], + properties: List[Variable], + operators: List[Operator], + enums: List[Enum], + parent: Any = '', + ): + self.template = template + self.is_virtual = is_virtual + self.name = name + if parent_class: + # If it is in an iterable, extract the parent class. + if isinstance(parent_class, Iterable): + parent_class = parent_class[0] # type: ignore + + # If the base class is a TemplatedType, + # we want the instantiated Typename + if isinstance(parent_class, TemplatedType): + parent_class = parent_class.typename # type: ignore + + self.parent_class = parent_class + else: + self.parent_class = '' # type: ignore + + self.ctors = ctors + self.methods = methods + self.static_methods = static_methods + self.properties = properties + self.operators = operators + self.enums = enums + + self.parent = parent + + # Make sure ctors' names and class name are the same. + for ctor in self.ctors: + if ctor.name != self.name: + raise ValueError("Error in constructor name! {} != {}".format( + ctor.name, self.name)) + + for ctor in self.ctors: + ctor.parent = self + for method in self.methods: + method.parent = self + for static_method in self.static_methods: + static_method.parent = self + for _property in self.properties: + _property.parent = self + + def namespaces(self) -> list: + """Get the namespaces which this class is nested under as a list.""" + return collect_namespaces(self) + + def __repr__(self): + return "Class: {self.name}".format(self=self) diff --git a/wrap/gtwrap/interface_parser/declaration.py b/wrap/gtwrap/interface_parser/declaration.py new file mode 100644 index 000000000..f47ee6e05 --- /dev/null +++ b/wrap/gtwrap/interface_parser/declaration.py @@ -0,0 +1,65 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Classes and rules for declarations such as includes and forward declarations. + +Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert +""" + +from pyparsing import CharsNotIn, Optional # type: ignore + +from .tokens import (CLASS, COLON, INCLUDE, LOPBRACK, ROPBRACK, SEMI_COLON, + VIRTUAL) +from .type import Typename +from .utils import collect_namespaces + + +class Include: + """ + Rule to parse #include directives. + """ + rule = (INCLUDE + LOPBRACK + CharsNotIn('>')("header") + + ROPBRACK).setParseAction(lambda t: Include(t.header)) + + def __init__(self, header: CharsNotIn, parent: str = ''): + self.header = header + self.parent = parent + + def __repr__(self) -> str: + return "#include <{}>".format(self.header) + + +class ForwardDeclaration: + """ + Rule to parse forward declarations in the interface file. + """ + rule = (Optional(VIRTUAL("is_virtual")) + CLASS + Typename.rule("name") + + Optional(COLON + Typename.rule("parent_type")) + + SEMI_COLON).setParseAction(lambda t: ForwardDeclaration( + t.name, t.parent_type, t.is_virtual)) + + def __init__(self, + typename: Typename, + parent_type: str, + is_virtual: str, + parent: str = ''): + self.name = typename.name + self.typename = typename + if parent_type: + self.parent_type = parent_type + else: + self.parent_type = '' + + self.is_virtual = is_virtual + self.parent = parent + + def namespaces(self) -> list: + """Get the namespaces which this class is nested under as a list.""" + return collect_namespaces(self) + + def __repr__(self) -> str: + return "ForwardDeclaration: {} {}".format(self.is_virtual, self.name) diff --git a/wrap/gtwrap/interface_parser/enum.py b/wrap/gtwrap/interface_parser/enum.py new file mode 100644 index 000000000..265e1ad61 --- /dev/null +++ b/wrap/gtwrap/interface_parser/enum.py @@ -0,0 +1,70 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Parser class and rules for parsing C++ enums. + +Author: Varun Agrawal +""" + +from pyparsing import delimitedList # type: ignore + +from .tokens import ENUM, IDENT, LBRACE, RBRACE, SEMI_COLON +from .type import Typename +from .utils import collect_namespaces + + +class Enumerator: + """ + Rule to parse an enumerator inside an enum. + """ + rule = ( + IDENT("enumerator")).setParseAction(lambda t: Enumerator(t.enumerator)) + + def __init__(self, name): + self.name = name + + def __repr__(self): + return "Enumerator: ({0})".format(self.name) + + +class Enum: + """ + Rule to parse enums defined in the interface file. + + E.g. + ``` + enum Kind { + Dog, + Cat + }; + ``` + """ + + rule = (ENUM + IDENT("name") + LBRACE + + delimitedList(Enumerator.rule)("enumerators") + RBRACE + + SEMI_COLON).setParseAction(lambda t: Enum(t.name, t.enumerators)) + + def __init__(self, name, enumerators, parent=''): + self.name = name + self.enumerators = enumerators + self.parent = parent + + def namespaces(self) -> list: + """Get the namespaces which this class is nested under as a list.""" + return collect_namespaces(self) + + def cpp_typename(self): + """ + Return a Typename with the namespaces and cpp name of this + class. + """ + namespaces_name = self.namespaces() + namespaces_name.append(self.name) + return Typename(namespaces_name) + + def __repr__(self): + return "Enum: {0}".format(self.name) diff --git a/wrap/gtwrap/interface_parser/function.py b/wrap/gtwrap/interface_parser/function.py new file mode 100644 index 000000000..9fe1f56f0 --- /dev/null +++ b/wrap/gtwrap/interface_parser/function.py @@ -0,0 +1,188 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Parser classes and rules for parsing C++ functions. + +Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert +""" + +from typing import Any, Iterable, List, Union + +from pyparsing import Optional, ParseResults, delimitedList # type: ignore + +from .template import Template +from .tokens import (COMMA, DEFAULT_ARG, EQUAL, IDENT, LOPBRACK, LPAREN, PAIR, + ROPBRACK, RPAREN, SEMI_COLON) +from .type import TemplatedType, Type + + +class Argument: + """ + The type and name of a function/method argument. + + E.g. + ``` + void sayHello(/*`s` is the method argument with type `const string&`*/ const string& s); + ``` + """ + rule = ((Type.rule ^ TemplatedType.rule)("ctype") # + + IDENT("name") # + + Optional(EQUAL + DEFAULT_ARG)("default") + ).setParseAction(lambda t: Argument( + t.ctype, # + t.name, # + t.default[0] if isinstance(t.default, ParseResults) else None)) + + def __init__(self, + ctype: Union[Type, TemplatedType], + name: str, + default: ParseResults = None): + if isinstance(ctype, Iterable): + self.ctype = ctype[0] # type: ignore + else: + self.ctype = ctype + self.name = name + self.default = default + self.parent: Union[ArgumentList, None] = None + + def __repr__(self) -> str: + return self.to_cpp() + + def to_cpp(self) -> str: + """Return full C++ representation of argument.""" + return '{} {}'.format(repr(self.ctype), self.name) + + +class ArgumentList: + """ + List of Argument objects for all arguments in a function. + """ + rule = Optional(delimitedList(Argument.rule)("args_list")).setParseAction( + lambda t: ArgumentList.from_parse_result(t.args_list)) + + def __init__(self, args_list: List[Argument]): + self.args_list = args_list + for arg in args_list: + arg.parent = self + # The parent object which contains the argument list + # E.g. Method, StaticMethod, Template, Constructor, GlobalFunction + self.parent: Any = None + + @staticmethod + def from_parse_result(parse_result: ParseResults): + """Return the result of parsing.""" + if parse_result: + return ArgumentList(parse_result.asList()) + else: + return ArgumentList([]) + + def __repr__(self) -> str: + return self.args_list.__repr__() + + def __len__(self) -> int: + return len(self.args_list) + + def names(self) -> List[str]: + """Return a list of the names of all the arguments.""" + return [arg.name for arg in self.args_list] + + def list(self) -> List[Argument]: + """Return a list of the names of all the arguments.""" + return self.args_list + + def to_cpp(self, use_boost: bool) -> List[str]: + """Generate the C++ code for wrapping.""" + return [arg.ctype.to_cpp(use_boost) for arg in self.args_list] + + +class ReturnType: + """ + Rule to parse the return type. + + The return type can either be a single type or a pair such as . + """ + _pair = ( + PAIR.suppress() # + + LOPBRACK # + + Type.rule("type1") # + + COMMA # + + Type.rule("type2") # + + ROPBRACK # + ) + rule = (_pair ^ + (Type.rule ^ TemplatedType.rule)("type1")).setParseAction( # BR + lambda t: ReturnType(t.type1, t.type2)) + + def __init__(self, type1: Union[Type, TemplatedType], type2: Type): + # If a TemplatedType, the return is a ParseResults, so we extract out the type. + self.type1 = type1[0] if isinstance(type1, ParseResults) else type1 + self.type2 = type2 + # The parent object which contains the return type + # E.g. Method, StaticMethod, Template, Constructor, GlobalFunction + self.parent: Any = None + + def is_void(self) -> bool: + """ + Check if the return type is void. + """ + return self.type1.typename.name == "void" and not self.type2 + + def __repr__(self) -> str: + return "{}{}".format( + self.type1, (', ' + self.type2.__repr__()) if self.type2 else '') + + def to_cpp(self, use_boost: bool) -> str: + """ + Generate the C++ code for wrapping. + + If there are two return types, we return a pair<>, + otherwise we return the regular return type. + """ + if self.type2: + return "std::pair<{type1},{type2}>".format( + type1=self.type1.to_cpp(use_boost), + type2=self.type2.to_cpp(use_boost)) + else: + return self.type1.to_cpp(use_boost) + + +class GlobalFunction: + """ + Rule to parse functions defined in the global scope. + """ + rule = ( + Optional(Template.rule("template")) + ReturnType.rule("return_type") # + + IDENT("name") # + + LPAREN # + + ArgumentList.rule("args_list") # + + RPAREN # + + SEMI_COLON # + ).setParseAction(lambda t: GlobalFunction(t.name, t.return_type, t. + args_list, t.template)) + + def __init__(self, + name: str, + return_type: ReturnType, + args_list: ArgumentList, + template: Template, + parent: Any = ''): + self.name = name + self.return_type = return_type + self.args = args_list + self.template = template + + self.parent = parent + self.return_type.parent = self + self.args.parent = self + + def __repr__(self) -> str: + return "GlobalFunction: {}{}({})".format(self.return_type, self.name, + self.args) + + def to_cpp(self) -> str: + """Generate the C++ code for wrapping.""" + return self.name diff --git a/wrap/gtwrap/interface_parser/module.py b/wrap/gtwrap/interface_parser/module.py new file mode 100644 index 000000000..7912c40d5 --- /dev/null +++ b/wrap/gtwrap/interface_parser/module.py @@ -0,0 +1,56 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Rules and classes for parsing a module. + +Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert +""" + +# pylint: disable=unnecessary-lambda, unused-import, expression-not-assigned, no-else-return, protected-access, too-few-public-methods, too-many-arguments + +from pyparsing import (ParseResults, ZeroOrMore, # type: ignore + cppStyleComment, stringEnd) + +from .classes import Class +from .declaration import ForwardDeclaration, Include +from .enum import Enum +from .function import GlobalFunction +from .namespace import Namespace +from .template import TypedefTemplateInstantiation +from .variable import Variable + + +class Module: + """ + Module is just a global namespace. + + E.g. + ``` + namespace gtsam { + ... + } + ``` + """ + + rule = ( + ZeroOrMore(ForwardDeclaration.rule # + ^ Include.rule # + ^ Class.rule # + ^ TypedefTemplateInstantiation.rule # + ^ GlobalFunction.rule # + ^ Enum.rule # + ^ Variable.rule # + ^ Namespace.rule # + ).setParseAction(lambda t: Namespace('', t.asList())) + + stringEnd) + + rule.ignore(cppStyleComment) + + @staticmethod + def parseString(s: str) -> ParseResults: + """Parse the source string and apply the rules.""" + return Module.rule.parseString(s)[0] diff --git a/wrap/gtwrap/interface_parser/namespace.py b/wrap/gtwrap/interface_parser/namespace.py new file mode 100644 index 000000000..9c135ffe8 --- /dev/null +++ b/wrap/gtwrap/interface_parser/namespace.py @@ -0,0 +1,132 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Classes and rules to parse a namespace. + +Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert +""" + +# pylint: disable=unnecessary-lambda, expression-not-assigned + +from typing import List, Union + +from pyparsing import Forward, ParseResults, ZeroOrMore # type: ignore + +from .classes import Class, collect_namespaces +from .declaration import ForwardDeclaration, Include +from .enum import Enum +from .function import GlobalFunction +from .template import TypedefTemplateInstantiation +from .tokens import IDENT, LBRACE, NAMESPACE, RBRACE +from .type import Typename +from .variable import Variable + + +def find_sub_namespace(namespace: "Namespace", + str_namespaces: List["Namespace"]) -> list: + """ + Get the namespaces nested under `namespace`, filtered by a list of namespace strings. + + Args: + namespace: The top-level namespace under which to find sub-namespaces. + str_namespaces: The list of namespace strings to filter against. + """ + if not str_namespaces: + return [namespace] + + sub_namespaces = (ns for ns in namespace.content + if isinstance(ns, Namespace)) + + found_namespaces = [ + ns for ns in sub_namespaces if ns.name == str_namespaces[0] + ] + if not found_namespaces: + return [] + + res = [] + for found_namespace in found_namespaces: + ns = find_sub_namespace(found_namespace, str_namespaces[1:]) + if ns: + res += ns + return res + + +class Namespace: + """Rule for parsing a namespace in the interface file.""" + + rule = Forward() + rule << ( + NAMESPACE # + + IDENT("name") # + + LBRACE # + + ZeroOrMore( # BR + ForwardDeclaration.rule # + ^ Include.rule # + ^ Class.rule # + ^ TypedefTemplateInstantiation.rule # + ^ GlobalFunction.rule # + ^ Enum.rule # + ^ Variable.rule # + ^ rule # + )("content") # BR + + RBRACE # + ).setParseAction(lambda t: Namespace.from_parse_result(t)) + + def __init__(self, name: str, content: ZeroOrMore, parent=''): + self.name = name + self.content = content + self.parent = parent + for child in self.content: + child.parent = self + + @staticmethod + def from_parse_result(t: ParseResults): + """Return the result of parsing.""" + if t.content: + content = t.content.asList() + else: + content = [] + return Namespace(t.name, content) + + def find_class_or_function( + self, typename: Typename) -> Union[Class, GlobalFunction, ForwardDeclaration]: + """ + Find the Class or GlobalFunction object given its typename. + We have to traverse the tree of namespaces. + """ + found_namespaces = find_sub_namespace(self, typename.namespaces) + res = [] + for namespace in found_namespaces: + classes_and_funcs = (c for c in namespace.content + if isinstance(c, (Class, GlobalFunction, ForwardDeclaration))) + res += [c for c in classes_and_funcs if c.name == typename.name] + if not res: + raise ValueError("Cannot find class {} in module!".format( + typename.name)) + elif len(res) > 1: + raise ValueError( + "Found more than one classes {} in module!".format( + typename.name)) + else: + return res[0] + + def top_level(self) -> "Namespace": + """Return the top level namespace.""" + if self.name == '' or self.parent == '': + return self + else: + return self.parent.top_level() + + def __repr__(self) -> str: + return "Namespace: {}\n\t{}".format(self.name, self.content) + + def full_namespaces(self) -> List["Namespace"]: + """Get the full namespace list.""" + ancestors = collect_namespaces(self) + if self.name: + ancestors.append(self.name) + return ancestors diff --git a/wrap/gtwrap/interface_parser/template.py b/wrap/gtwrap/interface_parser/template.py new file mode 100644 index 000000000..fd9de830a --- /dev/null +++ b/wrap/gtwrap/interface_parser/template.py @@ -0,0 +1,101 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Classes and rules for parsing C++ templates and typedefs for template instantiations. + +Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert +""" + +from typing import List + +from pyparsing import Optional, ParseResults, delimitedList # type: ignore + +from .tokens import (EQUAL, IDENT, LBRACE, LOPBRACK, RBRACE, ROPBRACK, + SEMI_COLON, TEMPLATE, TYPEDEF) +from .type import TemplatedType, Typename + + +class Template: + """ + Rule to parse templated values in the interface file. + + E.g. + template // this is the Template. + class Camera { ... }; + """ + class TypenameAndInstantiations: + """ + Rule to parse the template parameters. + + template // POSE is the Instantiation. + """ + rule = ( + IDENT("typename") # + + Optional( # + EQUAL # + + LBRACE # + + ((delimitedList(TemplatedType.rule ^ Typename.rule) + ("instantiations"))) # + + RBRACE # + )).setParseAction(lambda t: Template.TypenameAndInstantiations( + t.typename, t.instantiations)) + + def __init__(self, typename: str, instantiations: ParseResults): + self.typename = typename + + self.instantiations = [] + if instantiations: + for inst in instantiations: + x = inst.typename if isinstance(inst, + TemplatedType) else inst + self.instantiations.append(x) + + rule = ( # BR + TEMPLATE # + + LOPBRACK # + + delimitedList(TypenameAndInstantiations.rule)( + "typename_and_instantiations_list") # + + ROPBRACK # BR + ).setParseAction( + lambda t: Template(t.typename_and_instantiations_list.asList())) + + def __init__( + self, + typename_and_instantiations_list: List[TypenameAndInstantiations]): + ti_list = typename_and_instantiations_list + self.typenames = [ti.typename for ti in ti_list] + self.instantiations = [ti.instantiations for ti in ti_list] + + def __repr__(self) -> str: + return "<{0}>".format(", ".join(self.typenames)) + + +class TypedefTemplateInstantiation: + """ + Rule for parsing typedefs (with templates) within the interface file. + + E.g. + ``` + typedef SuperComplexName EasierName; + ``` + """ + rule = (TYPEDEF + TemplatedType.rule("templated_type") + + IDENT("new_name") + + SEMI_COLON).setParseAction(lambda t: TypedefTemplateInstantiation( + t.templated_type[0], t.new_name)) + + def __init__(self, + templated_type: TemplatedType, + new_name: str, + parent: str = ''): + self.typename = templated_type.typename + self.new_name = new_name + self.parent = parent + + def __repr__(self): + return "Typedef: {new_name} = {typename}".format( + new_name=self.new_name, typename=self.typename) diff --git a/wrap/gtwrap/interface_parser/tokens.py b/wrap/gtwrap/interface_parser/tokens.py new file mode 100644 index 000000000..0f8d38d86 --- /dev/null +++ b/wrap/gtwrap/interface_parser/tokens.py @@ -0,0 +1,106 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +All the token definitions. + +Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert +""" + +from pyparsing import (Keyword, Literal, OneOrMore, Or, # type: ignore + QuotedString, Suppress, Word, alphanums, alphas, + nestedExpr, nums, originalTextFor, printables) + +# rule for identifiers (e.g. variable names) +IDENT = Word(alphas + '_', alphanums + '_') ^ Word(nums) + +RAW_POINTER, SHARED_POINTER, REF = map(Literal, "@*&") + +LPAREN, RPAREN, LBRACE, RBRACE, COLON, SEMI_COLON = map(Suppress, "(){}:;") +LOPBRACK, ROPBRACK, COMMA, EQUAL = map(Suppress, "<>,=") + +# Default argument passed to functions/methods. +# Allow anything up to ',' or ';' except when they +# appear inside matched expressions such as +# (a, b) {c, b} "hello, world", templates, initializer lists, etc. +DEFAULT_ARG = originalTextFor( + OneOrMore( + QuotedString('"') ^ # parse double quoted strings + QuotedString("'") ^ # parse single quoted strings + Word(printables, excludeChars="(){}[]<>,;") ^ # parse arbitrary words + nestedExpr(opener='(', closer=')') ^ # parse expression in parentheses + nestedExpr(opener='[', closer=']') ^ # parse expression in brackets + nestedExpr(opener='{', closer='}') ^ # parse expression in braces + nestedExpr(opener='<', closer='>') # parse template expressions + )) + +CONST, VIRTUAL, CLASS, STATIC, PAIR, TEMPLATE, TYPEDEF, INCLUDE = map( + Keyword, + [ + "const", + "virtual", + "class", + "static", + "pair", + "template", + "typedef", + "#include", + ], +) +ENUM = Keyword("enum") ^ Keyword("enum class") ^ Keyword("enum struct") +NAMESPACE = Keyword("namespace") +BASIS_TYPES = map( + Keyword, + [ + "void", + "bool", + "unsigned char", + "char", + "int", + "size_t", + "double", + "float", + ], +) + +OPERATOR = Or( + map( + Literal, + [ + '+', # __add__, __pos__ + '-', # __sub__, __neg__ + '*', # __mul__ + '/', # __truediv__ + '%', # __mod__ + '^', # __xor__ + '&', # __and__ + '|', # __or__ + # '~', # __invert__ + '+=', # __iadd__ + '-=', # __isub__ + '*=', # __imul__ + '/=', # __itruediv__ + '%=', # __imod__ + '^=', # __ixor__ + '&=', # __iand__ + '|=', # __ior__ + '<<', # __lshift__ + '<<=', # __ilshift__ + '>>', # __rshift__ + '>>=', # __irshift__ + '==', # __eq__ + '!=', # __ne__ + '<', # __lt__ + '>', # __gt__ + '<=', # __le__ + '>=', # __ge__ + # '!', # Use `not` in python + # '&&', # Use `and` in python + # '||', # Use `or` in python + '()', # __call__ + '[]', # __getitem__ + ], + )) diff --git a/wrap/gtwrap/interface_parser/type.py b/wrap/gtwrap/interface_parser/type.py new file mode 100644 index 000000000..49315cc56 --- /dev/null +++ b/wrap/gtwrap/interface_parser/type.py @@ -0,0 +1,319 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Define the parser rules and classes for various C++ types. + +Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert +""" + +# pylint: disable=unnecessary-lambda, expression-not-assigned + +from typing import List, Sequence, Union + +from pyparsing import (Forward, Optional, Or, ParseResults, # type: ignore + delimitedList) + +from .tokens import (BASIS_TYPES, CONST, IDENT, LOPBRACK, RAW_POINTER, REF, + ROPBRACK, SHARED_POINTER) + + +class Typename: + """ + Generic type which can be either a basic type or a class type, + similar to C++'s `typename` aka a qualified dependent type. + Contains type name with full namespace and template arguments. + + E.g. + ``` + gtsam::PinholeCamera + ``` + + will give the name as `PinholeCamera`, namespace as `gtsam`, + and template instantiations as `[gtsam::Cal3S2]`. + + Args: + namespaces_and_name: A list representing the namespaces of the type + with the type being the last element. + instantiations: Template parameters to the type. + """ + + namespaces_name_rule = delimitedList(IDENT, "::") + instantiation_name_rule = delimitedList(IDENT, "::") + rule = ( + namespaces_name_rule("namespaces_and_name") # + ).setParseAction(lambda t: Typename(t)) + + def __init__(self, + t: ParseResults, + instantiations: Sequence[ParseResults] = ()): + self.name = t[-1] # the name is the last element in this list + self.namespaces = t[:-1] + + if instantiations: + if isinstance(instantiations, Sequence): + self.instantiations = instantiations # type: ignore + else: + self.instantiations = instantiations.asList() + else: + self.instantiations = [] + + if self.name in ["Matrix", "Vector"] and not self.namespaces: + self.namespaces = ["gtsam"] + + @staticmethod + def from_parse_result(parse_result: Union[str, list]): + """Unpack the parsed result to get the Typename instance.""" + return parse_result[0] + + def __repr__(self) -> str: + return self.to_cpp() + + def instantiated_name(self) -> str: + """Get the instantiated name of the type.""" + res = self.name + for instantiation in self.instantiations: + res += instantiation.instantiated_name() + return res + + def qualified_name(self): + """Return the fully qualified name, e.g. `gtsam::internal::PoseKey`.""" + return "::".join(self.namespaces + [self.name]) + + def to_cpp(self) -> str: + """Generate the C++ code for wrapping.""" + idx = 1 if self.namespaces and not self.namespaces[0] else 0 + if self.instantiations: + cpp_name = self.name + "<{}>".format(", ".join( + [inst.to_cpp() for inst in self.instantiations])) + else: + cpp_name = self.name + return '{}{}{}'.format( + "::".join(self.namespaces[idx:]), + "::" if self.namespaces[idx:] else "", + cpp_name, + ) + + def __eq__(self, other) -> bool: + if isinstance(other, Typename): + return str(self) == str(other) + else: + return False + + def __ne__(self, other) -> bool: + res = self.__eq__(other) + return not res + + +class BasicType: + """ + Basic types are the fundamental built-in types in C++ such as double, int, char, etc. + + When using templates, the basis type will take on the same form as the template. + + E.g. + ``` + template + void func(const T& x); + ``` + + will give + + ``` + m_.def("CoolFunctionDoubleDouble",[](const double& s) { + return wrap_example::CoolFunction(s); + }, py::arg("s")); + ``` + """ + + rule = (Or(BASIS_TYPES)("typename")).setParseAction(lambda t: BasicType(t)) + + def __init__(self, t: ParseResults): + self.typename = Typename(t.asList()) + + +class CustomType: + """ + Custom defined types with the namespace. + Essentially any C++ data type that is not a BasicType. + + E.g. + ``` + gtsam::Matrix wTc; + ``` + + Here `gtsam::Matrix` is a custom type. + """ + + rule = (Typename.rule("typename")).setParseAction(lambda t: CustomType(t)) + + def __init__(self, t: ParseResults): + self.typename = Typename(t) + + +class Type: + """ + Parsed datatype, can be either a fundamental type or a custom datatype. + E.g. void, double, size_t, Matrix. + + The type can optionally be a raw pointer, shared pointer or reference. + Can also be optionally qualified with a `const`, e.g. `const int`. + """ + rule = ( + Optional(CONST("is_const")) # + + (BasicType.rule("basis") | CustomType.rule("qualified")) # BR + + Optional( + SHARED_POINTER("is_shared_ptr") | RAW_POINTER("is_ptr") + | REF("is_ref")) # + ).setParseAction(lambda t: Type.from_parse_result(t)) + + def __init__(self, typename: Typename, is_const: str, is_shared_ptr: str, + is_ptr: str, is_ref: str, is_basic: bool): + self.typename = typename + self.is_const = is_const + self.is_shared_ptr = is_shared_ptr + self.is_ptr = is_ptr + self.is_ref = is_ref + self.is_basic = is_basic + + @staticmethod + def from_parse_result(t: ParseResults): + """Return the resulting Type from parsing the source.""" + if t.basis: + return Type( + typename=t.basis.typename, + is_const=t.is_const, + is_shared_ptr=t.is_shared_ptr, + is_ptr=t.is_ptr, + is_ref=t.is_ref, + is_basic=True, + ) + elif t.qualified: + return Type( + typename=t.qualified.typename, + is_const=t.is_const, + is_shared_ptr=t.is_shared_ptr, + is_ptr=t.is_ptr, + is_ref=t.is_ref, + is_basic=False, + ) + else: + raise ValueError("Parse result is not a Type") + + def __repr__(self) -> str: + is_ptr_or_ref = "{0}{1}{2}".format(self.is_shared_ptr, self.is_ptr, + self.is_ref) + return "{is_const}{self.typename}{is_ptr_or_ref}".format( + self=self, + is_const="const " if self.is_const else "", + is_ptr_or_ref=" " + is_ptr_or_ref if is_ptr_or_ref else "") + + def to_cpp(self, use_boost: bool) -> str: + """ + Generate the C++ code for wrapping. + + Treat all pointers as "const shared_ptr&" + Treat Matrix and Vector as "const Matrix&" and "const Vector&" resp. + + Args: + use_boost: Flag indicating whether to use boost::shared_ptr or std::shared_ptr. + """ + shared_ptr_ns = "boost" if use_boost else "std" + + if self.is_shared_ptr: + typename = "{ns}::shared_ptr<{typename}>".format( + ns=shared_ptr_ns, typename=self.typename.to_cpp()) + elif self.is_ptr: + typename = "{typename}*".format(typename=self.typename.to_cpp()) + elif self.is_ref or self.typename.name in ["Matrix", "Vector"]: + typename = typename = "{typename}&".format( + typename=self.typename.to_cpp()) + else: + typename = self.typename.to_cpp() + + return ("{const}{typename}".format( + const="const " if + (self.is_const + or self.typename.name in ["Matrix", "Vector"]) else "", + typename=typename)) + + +class TemplatedType: + """ + Parser rule for data types which are templated. + This is done so that the template parameters can be pointers/references. + + E.g. std::vector, BearingRange + """ + + rule = Forward() + rule << ( + Optional(CONST("is_const")) # + + Typename.rule("typename") # + + ( + LOPBRACK # + + delimitedList(Type.rule ^ rule, ",")("template_params") # + + ROPBRACK) # + + Optional( + SHARED_POINTER("is_shared_ptr") | RAW_POINTER("is_ptr") + | REF("is_ref")) # + ).setParseAction(lambda t: TemplatedType.from_parse_result(t)) + + def __init__(self, typename: Typename, template_params: List[Type], + is_const: str, is_shared_ptr: str, is_ptr: str, is_ref: str): + instantiations = [param.typename for param in template_params] + # Recreate the typename but with the template params as instantiations. + self.typename = Typename(typename.namespaces + [typename.name], + instantiations) + + self.template_params = template_params + + self.is_const = is_const + self.is_shared_ptr = is_shared_ptr + self.is_ptr = is_ptr + self.is_ref = is_ref + + @staticmethod + def from_parse_result(t: ParseResults): + """Get the TemplatedType from the parser results.""" + return TemplatedType(t.typename, t.template_params, t.is_const, + t.is_shared_ptr, t.is_ptr, t.is_ref) + + def __repr__(self): + return "TemplatedType({typename.namespaces}::{typename.name})".format( + typename=self.typename) + + def to_cpp(self, use_boost: bool): + """ + Generate the C++ code for wrapping. + + Args: + use_boost: Flag indicating whether to use boost::shared_ptr or std::shared_ptr. + """ + # Use Type.to_cpp to do the heavy lifting for the template parameters. + template_args = ", ".join( + [t.to_cpp(use_boost) for t in self.template_params]) + + typename = "{typename}<{template_args}>".format( + typename=self.typename.qualified_name(), + template_args=template_args) + + shared_ptr_ns = "boost" if use_boost else "std" + if self.is_shared_ptr: + typename = "{ns}::shared_ptr<{typename}>".format(ns=shared_ptr_ns, + typename=typename) + elif self.is_ptr: + typename = "{typename}*".format(typename=typename) + elif self.is_ref or self.typename.name in ["Matrix", "Vector"]: + typename = typename = "{typename}&".format(typename=typename) + else: + pass + + return ("{const}{typename}".format( + const="const " if + (self.is_const + or self.typename.name in ["Matrix", "Vector"]) else "", + typename=typename)) diff --git a/wrap/gtwrap/interface_parser/utils.py b/wrap/gtwrap/interface_parser/utils.py new file mode 100644 index 000000000..78c97edea --- /dev/null +++ b/wrap/gtwrap/interface_parser/utils.py @@ -0,0 +1,26 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Various common utilities. + +Author: Varun Agrawal +""" + + +def collect_namespaces(obj): + """ + Get the chain of namespaces from the lowest to highest for the given object. + + Args: + obj: Object of type Namespace, Class, InstantiatedClass, or Enum. + """ + namespaces = [] + ancestor = obj.parent + while ancestor and ancestor.name: + namespaces = [ancestor.name] + namespaces + ancestor = ancestor.parent + return [''] + namespaces diff --git a/wrap/gtwrap/interface_parser/variable.py b/wrap/gtwrap/interface_parser/variable.py new file mode 100644 index 000000000..3779cf74f --- /dev/null +++ b/wrap/gtwrap/interface_parser/variable.py @@ -0,0 +1,55 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Parser classes and rules for parsing C++ variables. + +Author: Varun Agrawal, Gerry Chen +""" + +from typing import List + +from pyparsing import Optional, ParseResults # type: ignore + +from .tokens import DEFAULT_ARG, EQUAL, IDENT, SEMI_COLON +from .type import TemplatedType, Type + + +class Variable: + """ + Rule to parse variables. + Variables are a combination of Type/TemplatedType and the variable identifier. + + E.g. + ``` + class Hello { + string name; // This is a property variable. + }; + + Vector3 kGravity; // This is a global variable. + ```` + """ + rule = ((Type.rule ^ TemplatedType.rule)("ctype") # + + IDENT("name") # + + Optional(EQUAL + DEFAULT_ARG)("default") # + + SEMI_COLON # + ).setParseAction(lambda t: Variable( + t.ctype, # + t.name, # + t.default[0] if isinstance(t.default, ParseResults) else None)) + + def __init__(self, + ctype: List[Type], + name: str, + default: ParseResults = None, + parent=''): + self.ctype = ctype[0] # ParseResult is a list + self.name = name + self.default = default + self.parent = parent + + def __repr__(self) -> str: + return '{} {}'.format(self.ctype.__repr__(), self.name) diff --git a/wrap/gtwrap/matlab_wrapper/__init__.py b/wrap/gtwrap/matlab_wrapper/__init__.py new file mode 100644 index 000000000..f10338c1c --- /dev/null +++ b/wrap/gtwrap/matlab_wrapper/__init__.py @@ -0,0 +1,3 @@ +"""Package to wrap C++ code to Matlab via MEX.""" + +from .wrapper import MatlabWrapper diff --git a/wrap/gtwrap/matlab_wrapper/mixins.py b/wrap/gtwrap/matlab_wrapper/mixins.py new file mode 100644 index 000000000..217801ff3 --- /dev/null +++ b/wrap/gtwrap/matlab_wrapper/mixins.py @@ -0,0 +1,213 @@ +"""Mixins for reducing the amount of boilerplate in the main wrapper class.""" + +from typing import Any, Tuple, Union + +import gtwrap.interface_parser as parser +import gtwrap.template_instantiator as instantiator + + +class CheckMixin: + """Mixin to provide various checks.""" + # Data types that are primitive types + not_ptr_type: Tuple = ('int', 'double', 'bool', 'char', 'unsigned char', + 'size_t') + # Ignore the namespace for these datatypes + ignore_namespace: Tuple = ('Matrix', 'Vector', 'Point2', 'Point3') + # Methods that should be ignored + ignore_methods: Tuple = ('pickle', ) + # Methods that should not be wrapped directly + whitelist: Tuple = ('serializable', 'serialize') + # Datatypes that do not need to be checked in methods + not_check_type: list = [] + + def _has_serialization(self, cls): + for m in cls.methods: + if m.name in self.whitelist: + return True + return False + + def is_shared_ptr(self, arg_type: parser.Type): + """ + Determine if the `interface_parser.Type` should be treated as a + shared pointer in the wrapper. + """ + return arg_type.is_shared_ptr or ( + arg_type.typename.name not in self.not_ptr_type + and arg_type.typename.name not in self.ignore_namespace + and arg_type.typename.name != 'string') + + def is_ptr(self, arg_type: parser.Type): + """ + Determine if the `interface_parser.Type` should be treated as a + raw pointer in the wrapper. + """ + return arg_type.is_ptr or ( + arg_type.typename.name not in self.not_ptr_type + and arg_type.typename.name not in self.ignore_namespace + and arg_type.typename.name != 'string') + + def is_ref(self, arg_type: parser.Type): + """ + Determine if the `interface_parser.Type` should be treated as a + reference in the wrapper. + """ + return arg_type.typename.name not in self.ignore_namespace and \ + arg_type.typename.name not in self.not_ptr_type and \ + arg_type.is_ref + + +class FormatMixin: + """Mixin to provide formatting utilities.""" + + ignore_namespace: tuple + data_type: Any + data_type_param: Any + _return_count: Any + + def _clean_class_name(self, + instantiated_class: instantiator.InstantiatedClass): + """Reformatted the C++ class name to fit Matlab defined naming + standards + """ + if len(instantiated_class.ctors) != 0: + return instantiated_class.ctors[0].name + + return instantiated_class.name + + def _format_type_name(self, + type_name: parser.Typename, + separator: str = '::', + include_namespace: bool = True, + is_constructor: bool = False, + is_method: bool = False): + """ + Args: + type_name: an interface_parser.Typename to reformat + separator: the statement to add between namespaces and typename + include_namespace: whether to include namespaces when reformatting + is_constructor: if the typename will be in a constructor + is_method: if the typename will be in a method + + Raises: + constructor and method cannot both be true + """ + if is_constructor and is_method: + raise ValueError( + 'Constructor and method parameters cannot both be True') + + formatted_type_name = '' + name = type_name.name + + if include_namespace: + for namespace in type_name.namespaces: + if name not in self.ignore_namespace and namespace != '': + formatted_type_name += namespace + separator + + if is_constructor: + formatted_type_name += self.data_type.get(name) or name + elif is_method: + formatted_type_name += self.data_type_param.get(name) or name + else: + formatted_type_name += name + + if separator == "::": # C++ + templates = [] + for idx in range(len(type_name.instantiations)): + template = '{}'.format( + self._format_type_name(type_name.instantiations[idx], + include_namespace=include_namespace, + is_constructor=is_constructor, + is_method=is_method)) + templates.append(template) + + if len(templates) > 0: # If there are no templates + formatted_type_name += '<{}>'.format(','.join(templates)) + + else: + for idx in range(len(type_name.instantiations)): + formatted_type_name += '{}'.format( + self._format_type_name(type_name.instantiations[idx], + separator=separator, + include_namespace=False, + is_constructor=is_constructor, + is_method=is_method)) + + return formatted_type_name + + def _format_return_type(self, + return_type: parser.function.ReturnType, + include_namespace: bool = False, + separator: str = "::"): + """Format return_type. + + Args: + return_type: an interface_parser.ReturnType to reformat + include_namespace: whether to include namespaces when reformatting + """ + return_wrap = '' + + if self._return_count(return_type) == 1: + return_wrap = self._format_type_name( + return_type.type1.typename, + separator=separator, + include_namespace=include_namespace) + else: + return_wrap = 'pair< {type1}, {type2} >'.format( + type1=self._format_type_name( + return_type.type1.typename, + separator=separator, + include_namespace=include_namespace), + type2=self._format_type_name( + return_type.type2.typename, + separator=separator, + include_namespace=include_namespace)) + + return return_wrap + + def _format_class_name(self, + instantiated_class: instantiator.InstantiatedClass, + separator: str = ''): + """Format a template_instantiator.InstantiatedClass name.""" + if instantiated_class.parent == '': + parent_full_ns = [''] + else: + parent_full_ns = instantiated_class.parent.full_namespaces() + + parentname = "".join([separator + x + for x in parent_full_ns]) + separator + + class_name = parentname[2 * len(separator):] + + class_name += instantiated_class.name + + return class_name + + def _format_static_method(self, + static_method: parser.StaticMethod, + separator: str = ''): + """ + Example: + gtsam.Point3.staticFunction() + """ + method = '' + + if isinstance(static_method, parser.StaticMethod): + method += "".join([separator + x for x in static_method.parent.namespaces()]) + \ + separator + static_method.parent.name + separator + + return method[2 * len(separator):] + + def _format_global_function(self, + function: Union[parser.GlobalFunction, Any], + separator: str = ''): + """Example: + + gtsamPoint3.staticFunction + """ + method = '' + + if isinstance(function, parser.GlobalFunction): + method += "".join([separator + x for x in function.parent.full_namespaces()]) + \ + separator + + return method[2 * len(separator):] diff --git a/wrap/gtwrap/matlab_wrapper/templates.py b/wrap/gtwrap/matlab_wrapper/templates.py new file mode 100644 index 000000000..7aaf8f487 --- /dev/null +++ b/wrap/gtwrap/matlab_wrapper/templates.py @@ -0,0 +1,166 @@ +import textwrap + + +class WrapperTemplate: + """Class to encapsulate string templates for use in wrapper generation""" + boost_headers = textwrap.dedent(""" + #include + #include + #include + """) + + typdef_collectors = textwrap.dedent('''\ + typedef std::set*> Collector_{class_name}; + static Collector_{class_name} collector_{class_name}; + ''') + + delete_obj = textwrap.indent(textwrap.dedent('''\ + {{ for(Collector_{class_name}::iterator iter = collector_{class_name}.begin(); + iter != collector_{class_name}.end(); ) {{ + delete *iter; + collector_{class_name}.erase(iter++); + anyDeleted = true; + }} }} + '''), + prefix=' ') + + delete_all_objects = textwrap.dedent(''' + void _deleteAllObjects() + {{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout);\n + bool anyDeleted = false; + {delete_objs} + if(anyDeleted) + cout << + "WARNING: Wrap modules with variables in the workspace have been reloaded due to\\n" + "calling destructors, call \'clear all\' again if you plan to now recompile a wrap\\n" + "module, so that your recompiled module is used instead of the old one." << endl; + std::cout.rdbuf(outbuf); + }} + ''') + + rtti_register = textwrap.dedent('''\ + void _{module_name}_RTTIRegister() {{ + const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_{module_name}_rttiRegistry_created"); + if(!alreadyCreated) {{ + std::map types; + + {rtti_classes} + + mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); + if(!registry) + registry = mxCreateStructMatrix(1, 1, 0, NULL); + typedef std::pair StringPair; + for(const StringPair& rtti_matlab: types) {{ + int fieldId = mxAddField(registry, rtti_matlab.first.c_str()); + if(fieldId < 0) {{ + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + }} + mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str()); + mxSetFieldByNumber(registry, 0, fieldId, matlabName); + }} + if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) {{ + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + }} + mxDestroyArray(registry); + + mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); + if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) {{ + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + }} + mxDestroyArray(newAlreadyCreated); + }} + }} + ''') + + collector_function_upcast_from_void = textwrap.dedent('''\ + void {class_name}_upcastFromVoid_{id}(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr<{cpp_name}> Shared; + boost::shared_ptr *asVoid = *reinterpret_cast**> (mxGetData(in[0])); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + Shared *self = new Shared(boost::static_pointer_cast<{cpp_name}>(*asVoid)); + *reinterpret_cast(mxGetData(out[0])) = self; + }}\n + ''') + + class_serialize_method = textwrap.dedent('''\ + function varargout = string_serialize(this, varargin) + % STRING_SERIALIZE usage: string_serialize() : returns string + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 0 + varargout{{1}} = {wrapper}({wrapper_id}, this, varargin{{:}}); + else + error('Arguments do not match any overload of function {class_name}.string_serialize'); + end + end\n + function sobj = saveobj(obj) + % SAVEOBJ Saves the object to a matlab-readable format + sobj = obj.string_serialize(); + end + ''') + + collector_function_serialize = textwrap.indent(textwrap.dedent("""\ + typedef boost::shared_ptr<{full_name}> Shared; + checkArguments("string_serialize",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr<{full_name}>(in[0], "ptr_{namespace}{class_name}"); + ostringstream out_archive_stream; + boost::archive::text_oarchive out_archive(out_archive_stream); + out_archive << *obj; + out[0] = wrap< string >(out_archive_stream.str()); + """), + prefix=' ') + + collector_function_deserialize = textwrap.indent(textwrap.dedent("""\ + typedef boost::shared_ptr<{full_name}> Shared; + checkArguments("{namespace}{class_name}.string_deserialize",nargout,nargin,1); + string serialized = unwrap< string >(in[0]); + istringstream in_archive_stream(serialized); + boost::archive::text_iarchive in_archive(in_archive_stream); + Shared output(new {full_name}()); + in_archive >> *output; + out[0] = wrap_shared_ptr(output,"{namespace}.{class_name}", false); + """), + prefix=' ') + + mex_function = textwrap.dedent(''' + void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) + {{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout);\n + _{module_name}_RTTIRegister();\n + int id = unwrap(in[0]);\n + try {{ + switch(id) {{ + {cases} }} + }} catch(const std::exception& e) {{ + mexErrMsgTxt(("Exception from gtsam:\\n" + std::string(e.what()) + "\\n").c_str()); + }}\n + std::cout.rdbuf(outbuf); + }} + ''') + + collector_function_shared_return = textwrap.indent(textwrap.dedent('''\ + {{ + boost::shared_ptr<{name}> shared({shared_obj}); + out[{id}] = wrap_shared_ptr(shared,"{name}"); + }}{new_line}'''), + prefix=' ') + + matlab_deserialize = textwrap.indent(textwrap.dedent("""\ + function varargout = string_deserialize(varargin) + % STRING_DESERIALIZE usage: string_deserialize() : returns {class_name} + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 + varargout{{1}} = {wrapper}({id}, varargin{{:}}); + else + error('Arguments do not match any overload of function {class_name}.string_deserialize'); + end + end\n + function obj = loadobj(sobj) + % LOADOBJ Saves the object to a matlab-readable format + obj = {class_name}.string_deserialize(sobj); + end + """), + prefix=' ') diff --git a/wrap/gtwrap/matlab_wrapper/wrapper.py b/wrap/gtwrap/matlab_wrapper/wrapper.py new file mode 100755 index 000000000..97945f73a --- /dev/null +++ b/wrap/gtwrap/matlab_wrapper/wrapper.py @@ -0,0 +1,1596 @@ +""" +Code to use the parsed results and convert it to a format +that Matlab's MEX compiler can use. +""" + +# pylint: disable=too-many-lines, no-self-use, too-many-arguments, too-many-branches, too-many-statements + +import os +import os.path as osp +import textwrap +from functools import partial, reduce +from typing import Dict, Iterable, List, Union + +import gtwrap.interface_parser as parser +import gtwrap.template_instantiator as instantiator +from gtwrap.matlab_wrapper.mixins import CheckMixin, FormatMixin +from gtwrap.matlab_wrapper.templates import WrapperTemplate + + +class MatlabWrapper(CheckMixin, FormatMixin): + """ Wrap the given C++ code into Matlab. + + Attributes + module: the C++ module being wrapped + module_name: name of the C++ module being wrapped + top_module_namespace: C++ namespace for the top module (default '') + ignore_classes: A list of classes to ignore (default []) + """ + def __init__(self, + module_name, + top_module_namespace='', + ignore_classes=()): + super().__init__() + + self.module_name = module_name + self.top_module_namespace = top_module_namespace + self.ignore_classes = ignore_classes + self.verbose = False + + # Map the data type to its Matlab class. + # Found in Argument.cpp in old wrapper + self.data_type = { + 'string': 'char', + 'char': 'char', + 'unsigned char': 'unsigned char', + 'Vector': 'double', + 'Matrix': 'double', + 'int': 'numeric', + 'size_t': 'numeric', + 'bool': 'logical' + } + # Map the data type into the type used in Matlab methods. + # Found in matlab.h in old wrapper + self.data_type_param = { + 'string': 'char', + 'char': 'char', + 'unsigned char': 'unsigned char', + 'size_t': 'int', + 'int': 'int', + 'double': 'double', + 'Point2': 'double', + 'Point3': 'double', + 'Vector': 'double', + 'Matrix': 'double', + 'bool': 'bool' + } + # The amount of times the wrapper has created a call to geometry_wrapper + self.wrapper_id = 0 + # Map each wrapper id to its collector function namespace, class, type, and string format + self.wrapper_map: Dict = {} + # Set of all the includes in the namespace + self.includes: List[parser.Include] = [] + # Set of all classes in the namespace + self.classes: List[Union[parser.Class, + instantiator.InstantiatedClass]] = [] + self.classes_elems: Dict[Union[parser.Class, + instantiator.InstantiatedClass], + int] = {} + # Id for ordering global functions in the wrapper + self.global_function_id = 0 + # Files and their content + self.content: List[str] = [] + + # Ensure the template file is always picked up from the correct directory. + dir_path = osp.dirname(osp.realpath(__file__)) + with open(osp.join(dir_path, "matlab_wrapper.tpl")) as f: + self.wrapper_file_headers = f.read() + + def add_class(self, instantiated_class): + """Add `instantiated_class` to the list of classes.""" + if self.classes_elems.get(instantiated_class) is None: + self.classes_elems[instantiated_class] = 0 + self.classes.append(instantiated_class) + + def _update_wrapper_id(self, collector_function=None, id_diff=0): + """ + Get and define wrapper ids. + Generates the map of id -> collector function. + + Args: + collector_function: tuple storing info about the wrapper function + (namespace, class instance, function type, function name, + extra) + id_diff: constant to add to the id in the map + + Returns: + the current wrapper id + """ + if collector_function is not None: + is_instantiated_class = isinstance(collector_function[1], + instantiator.InstantiatedClass) + + if is_instantiated_class: + function_name = collector_function[0] + \ + collector_function[1].name + '_' + collector_function[2] + else: + function_name = collector_function[1].name + + self.wrapper_map[self.wrapper_id] = ( + collector_function[0], collector_function[1], + collector_function[2], function_name + '_' + + str(self.wrapper_id + id_diff), collector_function[3]) + + self.wrapper_id += 1 + + return self.wrapper_id - 1 + + def _qualified_name(self, names): + return 'handle' if names == '' else names + + def _insert_spaces(self, x, y): + """Insert spaces at the beginning of each line + + Args: + x: the statement currently generated + y: the addition to add to the statement + """ + return x + '\n' + ('' if y == '' else ' ') + y + + def _group_methods(self, methods): + """Group overloaded methods together""" + method_map = {} + method_out = [] + + for method in methods: + method_index = method_map.get(method.name) + + if method_index is None: + method_map[method.name] = len(method_out) + method_out.append([method]) + else: + method_out[method_index].append(method) + + return method_out + + def _wrap_args(self, args): + """Wrap an interface_parser.ArgumentList into a list of arguments. + + Returns: + A string representation of the arguments. For example: + 'int x, double y' + """ + arg_wrap = '' + + for i, arg in enumerate(args.list(), 1): + c_type = self._format_type_name(arg.ctype.typename, + include_namespace=False) + + arg_wrap += '{c_type} {arg_name}{comma}'.format( + c_type=c_type, + arg_name=arg.name, + comma='' if i == len(args.list()) else ', ') + + return arg_wrap + + def _wrap_variable_arguments(self, args, wrap_datatypes=True): + """ Wrap an interface_parser.ArgumentList into a statement of argument + checks. + + Returns: + A string representation of a variable arguments for an if + statement. For example: + ' && isa(varargin{1},'double') && isa(varargin{2},'numeric')' + """ + var_arg_wrap = '' + + for i, arg in enumerate(args.list(), 1): + name = arg.ctype.typename.name + if name in self.not_check_type: + continue + + check_type = self.data_type_param.get(name) + + if self.data_type.get(check_type): + check_type = self.data_type[check_type] + + if check_type is None: + check_type = self._format_type_name( + arg.ctype.typename, + separator='.', + is_constructor=not wrap_datatypes) + + var_arg_wrap += " && isa(varargin{{{num}}},'{data_type}')".format( + num=i, data_type=check_type) + if name == 'Vector': + var_arg_wrap += ' && size(varargin{{{num}}},2)==1'.format( + num=i) + if name == 'Point2': + var_arg_wrap += ' && size(varargin{{{num}}},1)==2'.format( + num=i) + var_arg_wrap += ' && size(varargin{{{num}}},2)==1'.format( + num=i) + if name == 'Point3': + var_arg_wrap += ' && size(varargin{{{num}}},1)==3'.format( + num=i) + var_arg_wrap += ' && size(varargin{{{num}}},2)==1'.format( + num=i) + + return var_arg_wrap + + def _wrap_list_variable_arguments(self, args): + """ Wrap an interface_parser.ArgumentList into a list of argument + variables. + + Returns: + A string representation of a list of variable arguments. + For example: + 'varargin{1}, varargin{2}, varargin{3}' + """ + var_list_wrap = '' + first = True + + for i in range(1, len(args.list()) + 1): + if first: + var_list_wrap += 'varargin{{{}}}'.format(i) + first = False + else: + var_list_wrap += ', varargin{{{}}}'.format(i) + + return var_list_wrap + + def _wrap_method_check_statement(self, args): + """ + Wrap the given arguments into either just a varargout call or a + call in an if statement that checks if the parameters are accurate. + """ + check_statement = '' + arg_id = 1 + + if check_statement == '': + check_statement = \ + 'if length(varargin) == {param_count}'.format( + param_count=len(args.list())) + + for _, arg in enumerate(args.list()): + name = arg.ctype.typename.name + + if name in self.not_check_type: + arg_id += 1 + continue + + check_type = self.data_type_param.get(name) + + if self.data_type.get(check_type): + check_type = self.data_type[check_type] + + if check_type is None: + check_type = self._format_type_name(arg.ctype.typename, + separator='.') + + check_statement += " && isa(varargin{{{id}}},'{ctype}')".format( + id=arg_id, ctype=check_type) + + if name == 'Vector': + check_statement += ' && size(varargin{{{num}}},2)==1'.format( + num=arg_id) + if name == 'Point2': + check_statement += ' && size(varargin{{{num}}},1)==2'.format( + num=arg_id) + check_statement += ' && size(varargin{{{num}}},2)==1'.format( + num=arg_id) + if name == 'Point3': + check_statement += ' && size(varargin{{{num}}},1)==3'.format( + num=arg_id) + check_statement += ' && size(varargin{{{num}}},2)==1'.format( + num=arg_id) + + arg_id += 1 + + check_statement = check_statement \ + if check_statement == '' \ + else check_statement + '\n' + + return check_statement + + def _wrapper_unwrap_arguments(self, args, arg_id=0, constructor=False): + """Format the interface_parser.Arguments. + + Examples: + ((a), unsigned char a = unwrap< unsigned char >(in[1]);), + ((a), Test& t = *unwrap_shared_ptr< Test >(in[1], "ptr_Test");), + ((a), std::shared_ptr p1 = unwrap_shared_ptr< Test >(in[1], "ptr_Test");) + """ + params = '' + body_args = '' + + for arg in args.list(): + if params != '': + params += ',' + + if self.is_ref(arg.ctype): # and not constructor: + ctype_camel = self._format_type_name(arg.ctype.typename, + separator='') + body_args += textwrap.indent(textwrap.dedent('''\ + {ctype}& {name} = *unwrap_shared_ptr< {ctype} >(in[{id}], "ptr_{ctype_camel}"); + '''.format(ctype=self._format_type_name(arg.ctype.typename), + ctype_camel=ctype_camel, + name=arg.name, + id=arg_id)), + prefix=' ') + + elif (self.is_shared_ptr(arg.ctype) or self.is_ptr(arg.ctype)) and \ + arg.ctype.typename.name not in self.ignore_namespace: + if arg.ctype.is_shared_ptr: + call_type = arg.ctype.is_shared_ptr + else: + call_type = arg.ctype.is_ptr + + body_args += textwrap.indent(textwrap.dedent('''\ + {std_boost}::shared_ptr<{ctype_sep}> {name} = unwrap_shared_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}"); + '''.format(std_boost='boost' if constructor else 'boost', + ctype_sep=self._format_type_name( + arg.ctype.typename), + ctype=self._format_type_name(arg.ctype.typename, + separator=''), + name=arg.name, + id=arg_id)), + prefix=' ') + if call_type == "": + params += "*" + + else: + body_args += textwrap.indent(textwrap.dedent('''\ + {ctype} {name} = unwrap< {ctype} >(in[{id}]); + '''.format(ctype=arg.ctype.typename.name, + name=arg.name, + id=arg_id)), + prefix=' ') + + params += arg.name + + arg_id += 1 + + return params, body_args + + @staticmethod + def _return_count(return_type): + """The amount of objects returned by the given + interface_parser.ReturnType. + """ + return 1 if return_type.type2 == '' else 2 + + def _wrapper_name(self): + """Determine the name of wrapper function.""" + return self.module_name + '_wrapper' + + def class_serialize_comment(self, class_name, static_methods): + """Generate comments for serialize methods.""" + comment_wrap = '' + static_methods = sorted(static_methods, key=lambda name: name.name) + + for static_method in static_methods: + if comment_wrap == '': + comment_wrap = '%-------Static Methods-------\n' + + comment_wrap += '%{name}({args}) : returns {return_type}\n'.format( + name=static_method.name, + args=self._wrap_args(static_method.args), + return_type=self._format_return_type(static_method.return_type, + include_namespace=True)) + + comment_wrap += textwrap.dedent('''\ + % + %-------Serialization Interface------- + %string_serialize() : returns string + %string_deserialize(string serialized) : returns {class_name} + % + ''').format(class_name=class_name) + + return comment_wrap + + def class_comment(self, instantiated_class): + """Generate comments for the given class in Matlab. + + Args + instantiated_class: the class being wrapped + ctors: a list of the constructors in the class + methods: a list of the methods in the class + """ + class_name = instantiated_class.name + ctors = instantiated_class.ctors + methods = instantiated_class.methods + static_methods = instantiated_class.static_methods + + comment = textwrap.dedent('''\ + %class {class_name}, see Doxygen page for details + %at https://gtsam.org/doxygen/ + ''').format(class_name=class_name) + + if len(ctors) != 0: + comment += '%\n%-------Constructors-------\n' + + # Write constructors + for ctor in ctors: + comment += '%{ctor_name}({args})\n'.format(ctor_name=ctor.name, + args=self._wrap_args( + ctor.args)) + + if len(methods) != 0: + comment += '%\n' \ + '%-------Methods-------\n' + + methods = sorted(methods, key=lambda name: name.name) + + # Write methods + for method in methods: + if method.name in self.whitelist: + continue + if method.name in self.ignore_methods: + continue + + comment += '%{name}({args})'.format(name=method.name, + args=self._wrap_args( + method.args)) + + if method.return_type.type2 == '': + return_type = self._format_type_name( + method.return_type.type1.typename) + else: + return_type = 'pair< {type1}, {type2} >'.format( + type1=self._format_type_name( + method.return_type.type1.typename), + type2=self._format_type_name( + method.return_type.type2.typename)) + + comment += ' : returns {return_type}\n'.format( + return_type=return_type) + + comment += '%\n' + + if len(static_methods) != 0: + comment += self.class_serialize_comment(class_name, static_methods) + + return comment + + def wrap_method(self, methods): + """ + Wrap methods in the body of a class. + """ + if not isinstance(methods, list): + methods = [methods] + + return '' + + def wrap_methods(self, methods, global_funcs=False, global_ns=None): + """ + Wrap a sequence of methods. Groups methods with the same names + together. + If global_funcs is True then output every method into its own file. + """ + output = '' + methods = self._group_methods(methods) + + for method in methods: + if method in self.ignore_methods: + continue + + if global_funcs: + method_text = self.wrap_global_function(method) + self.content.append(("".join([ + '+' + x + '/' for x in global_ns.full_namespaces()[1:] + ])[:-1], [(method[0].name + '.m', method_text)])) + else: + method_text = self.wrap_method(method) + output += '' + + return output + + def wrap_global_function(self, function): + """Wrap the given global function.""" + if not isinstance(function, list): + function = [function] + + function_name = function[0].name + + # Get all combinations of parameters + param_wrap = '' + + for i, overload in enumerate(function): + param_wrap += ' if' if i == 0 else ' elseif' + param_wrap += ' length(varargin) == ' + + if len(overload.args.list()) == 0: + param_wrap += '0\n' + else: + param_wrap += str(len(overload.args.list())) \ + + self._wrap_variable_arguments(overload.args, False) + '\n' + + # Determine format of return and varargout statements + return_type_formatted = self._format_return_type( + overload.return_type, include_namespace=True, separator=".") + varargout = self._format_varargout(overload.return_type, + return_type_formatted) + + param_wrap += textwrap.indent(textwrap.dedent('''\ + {varargout}{module_name}_wrapper({num}, varargin{{:}}); + ''').format(varargout=varargout, + module_name=self.module_name, + num=self._update_wrapper_id( + collector_function=(function[0].parent.name, + function[i], 'global_function', + None))), + prefix=' ') + + param_wrap += textwrap.indent(textwrap.dedent('''\ + else + error('Arguments do not match any overload of function {func_name}'); + ''').format(func_name=function_name), + prefix=' ') + + global_function = textwrap.indent(textwrap.dedent('''\ + function varargout = {m_method}(varargin) + {statements} end + ''').format(m_method=function_name, statements=param_wrap), + prefix='') + + return global_function + + def wrap_class_constructors(self, namespace_name, inst_class, parent_name, + ctors, is_virtual): + """Wrap class constructor. + + Args: + namespace_name: the name of the namespace ('' if it does not exist) + inst_class: instance of the class + parent_name: the name of the parent class if it exists + ctors: the interface_parser.Constructor in the class + is_virtual: whether the class is part of a virtual inheritance + chain + """ + has_parent = parent_name != '' + class_name = inst_class.name + if has_parent: + parent_name = self._format_type_name(parent_name, separator=".") + if not isinstance(ctors, Iterable): + ctors = [ctors] + + methods_wrap = textwrap.indent(textwrap.dedent("""\ + methods + function obj = {class_name}(varargin) + """).format(class_name=class_name), + prefix='') + + if is_virtual: + methods_wrap += " if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void')))" + else: + methods_wrap += ' if nargin == 2' + + methods_wrap += " && isa(varargin{1}, 'uint64')" + methods_wrap += " && varargin{1} == uint64(5139824614673773682)\n" + + if is_virtual: + methods_wrap += textwrap.indent(textwrap.dedent('''\ + if nargin == 2 + my_ptr = varargin{{2}}; + else + my_ptr = {wrapper_name}({id}, varargin{{2}}); + end + ''').format(wrapper_name=self._wrapper_name(), + id=self._update_wrapper_id() + 1), + prefix=' ') + else: + methods_wrap += ' my_ptr = varargin{2};\n' + + collector_base_id = self._update_wrapper_id( + (namespace_name, inst_class, 'collectorInsertAndMakeBase', None), + id_diff=-1 if is_virtual else 0) + + methods_wrap += ' {ptr}{wrapper_name}({id}, my_ptr);\n' \ + .format( + ptr='base_ptr = ' if has_parent else '', + wrapper_name=self._wrapper_name(), + id=collector_base_id - (1 if is_virtual else 0)) + + for ctor in ctors: + wrapper_return = '[ my_ptr, base_ptr ] = ' \ + if has_parent \ + else 'my_ptr = ' + + methods_wrap += textwrap.indent(textwrap.dedent('''\ + elseif nargin == {len}{varargin} + {ptr}{wrapper}({num}{comma}{var_arg}); + ''').format(len=len(ctor.args.list()), + varargin=self._wrap_variable_arguments( + ctor.args, False), + ptr=wrapper_return, + wrapper=self._wrapper_name(), + num=self._update_wrapper_id( + (namespace_name, inst_class, 'constructor', ctor)), + comma='' if len(ctor.args.list()) == 0 else ', ', + var_arg=self._wrap_list_variable_arguments(ctor.args)), + prefix=' ') + + base_obj = '' + + if has_parent: + base_obj = ' obj = obj@{parent_name}(uint64(5139824614673773682), base_ptr);'.format( + parent_name=parent_name) + + if base_obj: + base_obj = '\n' + base_obj + + methods_wrap += textwrap.indent(textwrap.dedent('''\ + else + error('Arguments do not match any overload of {class_name_doc} constructor'); + end{base_obj} + obj.ptr_{class_name} = my_ptr; + end\n + ''').format(namespace=namespace_name, + d='' if namespace_name == '' else '.', + class_name_doc=self._format_class_name(inst_class, + separator="."), + class_name=self._format_class_name(inst_class, + separator=""), + base_obj=base_obj), + prefix=' ') + + return methods_wrap + + def wrap_class_properties(self, class_name): + """Generate properties of class.""" + return textwrap.dedent('''\ + properties + ptr_{} = 0 + end + ''').format(class_name) + + def wrap_class_deconstructor(self, namespace_name, inst_class): + """Generate the delete function for the Matlab class.""" + class_name = inst_class.name + + methods_text = textwrap.indent(textwrap.dedent("""\ + function delete(obj) + {wrapper}({num}, obj.ptr_{class_name}); + end\n + """).format(num=self._update_wrapper_id( + (namespace_name, inst_class, 'deconstructor', None)), + wrapper=self._wrapper_name(), + class_name="".join(inst_class.parent.full_namespaces()) + + class_name), + prefix=' ') + + return methods_text + + def wrap_class_display(self): + """Generate the display function for the Matlab class.""" + return textwrap.indent(textwrap.dedent("""\ + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + """), + prefix=' ') + + def _group_class_methods(self, methods): + """Group overloaded methods together""" + method_map = {} + method_out = [] + + for method in methods: + method_index = method_map.get(method.name) + + if method_index is None: + method_map[method.name] = len(method_out) + method_out.append([method]) + else: + # print("[_group_methods] Merging {} with {}".format(method_index, method.name)) + method_out[method_index].append(method) + + return method_out + + @classmethod + def _format_varargout(cls, return_type, return_type_formatted): + """Determine format of return and varargout statements""" + if cls._return_count(return_type) == 1: + varargout = '' \ + if return_type_formatted == 'void' \ + else 'varargout{1} = ' + else: + varargout = '[ varargout{1} varargout{2} ] = ' + + return varargout + + def wrap_class_methods(self, + namespace_name, + inst_class, + methods, + serialize=(False, )): + """Wrap the methods in the class. + + Args: + namespace_name: the name of the class's namespace + inst_class: the instantiated class whose methods to wrap + methods: the methods to wrap in the order to wrap them + serialize: mutable param storing if one of the methods is serialize + """ + method_text = '' + + methods = self._group_class_methods(methods) + + # Convert to list so that it is mutable + if isinstance(serialize, tuple): + serialize = list(serialize) + + for method in methods: + method_name = method[0].name + if method_name in self.whitelist and method_name != 'serialize': + continue + if method_name in self.ignore_methods: + continue + + if method_name == 'serialize': + serialize[0] = True + method_text += self.wrap_class_serialize_method( + namespace_name, inst_class) + else: + # Generate method code + method_text += textwrap.indent(textwrap.dedent("""\ + function varargout = {method_name}(this, varargin) + """).format(caps_name=method_name.upper(), + method_name=method_name), + prefix='') + + for overload in method: + method_text += textwrap.indent(textwrap.dedent("""\ + % {caps_name} usage: {method_name}(""").format( + caps_name=method_name.upper(), + method_name=method_name), + prefix=' ') + + # Determine format of return and varargout statements + return_type_formatted = self._format_return_type( + overload.return_type, + include_namespace=True, + separator=".") + varargout = self._format_varargout(overload.return_type, + return_type_formatted) + + check_statement = self._wrap_method_check_statement( + overload.args) + class_name = namespace_name + ('' if namespace_name == '' + else '.') + inst_class.name + + end_statement = '' \ + if check_statement == '' \ + else textwrap.indent(textwrap.dedent("""\ + return + end + """).format( + class_name=class_name, + method_name=overload.original.name), prefix=' ') + + method_text += textwrap.dedent("""\ + {method_args}) : returns {return_type} + % Doxygen can be found at https://gtsam.org/doxygen/ + {check_statement}{spacing}{varargout}{wrapper}({num}, this, varargin{{:}}); + {end_statement}""").format( + method_args=self._wrap_args(overload.args), + return_type=return_type_formatted, + num=self._update_wrapper_id( + (namespace_name, inst_class, + overload.original.name, overload)), + check_statement=check_statement, + spacing='' if check_statement == '' else ' ', + varargout=varargout, + wrapper=self._wrapper_name(), + end_statement=end_statement) + + final_statement = textwrap.indent(textwrap.dedent("""\ + error('Arguments do not match any overload of function {class_name}.{method_name}'); + """.format(class_name=class_name, method_name=method_name)), + prefix=' ') + method_text += final_statement + 'end\n\n' + + return method_text + + def wrap_static_methods(self, namespace_name, instantiated_class, + serialize): + """ + Wrap the static methods in the class. + """ + class_name = instantiated_class.name + + method_text = 'methods(Static = true)\n' + static_methods = sorted(instantiated_class.static_methods, + key=lambda name: name.name) + + static_methods = self._group_class_methods(static_methods) + + for static_method in static_methods: + format_name = list(static_method[0].name) + format_name[0] = format_name[0].upper() + + if static_method[0].name in self.ignore_methods: + continue + + method_text += textwrap.indent(textwrap.dedent('''\ + function varargout = {name}(varargin) + '''.format(name=''.join(format_name))), + prefix=" ") + + for static_overload in static_method: + check_statement = self._wrap_method_check_statement( + static_overload.args) + + end_statement = '' \ + if check_statement == '' \ + else textwrap.indent(textwrap.dedent(""" + return + end + """), prefix='') + method_text += textwrap.indent(textwrap.dedent('''\ + % {name_caps} usage: {name_upper_case}({args}) : returns {return_type} + % Doxygen can be found at https://gtsam.org/doxygen/ + {check_statement}{spacing}varargout{{1}} = {wrapper}({id}, varargin{{:}});{end_statement} + ''').format( + name=''.join(format_name), + name_caps=static_overload.name.upper(), + name_upper_case=static_overload.name, + args=self._wrap_args(static_overload.args), + return_type=self._format_return_type( + static_overload.return_type, + include_namespace=True, + separator="."), + length=len(static_overload.args.list()), + var_args_list=self._wrap_variable_arguments( + static_overload.args), + check_statement=check_statement, + spacing='' if check_statement == '' else ' ', + wrapper=self._wrapper_name(), + id=self._update_wrapper_id( + (namespace_name, instantiated_class, + static_overload.name, static_overload)), + class_name=instantiated_class.name, + end_statement=end_statement), + prefix=' ') + + #TODO Figure out what is static_overload doing here. + method_text += textwrap.indent(textwrap.dedent("""\ + error('Arguments do not match any overload of function {class_name}.{method_name}'); + """.format(class_name=class_name, + method_name=static_overload.name)), + prefix=' ') + + method_text += textwrap.indent(textwrap.dedent("""\ + end\n + """), + prefix=" ") + + if serialize: + method_text += WrapperTemplate.matlab_deserialize.format( + class_name=namespace_name + '.' + instantiated_class.name, + wrapper=self._wrapper_name(), + id=self._update_wrapper_id( + (namespace_name, instantiated_class, 'string_deserialize', + 'deserialize'))) + + return method_text + + def wrap_instantiated_class(self, instantiated_class, namespace_name=''): + """Generate comments and code for given class. + + Args: + instantiated_class: template_instantiator.InstantiatedClass + instance storing the class to wrap + namespace_name: the name of the namespace if there is one + """ + file_name = self._clean_class_name(instantiated_class) + namespace_file_name = namespace_name + file_name + + uninstantiated_name = "::".join(instantiated_class.namespaces() + [1:]) + "::" + instantiated_class.name + if uninstantiated_name in self.ignore_classes: + return None + + # Class comment + content_text = self.class_comment(instantiated_class) + content_text += self.wrap_methods(instantiated_class.methods) + + # Class definition + # if namespace_name: + # print("nsname: {}, file_name_: {}, filename: {}" + # .format(namespace_name, + # self._clean_class_name(instantiated_class), file_name) + # , file=sys.stderr) + content_text += 'classdef {class_name} < {parent}\n'.format( + class_name=file_name, + parent=str(self._qualified_name( + instantiated_class.parent_class)).replace("::", ".")) + + # Class properties + content_text += ' ' + reduce( + self._insert_spaces, + self.wrap_class_properties( + namespace_file_name).splitlines()) + '\n' + + # Class constructor + content_text += ' ' + reduce( + self._insert_spaces, + self.wrap_class_constructors( + namespace_name, + instantiated_class, + instantiated_class.parent_class, + instantiated_class.ctors, + instantiated_class.is_virtual, + ).splitlines()) + '\n' + + # Delete function + content_text += ' ' + reduce( + self._insert_spaces, + self.wrap_class_deconstructor( + namespace_name, instantiated_class).splitlines()) + '\n' + + # Display function + content_text += ' ' + reduce( + self._insert_spaces, + self.wrap_class_display().splitlines()) + '\n' + + # Class methods + serialize = [False] + + if len(instantiated_class.methods) != 0: + methods = sorted(instantiated_class.methods, + key=lambda name: name.name) + class_methods_wrapped = self.wrap_class_methods( + namespace_name, + instantiated_class, + methods, + serialize=serialize).splitlines() + if len(class_methods_wrapped) > 0: + content_text += ' ' + reduce( + lambda x, y: x + '\n' + ('' if y == '' else ' ') + y, + class_methods_wrapped) + '\n' + + # Static class methods + content_text += ' end\n\n ' + reduce( + self._insert_spaces, + self.wrap_static_methods(namespace_name, instantiated_class, + serialize[0]).splitlines()) + '\n' + + content_text += textwrap.dedent('''\ + end + end + ''') + + return file_name + '.m', content_text + + def wrap_namespace(self, namespace): + """Wrap a namespace by wrapping all of its components. + + Args: + namespace: the interface_parser.namespace instance of the namespace + parent: parent namespace + """ + namespaces = namespace.full_namespaces() + inner_namespace = namespace.name != '' + wrapped = [] + + cpp_filename = self._wrapper_name() + '.cpp' + self.content.append((cpp_filename, self.wrapper_file_headers)) + + current_scope = [] + namespace_scope = [] + + for element in namespace.content: + if isinstance(element, parser.Include): + self.includes.append(element) + + elif isinstance(element, parser.Namespace): + self.wrap_namespace(element) + + elif isinstance(element, instantiator.InstantiatedClass): + self.add_class(element) + + if inner_namespace: + class_text = self.wrap_instantiated_class( + element, "".join(namespace.full_namespaces())) + + if not class_text is None: + namespace_scope.append(("".join([ + '+' + x + '/' + for x in namespace.full_namespaces()[1:] + ])[:-1], [(class_text[0], class_text[1])])) + else: + class_text = self.wrap_instantiated_class(element) + current_scope.append((class_text[0], class_text[1])) + + self.content.extend(current_scope) + + if inner_namespace: + self.content.append(namespace_scope) + + # Global functions + all_funcs = [ + func for func in namespace.content + if isinstance(func, parser.GlobalFunction) + ] + + self.wrap_methods(all_funcs, True, global_ns=namespace) + + return wrapped + + def wrap_collector_function_shared_return(self, + return_type_name, + shared_obj, + func_id, + new_line=True): + """Wrap the collector function which returns a shared pointer.""" + new_line = '\n' if new_line else '' + + return WrapperTemplate.collector_function_shared_return.format( + name=self._format_type_name(return_type_name, + include_namespace=False), + shared_obj=shared_obj, + id=func_id, + new_line=new_line) + + def wrap_collector_function_return_types(self, return_type, func_id): + """ + Wrap the return type of the collector function. + """ + return_type_text = ' out[' + str(func_id) + '] = ' + pair_value = 'first' if func_id == 0 else 'second' + new_line = '\n' if func_id == 0 else '' + + if self.is_shared_ptr(return_type) or self.is_ptr(return_type): + shared_obj = 'pairResult.' + pair_value + + if not (return_type.is_shared_ptr or return_type.is_ptr): + shared_obj = 'boost::make_shared<{name}>({shared_obj})' \ + .format(name=self._format_type_name(return_type.typename), + shared_obj='pairResult.' + pair_value) + + if return_type.typename.name in self.ignore_namespace: + return_type_text = self.wrap_collector_function_shared_return( + return_type.typename, shared_obj, func_id, func_id == 0) + else: + return_type_text += 'wrap_shared_ptr({0},"{1}", false);{new_line}' \ + .format(shared_obj, + self._format_type_name(return_type.typename, + separator='.'), + new_line=new_line) + else: + return_type_text += 'wrap< {0} >(pairResult.{1});{2}'.format( + self._format_type_name(return_type.typename, separator='.'), + pair_value, new_line) + + return return_type_text + + def wrap_collector_function_return(self, method): + """ + Wrap the complete return type of the function. + """ + expanded = '' + + params = self._wrapper_unwrap_arguments(method.args, arg_id=1)[0] + + return_1 = method.return_type.type1 + return_count = self._return_count(method.return_type) + return_1_name = method.return_type.type1.typename.name + obj_start = '' + + if isinstance(method, instantiator.InstantiatedMethod): + # method_name = method.original.name + method_name = method.to_cpp() + obj_start = 'obj->' + + if method.instantiations: + # method_name += '<{}>'.format( + # self._format_type_name(method.instantiations)) + method = method.to_cpp() + + elif isinstance(method, parser.GlobalFunction): + method_name = self._format_global_function(method, '::') + method_name += method.name + + else: + if isinstance(method.parent, instantiator.InstantiatedClass): + method_name = method.parent.to_cpp() + "::" + else: + method_name = self._format_static_method(method, '::') + method_name += method.name + + obj = ' ' if return_1_name == 'void' else '' + obj += '{}{}({})'.format(obj_start, method_name, params) + + if return_1_name != 'void': + if return_count == 1: + if self.is_shared_ptr(return_1) or self.is_ptr(return_1): + sep_method_name = partial(self._format_type_name, + return_1.typename, + include_namespace=True) + + if return_1.typename.name in self.ignore_namespace: + expanded += self.wrap_collector_function_shared_return( + return_1.typename, obj, 0, new_line=False) + + if return_1.is_shared_ptr or return_1.is_ptr: + shared_obj = '{obj},"{method_name_sep}"'.format( + obj=obj, method_name_sep=sep_method_name('.')) + else: + method_name_sep_dot = sep_method_name('.') + shared_obj_template = 'boost::make_shared<{method_name_sep_col}>({obj}),' \ + '"{method_name_sep_dot}"' + shared_obj = shared_obj_template \ + .format(method_name_sep_col=sep_method_name(), + method_name_sep_dot=method_name_sep_dot, + obj=obj) + + if return_1.typename.name not in self.ignore_namespace: + expanded += textwrap.indent( + 'out[0] = wrap_shared_ptr({}, false);'.format( + shared_obj), + prefix=' ') + else: + expanded += ' out[0] = wrap< {} >({});'.format( + return_1.typename.name, obj) + elif return_count == 2: + return_2 = method.return_type.type2 + + expanded += ' auto pairResult = {};\n'.format(obj) + expanded += self.wrap_collector_function_return_types( + return_1, 0) + expanded += self.wrap_collector_function_return_types( + return_2, 1) + else: + expanded += obj + ';' + + return expanded + + def wrap_collector_function_upcast_from_void(self, class_name, func_id, + cpp_name): + """ + Add function to upcast type from void type. + """ + return WrapperTemplate.collector_function_upcast_from_void.format( + class_name=class_name, cpp_name=cpp_name, id=func_id) + + def generate_collector_function(self, func_id): + """ + Generate the complete collector function. + """ + collector_func = self.wrapper_map.get(func_id) + + if collector_func is None: + return '' + + method_name = collector_func[3] + + collector_function = "void {}" \ + "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n".format(method_name) + + if isinstance(collector_func[1], instantiator.InstantiatedClass): + body = '{\n' + + extra = collector_func[4] + + class_name = collector_func[0] + collector_func[1].name + class_name_separated = collector_func[1].to_cpp() + is_method = isinstance(extra, parser.Method) + is_static_method = isinstance(extra, parser.StaticMethod) + + if collector_func[2] == 'collectorInsertAndMakeBase': + body += textwrap.indent(textwrap.dedent('''\ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr<{class_name_sep}> Shared;\n + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_{class_name}.insert(self); + ''').format(class_name_sep=class_name_separated, + class_name=class_name), + prefix=' ') + + if collector_func[1].parent_class: + body += textwrap.indent(textwrap.dedent(''' + typedef boost::shared_ptr<{}> SharedBase; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast(mxGetData(out[0])) = new SharedBase(*self); + ''').format(collector_func[1].parent_class), + prefix=' ') + elif collector_func[2] == 'constructor': + base = '' + params, body_args = self._wrapper_unwrap_arguments( + extra.args, constructor=True) + + if collector_func[1].parent_class: + base += textwrap.indent(textwrap.dedent(''' + typedef boost::shared_ptr<{}> SharedBase; + out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast(mxGetData(out[1])) = new SharedBase(*self); + ''').format(collector_func[1].parent_class), + prefix=' ') + + body += textwrap.dedent('''\ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr<{class_name_sep}> Shared;\n + {body_args} Shared *self = new Shared(new {class_name_sep}({params})); + collector_{class_name}.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; + {base}''').format(class_name_sep=class_name_separated, + body_args=body_args, + params=params, + class_name=class_name, + base=base) + elif collector_func[2] == 'deconstructor': + body += textwrap.indent(textwrap.dedent('''\ + typedef boost::shared_ptr<{class_name_sep}> Shared; + checkArguments("delete_{class_name}",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_{class_name}::iterator item; + item = collector_{class_name}.find(self); + if(item != collector_{class_name}.end()) {{ + delete self; + collector_{class_name}.erase(item); + }} + ''').format(class_name_sep=class_name_separated, + class_name=class_name), + prefix=' ') + elif extra == 'serialize': + body += self.wrap_collector_function_serialize( + collector_func[1].name, + full_name=collector_func[1].to_cpp(), + namespace=collector_func[0]) + elif extra == 'deserialize': + body += self.wrap_collector_function_deserialize( + collector_func[1].name, + full_name=collector_func[1].to_cpp(), + namespace=collector_func[0]) + elif is_method or is_static_method: + method_name = '' + + if is_static_method: + method_name = self._format_static_method(extra) + '.' + + method_name += extra.name + + # return_type = extra.return_type + # return_count = self._return_count(return_type) + + return_body = self.wrap_collector_function_return(extra) + params, body_args = self._wrapper_unwrap_arguments( + extra.args, arg_id=1 if is_method else 0) + + shared_obj = '' + + if is_method: + shared_obj = ' auto obj = unwrap_shared_ptr<{class_name_sep}>' \ + '(in[0], "ptr_{class_name}");\n'.format( + class_name_sep=class_name_separated, + class_name=class_name) + + body += ' checkArguments("{method_name}",nargout,nargin{min1},' \ + '{num_args});\n' \ + '{shared_obj}' \ + '{body_args}' \ + '{return_body}\n'.format( + min1='-1' if is_method else '', + shared_obj=shared_obj, + method_name=method_name, + num_args=len(extra.args.list()), + body_args=body_args, + return_body=return_body) + + body += '}\n' + + if extra not in ['serialize', 'deserialize']: + body += '\n' + + collector_function += body + + else: + body = textwrap.dedent('''\ + {{ + checkArguments("{function_name}",nargout,nargin,{len}); + ''').format(function_name=collector_func[1].name, + id=self.global_function_id, + len=len(collector_func[1].args.list())) + + body += self._wrapper_unwrap_arguments(collector_func[1].args)[1] + body += self.wrap_collector_function_return( + collector_func[1]) + '\n}\n' + + collector_function += body + + self.global_function_id += 1 + + return collector_function + + def mex_function(self): + """ + Generate the wrapped MEX function. + """ + cases = '' + next_case = None + + for wrapper_id in range(self.wrapper_id): + id_val = self.wrapper_map.get(wrapper_id) + set_next_case = False + + if id_val is None: + id_val = self.wrapper_map.get(wrapper_id + 1) + + if id_val is None: + continue + + set_next_case = True + + cases += textwrap.indent(textwrap.dedent('''\ + case {}: + {}(nargout, out, nargin-1, in+1); + break; + ''').format(wrapper_id, next_case if next_case else id_val[3]), + prefix=' ') + + if set_next_case: + next_case = '{}_upcastFromVoid_{}'.format( + id_val[1].name, wrapper_id + 1) + else: + next_case = None + + mex_function = WrapperTemplate.mex_function.format( + module_name=self.module_name, cases=cases) + + return mex_function + + def get_class_name(self, cls): + """Get the name of the class `cls` taking template instantiations into account.""" + if cls.instantiations: + class_name_sep = cls.name + else: + class_name_sep = cls.to_cpp() + + class_name = self._format_class_name(cls) + + return class_name, class_name_sep + + def generate_preamble(self): + """ + Generate the preamble of the wrapper file, which includes + the Boost exports, typedefs for collectors, and + the _deleteAllObjects and _RTTIRegister functions. + """ + delete_objs = '' + typedef_instances = [] + boost_class_export_guid = '' + typedef_collectors = '' + rtti_classes = '' + + for cls in self.classes: + # Check if class is in ignore list. + # If so, then skip + uninstantiated_name = "::".join(cls.namespaces()[1:] + [cls.name]) + if uninstantiated_name in self.ignore_classes: + continue + + class_name, class_name_sep = self.get_class_name(cls) + + # If a class has instantiations, then declare the typedef for each instance + if cls.instantiations: + cls_insts = '' + for i, inst in enumerate(cls.instantiations): + if i != 0: + cls_insts += ', ' + + cls_insts += self._format_type_name(inst) + + typedef_instances.append('typedef {original_class_name} {class_name_sep};' \ + .format(original_class_name=cls.to_cpp(), + class_name_sep=cls.name)) + + # Get the Boost exports for serialization + if cls.original.namespaces() and self._has_serialization(cls): + boost_class_export_guid += 'BOOST_CLASS_EXPORT_GUID({}, "{}");\n'.format( + class_name_sep, class_name) + + # Typedef and declare the collector objects. + typedef_collectors += WrapperTemplate.typdef_collectors.format( + class_name_sep=class_name_sep, class_name=class_name) + + # Generate the _deleteAllObjects method + delete_objs += WrapperTemplate.delete_obj.format( + class_name=class_name) + + if cls.is_virtual: + class_name, class_name_sep = self.get_class_name(cls) + rtti_classes += ' types.insert(std::make_pair(typeid({}).name(), "{}"));\n' \ + .format(class_name_sep, class_name) + + # Generate the typedef instances string + typedef_instances = "\n".join(typedef_instances) + + # Generate the full deleteAllObjects function + delete_all_objs = WrapperTemplate.delete_all_objects.format( + delete_objs=delete_objs) + + # Generate the full RTTIRegister function + rtti_register = WrapperTemplate.rtti_register.format( + module_name=self.module_name, rtti_classes=rtti_classes) + + return typedef_instances, boost_class_export_guid, \ + typedef_collectors, delete_all_objs, rtti_register + + def generate_wrapper(self, namespace): + """Generate the c++ wrapper.""" + assert namespace, "Namespace if empty" + + # Generate the header includes + includes_list = sorted(self.includes, + key=lambda include: include.header) + includes = textwrap.dedent("""\ + {wrapper_file_headers} + {boost_headers} + {includes_list} + """).format(wrapper_file_headers=self.wrapper_file_headers.strip(), + boost_headers=WrapperTemplate.boost_headers, + includes_list='\n'.join(map(str, includes_list))) + + preamble = self.generate_preamble() + typedef_instances, boost_class_export_guid, \ + typedef_collectors, delete_all_objs, \ + rtti_register = preamble + + ptr_ctor_frag = '' + set_next_case = False + + for idx in range(self.wrapper_id): + id_val = self.wrapper_map.get(idx) + queue_set_next_case = set_next_case + + set_next_case = False + + if id_val is None: + id_val = self.wrapper_map.get(idx + 1) + + if id_val is None: + continue + + set_next_case = True + + ptr_ctor_frag += self.generate_collector_function(idx) + + if queue_set_next_case: + ptr_ctor_frag += self.wrap_collector_function_upcast_from_void( + id_val[1].name, idx, id_val[1].to_cpp()) + + wrapper_file = textwrap.dedent('''\ + {includes} + {typedef_instances} + {boost_class_export_guid} + {typedefs_collectors} + {delete_all_objs} + {rtti_register} + {pointer_constructor_fragment}{mex_function}''') \ + .format(includes=includes, + typedef_instances=typedef_instances, + boost_class_export_guid=boost_class_export_guid, + typedefs_collectors=typedef_collectors, + delete_all_objs=delete_all_objs, + rtti_register=rtti_register, + pointer_constructor_fragment=ptr_ctor_frag, + mex_function=self.mex_function()) + + self.content.append((self._wrapper_name() + '.cpp', wrapper_file)) + + def wrap_class_serialize_method(self, namespace_name, inst_class): + """ + Wrap the serizalize method of the class. + """ + class_name = inst_class.name + wrapper_id = self._update_wrapper_id( + (namespace_name, inst_class, 'string_serialize', 'serialize')) + + return WrapperTemplate.class_serialize_method.format( + wrapper=self._wrapper_name(), + wrapper_id=wrapper_id, + class_name=namespace_name + '.' + class_name) + + def wrap_collector_function_serialize(self, + class_name, + full_name='', + namespace=''): + """ + Wrap the serizalize collector function. + """ + return WrapperTemplate.collector_function_serialize.format( + class_name=class_name, full_name=full_name, namespace=namespace) + + def wrap_collector_function_deserialize(self, + class_name, + full_name='', + namespace=''): + """ + Wrap the deserizalize collector function. + """ + return WrapperTemplate.collector_function_deserialize.format( + class_name=class_name, full_name=full_name, namespace=namespace) + + def generate_content(self, cc_content, path): + """ + Generate files and folders from matlab wrapper content. + + Args: + cc_content: The content to generate formatted as + (file_name, file_content) or + (folder_name, [(file_name, file_content)]) + path: The path to the files parent folder within the main folder + """ + for c in cc_content: + if isinstance(c, list): + if len(c) == 0: + continue + + path_to_folder = osp.join(path, c[0][0]) + + if not osp.isdir(path_to_folder): + try: + os.makedirs(path_to_folder, exist_ok=True) + except OSError: + pass + + for sub_content in c: + self.generate_content(sub_content[1], path_to_folder) + + elif isinstance(c[1], list): + path_to_folder = osp.join(path, c[0]) + + if not osp.isdir(path_to_folder): + try: + os.makedirs(path_to_folder, exist_ok=True) + except OSError: + pass + for sub_content in c[1]: + path_to_file = osp.join(path_to_folder, sub_content[0]) + with open(path_to_file, 'w') as f: + f.write(sub_content[1]) + else: + path_to_file = osp.join(path, c[0]) + + if not osp.isdir(path_to_file): + try: + os.mkdir(path) + except OSError: + pass + + with open(path_to_file, 'w') as f: + f.write(c[1]) + + def wrap(self, files, path): + """High level function to wrap the project.""" + modules = {} + for file in files: + with open(file, 'r') as f: + content = f.read() + + # Parse the contents of the interface file + parsed_result = parser.Module.parseString(content) + # print(parsed_result) + + # Instantiate the module + module = instantiator.instantiate_namespace(parsed_result) + + if module.name in modules: + modules[module. + name].content[0].content += module.content[0].content + else: + modules[module.name] = module + + for module in modules.values(): + # Wrap the full namespace + self.wrap_namespace(module) + self.generate_wrapper(module) + + # Generate the corresponding .m and .cpp files + self.generate_content(self.content, path) + + return self.content diff --git a/wrap/gtwrap/pybind_wrapper.py b/wrap/gtwrap/pybind_wrapper.py new file mode 100755 index 000000000..40571263a --- /dev/null +++ b/wrap/gtwrap/pybind_wrapper.py @@ -0,0 +1,655 @@ +#!/usr/bin/env python3 +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Code generator for wrapping a C++ module with Pybind11 +Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert +""" + +# pylint: disable=too-many-arguments, too-many-instance-attributes, no-self-use, no-else-return, too-many-arguments, unused-format-string-argument, line-too-long + +import re +from pathlib import Path + +import gtwrap.interface_parser as parser +import gtwrap.template_instantiator as instantiator + + +class PybindWrapper: + """ + Class to generate binding code for Pybind11 specifically. + """ + def __init__(self, + module_name, + top_module_namespaces='', + use_boost=False, + ignore_classes=(), + module_template=""): + self.module_name = module_name + self.top_module_namespaces = top_module_namespaces + self.use_boost = use_boost + self.ignore_classes = ignore_classes + self._serializing_classes = [] + self.module_template = module_template + self.python_keywords = [ + 'lambda', 'False', 'def', 'if', 'raise', 'None', 'del', 'import', + 'return', 'True', 'elif', 'in', 'try', 'and', 'else', 'is', + 'while', 'as', 'except', 'lambda', 'with', 'assert', 'finally', + 'nonlocal', 'yield', 'break', 'for', 'not', 'class', 'from', 'or', + 'continue', 'global', 'pass' + ] + + # amount of indentation to add before each function/method declaration. + self.method_indent = '\n' + (' ' * 8) + + def _py_args_names(self, args): + """Set the argument names in Pybind11 format.""" + names = args.names() + if names: + py_args = [] + for arg in args.list(): + if arg.default is not None: + default = ' = {arg.default}'.format(arg=arg) + else: + default = '' + argument = 'py::arg("{name}"){default}'.format( + name=arg.name, default='{0}'.format(default)) + py_args.append(argument) + return ", " + ", ".join(py_args) + else: + return '' + + def _method_args_signature(self, args): + """Generate the argument types and names as per the method signature.""" + cpp_types = args.to_cpp(self.use_boost) + names = args.names() + types_names = [ + "{} {}".format(ctype, name) + for ctype, name in zip(cpp_types, names) + ] + + return ', '.join(types_names) + + def wrap_ctors(self, my_class): + """Wrap the constructors.""" + res = "" + for ctor in my_class.ctors: + res += ( + self.method_indent + '.def(py::init<{args_cpp_types}>()' + '{py_args_names})'.format( + args_cpp_types=", ".join(ctor.args.to_cpp(self.use_boost)), + py_args_names=self._py_args_names(ctor.args), + )) + return res + + def _wrap_method(self, + method, + cpp_class, + prefix, + suffix, + method_suffix=""): + py_method = method.name + method_suffix + cpp_method = method.to_cpp() + + if cpp_method in ["serialize", "serializable"]: + if not cpp_class in self._serializing_classes: + self._serializing_classes.append(cpp_class) + serialize_method = self.method_indent + \ + ".def(\"serialize\", []({class_inst} self){{ return gtsam::serialize(*self); }})".format(class_inst=cpp_class + '*') + deserialize_method = self.method_indent + \ + '.def("deserialize", []({class_inst} self, string serialized)' \ + '{{ gtsam::deserialize(serialized, *self); }}, py::arg("serialized"))' \ + .format(class_inst=cpp_class + '*') + return serialize_method + deserialize_method + + if cpp_method == "pickle": + if not cpp_class in self._serializing_classes: + raise ValueError( + "Cannot pickle a class which is not serializable") + pickle_method = self.method_indent + \ + ".def(py::pickle({indent} [](const {cpp_class} &a){{ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }},{indent} [](py::tuple t){{ /* __setstate__ */ {cpp_class} obj; gtsam::deserialize(t[0].cast(), obj); return obj; }}))" + return pickle_method.format(cpp_class=cpp_class, + indent=self.method_indent) + + # Add underscore to disambiguate if the method name matches a python keyword + if py_method in self.python_keywords: + py_method = py_method + "_" + + is_method = isinstance(method, instantiator.InstantiatedMethod) + is_static = isinstance(method, parser.StaticMethod) + return_void = method.return_type.is_void() + args_names = method.args.names() + py_args_names = self._py_args_names(method.args) + args_signature_with_names = self._method_args_signature(method.args) + + caller = cpp_class + "::" if not is_method else "self->" + function_call = ('{opt_return} {caller}{method_name}' + '({args_names});'.format( + opt_return='return' if not return_void else '', + caller=caller, + method_name=cpp_method, + args_names=', '.join(args_names), + )) + + ret = ('{prefix}.{cdef}("{py_method}",' + '[]({opt_self}{opt_comma}{args_signature_with_names}){{' + '{function_call}' + '}}' + '{py_args_names}){suffix}'.format( + prefix=prefix, + cdef="def_static" if is_static else "def", + py_method=py_method, + opt_self="{cpp_class}* self".format( + cpp_class=cpp_class) if is_method else "", + opt_comma=', ' if is_method and args_names else '', + args_signature_with_names=args_signature_with_names, + function_call=function_call, + py_args_names=py_args_names, + suffix=suffix, + )) + + # Create __repr__ override + # We allow all arguments to .print() and let the compiler handle type mismatches. + if method.name == 'print': + # Redirect stdout - see pybind docs for why this is a good idea: + # https://pybind11.readthedocs.io/en/stable/advanced/pycpp/utilities.html#capturing-standard-output-from-ostream + ret = ret.replace( + 'self->print', + 'py::scoped_ostream_redirect output; self->print') + + # Make __repr__() call .print() internally + ret += '''{prefix}.def("__repr__", + [](const {cpp_class}& self{opt_comma}{args_signature_with_names}){{ + gtsam::RedirectCout redirect; + self.{method_name}({method_args}); + return redirect.str(); + }}{py_args_names}){suffix}'''.format( + prefix=prefix, + cpp_class=cpp_class, + opt_comma=', ' if args_names else '', + args_signature_with_names=args_signature_with_names, + method_name=method.name, + method_args=", ".join(args_names) if args_names else '', + py_args_names=py_args_names, + suffix=suffix) + + return ret + + def wrap_methods(self, + methods, + cpp_class, + prefix='\n' + ' ' * 8, + suffix=''): + """ + Wrap all the methods in the `cpp_class`. + """ + res = "" + for method in methods: + + # To avoid type confusion for insert + if method.name == 'insert' and cpp_class == 'gtsam::Values': + name_list = method.args.names() + type_list = method.args.to_cpp(self.use_boost) + # inserting non-wrapped value types + if type_list[0].strip() == 'size_t': + method_suffix = '_' + name_list[1].strip() + res += self._wrap_method(method=method, + cpp_class=cpp_class, + prefix=prefix, + suffix=suffix, + method_suffix=method_suffix) + + res += self._wrap_method( + method=method, + cpp_class=cpp_class, + prefix=prefix, + suffix=suffix, + ) + + return res + + def wrap_variable(self, + namespace, + module_var, + variable, + prefix='\n' + ' ' * 8): + """ + Wrap a variable that's not part of a class (i.e. global) + """ + variable_value = "" + if variable.default is None: + variable_value = variable.name + else: + variable_value = variable.default + + return '{prefix}{module_var}.attr("{variable_name}") = {namespace}{variable_value};'.format( + prefix=prefix, + module_var=module_var, + variable_name=variable.name, + namespace=namespace, + variable_value=variable_value) + + def wrap_properties(self, properties, cpp_class, prefix='\n' + ' ' * 8): + """Wrap all the properties in the `cpp_class`.""" + res = "" + for prop in properties: + res += ('{prefix}.def_{property}("{property_name}", ' + '&{cpp_class}::{property_name})'.format( + prefix=prefix, + property="readonly" + if prop.ctype.is_const else "readwrite", + cpp_class=cpp_class, + property_name=prop.name, + )) + return res + + def wrap_operators(self, operators, cpp_class, prefix='\n' + ' ' * 8): + """Wrap all the overloaded operators in the `cpp_class`.""" + res = "" + template = "{prefix}.def({{0}})".format(prefix=prefix) + for op in operators: + if op.operator == "[]": # __getitem__ + res += "{prefix}.def(\"__getitem__\", &{cpp_class}::operator[])".format( + prefix=prefix, cpp_class=cpp_class) + elif op.operator == "()": # __call__ + res += "{prefix}.def(\"__call__\", &{cpp_class}::operator())".format( + prefix=prefix, cpp_class=cpp_class) + elif op.is_unary: + res += template.format("{0}py::self".format(op.operator)) + else: + res += template.format("py::self {0} py::self".format( + op.operator)) + return res + + def wrap_enum(self, enum, class_name='', module=None, prefix=' ' * 4): + """ + Wrap an enum. + + Args: + enum: The parsed enum to wrap. + class_name: The class under which the enum is defined. + prefix: The amount of indentation. + """ + if module is None: + module = self._gen_module_var(enum.namespaces()) + + cpp_class = enum.cpp_typename().to_cpp() + if class_name: + # If class_name is provided, add that as the namespace + cpp_class = class_name + "::" + cpp_class + + res = '{prefix}py::enum_<{cpp_class}>({module}, "{enum.name}", py::arithmetic())'.format( + prefix=prefix, module=module, enum=enum, cpp_class=cpp_class) + for enumerator in enum.enumerators: + res += '\n{prefix} .value("{enumerator.name}", {cpp_class}::{enumerator.name})'.format( + prefix=prefix, enumerator=enumerator, cpp_class=cpp_class) + res += ";\n\n" + return res + + def wrap_enums(self, enums, instantiated_class, prefix=' ' * 4): + """Wrap multiple enums defined in a class.""" + cpp_class = instantiated_class.to_cpp() + module_var = instantiated_class.name.lower() + res = '' + + for enum in enums: + res += "\n" + self.wrap_enum( + enum, class_name=cpp_class, module=module_var, prefix=prefix) + return res + + def wrap_instantiated_class( + self, instantiated_class: instantiator.InstantiatedClass): + """Wrap the class.""" + module_var = self._gen_module_var(instantiated_class.namespaces()) + cpp_class = instantiated_class.to_cpp() + if cpp_class in self.ignore_classes: + return "" + if instantiated_class.parent_class: + class_parent = "{instantiated_class.parent_class}, ".format( + instantiated_class=instantiated_class) + else: + class_parent = '' + + if instantiated_class.enums: + # If class has enums, define an instance and set module_var to the instance + instance_name = instantiated_class.name.lower() + class_declaration = ( + '\n py::class_<{cpp_class}, {class_parent}' + '{shared_ptr_type}::shared_ptr<{cpp_class}>> ' + '{instance_name}({module_var}, "{class_name}");' + '\n {instance_name}').format( + shared_ptr_type=('boost' if self.use_boost else 'std'), + cpp_class=cpp_class, + class_name=instantiated_class.name, + class_parent=class_parent, + instance_name=instance_name, + module_var=module_var) + module_var = instance_name + + else: + class_declaration = ( + '\n py::class_<{cpp_class}, {class_parent}' + '{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}")' + ).format(shared_ptr_type=('boost' if self.use_boost else 'std'), + cpp_class=cpp_class, + class_name=instantiated_class.name, + class_parent=class_parent, + module_var=module_var) + + return ('{class_declaration}' + '{wrapped_ctors}' + '{wrapped_methods}' + '{wrapped_static_methods}' + '{wrapped_properties}' + '{wrapped_operators};\n'.format( + class_declaration=class_declaration, + wrapped_ctors=self.wrap_ctors(instantiated_class), + wrapped_methods=self.wrap_methods( + instantiated_class.methods, cpp_class), + wrapped_static_methods=self.wrap_methods( + instantiated_class.static_methods, cpp_class), + wrapped_properties=self.wrap_properties( + instantiated_class.properties, cpp_class), + wrapped_operators=self.wrap_operators( + instantiated_class.operators, cpp_class))) + + def wrap_instantiated_declaration( + self, instantiated_decl: instantiator.InstantiatedDeclaration): + """Wrap the class.""" + module_var = self._gen_module_var(instantiated_decl.namespaces()) + cpp_class = instantiated_decl.to_cpp() + if cpp_class in self.ignore_classes: + return "" + + res = ( + '\n py::class_<{cpp_class}, ' + '{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}")' + ).format(shared_ptr_type=('boost' if self.use_boost else 'std'), + cpp_class=cpp_class, + class_name=instantiated_decl.name, + module_var=module_var) + return res + + def wrap_stl_class(self, stl_class): + """Wrap STL containers.""" + module_var = self._gen_module_var(stl_class.namespaces()) + cpp_class = stl_class.to_cpp() + if cpp_class in self.ignore_classes: + return "" + + return ( + '\n py::class_<{cpp_class}, {class_parent}' + '{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}")' + '{wrapped_ctors}' + '{wrapped_methods}' + '{wrapped_static_methods}' + '{wrapped_properties};\n'.format( + shared_ptr_type=('boost' if self.use_boost else 'std'), + cpp_class=cpp_class, + class_name=stl_class.name, + class_parent=str(stl_class.parent_class) + + (', ' if stl_class.parent_class else ''), + module_var=module_var, + wrapped_ctors=self.wrap_ctors(stl_class), + wrapped_methods=self.wrap_methods(stl_class.methods, + cpp_class), + wrapped_static_methods=self.wrap_methods( + stl_class.static_methods, cpp_class), + wrapped_properties=self.wrap_properties( + stl_class.properties, cpp_class), + )) + + def wrap_functions(self, + functions, + namespace, + prefix='\n' + ' ' * 8, + suffix=''): + """ + Wrap all the global functions. + """ + res = "" + for function in functions: + + function_name = function.name + + # Add underscore to disambiguate if the function name matches a python keyword + python_keywords = self.python_keywords + ['print'] + if function_name in python_keywords: + function_name = function_name + "_" + + cpp_method = function.to_cpp() + + is_static = isinstance(function, parser.StaticMethod) + return_void = function.return_type.is_void() + args_names = function.args.names() + py_args_names = self._py_args_names(function.args) + args_signature = self._method_args_signature(function.args) + + caller = namespace + "::" + function_call = ('{opt_return} {caller}{function_name}' + '({args_names});'.format( + opt_return='return' + if not return_void else '', + caller=caller, + function_name=cpp_method, + args_names=', '.join(args_names), + )) + + ret = ('{prefix}.{cdef}("{function_name}",' + '[]({args_signature}){{' + '{function_call}' + '}}' + '{py_args_names}){suffix}'.format( + prefix=prefix, + cdef="def_static" if is_static else "def", + function_name=function_name, + args_signature=args_signature, + function_call=function_call, + py_args_names=py_args_names, + suffix=suffix)) + + res += ret + + return res + + def _partial_match(self, namespaces1, namespaces2): + for i in range(min(len(namespaces1), len(namespaces2))): + if namespaces1[i] != namespaces2[i]: + return False + return True + + def _gen_module_var(self, namespaces): + """Get the Pybind11 module name from the namespaces.""" + # We skip the first value in namespaces since it is empty + sub_module_namespaces = namespaces[len(self.top_module_namespaces):] + return "m_{}".format('_'.join(sub_module_namespaces)) + + def _add_namespaces(self, name, namespaces): + if namespaces: + # Ignore the first empty global namespace. + idx = 1 if not namespaces[0] else 0 + return '::'.join(namespaces[idx:] + [name]) + else: + return name + + def wrap_namespace(self, namespace): + """Wrap the complete `namespace`.""" + wrapped = "" + includes = "" + + namespaces = namespace.full_namespaces() + if not self._partial_match(namespaces, self.top_module_namespaces): + return "", "" + + if len(namespaces) < len(self.top_module_namespaces): + for element in namespace.content: + if isinstance(element, parser.Include): + include = "{}\n".format(element) + # replace the angle brackets with quotes + include = include.replace('<', '"').replace('>', '"') + includes += include + if isinstance(element, parser.Namespace): + ( + wrapped_namespace, + includes_namespace, + ) = self.wrap_namespace( # noqa + element) + wrapped += wrapped_namespace + includes += includes_namespace + else: + module_var = self._gen_module_var(namespaces) + + if len(namespaces) > len(self.top_module_namespaces): + wrapped += ( + ' ' * 4 + 'pybind11::module {module_var} = ' + '{parent_module_var}.def_submodule("{namespace}", "' + '{namespace} submodule");\n'.format( + module_var=module_var, + namespace=namespace.name, + parent_module_var=self._gen_module_var( + namespaces[:-1]), + )) + + # Wrap an include statement, namespace, class or enum + for element in namespace.content: + if isinstance(element, parser.Include): + include = "{}\n".format(element) + # replace the angle brackets with quotes + include = include.replace('<', '"').replace('>', '"') + includes += include + elif isinstance(element, parser.Namespace): + wrapped_namespace, includes_namespace = self.wrap_namespace( + element) + wrapped += wrapped_namespace + includes += includes_namespace + + elif isinstance(element, instantiator.InstantiatedClass): + wrapped += self.wrap_instantiated_class(element) + wrapped += self.wrap_enums(element.enums, element) + + elif isinstance(element, instantiator.InstantiatedDeclaration): + wrapped += self.wrap_instantiated_declaration(element) + + elif isinstance(element, parser.Variable): + variable_namespace = self._add_namespaces('', namespaces) + wrapped += self.wrap_variable(namespace=variable_namespace, + module_var=module_var, + variable=element, + prefix='\n' + ' ' * 4) + + elif isinstance(element, parser.Enum): + wrapped += self.wrap_enum(element) + + # Global functions. + all_funcs = [ + func for func in namespace.content + if isinstance(func, (parser.GlobalFunction, + instantiator.InstantiatedGlobalFunction)) + ] + wrapped += self.wrap_functions( + all_funcs, + self._add_namespaces('', namespaces)[:-2], + prefix='\n' + ' ' * 4 + module_var, + suffix=';', + ) + return wrapped, includes + + def wrap_file(self, content, module_name=None, submodules=None): + """ + Wrap the code in the interface file. + + Args: + content: The contents of the interface file. + module_name: The name of the module. + submodules: List of other interface file names that should be linked to. + """ + # Parse the contents of the interface file + module = parser.Module.parseString(content) + # Instantiate all templates + module = instantiator.instantiate_namespace(module) + + wrapped_namespace, includes = self.wrap_namespace(module) + + # Export classes for serialization. + boost_class_export = "" + for cpp_class in self._serializing_classes: + new_name = cpp_class + # The boost's macro doesn't like commas, so we have to typedef. + if ',' in cpp_class: + new_name = re.sub("[,:<> ]", "", cpp_class) + boost_class_export += "typedef {cpp_class} {new_name};\n".format( # noqa + cpp_class=cpp_class, new_name=new_name) + + boost_class_export += "BOOST_CLASS_EXPORT({new_name})\n".format( + new_name=new_name, ) + + # Reset the serializing classes list + self._serializing_classes = [] + + holder_type = "PYBIND11_DECLARE_HOLDER_TYPE(TYPE_PLACEHOLDER_DONOTUSE, " \ + "{shared_ptr_type}::shared_ptr);" + include_boost = "#include " if self.use_boost else "" + + submodules_init = [] + + if submodules is not None: + module_def = "PYBIND11_MODULE({0}, m_)".format(module_name) + + for idx, submodule in enumerate(submodules): + submodules[idx] = "void {0}(py::module_ &);".format(submodule) + submodules_init.append("{0}(m_);".format(submodule)) + + else: + module_def = "void {0}(py::module_ &m_)".format(module_name) + submodules = [] + + return self.module_template.format( + include_boost=include_boost, + module_def=module_def, + module_name=module_name, + includes=includes, + holder_type=holder_type.format( + shared_ptr_type=('boost' if self.use_boost else 'std')) + if self.use_boost else "", + wrapped_namespace=wrapped_namespace, + boost_class_export=boost_class_export, + submodules="\n".join(submodules), + submodules_init="\n".join(submodules_init), + ) + + def wrap(self, sources, main_output): + """ + Wrap all the source interface files. + + Args: + sources: List of all interface files. + main_output: The name for the main module. + """ + main_module = sources[0] + submodules = [] + for source in sources[1:]: + filename = Path(source).name + module_name = Path(source).stem + # Read in the complete interface (.i) file + with open(source, "r") as f: + content = f.read() + submodules.append(module_name) + cc_content = self.wrap_file(content, module_name=module_name) + + # Generate the C++ code which Pybind11 will use. + with open(filename.replace(".i", ".cpp"), "w") as f: + f.write(cc_content) + + with open(main_module, "r") as f: + content = f.read() + cc_content = self.wrap_file(content, + module_name=self.module_name, + submodules=submodules) + + # Generate the C++ code which Pybind11 will use. + with open(main_output, "w") as f: + f.write(cc_content) diff --git a/wrap/gtwrap/template_instantiator.py b/wrap/gtwrap/template_instantiator.py new file mode 100644 index 000000000..0cda93d5d --- /dev/null +++ b/wrap/gtwrap/template_instantiator.py @@ -0,0 +1,644 @@ +"""Code to help instantiate templated classes, methods and functions.""" + +# pylint: disable=too-many-arguments, too-many-instance-attributes, no-self-use, no-else-return, too-many-arguments, unused-format-string-argument, unused-variable + +import itertools +from copy import deepcopy +from typing import Any, Iterable, List, Sequence + +import gtwrap.interface_parser as parser + + +def instantiate_type(ctype: parser.Type, + template_typenames: List[str], + instantiations: List[parser.Typename], + cpp_typename: parser.Typename, + instantiated_class=None): + """ + Instantiate template typename for @p ctype. + + Args: + instiated_class (InstantiatedClass): + + @return If ctype's name is in the @p template_typenames, return the + corresponding type to replace in @p instantiations. + If ctype name is `This`, return the new typename @p `cpp_typename`. + Otherwise, return the original ctype. + """ + # make a deep copy so that there is no overwriting of original template params + ctype = deepcopy(ctype) + + # Check if the return type has template parameters + if ctype.typename.instantiations: + for idx, instantiation in enumerate(ctype.typename.instantiations): + if instantiation.name in template_typenames: + template_idx = template_typenames.index(instantiation.name) + ctype.typename.instantiations[ + idx] = instantiations[ # type: ignore + template_idx] + + return ctype + + str_arg_typename = str(ctype.typename) + + if str_arg_typename in template_typenames: + idx = template_typenames.index(str_arg_typename) + return parser.Type( + typename=instantiations[idx], + is_const=ctype.is_const, + is_shared_ptr=ctype.is_shared_ptr, + is_ptr=ctype.is_ptr, + is_ref=ctype.is_ref, + is_basic=ctype.is_basic, + ) + elif str_arg_typename == 'This': + if instantiated_class: + name = instantiated_class.original.name + namespaces_name = instantiated_class.namespaces() + namespaces_name.append(name) + # print("INST: {}, {}, CPP: {}, CLS: {}".format( + # ctype, instantiations, cpp_typename, instantiated_class.instantiations + # ), file=sys.stderr) + cpp_typename = parser.Typename( + namespaces_name, + instantiations=instantiated_class.instantiations) + + return parser.Type( + typename=cpp_typename, + is_const=ctype.is_const, + is_shared_ptr=ctype.is_shared_ptr, + is_ptr=ctype.is_ptr, + is_ref=ctype.is_ref, + is_basic=ctype.is_basic, + ) + else: + return ctype + + +def instantiate_args_list(args_list, template_typenames, instantiations, + cpp_typename): + """ + Instantiate template typenames in an argument list. + Type with name `This` will be replaced by @p `cpp_typename`. + + @param[in] args_list A list of `parser.Argument` to instantiate. + @param[in] template_typenames List of template typenames to instantiate, + e.g. ['T', 'U', 'V']. + @param[in] instantiations List of specific types to instantiate, each + associated with each template typename. Each type is a parser.Typename, + including its name and full namespaces. + @param[in] cpp_typename Full-namespace cpp class name of this instantiation + to replace for arguments of type named `This`. + @return A new list of parser.Argument which types are replaced with their + instantiations. + """ + instantiated_args = [] + for arg in args_list: + new_type = instantiate_type(arg.ctype, template_typenames, + instantiations, cpp_typename) + instantiated_args.append( + parser.Argument(name=arg.name, ctype=new_type, + default=arg.default)) + return instantiated_args + + +def instantiate_return_type(return_type, + template_typenames, + instantiations, + cpp_typename, + instantiated_class=None): + """Instantiate the return type.""" + new_type1 = instantiate_type(return_type.type1, + template_typenames, + instantiations, + cpp_typename, + instantiated_class=instantiated_class) + if return_type.type2: + new_type2 = instantiate_type(return_type.type2, + template_typenames, + instantiations, + cpp_typename, + instantiated_class=instantiated_class) + else: + new_type2 = '' + return parser.ReturnType(new_type1, new_type2) + + +def instantiate_name(original_name, instantiations): + """ + Concatenate instantiated types with an @p original name to form a new + instantiated name. + TODO(duy): To avoid conflicts, we should include the instantiation's + namespaces, but I find that too verbose. + """ + instantiated_names = [] + for inst in instantiations: + # Ensure the first character of the type is capitalized + name = inst.instantiated_name() + # Using `capitalize` on the complete name causes other caps to be lower case + instantiated_names.append(name.replace(name[0], name[0].capitalize())) + + return "{}{}".format(original_name, "".join(instantiated_names)) + + +class InstantiatedGlobalFunction(parser.GlobalFunction): + """ + Instantiate global functions. + + E.g. + template + T add(const T& x, const T& y); + """ + def __init__(self, original, instantiations=(), new_name=''): + self.original = original + self.instantiations = instantiations + self.template = '' + self.parent = original.parent + + if not original.template: + self.name = original.name + self.return_type = original.return_type + self.args = original.args + else: + self.name = instantiate_name( + original.name, instantiations) if not new_name else new_name + self.return_type = instantiate_return_type( + original.return_type, + self.original.template.typenames, + self.instantiations, + # Keyword type name `This` should already be replaced in the + # previous class template instantiation round. + cpp_typename='', + ) + instantiated_args = instantiate_args_list( + original.args.list(), + self.original.template.typenames, + self.instantiations, + # Keyword type name `This` should already be replaced in the + # previous class template instantiation round. + cpp_typename='', + ) + self.args = parser.ArgumentList(instantiated_args) + + super().__init__(self.name, + self.return_type, + self.args, + self.template, + parent=self.parent) + + def to_cpp(self): + """Generate the C++ code for wrapping.""" + if self.original.template: + instantiated_names = [ + inst.instantiated_name() for inst in self.instantiations + ] + ret = "{}<{}>".format(self.original.name, + ",".join(instantiated_names)) + else: + ret = self.original.name + return ret + + def __repr__(self): + return "Instantiated {}".format( + super(InstantiatedGlobalFunction, self).__repr__()) + + +class InstantiatedMethod(parser.Method): + """ + Instantiate method with template parameters. + + E.g. + class A { + template + void func(X x, Y y); + } + """ + def __init__(self, + original: parser.Method, + instantiations: Iterable[parser.Typename] = ()): + self.original = original + self.instantiations = instantiations + self.template: Any = '' + self.is_const = original.is_const + self.parent = original.parent + + # Check for typenames if templated. + # This way, we can gracefully handle both templated and non-templated methods. + typenames: Sequence = self.original.template.typenames if self.original.template else [] + self.name = instantiate_name(original.name, self.instantiations) + self.return_type = instantiate_return_type( + original.return_type, + typenames, + self.instantiations, + # Keyword type name `This` should already be replaced in the + # previous class template instantiation round. + cpp_typename='', + ) + + instantiated_args = instantiate_args_list( + original.args.list(), + typenames, + self.instantiations, + # Keyword type name `This` should already be replaced in the + # previous class template instantiation round. + cpp_typename='', + ) + self.args = parser.ArgumentList(instantiated_args) + + super().__init__(self.template, + self.name, + self.return_type, + self.args, + self.is_const, + parent=self.parent) + + def to_cpp(self): + """Generate the C++ code for wrapping.""" + if self.original.template: + # to_cpp will handle all the namespacing and templating + instantiation_list = [x.to_cpp() for x in self.instantiations] + # now can simply combine the instantiations, separated by commas + ret = "{}<{}>".format(self.original.name, + ",".join(instantiation_list)) + else: + ret = self.original.name + return ret + + def __repr__(self): + return "Instantiated {}".format( + super(InstantiatedMethod, self).__repr__()) + + +class InstantiatedClass(parser.Class): + """ + Instantiate the class defined in the interface file. + """ + def __init__(self, original: parser.Class, instantiations=(), new_name=''): + """ + Template + Instantiations: [T1, U1] + """ + self.original = original + self.instantiations = instantiations + + self.template = None + self.is_virtual = original.is_virtual + self.parent_class = original.parent_class + self.parent = original.parent + + # If the class is templated, check if the number of provided instantiations + # match the number of templates, else it's only a partial instantiation which is bad. + if original.template: + assert len(original.template.typenames) == len( + instantiations), "Typenames and instantiations mismatch!" + + # Get the instantiated name of the class. E.g. FuncDouble + self.name = instantiate_name( + original.name, instantiations) if not new_name else new_name + + # Check for typenames if templated. + # By passing in typenames, we can gracefully handle both templated and non-templated classes + # This will allow the `This` keyword to be used in both templated and non-templated classes. + typenames = self.original.template.typenames if self.original.template else [] + + # Instantiate the constructors, static methods, properties, respectively. + self.ctors = self.instantiate_ctors(typenames) + self.static_methods = self.instantiate_static_methods(typenames) + self.properties = self.instantiate_properties(typenames) + + # Instantiate all operator overloads + self.operators = self.instantiate_operators(typenames) + + # Set enums + self.enums = original.enums + + # Instantiate all instance methods + instantiated_methods = \ + self.instantiate_class_templates_in_methods(typenames) + + # Second instantiation round to instantiate templated methods. + # This is done in case both the class and the method are templated. + self.methods = [] + for method in instantiated_methods: + if not method.template: + self.methods.append(InstantiatedMethod(method, ())) + else: + instantiations = [] + # Get all combinations of template parameters + for instantiations in itertools.product( + *method.template.instantiations): + self.methods.append( + InstantiatedMethod(method, instantiations)) + + super().__init__( + self.template, + self.is_virtual, + self.name, + [self.parent_class], + self.ctors, + self.methods, + self.static_methods, + self.properties, + self.operators, + self.enums, + parent=self.parent, + ) + + def __repr__(self): + return "{virtual}Class {cpp_class} : {parent_class}\n"\ + "{ctors}\n{static_methods}\n{methods}\n{operators}".format( + virtual="virtual " if self.is_virtual else '', + cpp_class=self.to_cpp(), + parent_class=self.parent, + ctors="\n".join([repr(ctor) for ctor in self.ctors]), + static_methods="\n".join([repr(m) + for m in self.static_methods]), + methods="\n".join([repr(m) for m in self.methods]), + operators="\n".join([repr(op) for op in self.operators]) + ) + + def instantiate_ctors(self, typenames): + """ + Instantiate the class constructors. + + Args: + typenames: List of template types to instantiate. + + Return: List of constructors instantiated with provided template args. + """ + instantiated_ctors = [] + + for ctor in self.original.ctors: + instantiated_args = instantiate_args_list( + ctor.args.list(), + typenames, + self.instantiations, + self.cpp_typename(), + ) + instantiated_ctors.append( + parser.Constructor( + name=self.name, + args=parser.ArgumentList(instantiated_args), + parent=self, + )) + return instantiated_ctors + + def instantiate_static_methods(self, typenames): + """ + Instantiate static methods in the class. + + Args: + typenames: List of template types to instantiate. + + Return: List of static methods instantiated with provided template args. + """ + instantiated_static_methods = [] + for static_method in self.original.static_methods: + instantiated_args = instantiate_args_list( + static_method.args.list(), typenames, self.instantiations, + self.cpp_typename()) + instantiated_static_methods.append( + parser.StaticMethod( + name=static_method.name, + return_type=instantiate_return_type( + static_method.return_type, + typenames, + self.instantiations, + self.cpp_typename(), + instantiated_class=self), + args=parser.ArgumentList(instantiated_args), + parent=self, + )) + return instantiated_static_methods + + def instantiate_class_templates_in_methods(self, typenames): + """ + This function only instantiates the class-level templates in the methods. + Template methods are instantiated in InstantiatedMethod in the second + round. + + E.g. + ``` + template + class Greeter{ + void sayHello(T& name); + }; + + Args: + typenames: List of template types to instantiate. + + Return: List of methods instantiated with provided template args on the class. + """ + class_instantiated_methods = [] + for method in self.original.methods: + instantiated_args = instantiate_args_list( + method.args.list(), + typenames, + self.instantiations, + self.cpp_typename(), + ) + class_instantiated_methods.append( + parser.Method( + template=method.template, + name=method.name, + return_type=instantiate_return_type( + method.return_type, + typenames, + self.instantiations, + self.cpp_typename(), + ), + args=parser.ArgumentList(instantiated_args), + is_const=method.is_const, + parent=self, + )) + return class_instantiated_methods + + def instantiate_operators(self, typenames): + """ + Instantiate the class-level template in the operator overload. + + Args: + typenames: List of template types to instantiate. + + Return: List of methods instantiated with provided template args on the class. + """ + instantiated_operators = [] + for operator in self.original.operators: + instantiated_args = instantiate_args_list( + operator.args.list(), + typenames, + self.instantiations, + self.cpp_typename(), + ) + instantiated_operators.append( + parser.Operator( + name=operator.name, + operator=operator.operator, + return_type=instantiate_return_type( + operator.return_type, + typenames, + self.instantiations, + self.cpp_typename(), + ), + args=parser.ArgumentList(instantiated_args), + is_const=operator.is_const, + parent=self, + )) + return instantiated_operators + + def instantiate_properties(self, typenames): + """ + Instantiate the class properties. + + Args: + typenames: List of template types to instantiate. + + Return: List of properties instantiated with provided template args. + """ + instantiated_properties = instantiate_args_list( + self.original.properties, + typenames, + self.instantiations, + self.cpp_typename(), + ) + return instantiated_properties + + def cpp_typename(self): + """ + Return a parser.Typename including namespaces and cpp name of this + class. + """ + if self.original.template: + name = "{}<{}>".format( + self.original.name, + ", ".join([inst.to_cpp() for inst in self.instantiations])) + else: + name = self.original.name + namespaces_name = self.namespaces() + namespaces_name.append(name) + return parser.Typename(namespaces_name) + + def to_cpp(self): + """Generate the C++ code for wrapping.""" + return self.cpp_typename().to_cpp() + + +class InstantiatedDeclaration(parser.ForwardDeclaration): + """ + Instantiate typedefs of forward declarations. + This is useful when we wish to typedef a templated class + which is not defined in the current project. + + E.g. + class FactorFromAnotherMother; + + typedef FactorFromAnotherMother FactorWeCanUse; + """ + def __init__(self, original, instantiations=(), new_name=''): + super().__init__(original.typename, + original.parent_type, + original.is_virtual, + parent=original.parent) + + self.original = original + self.instantiations = instantiations + self.parent = original.parent + + self.name = instantiate_name( + original.name, instantiations) if not new_name else new_name + + def to_cpp(self): + """Generate the C++ code for wrapping.""" + instantiated_names = [ + inst.qualified_name() for inst in self.instantiations + ] + name = "{}<{}>".format(self.original.name, + ",".join(instantiated_names)) + namespaces_name = self.namespaces() + namespaces_name.append(name) + # Leverage Typename to generate the fully qualified C++ name + return parser.Typename(namespaces_name).to_cpp() + + def __repr__(self): + return "Instantiated {}".format( + super(InstantiatedDeclaration, self).__repr__()) + + +def instantiate_namespace(namespace): + """ + Instantiate the classes and other elements in the `namespace` content and + assign it back to the namespace content attribute. + + @param[in/out] namespace The namespace whose content will be replaced with + the instantiated content. + """ + instantiated_content = [] + typedef_content = [] + + for element in namespace.content: + if isinstance(element, parser.Class): + original_class = element + if not original_class.template: + instantiated_content.append( + InstantiatedClass(original_class, [])) + else: + # This case is for when the templates have enumerated instantiations. + + # Use itertools to get all possible combinations of instantiations + # Works even if one template does not have an instantiation list + for instantiations in itertools.product( + *original_class.template.instantiations): + instantiated_content.append( + InstantiatedClass(original_class, + list(instantiations))) + + elif isinstance(element, parser.GlobalFunction): + original_func = element + if not original_func.template: + instantiated_content.append( + InstantiatedGlobalFunction(original_func, [])) + else: + # Use itertools to get all possible combinations of instantiations + # Works even if one template does not have an instantiation list + for instantiations in itertools.product( + *original_func.template.instantiations): + instantiated_content.append( + InstantiatedGlobalFunction(original_func, + list(instantiations))) + + elif isinstance(element, parser.TypedefTemplateInstantiation): + # This is for the case where `typedef` statements are used + # to specify the template parameters. + typedef_inst = element + top_level = namespace.top_level() + original_element = top_level.find_class_or_function( + typedef_inst.typename) + + # Check if element is a typedef'd class, function or + # forward declaration from another project. + if isinstance(original_element, parser.Class): + typedef_content.append( + InstantiatedClass(original_element, + typedef_inst.typename.instantiations, + typedef_inst.new_name)) + elif isinstance(original_element, parser.GlobalFunction): + typedef_content.append( + InstantiatedGlobalFunction( + original_element, typedef_inst.typename.instantiations, + typedef_inst.new_name)) + elif isinstance(original_element, parser.ForwardDeclaration): + typedef_content.append( + InstantiatedDeclaration( + original_element, typedef_inst.typename.instantiations, + typedef_inst.new_name)) + + elif isinstance(element, parser.Namespace): + element = instantiate_namespace(element) + instantiated_content.append(element) + else: + instantiated_content.append(element) + + instantiated_content.extend(typedef_content) + namespace.content = instantiated_content + + return namespace diff --git a/wrap/interface_parser.py b/wrap/interface_parser.py deleted file mode 100644 index 73f9ebaa1..000000000 --- a/wrap/interface_parser.py +++ /dev/null @@ -1,756 +0,0 @@ -""" -GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, -Atlanta, Georgia 30332-0415 -All Rights Reserved - -See LICENSE for the license information - -Parser to get the interface of a C++ source file -Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar and Frank Dellaert -""" -import os -import sys - -from pyparsing import ( - alphas, - alphanums, - cppStyleComment, - delimitedList, - empty, - nums, - stringEnd, - CharsNotIn, - Forward, - Group, - Keyword, - Literal, - OneOrMore, - Optional, - Or, - ParseException, - ParserElement, - Suppress, - Word, - ZeroOrMore, -) - -ParserElement.enablePackrat() - -IDENT = Word(alphas + '_', alphanums + '_') ^ Word(nums) -POINTER, REF = map(Literal, "*&") -LPAREN, RPAREN, LBRACE, RBRACE, COLON, SEMI_COLON = map(Suppress, "(){}:;") -LOPBRACK, ROPBRACK, COMMA, EQUAL = map(Suppress, "<>,=") -CONST, VIRTUAL, CLASS, STATIC, PAIR, TEMPLATE, TYPEDEF, INCLUDE = map( - Keyword, - [ - "const", - "virtual", - "class", - "static", - "pair", - "template", - "typedef", - "#include", - ], -) -NAMESPACE = Keyword("namespace") -BASIS_TYPES = map( - Keyword, - [ - "void", - "bool", - "unsigned char", - "char", - "int", - "size_t", - "double", - "float", - "string", - ], -) - - -class Typename(object): - """ - Type's name with full namespaces. - """ - - namespaces_name_rule = delimitedList(IDENT, "::") - instantiation_name_rule = delimitedList(IDENT, "::") - rule = Forward() - - rule << ( - namespaces_name_rule("namespaces_name") - + Optional( - (LOPBRACK + delimitedList(rule, ",")("instantiations") + ROPBRACK) - ) - ).setParseAction(lambda t: Typename(t.namespaces_name, t.instantiations)) - - def __init__(self, namespaces_name, instantiations=[]): - self.namespaces = namespaces_name[:-1] - self.name = namespaces_name[-1] - - if instantiations: - if not isinstance(instantiations, list): - self.instantiations = instantiations.asList() - else: - self.instantiations = instantiations - else: - self.instantiations = [] - if self.name in ["Matrix", "Vector"] and not self.namespaces: - self.namespaces = ["gtsam"] - - @staticmethod - def from_parse_result(parse_result): - return parse_result[0] - - def __repr__(self): - return self.to_cpp() - - def instantiated_name(self): - res = self.name - for instantiation in self.instantiations: - res += instantiation.instantiated_name() - return res - - def to_cpp(self): - idx = 1 if self.namespaces and not self.namespaces[0] else 0 - if self.instantiations: - cpp_name = self.name + "<{}>".format( - ", ".join([inst.to_cpp() for inst in self.instantiations]) - ) - else: - cpp_name = self.name - return '{}{}{}'.format( - "::".join(self.namespaces[idx:]), - "::" if self.namespaces[idx:] else "", - cpp_name, - ) - - def __eq__(self, other): - if isinstance(other, Typename): - return str(self) == str(other) - else: - return NotImplemented - - def __ne__(self, other): - res = self.__eq__(other) - if res is NotImplemented: - return res - return not res - - -class Type(object): - class _QualifiedType(object): - """ - Type with qualifiers. - """ - - rule = ( - Optional(CONST("is_const")) - + Typename.rule("typename") - + Optional(POINTER("is_ptr") | REF("is_ref")) - ).setParseAction( - lambda t: Type._QualifiedType( - Typename.from_parse_result(t.typename), - t.is_const, - t.is_ptr, - t.is_ref, - ) - ) - - def __init__(self, typename, is_const, is_ptr, is_ref): - self.typename = typename - self.is_const = is_const - self.is_ptr = is_ptr - self.is_ref = is_ref - - class _BasisType(object): - """ - Basis types don't have qualifiers and only allow copy-by-value. - """ - - rule = Or(BASIS_TYPES).setParseAction(lambda t: Typename(t)) - - rule = ( - _BasisType.rule("basis") | _QualifiedType.rule("qualified") # BR - ).setParseAction(lambda t: Type.from_parse_result(t)) - - def __init__(self, typename, is_const, is_ptr, is_ref, is_basis): - self.typename = typename - self.is_const = is_const - self.is_ptr = is_ptr - self.is_ref = is_ref - self.is_basis = is_basis - - @staticmethod - def from_parse_result(t): - if t.basis: - return Type( - typename=t.basis, - is_const='', - is_ptr='', - is_ref='', - is_basis=True, - ) - elif t.qualified: - return Type( - typename=t.qualified.typename, - is_const=t.qualified.is_const, - is_ptr=t.qualified.is_ptr, - is_ref=t.qualified.is_ref, - is_basis=False, - ) - else: - raise ValueError("Parse result is not a Type?") - - def __repr__(self): - return '{} {}{}{}'.format( - self.typename, self.is_const, self.is_ptr, self.is_ref - ) - - def to_cpp(self, use_boost): - """ - Treat all pointers as "const shared_ptr&" - Treat Matrix and Vector as "const Matrix&" and "const Vector&" resp. - """ - shared_ptr_ns = "boost" if use_boost else "std" - return ( - "{const} {shared_ptr}{typename}" - "{shared_ptr_ropbracket}{ref}".format( - const="const" - if self.is_const - or self.is_ptr - or self.typename.name in ["Matrix", "Vector"] - else "", - typename=self.typename.to_cpp(), - shared_ptr="{}::shared_ptr<".format(shared_ptr_ns) - if self.is_ptr - else "", - shared_ptr_ropbracket=">" if self.is_ptr else "", - ref="&" - if self.is_ref - or self.is_ptr - or self.typename.name in ["Matrix", "Vector"] - else "", - ) - ) - - -class Argument(object): - rule = (Type.rule("ctype") + IDENT("name")).setParseAction( - lambda t: Argument(t.ctype, t.name) - ) - - def __init__(self, ctype, name): - self.ctype = ctype - self.name = name - - def __repr__(self): - return '{} {}'.format(self.ctype.__repr__(), self.name) - - -class ArgumentList(object): - rule = Optional(delimitedList(Argument.rule)("args_list")).setParseAction( - lambda t: ArgumentList.from_parse_result(t.args_list) - ) - - def __init__(self, args_list): - self.args_list = args_list - for arg in args_list: - arg.parent = self - - @staticmethod - def from_parse_result(parse_result): - if parse_result: - return ArgumentList(parse_result.asList()) - else: - return ArgumentList([]) - - def __repr__(self): - return self.args_list.__repr__() - - def args_names(self): - return [arg.name for arg in self.args_list] - - def to_cpp(self, use_boost): - return [arg.ctype.to_cpp(use_boost) for arg in self.args_list] - - -class ReturnType(object): - _pair = ( - PAIR.suppress() - + LOPBRACK - + Type.rule("type1") - + COMMA - + Type.rule("type2") - + ROPBRACK - ) - rule = (_pair ^ Type.rule("type1")).setParseAction( # BR - lambda t: ReturnType(t.type1, t.type2) - ) - - def __init__(self, type1, type2): - self.type1 = type1 - self.type2 = type2 - - def is_void(self): - return self.type1.typename.name == "void" and not self.type2 - - def __repr__(self): - return "{}{}".format( - self.type1, (', ' + self.type2.__repr__()) if self.type2 else '' - ) - - def to_cpp(self): - if self.type2: - return "std::pair<{type1},{type2}>".format( - type1=self.type1.to_cpp(), type2=self.type2.to_cpp() - ) - else: - return self.type1.to_cpp() - - -class Template(object): - class TypenameAndInstantiations(object): - rule = ( - IDENT("typename") - + Optional( - EQUAL - + LBRACE - + ((delimitedList(Typename.rule)("instantiations"))) - + RBRACE - ) - ).setParseAction( - lambda t: Template.TypenameAndInstantiations( - t.typename, t.instantiations - ) - ) - - def __init__(self, typename, instantiations): - self.typename = typename - - if instantiations: - self.instantiations = instantiations.asList() - else: - self.instantiations = [] - - rule = ( # BR - TEMPLATE - + LOPBRACK - + delimitedList(TypenameAndInstantiations.rule)( - "typename_and_instantiations_list" - ) - + ROPBRACK # BR - ).setParseAction( - lambda t: Template(t.typename_and_instantiations_list.asList()) - ) - - def __init__(self, typename_and_instantiations_list): - ti_list = typename_and_instantiations_list - self.typenames = [ti.typename for ti in ti_list] - self.instantiations = [ti.instantiations for ti in ti_list] - - -class Method(object): - rule = ( - Optional(Template.rule("template")) - + ReturnType.rule("return_type") - + IDENT("name") - + LPAREN - + ArgumentList.rule("args_list") - + RPAREN - + Optional(CONST("is_const")) - + SEMI_COLON # BR - ).setParseAction( - lambda t: Method( - t.template, t.name, t.return_type, t.args_list, t.is_const - ) - ) - - def __init__(self, template, name, return_type, args, is_const, parent=''): - self.template = template - self.name = name - self.return_type = return_type - self.args = args - self.is_const = is_const - - self.parent = parent - - def __repr__(self): - return "Method: {} {} {}({}){}".format( - self.template, - self.return_type, - self.name, - self.args, - self.is_const, - ) - - -class StaticMethod(object): - rule = ( - STATIC - + ReturnType.rule("return_type") - + IDENT("name") - + LPAREN - + ArgumentList.rule("args_list") - + RPAREN - + SEMI_COLON # BR - ).setParseAction( - lambda t: StaticMethod(t.name, t.return_type, t.args_list) - ) - - def __init__(self, name, return_type, args, parent=''): - self.name = name - self.return_type = return_type - self.args = args - - self.parent = parent - - def __repr__(self): - return "static {} {}{}".format(self.return_type, self.name, self.args) - - def to_cpp(self): - return self.name - - -class Constructor(object): - rule = ( - IDENT("name") - + LPAREN - + ArgumentList.rule("args_list") - + RPAREN - + SEMI_COLON # BR - ).setParseAction(lambda t: Constructor(t.name, t.args_list)) - - def __init__(self, name, args, parent=''): - self.name = name - self.args = args - - self.parent = parent - - def __repr__(self): - return "Constructor: {}".format(self.name) - - -class Property(object): - rule = (Type.rule("ctype") + IDENT("name") + SEMI_COLON).setParseAction( - lambda t: Property(t.ctype, t.name) - ) - - def __init__(self, ctype, name, parent=''): - self.ctype = ctype - self.name = name - # Check type constraints: no pointer, no ref. - if self.ctype.is_ptr or self.ctype.is_ref: - raise ValueError("Can't deal with pointer/ref class properties.") - - self.parent = parent - - def __repr__(self): - return '{} {}'.format(self.ctype.__repr__(), self.name) - - -def collect_namespaces(obj): - namespaces = [] - ancestor = obj.parent - while ancestor and ancestor.name: - namespaces = [ancestor.name] + namespaces - ancestor = ancestor.parent - return [''] + namespaces - - -class Class(object): - class MethodsAndProperties(object): - rule = ZeroOrMore( - Constructor.rule ^ StaticMethod.rule ^ Method.rule ^ Property.rule - ).setParseAction(lambda t: Class.MethodsAndProperties(t.asList())) - - def __init__(self, methods_props): - self.ctors = [] - self.methods = [] - self.static_methods = [] - self.properties = [] - for m in methods_props: - if isinstance(m, Constructor): - self.ctors.append(m) - elif isinstance(m, Method): - self.methods.append(m) - elif isinstance(m, StaticMethod): - self.static_methods.append(m) - elif isinstance(m, Property): - self.properties.append(m) - - _parent = COLON + Typename.rule("parent_class") - rule = ( - Optional(Template.rule("template")) - + Optional(VIRTUAL("is_virtual")) - + CLASS - + IDENT("name") - + Optional(_parent) - + LBRACE - + MethodsAndProperties.rule("methods_props") - + RBRACE - + SEMI_COLON # BR - ).setParseAction( - lambda t: Class( - t.template, - t.is_virtual, - t.name, - t.parent_class, - t.methods_props.ctors, - t.methods_props.methods, - t.methods_props.static_methods, - t.methods_props.properties, - ) - ) - - def __init__( - self, - template, - is_virtual, - name, - parent_class, - ctors, - methods, - static_methods, - properties, - parent='', - ): - self.template = template - self.is_virtual = is_virtual - self.name = name - if parent_class: - self.parent_class = Typename.from_parse_result(parent_class) - else: - self.parent_class = '' - - self.ctors = ctors - self.methods = methods - self.static_methods = static_methods - self.properties = properties - self.parent = parent - # Make sure ctors' names and class name are the same. - for ctor in self.ctors: - if ctor.name != self.name: - raise ValueError( - "Error in constructor name! {} != {}".format( - ctor.name, self.name - ) - ) - - for ctor in self.ctors: - ctor.parent = self - for method in self.methods: - method.parent = self - for static_method in self.static_methods: - static_method.parent = self - for _property in self.properties: - _property.parent = self - - def namespaces(self): - return collect_namespaces(self) - - -class TypedefTemplateInstantiation(object): - rule = ( - TYPEDEF + Typename.rule("typename") + IDENT("new_name") + SEMI_COLON - ).setParseAction( - lambda t: TypedefTemplateInstantiation( - Typename.from_parse_result(t.typename), t.new_name - ) - ) - - def __init__(self, typename, new_name, parent=''): - self.typename = typename - self.new_name = new_name - self.parent = parent - - -class Include(object): - rule = ( - INCLUDE + LOPBRACK + CharsNotIn('>')("header") + ROPBRACK - ).setParseAction(lambda t: Include(t.header)) - - def __init__(self, header, parent=''): - self.header = header - self.parent = parent - - def __repr__(self): - return "#include <{}>".format(self.header) - - -class ForwardDeclaration(object): - rule = ( - Optional(VIRTUAL("is_virtual")) - + CLASS - + Typename.rule("name") - + Optional(COLON + Typename.rule("parent_type")) - + SEMI_COLON - ).setParseAction( - lambda t: ForwardDeclaration(t.is_virtual, t.name, t.parent_type) - ) - - def __init__(self, is_virtual, name, parent_type, parent=''): - self.is_virtual = is_virtual - self.name = name - if parent_type: - self.parent_type = Typename.from_parse_result(parent_type) - else: - self.parent_type = '' - self.parent = parent - - def __repr__(self): - return "ForwardDeclaration: {} {}({})".format( - self.is_virtual, self.name, self.parent - ) - - -class GlobalFunction(object): - rule = ( - ReturnType.rule("return_type") - + IDENT("name") - + LPAREN - + ArgumentList.rule("args_list") - + RPAREN - + SEMI_COLON - ).setParseAction( - lambda t: GlobalFunction(t.name, t.return_type, t.args_list) - ) - - def __init__(self, name, return_type, args_list, parent=''): - self.name = name - self.return_type = return_type - self.args = args_list - self.is_const = None - - self.parent = parent - self.return_type.parent = self - self.args.parent = self - - def __repr__(self): - return "GlobalFunction: {}{}({})".format( - self.return_type, self.name, self.args - ) - - def to_cpp(self): - return self.name - - -def find_sub_namespace(namespace, str_namespaces): - if not str_namespaces: - return [namespace] - - sub_namespaces = ( - ns for ns in namespace.content if isinstance(ns, Namespace) - ) - - found_namespaces = [ - ns for ns in sub_namespaces if ns.name == str_namespaces[0] - ] - if not found_namespaces: - return None - - res = [] - for found_namespace in found_namespaces: - ns = find_sub_namespace(found_namespace, str_namespaces[1:]) - if ns: - res += ns - return res - - -class Namespace(object): - rule = Forward() - rule << ( - NAMESPACE - + IDENT("name") - + LBRACE - + ZeroOrMore( # BR - ForwardDeclaration.rule - ^ Include.rule - ^ Class.rule - ^ TypedefTemplateInstantiation.rule - ^ GlobalFunction.rule - ^ rule - )( - "content" - ) # BR - + RBRACE - ).setParseAction(lambda t: Namespace.from_parse_result(t)) - - def __init__(self, name, content, parent=''): - self.name = name - self.content = content - self.parent = parent - for child in self.content: - child.parent = self - - @staticmethod - def from_parse_result(t): - if t.content: - content = t.content.asList() - else: - content = [] - return Namespace(t.name, content) - - def find_class(self, typename): - """ - Find the Class object given its typename. - We have to traverse the tree of namespaces. - """ - found_namespaces = find_sub_namespace(self, typename.namespaces) - res = [] - for namespace in found_namespaces: - classes = (c for c in namespace.content if isinstance(c, Class)) - res += [c for c in classes if c.name == typename.name] - if not res: - raise ValueError( - "Cannot find class {} in module!".format(typename.name) - ) - elif len(res) > 1: - raise ValueError( - "Found more than one classes {} in module!".format( - typename.name - ) - ) - else: - return res[0] - - def top_level(self): - if self.name == '' or self.parent == '': - return self - else: - return self.parent.top_level() - - def __repr__(self): - return "Namespace: {}\n\t{}".format(self.name, self.content) - - def full_namespaces(self): - ancestors = collect_namespaces(self) - if self.name: - ancestors.append(self.name) - return ancestors - - -class Module(object): - """ - Module is just a global namespace. - """ - - rule = ( - ZeroOrMore( - ForwardDeclaration.rule - ^ Include.rule - ^ Class.rule - ^ TypedefTemplateInstantiation.rule - ^ GlobalFunction.rule - ^ Namespace.rule - ).setParseAction(lambda t: Namespace('', t.asList())) - + stringEnd - ) - - rule.ignore(cppStyleComment) - - @staticmethod - def parseString(str): - return Module.rule.parseString(str)[0] diff --git a/wrap/matlab.h b/wrap/matlab.h index 4f3bfe96e..bcdef3c8d 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -26,6 +26,7 @@ #include #include #include +#include using gtsam::Vector; using gtsam::Matrix; diff --git a/wrap/matlab_wrapper.py b/wrap/matlab_wrapper.py deleted file mode 100755 index 1b6b75a49..000000000 --- a/wrap/matlab_wrapper.py +++ /dev/null @@ -1,1778 +0,0 @@ -import os -import argparse -import textwrap - -import interface_parser as parser -import template_instantiator as instantiator - -from functools import reduce -from functools import partial - - -class MatlabWrapper(object): - """ Wrap the given C++ code into Matlab. - - Attributes - module: the C++ module being wrapped - module_name: name of the C++ module being wrapped - top_module_namespace: C++ namespace for the top module (default '') - ignore_classes: A list of classes to ignore (default []) - """ - """Map the data type to its Matlab class. - Found in Argument.cpp in old wrapper - """ - data_type = { - 'string': 'char', - 'char': 'char', - 'unsigned char': 'unsigned char', - 'Vector': 'double', - 'Matrix': 'double', - 'int': 'numeric', - 'size_t': 'numeric', - 'bool': 'logical' - } - """Map the data type into the type used in Matlab methods. - Found in matlab.h in old wrapper - """ - data_type_param = { - 'string': 'char', - 'char': 'char', - 'unsigned char': 'unsigned char', - 'size_t': 'int', - 'int': 'int', - 'double': 'double', - 'Point2': 'double', - 'Point3': 'double', - 'Vector': 'double', - 'Matrix': 'double', - 'bool': 'bool' - } - """Methods that should not be wrapped directly""" - whitelist = ['serializable', 'serialize'] - """Datatypes that do not need to be checked in methods""" - not_check_type = [] - """Data types that are primitive types""" - not_ptr_type = ['int', 'double', 'bool', 'char', 'unsigned char', 'size_t'] - """Ignore the namespace for these datatypes""" - ignore_namespace = ['Matrix', 'Vector', 'Point2', 'Point3'] - """The amount of times the wrapper has created a call to - geometry_wrapper - """ - wrapper_id = 0 - """Map each wrapper id to what its collector function namespace, class, - type, and string format""" - wrapper_map = {} - """Set of all the includes in the namespace""" - includes = {} - """Set of all classes in the namespace""" - classes = [] - classes_elems = {} - """Id for ordering global functions in the wrapper""" - global_function_id = 0 - """Files and their content""" - content = [] - - def __init__(self, module, module_name, top_module_namespace='', ignore_classes=[]): - self.module = module - self.module_name = module_name - self.top_module_namespace = top_module_namespace - self.ignore_classes = ignore_classes - self.verbose = False - - def _debug(self, message): - if not self.verbose: - return - import sys - print(message, file=sys.stderr) - - def _add_include(self, include): - self.includes[include] = 0 - - def _add_class(self, instantiated_class): - if self.classes_elems.get(instantiated_class) is None: - self.classes_elems[instantiated_class] = 0 - self.classes.append(instantiated_class) - - def _update_wrapper_id(self, collector_function=None, id_diff=0): - """Get and define wrapper ids. - - Generates the map of id -> collector function. - - Args: - collector_function: tuple storing info about the wrapper function - (namespace, class instance, function type, function name, - extra) - id_diff: constant to add to the id in the map - - Returns: - the current wrapper id - """ - if collector_function is not None: - is_instantiated_class = isinstance(collector_function[1], instantiator.InstantiatedClass) - - if is_instantiated_class: - function_name = collector_function[0] + \ - collector_function[1].name + '_' + collector_function[2] - else: - function_name = collector_function[1].name - - self.wrapper_map[self.wrapper_id] = (collector_function[0], collector_function[1], collector_function[2], - function_name + '_' + str(self.wrapper_id + id_diff), - collector_function[3]) - - self.wrapper_id += 1 - - return self.wrapper_id - 1 - - def _qualified_name(self, names): - return 'handle' if names == '' else names - - def _insert_spaces(self, x, y): - """Insert spaces at the beginning of each line - - Args: - x: the statement currently generated - y: the addition to add to the statement - """ - return x + '\n' + ('' if y == '' else ' ') + y - - def _is_ptr(self, arg_type): - """Determine if the interface_parser.Type should be treated as a - pointer in the wrapper. - """ - return arg_type.is_ptr or (arg_type.typename.name not in self.not_ptr_type - and arg_type.typename.name not in self.ignore_namespace - and arg_type.typename.name != 'string') - - def _is_ref(self, arg_type): - """Determine if the interface_parser.Type should be treated as a - reference in the wrapper. - """ - return arg_type.typename.name not in self.ignore_namespace and \ - arg_type.typename.name not in self.not_ptr_type and \ - arg_type.is_ref - - def _group_methods(self, methods): - """Group overloaded methods together""" - method_map = {} - method_out = [] - - for method in methods: - method_index = method_map.get(method.name) - - if method_index is None: - method_map[method.name] = len(method_out) - method_out.append([method]) - else: - self._debug("[_group_methods] Merging {} with {}".format(method_index, method.name)) - method_out[method_index].append(method) - - return method_out - - def _clean_class_name(self, instantiated_class): - """Reformatted the C++ class name to fit Matlab defined naming - standards - """ - if len(instantiated_class.ctors) != 0: - return instantiated_class.ctors[0].name - - return instantiated_class.name - - @classmethod - def _format_type_name(cls, type_name, separator='::', include_namespace=True, constructor=False, method=False): - """ - Args: - type_name: an interface_parser.Typename to reformat - separator: the statement to add between namespaces and typename - include_namespace: whether to include namespaces when reformatting - constructor: if the typename will be in a constructor - method: if the typename will be in a method - - Raises: - constructor and method cannot both be true - """ - if constructor and method: - raise Exception('Constructor and method parameters cannot both be True') - - formatted_type_name = '' - name = type_name.name - - if include_namespace: - for namespace in type_name.namespaces: - if name not in cls.ignore_namespace and namespace != '': - formatted_type_name += namespace + separator - - #self._debug("formatted_ns: {}, ns: {}".format(formatted_type_name, type_name.namespaces)) - if constructor: - formatted_type_name += cls.data_type.get(name) or name - elif method: - formatted_type_name += cls.data_type_param.get(name) or name - else: - formatted_type_name += name - - if separator == "::": # C++ - templates = [] - for idx in range(len(type_name.instantiations)): - template = '{}'.format(cls._format_type_name(type_name.instantiations[idx], - include_namespace=include_namespace, - constructor=constructor, method=method)) - templates.append(template) - - if len(templates) > 0: # If there are no templates - formatted_type_name += '<{}>'.format(','.join(templates)) - - else: - for idx in range(len(type_name.instantiations)): - formatted_type_name += '{}'.format(cls._format_type_name( - type_name.instantiations[idx], - separator=separator, - include_namespace=False, - constructor=constructor, method=method - )) - - return formatted_type_name - - @classmethod - def _format_return_type(cls, return_type, include_namespace=False, separator="::"): - """Format return_type. - - Args: - return_type: an interface_parser.ReturnType to reformat - include_namespace: whether to include namespaces when reformatting - """ - return_wrap = '' - - if cls._return_count(return_type) == 1: - return_wrap = cls._format_type_name( - return_type.type1.typename, - separator=separator, - include_namespace=include_namespace - ) - else: - return_wrap = 'pair< {type1}, {type2} >'.format( - type1=cls._format_type_name( - return_type.type1.typename, separator=separator, include_namespace=include_namespace - ), - type2=cls._format_type_name( - return_type.type2.typename, separator=separator, include_namespace=include_namespace - )) - - return return_wrap - - def _format_class_name(self, instantiated_class, separator=''): - """Format a template_instantiator.InstantiatedClass name.""" - if instantiated_class.parent == '': - parent_full_ns = [''] - else: - parent_full_ns = instantiated_class.parent.full_namespaces() - # class_name = instantiated_class.parent.name - # - # if class_name != '': - # class_name += separator - # - # class_name += instantiated_class.name - parentname = "".join([separator + x for x in parent_full_ns]) + separator - - class_name = parentname[2 * len(separator):] - - class_name += instantiated_class.name - - return class_name - - def _format_static_method(self, static_method, separator=''): - """Example: - - gtsamPoint3.staticFunction - """ - method = '' - - if isinstance(static_method, parser.StaticMethod): - method += "".join([separator + x for x in static_method.parent.namespaces()]) + \ - separator + static_method.parent.name + separator - - return method[2 * len(separator):] - - def _format_instance_method(self, instance_method, separator=''): - """Example: - - gtsamPoint3.staticFunction - """ - method = '' - - if isinstance(instance_method, instantiator.InstantiatedMethod): - method += "".join([separator + x for x in instance_method.parent.parent.full_namespaces()]) + \ - separator - - method += instance_method.parent.name + separator + \ - instance_method.original.name + "<" + instance_method.instantiation.to_cpp() + ">" - return method[2 * len(separator):] - - def _format_global_method(self, static_method, separator=''): - """Example: - - gtsamPoint3.staticFunction - """ - method = '' - - if isinstance(static_method, parser.GlobalFunction): - method += "".join([separator + x for x in static_method.parent.full_namespaces()]) + \ - separator - - return method[2 * len(separator):] - - def _wrap_args(self, args): - """Wrap an interface_parser.ArgumentList into a list of arguments. - - Returns: - A string representation of the arguments. For example: - 'int x, double y' - """ - arg_wrap = '' - - for i, arg in enumerate(args.args_list, 1): - c_type = self._format_type_name(arg.ctype.typename, include_namespace=False) - - arg_wrap += '{c_type} {arg_name}{comma}'.format(c_type=c_type, - arg_name=arg.name, - comma='' if i == len(args.args_list) else ', ') - - return arg_wrap - - def _wrap_variable_arguments(self, args, wrap_datatypes=True): - """ Wrap an interface_parser.ArgumentList into a statement of argument - checks. - - Returns: - A string representation of a variable arguments for an if - statement. For example: - ' && isa(varargin{1},'double') && isa(varargin{2},'numeric')' - """ - var_arg_wrap = '' - - for i, arg in enumerate(args.args_list, 1): - name = arg.ctype.typename.name - if name in self.not_check_type: - continue - - check_type = self.data_type_param.get(name) - - if self.data_type.get(check_type): - check_type = self.data_type[check_type] - - if check_type is None: - check_type = self._format_type_name(arg.ctype.typename, separator='.', constructor=not wrap_datatypes) - - var_arg_wrap += " && isa(varargin{{{num}}},'{data_type}')".format(num=i, data_type=check_type) - if name == 'Vector': - var_arg_wrap += ' && size(varargin{{{num}}},2)==1'.format(num=i) - if name == 'Point2': - var_arg_wrap += ' && size(varargin{{{num}}},1)==2'.format(num=i) - var_arg_wrap += ' && size(varargin{{{num}}},2)==1'.format(num=i) - if name == 'Point3': - var_arg_wrap += ' && size(varargin{{{num}}},1)==3'.format(num=i) - var_arg_wrap += ' && size(varargin{{{num}}},2)==1'.format(num=i) - - return var_arg_wrap - - def _wrap_list_variable_arguments(self, args): - """ Wrap an interface_parser.ArgumentList into a list of argument - variables. - - Returns: - A string representation of a list of variable arguments. - For example: - 'varargin{1}, varargin{2}, varargin{3}' - """ - var_list_wrap = '' - first = True - - for i in range(1, len(args.args_list) + 1): - if first: - var_list_wrap += 'varargin{{{}}}'.format(i) - first = False - else: - var_list_wrap += ', varargin{{{}}}'.format(i) - - return var_list_wrap - - def _wrap_method_check_statement(self, args): - """Wrap the given arguments into either just a varargout call or a - call in an if statement that checks if the parameters are accurate. - """ - check_statement = '' - arg_id = 1 - - if check_statement == '': - check_statement = \ - 'if length(varargin) == {param_count}'.format( - param_count=len(args.args_list)) - - for i, arg in enumerate(args.args_list): - name = arg.ctype.typename.name - - if name in self.not_check_type: - arg_id += 1 - continue - - check_type = self.data_type_param.get(name) - - if self.data_type.get(check_type): - check_type = self.data_type[check_type] - - if check_type is None: - check_type = self._format_type_name(arg.ctype.typename, separator='.') - - check_statement += " && isa(varargin{{{id}}},'{ctype}')".format(id=arg_id, ctype=check_type) - - if name == 'Vector': - check_statement += ' && size(varargin{{{num}}},2)==1'.format(num=arg_id) - if name == 'Point2': - check_statement += ' && size(varargin{{{num}}},1)==2'.format(num=arg_id) - check_statement += ' && size(varargin{{{num}}},2)==1'.format(num=arg_id) - if name == 'Point3': - check_statement += ' && size(varargin{{{num}}},1)==3'.format(num=arg_id) - check_statement += ' && size(varargin{{{num}}},2)==1'.format(num=arg_id) - - arg_id += 1 - - check_statement = check_statement \ - if check_statement == '' \ - else check_statement + '\n' - - return check_statement - - def _wrapper_unwrap_arguments(self, args, arg_id=0, constructor=False): - """Format the interface_parser.Arguments. - - Examples: - ((a), unsigned char a = unwrap< unsigned char >(in[1]);), - ((a), Test& t = *unwrap_shared_ptr< Test >(in[1], "ptr_Test");), - ((a), std::shared_ptr p1 = unwrap_shared_ptr< Test >(in[1], "ptr_Test");) - """ - params = '' - body_args = '' - - for arg in args.args_list: - if params != '': - params += ',' - - # import sys - # print("type: {}, is_ref: {}, is_ref: {}".format(arg.ctype, self._is_ref(arg.ctype), arg.ctype.is_ref), file=sys.stderr) - if self._is_ref(arg.ctype): # and not constructor: - ctype_camel = self._format_type_name(arg.ctype.typename, separator='') - body_args += textwrap.indent(textwrap.dedent('''\ - {ctype}& {name} = *unwrap_shared_ptr< {ctype} >(in[{id}], "ptr_{ctype_camel}"); - '''.format(ctype=self._format_type_name(arg.ctype.typename), - ctype_camel=ctype_camel, - name=arg.name, - id=arg_id)), - prefix=' ') - elif self._is_ptr(arg.ctype) and \ - arg.ctype.typename.name not in self.ignore_namespace: - call_type = arg.ctype.is_ptr - body_args += textwrap.indent(textwrap.dedent('''\ - {std_boost}::shared_ptr<{ctype_sep}> {name} = unwrap_shared_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}"); - '''.format(std_boost='boost' if constructor else 'boost', - ctype_sep=self._format_type_name(arg.ctype.typename), - ctype=self._format_type_name(arg.ctype.typename, separator=''), - name=arg.name, - id=arg_id)), - prefix=' ') - if call_type == "": - params += "*" - else: - body_args += textwrap.indent(textwrap.dedent('''\ - {ctype} {name} = unwrap< {ctype} >(in[{id}]); - '''.format(ctype=arg.ctype.typename.name, name=arg.name, id=arg_id)), - prefix=' ') - - params += arg.name - - arg_id += 1 - - return params, body_args - - @staticmethod - def _return_count(return_type): - """The amount of objects returned by the given - interface_parser.ReturnType. - """ - return 1 if return_type.type2 == '' else 2 - - def _wrapper_name(self): - """Determine the name of wrapper function.""" - return self.module_name + '_wrapper' - - def class_serialize_comment(self, class_name, static_methods): - """Generate comments for serialize methods.""" - comment_wrap = '' - static_methods = sorted(static_methods, key=lambda name: name.name) - - for static_method in static_methods: - if comment_wrap == '': - comment_wrap = '%-------Static Methods-------\n' - - comment_wrap += '%{name}({args}) : returns {return_type}\n'.format(name=static_method.name, - args=self._wrap_args(static_method.args), - return_type=self._format_return_type( - static_method.return_type, - include_namespace=True)) - - comment_wrap += textwrap.dedent('''\ - % - %-------Serialization Interface------- - %string_serialize() : returns string - %string_deserialize(string serialized) : returns {class_name} - % - ''').format(class_name=class_name) - - return comment_wrap - - def class_comment(self, instantiated_class): - """Generate comments for the given class in Matlab. - - Args - instantiated_class: the class being wrapped - ctors: a list of the constructors in the class - methods: a list of the methods in the class - """ - class_name = instantiated_class.name - ctors = instantiated_class.ctors - methods = instantiated_class.methods - static_methods = instantiated_class.static_methods - - comment = textwrap.dedent('''\ - %class {class_name}, see Doxygen page for details - %at https://gtsam.org/doxygen/ - ''').format(class_name=class_name) - - if len(ctors) != 0: - comment += '%\n%-------Constructors-------\n' - - # Write constructors - for ctor in ctors: - comment += '%{ctor_name}({args})\n'.format(ctor_name=ctor.name, args=self._wrap_args(ctor.args)) - - if len(methods) != 0: - comment += '%\n' \ - '%-------Methods-------\n' - - methods = sorted(methods, key=lambda name: name.name) - - # Write methods - for method in methods: - if method.name in self.whitelist: - continue - - comment += '%{name}({args})'.format(name=method.name, args=self._wrap_args(method.args)) - - if method.return_type.type2 == '': - return_type = self._format_type_name(method.return_type.type1.typename) - else: - return_type = 'pair< {type1}, {type2} >'.format( - type1=self._format_type_name(method.return_type.type1.typename), - type2=self._format_type_name(method.return_type.type2.typename)) - - comment += ' : returns {return_type}\n'.format(return_type=return_type) - - comment += '%\n' - - if len(static_methods) != 0: - comment += self.class_serialize_comment(class_name, static_methods) - - return comment - - def generate_matlab_wrapper(self): - """Generate the C++ file for the wrapper.""" - file_name = self._wrapper_name() + '.cpp' - - wrapper_file = textwrap.dedent('''\ - # include - # include - ''') - - return file_name, wrapper_file - - def wrap_method(self, methods): - """Wrap methods in the body of a class.""" - if not isinstance(methods, list): - methods = [methods] - - for method in methods: - output = '' - - return '' - - def wrap_methods(self, methods, globals=False, global_ns=None): - """Wrap a sequence of methods. Groups methods with the same names - together. If globals is True then output every method into its own - file. - """ - output = '' - methods = self._group_methods(methods) - - for method in methods: - if globals: - self._debug("[wrap_methods] wrapping: {}..{}={}".format(method[0].parent.name, method[0].name, - type(method[0].parent.name))) - - method_text = self.wrap_global_function(method) - self.content.append( - ("".join(['+' + x + '/' - for x in global_ns.full_namespaces()[1:]])[:-1], [(method[0].name + '.m', method_text)])) - else: - method_text = self.wrap_method(method) - output += '' - - return output - - def wrap_global_function(self, function): - """Wrap the given global function.""" - if not isinstance(function, list): - function = [function] - - function_name = function[0].name - - # Get all combinations of parameters - param_wrap = '' - - for i, overload in enumerate(function): - param_wrap += ' if' if i == 0 else ' elseif' - param_wrap += ' length(varargin) == ' - - if len(overload.args.args_list) == 0: - param_wrap += '0\n' - else: - param_wrap += str(len(overload.args.args_list)) \ - + self._wrap_variable_arguments(overload.args, False) + '\n' - - # Determine format of return and varargout statements - return_type_formatted = self._format_return_type( - overload.return_type, - include_namespace=True, - separator="." - ) - varargout = self._format_varargout(overload.return_type, return_type_formatted) - - param_wrap += textwrap.indent(textwrap.dedent('''\ - {varargout}{module_name}_wrapper({num}, varargin{{:}}); - ''').format(varargout=varargout, module_name=self.module_name, - num=self._update_wrapper_id(collector_function=(function[0].parent.name, function[i], - 'global_function', None))), - prefix=' ') - - param_wrap += textwrap.indent(textwrap.dedent('''\ - else - error('Arguments do not match any overload of function {func_name}'); - ''').format(func_name=function_name), - prefix=' ') - - global_function = textwrap.indent(textwrap.dedent('''\ - function varargout = {m_method}(varargin) - {statements} end - ''').format(m_method=function_name, statements=param_wrap), - prefix='') - - return global_function - - def wrap_class_constructors(self, namespace_name, inst_class, parent_name, ctors, is_virtual): - """Wrap class constructor. - - Args: - namespace_name: the name of the namespace ('' if it does not exist) - inst_class: instance of the class - parent_name: the name of the parent class if it exists - ctors: the interface_parser.Constructor in the class - is_virtual: whether the class is part of a virtual inheritance - chain - """ - has_parent = parent_name != '' - class_name = inst_class.name - if has_parent: - parent_name = self._format_type_name(parent_name, separator=".") - if type(ctors) != list: - ctors = [ctors] - - # import sys - # if class_name: - # print("[Constructor] class: {} ns: {}" - # .format(class_name, - # inst_class.namespaces()) - # , file=sys.stderr) - # full_name = "".join(obj_type.full_namespaces()) + obj_type.name - - methods_wrap = textwrap.indent(textwrap.dedent("""\ - methods - function obj = {class_name}(varargin) - """).format(class_name=class_name), - prefix='') - - if is_virtual: - methods_wrap += " if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void')))" - else: - methods_wrap += ' if nargin == 2' - - methods_wrap += " && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)\n" - - if is_virtual: - methods_wrap += textwrap.indent(textwrap.dedent('''\ - if nargin == 2 - my_ptr = varargin{{2}}; - else - my_ptr = {wrapper_name}({id}, varargin{{2}}); - end - ''').format(wrapper_name=self._wrapper_name(), id=self._update_wrapper_id() + 1), - prefix=' ') - else: - methods_wrap += ' my_ptr = varargin{2};\n' - - collector_base_id = self._update_wrapper_id((namespace_name, inst_class, 'collectorInsertAndMakeBase', None), - id_diff=-1 if is_virtual else 0) - - methods_wrap += ' {ptr}{wrapper_name}({id}, my_ptr);\n' \ - .format( - ptr='base_ptr = ' if has_parent else '', - wrapper_name=self._wrapper_name(), - id=collector_base_id - (1 if is_virtual else 0)) - - for ctor in ctors: - wrapper_return = '[ my_ptr, base_ptr ] = ' \ - if has_parent \ - else 'my_ptr = ' - - methods_wrap += textwrap.indent(textwrap.dedent('''\ - elseif nargin == {len}{varargin} - {ptr}{wrapper}({num}{comma}{var_arg}); - ''').format(len=len(ctor.args.args_list), - varargin=self._wrap_variable_arguments(ctor.args, False), - ptr=wrapper_return, - wrapper=self._wrapper_name(), - num=self._update_wrapper_id((namespace_name, inst_class, 'constructor', ctor)), - comma='' if len(ctor.args.args_list) == 0 else ', ', - var_arg=self._wrap_list_variable_arguments(ctor.args)), - prefix=' ') - - base_obj = '' - - if has_parent: - self._debug("class: {} ns: {}".format(parent_name, self._format_class_name(inst_class.parent, - separator="."))) - - if has_parent: - base_obj = ' obj = obj@{parent_name}(uint64(5139824614673773682), base_ptr);'.format( - parent_name=parent_name) - - if base_obj: - base_obj = '\n' + base_obj - - self._debug("class: {}, name: {}".format(inst_class.name, self._format_class_name(inst_class, separator="."))) - methods_wrap += textwrap.indent(textwrap.dedent('''\ - else - error('Arguments do not match any overload of {class_name_doc} constructor'); - end{base_obj} - obj.ptr_{class_name} = my_ptr; - end\n - ''').format(namespace=namespace_name, - d='' if namespace_name == '' else '.', - class_name_doc=self._format_class_name(inst_class, separator="."), - class_name=self._format_class_name(inst_class, separator=""), - base_obj=base_obj), - prefix=' ') - - return methods_wrap - - def wrap_class_properties(self, class_name): - """Generate properties of class.""" - return textwrap.dedent('''\ - properties - ptr_{} = 0 - end - ''').format(class_name) - - def wrap_class_deconstructor(self, namespace_name, inst_class): - """Generate the delete function for the Matlab class.""" - class_name = inst_class.name - - methods_text = textwrap.indent(textwrap.dedent("""\ - function delete(obj) - {wrapper}({num}, obj.ptr_{class_name}); - end\n - """).format(num=self._update_wrapper_id((namespace_name, inst_class, 'deconstructor', None)), - wrapper=self._wrapper_name(), - class_name="".join(inst_class.parent.full_namespaces()) + class_name), - prefix=' ') - - return methods_text - - def wrap_class_display(self): - """Generate the display function for the Matlab class.""" - return textwrap.indent(textwrap.dedent("""\ - function display(obj), obj.print(''); end - %DISPLAY Calls print on the object - function disp(obj), obj.display; end - %DISP Calls print on the object - """), - prefix=' ') - - def _group_class_methods(self, methods): - """Group overloaded methods together""" - method_map = {} - method_out = [] - - for method in methods: - method_index = method_map.get(method.name) - - if method_index is None: - method_map[method.name] = len(method_out) - method_out.append([method]) - else: - # import sys - # print("[_group_methods] Merging {} with {}".format(method_index, method.name)) - method_out[method_index].append(method) - - return method_out - - @classmethod - def _format_varargout(cls, return_type, return_type_formatted): - """Determine format of return and varargout statements""" - if cls._return_count(return_type) == 1: - varargout = '' \ - if return_type_formatted == 'void' \ - else 'varargout{1} = ' - else: - varargout = '[ varargout{1} varargout{2} ] = ' - - return varargout - - def wrap_class_methods(self, namespace_name, inst_class, methods, serialize=[False]): - """Wrap the methods in the class. - - Args: - namespace_name: the name of the class's namespace - inst_class: the instantiated class whose methods to wrap - methods: the methods to wrap in the order to wrap them - serialize: mutable param storing if one of the methods is serialize - """ - method_text = '' - - methods = self._group_class_methods(methods) - - for method in methods: - method_name = method[0].name - if method_name in self.whitelist and method_name != 'serialize': - continue - - if method_name == 'serialize': - serialize[0] = True - method_text += self.wrap_class_serialize_method(namespace_name, inst_class) - else: - # Generate method code - method_text += textwrap.indent(textwrap.dedent("""\ - function varargout = {method_name}(this, varargin) - """).format(caps_name=method_name.upper(), method_name=method_name), - prefix='') - - for overload in method: - method_text += textwrap.indent(textwrap.dedent("""\ - % {caps_name} usage: {method_name}(""").format(caps_name=method_name.upper(), - method_name=method_name), - prefix=' ') - - # Determine format of return and varargout statements - return_type_formatted = self._format_return_type( - overload.return_type, - include_namespace=True, - separator="." - ) - varargout = self._format_varargout(overload.return_type, return_type_formatted) - - check_statement = self._wrap_method_check_statement(overload.args) - class_name = namespace_name + ('' if namespace_name == '' else '.') + inst_class.name - - end_statement = '' \ - if check_statement == '' \ - else textwrap.indent(textwrap.dedent("""\ - return - end - """).format( - class_name=class_name, - method_name=overload.original.name), prefix=' ') - - method_text += textwrap.dedent("""\ - {method_args}) : returns {return_type} - % Doxygen can be found at https://gtsam.org/doxygen/ - {check_statement}{spacing}{varargout}{wrapper}({num}, this, varargin{{:}}); - {end_statement}""").format(method_args=self._wrap_args(overload.args), - return_type=return_type_formatted, - num=self._update_wrapper_id( - (namespace_name, inst_class, overload.original.name, overload)), - check_statement=check_statement, - spacing='' if check_statement == '' else ' ', - varargout=varargout, - wrapper=self._wrapper_name(), - end_statement=end_statement) - - final_statement = textwrap.indent(textwrap.dedent("""\ - error('Arguments do not match any overload of function {class_name}.{method_name}'); - """.format(class_name=class_name, method_name=method_name)), - prefix=' ') - method_text += final_statement + 'end\n\n' - - return method_text - - def wrap_static_methods(self, namespace_name, instantiated_class, serialize): - class_name = instantiated_class.name - - method_text = 'methods(Static = true)\n' - static_methods = sorted(instantiated_class.static_methods, key=lambda name: name.name) - - static_methods = self._group_class_methods(static_methods) - - for static_method in static_methods: - format_name = list(static_method[0].name) - format_name[0] = format_name[0].upper() - - method_text += textwrap.indent(textwrap.dedent('''\ - function varargout = {name}(varargin) - '''.format(name=''.join(format_name))), - prefix=" ") - - for static_overload in static_method: - check_statement = self._wrap_method_check_statement(static_overload.args) - - end_statement = '' \ - if check_statement == '' \ - else textwrap.indent(textwrap.dedent(""" - return - end - """), prefix='') - method_text += textwrap.indent(textwrap.dedent('''\ - % {name_caps} usage: {name_upper_case}({args}) : returns {return_type} - % Doxygen can be found at https://gtsam.org/doxygen/ - {check_statement}{spacing}varargout{{1}} = {wrapper}({id}, varargin{{:}});{end_statement} - ''').format(name=''.join(format_name), - name_caps=static_overload.name.upper(), - name_upper_case=static_overload.name, - args=self._wrap_args(static_overload.args), - return_type=self._format_return_type(static_overload.return_type, - include_namespace=True, separator="."), - length=len(static_overload.args.args_list), - var_args_list=self._wrap_variable_arguments(static_overload.args), - check_statement=check_statement, - spacing='' if check_statement == '' else ' ', - wrapper=self._wrapper_name(), - id=self._update_wrapper_id( - (namespace_name, instantiated_class, static_overload.name, static_overload)), - class_name=instantiated_class.name, - end_statement=end_statement), - prefix=' ') - - method_text += textwrap.indent(textwrap.dedent("""\ - error('Arguments do not match any overload of function {class_name}.{method_name}'); - """.format(class_name=class_name, method_name=static_overload.name)), - prefix=' ') - method_text += textwrap.indent(textwrap.dedent('''\ - end\n - '''.format(name=''.join(format_name))), - prefix=" ") - - if serialize: - method_text += textwrap.indent(textwrap.dedent('''\ - function varargout = string_deserialize(varargin) - % STRING_DESERIALIZE usage: string_deserialize() : returns {class_name} - % Doxygen can be found at https://gtsam.org/doxygen/ - if length(varargin) == 1 - varargout{{1}} = {wrapper}({id}, varargin{{:}}); - else - error('Arguments do not match any overload of function {class_name}.string_deserialize'); - end - end\n - function obj = loadobj(sobj) - % LOADOBJ Saves the object to a matlab-readable format - obj = {class_name}.string_deserialize(sobj); - end - ''').format(class_name=namespace_name + '.' + instantiated_class.name, - wrapper=self._wrapper_name(), - id=self._update_wrapper_id( - (namespace_name, instantiated_class, 'string_deserialize', 'deserialize'))), - prefix=' ') - - return method_text - - def wrap_instantiated_class(self, instantiated_class, namespace_name=''): - """Generate comments and code for given class. - - Args: - instantiated_class: template_instantiator.InstantiatedClass - instance storing the class to wrap - namespace_name: the name of the namespace if there is one - """ - file_name = self._clean_class_name(instantiated_class) - namespace_file_name = namespace_name + file_name - - if instantiated_class.cpp_class() in self.ignore_classes: - return None - - # Class comment - content_text = self.class_comment(instantiated_class) - content_text += self.wrap_methods(instantiated_class.methods) - - # Class definition - # import sys - # if namespace_name: - # print("nsname: {}, file_name_: {}, filename: {}" - # .format(namespace_name, - # self._clean_class_name(instantiated_class), file_name) - # , file=sys.stderr) - content_text += 'classdef {class_name} < {parent}\n'.format( - class_name=file_name, parent=str(self._qualified_name(instantiated_class.parent_class)).replace("::", ".")) - - # Class properties - content_text += ' ' + reduce(self._insert_spaces, - self.wrap_class_properties(namespace_file_name).splitlines()) + '\n' - - # Class constructor - content_text += ' ' + reduce( - self._insert_spaces, - self.wrap_class_constructors( - namespace_name, - instantiated_class, - instantiated_class.parent_class, - instantiated_class.ctors, - instantiated_class.is_virtual, - ).splitlines()) + '\n' - - # Delete function - content_text += ' ' + reduce(self._insert_spaces, - self.wrap_class_deconstructor(namespace_name, - instantiated_class).splitlines()) + '\n' - - # Display function - content_text += ' ' + reduce(self._insert_spaces, self.wrap_class_display().splitlines()) + '\n' - - # Class methods - serialize = [False] - - if len(instantiated_class.methods) != 0: - methods = sorted(instantiated_class.methods, key=lambda name: name.name) - class_methods_wrapped = self.wrap_class_methods(namespace_name, - instantiated_class, - methods, - serialize=serialize).splitlines() - if len(class_methods_wrapped) > 0: - content_text += ' ' + reduce(lambda x, y: x + '\n' + - ('' if y == '' else ' ') + y, - class_methods_wrapped) + '\n' - - # Static class methods - content_text += ' end\n\n ' + reduce( - self._insert_spaces, - self.wrap_static_methods(namespace_name, instantiated_class, serialize[0]).splitlines()) + '\n' - - content_text += textwrap.dedent('''\ - end - end - ''') - - return file_name + '.m', content_text - - def wrap_namespace(self, namespace, parent=[]): - """Wrap a namespace by wrapping all of its components. - - Args: - namespace: the interface_parser.namespace instance of the namespace - parent: parent namespace - """ - test_output = '' - namespaces = namespace.full_namespaces() - inner_namespace = namespace.name != '' - wrapped = [] - self._debug("wrapping ns: {}, parent: {}".format(namespace.full_namespaces(), parent)) - - matlab_wrapper = self.generate_matlab_wrapper() - self.content.append((matlab_wrapper[0], matlab_wrapper[1])) - - current_scope = [] - namespace_scope = [] - - for element in namespace.content: - if isinstance(element, parser.Include): - self._add_include(element) - elif isinstance(element, parser.Namespace): - self.wrap_namespace(element, namespaces) - elif isinstance(element, instantiator.InstantiatedClass): - self._add_class(element) - - if inner_namespace: - class_text = self.wrap_instantiated_class(element, "".join(namespace.full_namespaces())) - - if not class_text is None: - namespace_scope.append(("".join(['+' + x + '/' for x in namespace.full_namespaces()[1:]])[:-1], - [(class_text[0], class_text[1])])) - else: - class_text = self.wrap_instantiated_class(element) - current_scope.append((class_text[0], class_text[1])) - - self.content.extend(current_scope) - - if inner_namespace: - self.content.append(namespace_scope) - - # Global functions - all_funcs = [func for func in namespace.content if isinstance(func, parser.GlobalFunction)] - - test_output += self.wrap_methods(all_funcs, True, global_ns=namespace) - - return wrapped - - def wrap_collector_function_shared_return(self, return_type_name, shared_obj, id, new_line=True): - new_line = '\n' if new_line else '' - - return textwrap.indent(textwrap.dedent('''\ - {{ - boost::shared_ptr<{name}> shared({shared_obj}); - out[{id}] = wrap_shared_ptr(shared,"{name}"); - }}{new_line}''').format(name=self._format_type_name(return_type_name, include_namespace=False), - shared_obj=shared_obj, - id=id, - new_line=new_line), - prefix=' ') - - def wrap_collector_function_return_types(self, return_type, id): - return_type_text = ' out[' + str(id) + '] = ' - pair_value = 'first' if id == 0 else 'second' - new_line = '\n' if id == 0 else '' - - if self._is_ptr(return_type): - shared_obj = 'pairResult.' + pair_value - - if not return_type.is_ptr: - shared_obj = 'boost::make_shared<{name}>({shared_obj})' \ - .format( - name=self._format_type_name(return_type.typename), - formatted_name=self._format_type_name( - return_type.typename), - shared_obj='pairResult.' + pair_value) - - if return_type.typename.name in self.ignore_namespace: - return_type_text = self.wrap_collector_function_shared_return(return_type.typename, shared_obj, id, - True if id == 0 else False) - else: - return_type_text += 'wrap_shared_ptr({},"{}", false);{new_line}' \ - .format( - shared_obj, - self._format_type_name( - return_type.typename, separator='.'), - new_line=new_line) - else: - return_type_text += 'wrap< {} >(pairResult.{});{}'.format( - self._format_type_name(return_type.typename, separator='.'), pair_value, new_line) - - return return_type_text - - def wrap_collector_function_return(self, method): - expanded = '' - - params = self._wrapper_unwrap_arguments(method.args, arg_id=1)[0] - - return_1 = method.return_type.type1 - return_count = self._return_count(method.return_type) - return_1_name = method.return_type.type1.typename.name - obj_start = '' - - if isinstance(method, instantiator.InstantiatedMethod): - # method_name = method.original.name - method_name = method.to_cpp() - obj_start = 'obj->' - - if method.instantiation: - # method_name += '<{}>'.format( - # self._format_type_name(method.instantiation)) - # method_name = self._format_instance_method(method, '::') - method = method.to_cpp() - elif isinstance(method, parser.GlobalFunction): - method_name = self._format_global_method(method, '::') - method_name += method.name - else: - if isinstance(method.parent, instantiator.InstantiatedClass): - method_name = method.parent.cpp_class() + "::" - else: - method_name = self._format_static_method(method, '::') - method_name += method.name - - if "MeasureRange" in method_name: - self._debug("method: {}, method: {}, inst: {}".format(method_name, method.name, method.parent.cpp_class())) - - obj = ' ' if return_1_name == 'void' else '' - obj += '{}{}({})'.format(obj_start, method_name, params) - - if return_1_name != 'void': - if return_count == 1: - if self._is_ptr(return_1): - sep_method_name = partial(self._format_type_name, return_1.typename, include_namespace=True) - - if return_1.typename.name in self.ignore_namespace: - expanded += self.wrap_collector_function_shared_return(return_1.typename, - obj, - 0, - new_line=False) - - if return_1.is_ptr: - shared_obj = '{obj},"{method_name_sep}"'.format(obj=obj, method_name_sep=sep_method_name('.')) - else: - self._debug("Non-PTR: {}, {}".format(return_1, type(return_1))) - self._debug("Inner type is: {}, {}".format(return_1.typename.name, sep_method_name('.'))) - self._debug("Inner type instantiations: {}".format(return_1.typename.instantiations)) - method_name_sep_dot = sep_method_name('.') - shared_obj = 'boost::make_shared<{method_name_sep_col}>({obj}),"{method_name_sep_dot}"' \ - .format( - method_name=return_1.typename.name, - method_name_sep_col=sep_method_name(), - method_name_sep_dot=method_name_sep_dot, - obj=obj) - - if return_1.typename.name not in self.ignore_namespace: - expanded += textwrap.indent('out[0] = wrap_shared_ptr({}, false);'.format(shared_obj), - prefix=' ') - else: - expanded += ' out[0] = wrap< {} >({});'.format(return_1.typename.name, obj) - elif return_count == 2: - return_2 = method.return_type.type2 - - expanded += ' auto pairResult = {};\n'.format(obj) - expanded += self.wrap_collector_function_return_types(return_1, 0) - expanded += self.wrap_collector_function_return_types(return_2, 1) - else: - expanded += obj + ';' - - return expanded - - def wrap_collector_function_upcast_from_void(self, class_name, id, cpp_name): - return textwrap.dedent('''\ - void {class_name}_upcastFromVoid_{id}(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr<{cpp_name}> Shared; - boost::shared_ptr *asVoid = *reinterpret_cast**> (mxGetData(in[0])); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - Shared *self = new Shared(boost::static_pointer_cast<{cpp_name}>(*asVoid)); - *reinterpret_cast(mxGetData(out[0])) = self; - }}\n - ''').format(class_name=class_name, cpp_name=cpp_name, id=id) - - def generate_collector_function(self, id): - collector_func = self.wrapper_map.get(id) - - if collector_func is None: - return '' - - method_name = collector_func[3] - # import sys - # print("[Collector Gen] id: {}, obj: {}".format(id, method_name), file=sys.stderr) - - collector_function = 'void {}(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n' \ - .format(method_name) - - if isinstance(collector_func[1], instantiator.InstantiatedClass): - body = '{\n' - - extra = collector_func[4] - - class_name = collector_func[0] + collector_func[1].name - class_name_separated = collector_func[1].cpp_class() - is_method = isinstance(extra, parser.Method) - is_static_method = isinstance(extra, parser.StaticMethod) - - if collector_func[2] == 'collectorInsertAndMakeBase': - body += textwrap.indent(textwrap.dedent('''\ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr<{class_name_sep}> Shared;\n - Shared *self = *reinterpret_cast (mxGetData(in[0])); - collector_{class_name}.insert(self); - ''').format(class_name_sep=class_name_separated, class_name=class_name), - prefix=' ') - - if collector_func[1].parent_class: - body += textwrap.indent(textwrap.dedent(''' - typedef boost::shared_ptr<{}> SharedBase; - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast(mxGetData(out[0])) = new SharedBase(*self); - ''').format(collector_func[1].parent_class), - prefix=' ') - elif collector_func[2] == 'constructor': - base = '' - params, body_args = self._wrapper_unwrap_arguments(extra.args, constructor=True) - - if collector_func[1].parent_class: - base += textwrap.indent(textwrap.dedent(''' - typedef boost::shared_ptr<{}> SharedBase; - out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast(mxGetData(out[1])) = new SharedBase(*self); - ''').format(collector_func[1].parent_class), - prefix=' ') - - body += textwrap.dedent('''\ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr<{class_name_sep}> Shared;\n - {body_args} Shared *self = new Shared(new {class_name_sep}({params})); - collector_{class_name}.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetData(out[0])) = self; - {base}''').format(class_name_sep=class_name_separated, - body_args=body_args, - params=params, - class_name=class_name, - base=base) - elif collector_func[2] == 'deconstructor': - body += textwrap.indent(textwrap.dedent('''\ - typedef boost::shared_ptr<{class_name_sep}> Shared; - checkArguments("delete_{class_name}",nargout,nargin,1); - Shared *self = *reinterpret_cast(mxGetData(in[0])); - Collector_{class_name}::iterator item; - item = collector_{class_name}.find(self); - if(item != collector_{class_name}.end()) {{ - delete self; - collector_{class_name}.erase(item); - }} - ''').format(class_name_sep=class_name_separated, class_name=class_name), - prefix=' ') - elif extra == 'serialize': - body += self.wrap_collector_function_serialize(collector_func[1].name, - full_name=collector_func[1].cpp_class(), - namespace=collector_func[0]) - elif extra == 'deserialize': - body += self.wrap_collector_function_deserialize(collector_func[1].name, - full_name=collector_func[1].cpp_class(), - namespace=collector_func[0]) - elif is_method or is_static_method: - method_name = '' - - if is_static_method: - method_name = self._format_static_method(extra) + '.' - - method_name += extra.name - - return_type = extra.return_type - return_count = self._return_count(return_type) - - return_body = self.wrap_collector_function_return(extra) - params, body_args = self._wrapper_unwrap_arguments(extra.args, arg_id=1 if is_method else 0) - - shared_obj = '' - - if is_method: - shared_obj = \ - ' auto obj = unwrap_shared_ptr<{class_name_sep}>(in[0], "ptr_{class_name}");\n'.format( - class_name_sep=class_name_separated, - class_name=class_name) - """ - body += textwrap.dedent('''\ - typedef std::shared_ptr<{class_name_sep}> Shared; - checkArguments("{method_name}",nargout,nargin{min1},{num_args}); - {shared_obj} - {body_args} - {return_body} - ''') - """ - body += ' checkArguments("{method_name}",nargout,nargin{min1},' \ - '{num_args});\n' \ - '{shared_obj}' \ - '{body_args}' \ - '{return_body}\n'.format( - class_name_sep=class_name_separated, - min1='-1' if is_method else '', - shared_obj=shared_obj, - method_name=method_name, - num_args=len(extra.args.args_list), - class_name=class_name, - body_args=body_args, - return_body=return_body) - - body += '}\n' - - if extra not in ['serialize', 'deserialize']: - body += '\n' - - collector_function += body - else: - # import sys - # print("other func: {}".format(collector_func[1]), file=sys.stderr) - body = textwrap.dedent('''\ - {{ - checkArguments("{function_name}",nargout,nargin,{len}); - ''').format(function_name=collector_func[1].name, - id=self.global_function_id, - len=len(collector_func[1].args.args_list)) - - body += self._wrapper_unwrap_arguments(collector_func[1].args)[1] - body += self.wrap_collector_function_return(collector_func[1]) + '\n}\n' - - collector_function += body - - self.global_function_id += 1 - - return collector_function - - def mex_function(self): - cases = '' - next_case = None - - for wrapper_id in range(self.wrapper_id): - id_val = self.wrapper_map.get(wrapper_id) - set_next_case = False - - if id_val is None: - id_val = self.wrapper_map.get(wrapper_id + 1) - - if id_val is None: - continue - - set_next_case = True - - cases += textwrap.indent(textwrap.dedent('''\ - case {}: - {}(nargout, out, nargin-1, in+1); - break; - ''').format(wrapper_id, next_case if next_case else id_val[3]), - prefix=' ') - - if set_next_case: - next_case = '{}_upcastFromVoid_{}'.format(id_val[1].name, wrapper_id + 1) - else: - next_case = None - - mex_function = textwrap.dedent(''' - void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) - {{ - mstream mout; - std::streambuf *outbuf = std::cout.rdbuf(&mout);\n - _{module_name}_RTTIRegister();\n - int id = unwrap(in[0]);\n - try {{ - switch(id) {{ - {cases} }} - }} catch(const std::exception& e) {{ - mexErrMsgTxt(("Exception from gtsam:\\n" + std::string(e.what()) + "\\n").c_str()); - }}\n - std::cout.rdbuf(outbuf); - }} - ''').format(module_name=self.module_name, cases=cases) - - return mex_function - - def generate_wrapper(self, namespace): - """Generate the c++ wrapper.""" - # Includes - wrapper_file = textwrap.dedent('''\ - #include - #include \n - #include - #include - #include \n - ''') - - includes_list = sorted(list(self.includes.keys()), key=lambda include: include.header) - - wrapper_file += reduce(lambda x, y: str(x) + '\n' + str(y), includes_list) + '\n' - - typedef_instances = '\n' - typedef_collectors = '' - boost_class_export_guid = '' - delete_objs = textwrap.dedent('''\ - void _deleteAllObjects() - { - mstream mout; - std::streambuf *outbuf = std::cout.rdbuf(&mout);\n - bool anyDeleted = false; - ''') - rtti_reg_start = textwrap.dedent('''\ - void _{module_name}_RTTIRegister() {{ - const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_{module_name}_rttiRegistry_created"); - if(!alreadyCreated) {{ - std::map types; - ''').format(module_name=self.module_name) - rtti_reg_mid = '' - rtti_reg_end = textwrap.indent(textwrap.dedent(''' - mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); - if(!registry) - registry = mxCreateStructMatrix(1, 1, 0, NULL); - typedef std::pair StringPair; - for(const StringPair& rtti_matlab: types) { - int fieldId = mxAddField(registry, rtti_matlab.first.c_str()); - if(fieldId < 0) - mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); - mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str()); - mxSetFieldByNumber(registry, 0, fieldId, matlabName); - } - if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) - mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); - mxDestroyArray(registry); - '''), - prefix=' ') + ' \n' + textwrap.dedent('''\ - mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); - if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) - mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); - mxDestroyArray(newAlreadyCreated); - } - } - ''') - ptr_ctor_frag = '' - - for cls in self.classes: - if cls.cpp_class().strip() in self.ignore_classes: - continue - - def _has_serialization(cls): - for m in cls.methods: - if m.name in self.whitelist: - return True - return False - - if len(cls.instantiations): - cls_insts = '' - - for i, inst in enumerate(cls.instantiations): - if i != 0: - cls_insts += ', ' - - cls_insts += self._format_type_name(inst) - - typedef_instances += 'typedef {original_class_name} {class_name_sep};\n'.format( - namespace_name=namespace.name, original_class_name=cls.cpp_class(), class_name_sep=cls.name) - - class_name_sep = cls.name - class_name = self._format_class_name(cls) - - if len(cls.original.namespaces()) > 1 and _has_serialization(cls): - boost_class_export_guid += 'BOOST_CLASS_EXPORT_GUID({}, "{}");\n'.format(class_name_sep, class_name) - else: - class_name_sep = cls.cpp_class() - class_name = self._format_class_name(cls) - - if len(cls.original.namespaces()) > 1 and _has_serialization(cls): - boost_class_export_guid += 'BOOST_CLASS_EXPORT_GUID({}, "{}");\n'.format(class_name_sep, class_name) - - typedef_collectors += textwrap.dedent('''\ - typedef std::set*> Collector_{class_name}; - static Collector_{class_name} collector_{class_name}; - ''').format(class_name_sep=class_name_sep, class_name=class_name) - delete_objs += textwrap.indent(textwrap.dedent('''\ - {{ for(Collector_{class_name}::iterator iter = collector_{class_name}.begin(); - iter != collector_{class_name}.end(); ) {{ - delete *iter; - collector_{class_name}.erase(iter++); - anyDeleted = true; - }} }} - ''').format(class_name=class_name), - prefix=' ') - - if cls.is_virtual: - rtti_reg_mid += ' types.insert(std::make_pair(typeid({}).name(), "{}"));\n'.format( - class_name_sep, class_name) - - set_next_case = False - - for id in range(self.wrapper_id): - id_val = self.wrapper_map.get(id) - queue_set_next_case = set_next_case - - set_next_case = False - - if id_val is None: - id_val = self.wrapper_map.get(id + 1) - - if id_val is None: - continue - - set_next_case = True - - ptr_ctor_frag += self.generate_collector_function(id) - - if queue_set_next_case: - ptr_ctor_frag += self.wrap_collector_function_upcast_from_void(id_val[1].name, id, - id_val[1].cpp_class()) - - wrapper_file += textwrap.dedent('''\ - {typedef_instances} - {boost_class_export_guid} - {typedefs_collectors} - {delete_objs} if(anyDeleted) - cout << - "WARNING: Wrap modules with variables in the workspace have been reloaded due to\\n" - "calling destructors, call \'clear all\' again if you plan to now recompile a wrap\\n" - "module, so that your recompiled module is used instead of the old one." << endl; - std::cout.rdbuf(outbuf); - }}\n - {rtti_register} - {pointer_constructor_fragment}{mex_function}''') \ - .format(typedef_instances=typedef_instances, - boost_class_export_guid=boost_class_export_guid, - typedefs_collectors=typedef_collectors, - delete_objs=delete_objs, - rtti_register=rtti_reg_start + rtti_reg_mid + rtti_reg_end, - pointer_constructor_fragment=ptr_ctor_frag, - mex_function=self.mex_function()) - - self.content.append((self._wrapper_name() + '.cpp', wrapper_file)) - - def wrap_class_serialize_method(self, namespace_name, inst_class): - class_name = inst_class.name - wrapper_id = self._update_wrapper_id((namespace_name, inst_class, 'string_serialize', 'serialize')) - - return textwrap.dedent('''\ - function varargout = string_serialize(this, varargin) - % STRING_SERIALIZE usage: string_serialize() : returns string - % Doxygen can be found at https://gtsam.org/doxygen/ - if length(varargin) == 0 - varargout{{1}} = {wrapper}({wrapper_id}, this, varargin{{:}}); - else - error('Arguments do not match any overload of function {class_name}.string_serialize'); - end - end\n - function sobj = saveobj(obj) - % SAVEOBJ Saves the object to a matlab-readable format - sobj = obj.string_serialize(); - end - ''').format(wrapper=self._wrapper_name(), wrapper_id=wrapper_id, class_name=namespace_name + '.' + class_name) - - def wrap_collector_function_serialize(self, class_name, full_name='', namespace=''): - return textwrap.indent(textwrap.dedent('''\ - typedef boost::shared_ptr<{full_name}> Shared; - checkArguments("string_serialize",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr<{full_name}>(in[0], "ptr_{namespace}{class_name}"); - ostringstream out_archive_stream; - boost::archive::text_oarchive out_archive(out_archive_stream); - out_archive << *obj; - out[0] = wrap< string >(out_archive_stream.str()); - ''').format(class_name=class_name, full_name=full_name, namespace=namespace), - prefix=' ') - - def wrap_collector_function_deserialize(self, class_name, full_name='', namespace=''): - return textwrap.indent(textwrap.dedent('''\ - typedef boost::shared_ptr<{full_name}> Shared; - checkArguments("{namespace}{class_name}.string_deserialize",nargout,nargin,1); - string serialized = unwrap< string >(in[0]); - istringstream in_archive_stream(serialized); - boost::archive::text_iarchive in_archive(in_archive_stream); - Shared output(new {full_name}()); - in_archive >> *output; - out[0] = wrap_shared_ptr(output,"{namespace}.{class_name}", false); - ''').format(class_name=class_name, full_name=full_name, namespace=namespace), - prefix=' ') - - def wrap(self): - self.wrap_namespace(self.module) - self.generate_wrapper(self.module) - - return self.content - - -def _generate_content(cc_content, path, verbose=False): - """Generate files and folders from matlab wrapper content. - - Keyword arguments: - cc_content -- the content to generate formatted as - (file_name, file_content) or - (folder_name, [(file_name, file_content)]) - path -- the path to the files parent folder within the main folder - """ - - def _debug(message): - if not verbose: - return - import sys - print(message, file=sys.stderr) - - for c in cc_content: - if type(c) == list: - if len(c) == 0: - continue - _debug("c object: {}".format(c[0][0])) - path_to_folder = path + '/' + c[0][0] - - if not os.path.isdir(path_to_folder): - try: - os.makedirs(path_to_folder, exist_ok=True) - except OSError: - pass - - for sub_content in c: - import sys - _debug("sub object: {}".format(sub_content[1][0][0])) - _generate_content(sub_content[1], path_to_folder) - elif type(c[1]) == list: - path_to_folder = path + '/' + c[0] - - _debug("[generate_content_global]: {}".format(path_to_folder)) - if not os.path.isdir(path_to_folder): - try: - os.makedirs(path_to_folder, exist_ok=True) - except OSError: - pass - for sub_content in c[1]: - import sys - path_to_file = path_to_folder + '/' + sub_content[0] - _debug("[generate_global_method]: {}".format(path_to_file)) - with open(path_to_file, 'w') as f: - f.write(sub_content[1]) - else: - path_to_file = path + '/' + c[0] - - _debug("[generate_content]: {}".format(path_to_file)) - if not os.path.isdir(path_to_file): - try: - os.mkdir(path) - except OSError: - pass - - with open(path_to_file, 'w') as f: - f.write(c[1]) - - -if __name__ == "__main__": - arg_parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) - arg_parser.add_argument("--src", type=str, required=True, help="Input interface .h file.") - arg_parser.add_argument("--module_name", type=str, required=True, help="Name of the C++ class being wrapped.") - arg_parser.add_argument("--out", type=str, required=True, help="Name of the output folder.") - arg_parser.add_argument("--top_module_namespaces", - type=str, - default="", - help="C++ namespace for the top module, e.g. `ns1::ns2::ns3`. " - "Only the content within this namespace and its sub-namespaces " - "will be wrapped. The content of this namespace will be available at " - "the top module level, and its sub-namespaces' in the submodules.\n" - "For example, `import ` gives you access to a Python " - "`.Class` of the corresponding C++ `ns1::ns2::ns3::Class`" - ", and `from import ns4` gives you access to a Python " - "`ns4.Class` of the C++ `ns1::ns2::ns3::ns4::Class`. ") - arg_parser.add_argument("--ignore", - nargs='*', - type=str, - help="A space-separated list of classes to ignore. " - "Class names must include their full namespaces.") - args = arg_parser.parse_args() - - top_module_namespaces = args.top_module_namespaces.split("::") - if top_module_namespaces[0]: - top_module_namespaces = [''] + top_module_namespaces - - with open(args.src, 'r') as f: - content = f.read() - - if not os.path.exists(args.src): - os.mkdir(args.src) - - module = parser.Module.parseString(content) - - instantiator.instantiate_namespace_inplace(module) - - import sys - - print("Ignoring classes: {}".format(args.ignore), file=sys.stderr) - wrapper = MatlabWrapper(module=module, - module_name=args.module_name, - top_module_namespace=top_module_namespaces, - ignore_classes=args.ignore) - - cc_content = wrapper.wrap() - - _generate_content(cc_content, args.out) diff --git a/wrap/pybind_wrapper.py b/wrap/pybind_wrapper.py deleted file mode 100755 index 326d9be52..000000000 --- a/wrap/pybind_wrapper.py +++ /dev/null @@ -1,394 +0,0 @@ -#!/usr/bin/env python3 -""" -GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, -Atlanta, Georgia 30332-0415 -All Rights Reserved - -See LICENSE for the license information - -Code generator for wrapping a C++ module with Pybind11 -Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar and Frank Dellaert -""" -import argparse -import re -import textwrap - -import interface_parser as parser -import template_instantiator as instantiator - - -class PybindWrapper(object): - def __init__(self, - module, - module_name, - top_module_namespaces='', - use_boost=False, - ignore_classes=[], - module_template=""): - self.module = module - self.module_name = module_name - self.top_module_namespaces = top_module_namespaces - self.use_boost = use_boost - self.ignore_classes = ignore_classes - self._serializing_classes = list() - self.module_template = module_template - self.python_keywords = ['print', 'lambda'] - - def _py_args_names(self, args_list): - names = args_list.args_names() - if names: - py_args = ['py::arg("{}")'.format(name) for name in names] - return ", " + ", ".join(py_args) - else: - return '' - - def _method_args_signature_with_names(self, args_list): - cpp_types = args_list.to_cpp(self.use_boost) - names = args_list.args_names() - types_names = ["{} {}".format(ctype, name) for ctype, name in zip(cpp_types, names)] - - return ','.join(types_names) - - def wrap_ctors(self, my_class): - res = "" - for ctor in my_class.ctors: - res += ('\n' + ' ' * 8 + '.def(py::init<{args_cpp_types}>()' - '{py_args_names})'.format( - args_cpp_types=", ".join(ctor.args.to_cpp(self.use_boost)), - py_args_names=self._py_args_names(ctor.args), - )) - return res - - def _wrap_method(self, method, cpp_class, prefix, suffix, method_suffix=""): - py_method = method.name + method_suffix - cpp_method = method.to_cpp() - - if cpp_method in ["serialize", "serializable"]: - if not cpp_class in self._serializing_classes: - self._serializing_classes.append(cpp_class) - return textwrap.dedent(''' - .def("serialize", - []({class_inst} self){{ - return gtsam::serialize(*self); - }} - ) - .def("deserialize", - []({class_inst} self, string serialized){{ - gtsam::deserialize(serialized, *self); - }}, py::arg("serialized")) - '''.format(class_inst=cpp_class + '*')) - - is_method = isinstance(method, instantiator.InstantiatedMethod) - is_static = isinstance(method, parser.StaticMethod) - return_void = method.return_type.is_void() - args_names = method.args.args_names() - py_args_names = self._py_args_names(method.args) - args_signature_with_names = self._method_args_signature_with_names(method.args) - - caller = cpp_class + "::" if not is_method else "self->" - function_call = ('{opt_return} {caller}{function_name}' - '({args_names});'.format( - opt_return='return' if not return_void else '', - caller=caller, - function_name=cpp_method, - args_names=', '.join(args_names), - )) - - ret = ('{prefix}.{cdef}("{py_method}",' - '[]({opt_self}{opt_comma}{args_signature_with_names}){{' - '{function_call}' - '}}' - '{py_args_names}){suffix}'.format( - prefix=prefix, - cdef="def_static" if is_static else "def", - py_method=py_method if not py_method in self.python_keywords else py_method + "_", - opt_self="{cpp_class}* self".format(cpp_class=cpp_class) if is_method else "", - cpp_class=cpp_class, - cpp_method=cpp_method, - opt_comma=',' if is_method and args_names else '', - args_signature_with_names=args_signature_with_names, - function_call=function_call, - py_args_names=py_args_names, - suffix=suffix, - )) - if method.name == 'print': - type_list = method.args.to_cpp(self.use_boost) - if len(type_list) > 0 and type_list[0].strip() == 'string': - ret += '''{prefix}.def("__repr__", - [](const {cpp_class} &a) {{ - gtsam::RedirectCout redirect; - a.print(""); - return redirect.str(); - }}){suffix}'''.format( - prefix=prefix, - cpp_class=cpp_class, - suffix=suffix, - ) - else: - ret += '''{prefix}.def("__repr__", - [](const {cpp_class} &a) {{ - gtsam::RedirectCout redirect; - a.print(); - return redirect.str(); - }}){suffix}'''.format( - prefix=prefix, - cpp_class=cpp_class, - suffix=suffix, - ) - return ret - - def wrap_methods(self, methods, cpp_class, prefix='\n' + ' ' * 8, suffix=''): - res = "" - for method in methods: - - # To avoid type confusion for insert, currently unused - if method.name == 'insert' and cpp_class == 'gtsam::Values': - name_list = method.args.args_names() - type_list = method.args.to_cpp(self.use_boost) - if type_list[0].strip() == 'size_t': # inserting non-wrapped value types - method_suffix = '_' + name_list[1].strip() - res += self._wrap_method(method=method, - cpp_class=cpp_class, - prefix=prefix, - suffix=suffix, - method_suffix=method_suffix) - - res += self._wrap_method( - method=method, - cpp_class=cpp_class, - prefix=prefix, - suffix=suffix, - ) - return res - - def wrap_properties(self, properties, cpp_class, prefix='\n' + ' ' * 8): - res = "" - for prop in properties: - res += ('{prefix}.def_{property}("{property_name}", ' - '&{cpp_class}::{property_name})'.format( - prefix=prefix, - property="readonly" if prop.ctype.is_const else "readwrite", - cpp_class=cpp_class, - property_name=prop.name, - )) - return res - - def wrap_instantiated_class(self, instantiated_class): - module_var = self._gen_module_var(instantiated_class.namespaces()) - cpp_class = instantiated_class.cpp_class() - if cpp_class in self.ignore_classes: - return "" - return ('\n py::class_<{cpp_class}, {class_parent}' - '{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}")' - '{wrapped_ctors}' - '{wrapped_methods}' - '{wrapped_static_methods}' - '{wrapped_properties};\n'.format( - shared_ptr_type=('boost' if self.use_boost else 'std'), - cpp_class=cpp_class, - class_name=instantiated_class.name, - class_parent=str(instantiated_class.parent_class) + - (', ' if instantiated_class.parent_class else ''), - module_var=module_var, - wrapped_ctors=self.wrap_ctors(instantiated_class), - wrapped_methods=self.wrap_methods(instantiated_class.methods, cpp_class), - wrapped_static_methods=self.wrap_methods(instantiated_class.static_methods, cpp_class), - wrapped_properties=self.wrap_properties(instantiated_class.properties, cpp_class), - )) - - def wrap_stl_class(self, stl_class): - module_var = self._gen_module_var(stl_class.namespaces()) - cpp_class = stl_class.cpp_class() - if cpp_class in self.ignore_classes: - return "" - - return ('\n py::class_<{cpp_class}, {class_parent}' - '{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}")' - '{wrapped_ctors}' - '{wrapped_methods}' - '{wrapped_static_methods}' - '{wrapped_properties};\n'.format( - shared_ptr_type=('boost' if self.use_boost else 'std'), - cpp_class=cpp_class, - class_name=stl_class.name, - class_parent=str(stl_class.parent_class) + (', ' if stl_class.parent_class else ''), - module_var=module_var, - wrapped_ctors=self.wrap_ctors(stl_class), - wrapped_methods=self.wrap_methods(stl_class.methods, cpp_class), - wrapped_static_methods=self.wrap_methods(stl_class.static_methods, cpp_class), - wrapped_properties=self.wrap_properties(stl_class.properties, cpp_class), - )) - - def _partial_match(self, namespaces1, namespaces2): - for i in range(min(len(namespaces1), len(namespaces2))): - if namespaces1[i] != namespaces2[i]: - return False - return True - - def _gen_module_var(self, namespaces): - sub_module_namespaces = namespaces[len(self.top_module_namespaces):] - return "m_{}".format('_'.join(sub_module_namespaces)) - - def _add_namespaces(self, name, namespaces): - if namespaces: - # Ignore the first empty global namespace. - idx = 1 if not namespaces[0] else 0 - return '::'.join(namespaces[idx:] + [name]) - else: - return name - - def wrap_namespace(self, namespace): - wrapped = "" - includes = "" - - namespaces = namespace.full_namespaces() - if not self._partial_match(namespaces, self.top_module_namespaces): - return "", "" - - if len(namespaces) < len(self.top_module_namespaces): - for element in namespace.content: - if isinstance(element, parser.Include): - includes += ("{}\n".format(element).replace('<', '"').replace('>', '"')) - if isinstance(element, parser.Namespace): - ( - wrapped_namespace, - includes_namespace, - ) = self.wrap_namespace( # noqa - element) - wrapped += wrapped_namespace - includes += includes_namespace - else: - module_var = self._gen_module_var(namespaces) - - if len(namespaces) > len(self.top_module_namespaces): - wrapped += (' ' * 4 + 'pybind11::module {module_var} = ' - '{parent_module_var}.def_submodule("{namespace}", "' - '{namespace} submodule");\n'.format( - module_var=module_var, - namespace=namespace.name, - parent_module_var=self._gen_module_var(namespaces[:-1]), - )) - - for element in namespace.content: - if isinstance(element, parser.Include): - includes += ("{}\n".format(element).replace('<', '"').replace('>', '"')) - elif isinstance(element, parser.Namespace): - ( - wrapped_namespace, - includes_namespace, - ) = self.wrap_namespace( # noqa - element) - wrapped += wrapped_namespace - includes += includes_namespace - elif isinstance(element, instantiator.InstantiatedClass): - wrapped += self.wrap_instantiated_class(element) - - # Global functions. - all_funcs = [func for func in namespace.content if isinstance(func, parser.GlobalFunction)] - wrapped += self.wrap_methods( - all_funcs, - self._add_namespaces('', namespaces)[:-2], - prefix='\n' + ' ' * 4 + module_var, - suffix=';', - ) - return wrapped, includes - - def wrap(self): - wrapped_namespace, includes = self.wrap_namespace(self.module) - - # Export classes for serialization. - boost_class_export = "" - for cpp_class in self._serializing_classes: - new_name = cpp_class - # The boost's macro doesn't like commas, so we have to typedef. - if ',' in cpp_class: - new_name = re.sub("[,:<> ]", "", cpp_class) - boost_class_export += "typedef {cpp_class} {new_name};\n".format( # noqa - cpp_class=cpp_class, - new_name=new_name, - ) - boost_class_export += "BOOST_CLASS_EXPORT({new_name})\n".format(new_name=new_name, ) - - return self.module_template.format( - include_boost="#include " if self.use_boost else "", - module_name=self.module_name, - includes=includes, - hoder_type= - "PYBIND11_DECLARE_HOLDER_TYPE(TYPE_PLACEHOLDER_DONOTUSE, {shared_ptr_type}::shared_ptr);" - .format(shared_ptr_type=('boost' if self.use_boost else 'std')) if self.use_boost else "", - wrapped_namespace=wrapped_namespace, - boost_class_export=boost_class_export, - ) - - -def main(): - arg_parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) - arg_parser.add_argument("--src", type=str, required=True, help="Input interface .h file") - arg_parser.add_argument( - "--module_name", - type=str, - required=True, - help="Name of the Python module to be generated and " - "used in the Python `import` statement.", - ) - arg_parser.add_argument( - "--out", - type=str, - required=True, - help="Name of the output pybind .cc file", - ) - arg_parser.add_argument( - "--use-boost", - action="store_true", - help="using boost's shared_ptr instead of std's", - ) - arg_parser.add_argument( - "--top_module_namespaces", - type=str, - default="", - help="C++ namespace for the top module, e.g. `ns1::ns2::ns3`. " - "Only the content within this namespace and its sub-namespaces " - "will be wrapped. The content of this namespace will be available at " - "the top module level, and its sub-namespaces' in the submodules.\n" - "For example, `import ` gives you access to a Python " - "`.Class` of the corresponding C++ `ns1::ns2::ns3::Class`" - "and `from import ns4` gives you access to a Python " - "`ns4.Class` of the C++ `ns1::ns2::ns3::ns4::Class`. ", - ) - arg_parser.add_argument( - "--ignore", - nargs='*', - type=str, - help="A space-separated list of classes to ignore. " - "Class names must include their full namespaces.", - ) - arg_parser.add_argument("--template", type=str, help="The module template file") - args = arg_parser.parse_args() - - top_module_namespaces = args.top_module_namespaces.split("::") - if top_module_namespaces[0]: - top_module_namespaces = [''] + top_module_namespaces - - with open(args.src, "r") as f: - content = f.read() - module = parser.Module.parseString(content) - instantiator.instantiate_namespace_inplace(module) - - with open(args.template, "r") as f: - template_content = f.read() - wrapper = PybindWrapper( - module=module, - module_name=args.module_name, - use_boost=args.use_boost, - top_module_namespaces=top_module_namespaces, - ignore_classes=args.ignore, - module_template=template_content, - ) - - cc_content = wrapper.wrap() - with open(args.out, "w") as f: - f.write(cc_content) - - -if __name__ == "__main__": - main() diff --git a/wrap/requirements.txt b/wrap/requirements.txt index 210dfec50..a7181b271 100644 --- a/wrap/requirements.txt +++ b/wrap/requirements.txt @@ -1 +1,2 @@ pyparsing +pytest diff --git a/wrap/scripts/matlab_wrap.py b/wrap/scripts/matlab_wrap.py new file mode 100644 index 000000000..0f6664a63 --- /dev/null +++ b/wrap/scripts/matlab_wrap.py @@ -0,0 +1,58 @@ +#!/usr/bin/env python3 +""" +Helper script to wrap C++ to Matlab. +This script is installed via CMake to the user's binary directory +and invoked during the wrapping by CMake. +""" + +import argparse +import sys + +from gtwrap.matlab_wrapper import MatlabWrapper + +if __name__ == "__main__": + arg_parser = argparse.ArgumentParser( + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + arg_parser.add_argument("--src", + type=str, + required=True, + help="Input interface .h file.") + arg_parser.add_argument("--module_name", + type=str, + required=True, + help="Name of the C++ class being wrapped.") + arg_parser.add_argument("--out", + type=str, + required=True, + help="Name of the output folder.") + arg_parser.add_argument( + "--top_module_namespaces", + type=str, + default="", + help="C++ namespace for the top module, e.g. `ns1::ns2::ns3`. " + "Only the content within this namespace and its sub-namespaces " + "will be wrapped. The content of this namespace will be available at " + "the top module level, and its sub-namespaces' in the submodules.\n" + "For example, `import ` gives you access to a Python " + "`.Class` of the corresponding C++ `ns1::ns2::ns3::Class`" + ", and `from import ns4` gives you access to a Python " + "`ns4.Class` of the C++ `ns1::ns2::ns3::ns4::Class`. ") + arg_parser.add_argument( + "--ignore", + nargs='*', + type=str, + help="A space-separated list of classes to ignore. " + "Class names must include their full namespaces.") + args = arg_parser.parse_args() + + top_module_namespaces = args.top_module_namespaces.split("::") + if top_module_namespaces[0]: + top_module_namespaces = [''] + top_module_namespaces + + print("[MatlabWrapper] Ignoring classes: {}".format(args.ignore), file=sys.stderr) + wrapper = MatlabWrapper(module_name=args.module_name, + top_module_namespace=top_module_namespaces, + ignore_classes=args.ignore) + + sources = args.src.split(';') + cc_content = wrapper.wrap(sources, path=args.out) diff --git a/wrap/scripts/pybind_wrap.py b/wrap/scripts/pybind_wrap.py new file mode 100644 index 000000000..c82a1d24c --- /dev/null +++ b/wrap/scripts/pybind_wrap.py @@ -0,0 +1,87 @@ +#!/usr/bin/env python3 +""" +Helper script to wrap C++ to Python with Pybind. +This script is installed via CMake to the user's binary directory +and invoked during the wrapping by CMake. +""" + +# pylint: disable=import-error + +import argparse + +from gtwrap.pybind_wrapper import PybindWrapper + + +def main(): + """Main runner.""" + arg_parser = argparse.ArgumentParser( + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + arg_parser.add_argument("--src", + type=str, + required=True, + help="Input interface .i/.h file") + arg_parser.add_argument( + "--module_name", + type=str, + required=True, + help="Name of the Python module to be generated and " + "used in the Python `import` statement.", + ) + arg_parser.add_argument( + "--out", + type=str, + required=True, + help="Name of the output pybind .cc file", + ) + arg_parser.add_argument( + "--use-boost", + action="store_true", + help="using boost's shared_ptr instead of std's", + ) + arg_parser.add_argument( + "--top_module_namespaces", + type=str, + default="", + help="C++ namespace for the top module, e.g. `ns1::ns2::ns3`. " + "Only the content within this namespace and its sub-namespaces " + "will be wrapped. The content of this namespace will be available at " + "the top module level, and its sub-namespaces' in the submodules.\n" + "For example, `import ` gives you access to a Python " + "`.Class` of the corresponding C++ `ns1::ns2::ns3::Class`" + "and `from import ns4` gives you access to a Python " + "`ns4.Class` of the C++ `ns1::ns2::ns3::ns4::Class`. ", + ) + arg_parser.add_argument( + "--ignore", + nargs='*', + type=str, + help="A space-separated list of classes to ignore. " + "Class names must include their full namespaces.", + ) + arg_parser.add_argument("--template", + type=str, + help="The module template file") + args = arg_parser.parse_args() + + top_module_namespaces = args.top_module_namespaces.split("::") + if top_module_namespaces[0]: + top_module_namespaces = [''] + top_module_namespaces + + with open(args.template, "r") as f: + template_content = f.read() + + wrapper = PybindWrapper( + module_name=args.module_name, + use_boost=args.use_boost, + top_module_namespaces=top_module_namespaces, + ignore_classes=args.ignore, + module_template=template_content, + ) + + # Wrap the code and get back the cpp/cc code. + sources = args.src.split(';') + wrapper.wrap(sources, args.out) + + +if __name__ == "__main__": + main() diff --git a/wrap/setup.py b/wrap/setup.py new file mode 100644 index 000000000..e8962f175 --- /dev/null +++ b/wrap/setup.py @@ -0,0 +1,36 @@ +"""Setup file for the GTwrap package""" + +try: + from setuptools import find_packages, setup +except ImportError: + from distutils.core import find_packages, setup + +packages = find_packages() + +setup( + name='gtwrap', + description='Library to wrap C++ with Python and Matlab', + version='2.0.0', + author="Frank Dellaert et. al.", + author_email="dellaert@gatech.edu", + license='BSD', + keywords="wrap, bindings, cpp, python", + long_description=open("README.md").read(), + long_description_content_type="text/markdown", + python_requires=">=3.5", + # https://pypi.org/classifiers + classifiers=[ + 'Development Status :: 4 - Beta', + 'Intended Audience :: Education', + 'Intended Audience :: Developers', + 'Intended Audience :: Science/Research', + 'Operating System :: MacOS', + 'Operating System :: Microsoft :: Windows', + 'Operating System :: POSIX', + 'Programming Language :: Python :: 3', + 'Topic :: Software Development :: Libraries' + ], + packages=packages, + platforms="any", + install_requires=open("requirements.txt").readlines(), +) diff --git a/wrap/template_instantiator.py b/wrap/template_instantiator.py deleted file mode 100644 index 3d98e9699..000000000 --- a/wrap/template_instantiator.py +++ /dev/null @@ -1,346 +0,0 @@ -import interface_parser as parser - - -def instantiate_type(ctype, template_typenames, instantiations, cpp_typename, instantiated_class=None): - """ - Instantiate template typename for @p ctype. - @return If ctype's name is in the @p template_typenames, return the - corresponding type to replace in @p instantiations. - If ctype name is `This`, return the new typename @p `cpp_typename`. - Otherwise, return the original ctype. - """ - str_arg_typename = str(ctype.typename) - if str_arg_typename in template_typenames: - idx = template_typenames.index(str_arg_typename) - return parser.Type( - typename=instantiations[idx], - is_const=ctype.is_const, - is_ptr=ctype.is_ptr, - is_ref=ctype.is_ref, - is_basis=ctype.is_basis, - ) - elif str_arg_typename == 'This': - # import sys - if instantiated_class: - name = instantiated_class.original.name - namespaces_name = instantiated_class.namespaces() - namespaces_name.append(name) - # print("INST: {}, {}, CPP: {}, CLS: {}".format( - # ctype, instantiations, cpp_typename, instantiated_class.instantiations - # ), file=sys.stderr) - cpp_typename = parser.Typename( - namespaces_name, instantiations=[inst for inst in instantiated_class.instantiations] - ) - return parser.Type( - typename=cpp_typename, - is_const=ctype.is_const, - is_ptr=ctype.is_ptr, - is_ref=ctype.is_ref, - is_basis=ctype.is_basis, - ) - else: - return ctype - - -def instantiate_args_list(args_list, template_typenames, instantiations, - cpp_typename): - """ - Instantiate template typenames in an argument list. - Type with name `This` will be replaced by @p `cpp_typename`. - - @param[in] args_list A list of `parser.Argument` to instantiate. - @param[in] template_typenames List of template typenames to instantiate, - e.g. ['T', 'U', 'V']. - @param[in] instantiations List of specific types to instantiate, each - associated with each template typename. Each type is a parser.Typename, - including its name and full namespaces. - @param[in] cpp_typename Full-namespace cpp class name of this instantiation - to replace for arguments of type named `This`. - @return A new list of parser.Argument which types are replaced with their - instantiations. - """ - instantiated_args = [] - for arg in args_list: - new_type = instantiate_type( - arg.ctype, template_typenames, instantiations, cpp_typename) - instantiated_args.append( - parser.Argument(name=arg.name, ctype=new_type)) - return instantiated_args - - -def instantiate_return_type(return_type, template_typenames, instantiations, - cpp_typename, instantiated_class=None): - new_type1 = instantiate_type( - return_type.type1, template_typenames, instantiations, cpp_typename, instantiated_class=instantiated_class) - if return_type.type2: - new_type2 = instantiate_type( - return_type.type2, template_typenames, instantiations, - cpp_typename, instantiated_class=instantiated_class) - else: - new_type2 = '' - return parser.ReturnType(new_type1, new_type2) - - -def instantiate_name(original_name, instantiations): - """ - Concatenate instantiated types with an @p original name to form a new - instantiated name. - TODO(duy): To avoid conflicts, we should include the instantiation's - namespaces, but I find that too verbose. - """ - inst_name = '' - - return "{}{}".format(original_name, "".join( - [inst.instantiated_name() for inst in instantiations])) - - -class InstantiatedMethod(parser.Method): - """ - We can only instantiate template methods with a single template parameter. - """ - - def __init__(self, original, instantiation=''): - self.original = original - self.instantiation = instantiation - self.template = '' - self.is_const = original.is_const - self.parent = original.parent - - if not original.template: - self.name = original.name - self.return_type = original.return_type - self.args = original.args - else: - if len(self.original.template.typenames) > 1: - raise ValueError("Can only instantiate template method with " - "single template parameter.") - self.name = instantiate_name(original.name, [self.instantiation]) - self.return_type = instantiate_return_type( - original.return_type, - [self.original.template.typenames[0]], - [self.instantiation], - # Keyword type name `This` should already be replaced in the - # previous class template instantiation round. - cpp_typename='', - ) - instantiated_args = instantiate_args_list( - original.args.args_list, - [self.original.template.typenames[0]], - [self.instantiation], - # Keyword type name `This` should already be replaced in the - # previous class template instantiation round. - cpp_typename='', - ) - self.args = parser.ArgumentList(instantiated_args) - - def to_cpp(self): - if self.original.template: - return "{}<{}>".format(self.original.name, self.instantiation) - else: - return self.original.name - - def __repr__(self): - return "Instantiated {}".format( - super(InstantiatedMethod, self).__repr__() - ) - - -class InstantiatedClass(parser.Class): - def __init__(self, original, instantiations=[], new_name=''): - """ - Template - Instantiations: [T1, U1] - """ - self.original = original - self.instantiations = instantiations - - self.template = '' - self.is_virtual = original.is_virtual - self.parent_class = original.parent_class - self.parent = original.parent - - if not original.template: - self.name = original.name - self.ctors = list(original.ctors) - self.static_methods = list(original.static_methods) - class_instantiated_methods = list(original.methods) - self.properties = list(original.properties) - else: - # Check conditions. - assert len(original.template.typenames) == len( - instantiations), "Typenames and instantiations mismatch!" - - self.name = instantiate_name( - original.name, instantiations) if not new_name else new_name - self.ctors = self.instantiate_ctors() - self.static_methods = self.instantiate_static_methods() - class_instantiated_methods = \ - self.instantiate_class_templates_in_methods() - self.properties = self.instantiate_properties() - - # Second instantiation round to instantiate template methods. - self.methods = [] - for method in class_instantiated_methods: - if not method.template: - self.methods.append(InstantiatedMethod(method, '')) - else: - assert len( - method.template.typenames) == 1, ""\ - "Can only instantiate single template methods" - for inst in method.template.instantiations[0]: - self.methods.append(InstantiatedMethod(method, inst)) - - def __repr__(self): - return "{virtual} class {name} [{cpp_class}]: {parent_class}\n"\ - "{ctors}\n{static_methods}\n{methods}".format( - virtual="virtual" if self.is_virtual else '', - name=self.name, - cpp_class=self.cpp_class(), - parent_class=self.parent, - ctors="\n".join([ctor.__repr__() for ctor in self.ctors]), - methods="\n".join([m.__repr__() for m in self.methods]), - static_methods="\n".join([m.__repr__() - for m in self.static_methods]), - ) - - def instantiate_ctors(self): - instantiated_ctors = [] - for ctor in self.original.ctors: - instantiated_args = instantiate_args_list( - ctor.args.args_list, - self.original.template.typenames, - self.instantiations, - self.cpp_typename(), - ) - instantiated_ctors.append(parser.Constructor( - name=self.name, - args=parser.ArgumentList(instantiated_args), - parent=self, - )) - return instantiated_ctors - - def instantiate_static_methods(self): - instantiated_static_methods = [] - for static_method in self.original.static_methods: - instantiated_args = instantiate_args_list( - static_method.args.args_list, - self.original.template.typenames, - self.instantiations, - self.cpp_typename() - ) - instantiated_static_methods.append( - parser.StaticMethod( - name=static_method.name, - return_type=instantiate_return_type( - static_method.return_type, - self.original.template.typenames, - self.instantiations, - self.cpp_typename(), - instantiated_class=self - ), - args=parser.ArgumentList(instantiated_args), - parent=self, - ) - ) - return instantiated_static_methods - - def instantiate_class_templates_in_methods(self): - """ - This function only instantiates class templates in the methods. - Template methods are instantiated in InstantiatedMethod in the second - round. - """ - class_instantiated_methods = [] - for method in self.original.methods: - instantiated_args = instantiate_args_list( - method.args.args_list, - self.original.template.typenames, - self.instantiations, - self.cpp_typename(), - ) - class_instantiated_methods.append(parser.Method( - template=method.template, - name=method.name, - return_type=instantiate_return_type( - method.return_type, - self.original.template.typenames, - self.instantiations, - self.cpp_typename(), - ), - args=parser.ArgumentList(instantiated_args), - is_const=method.is_const, - parent=self, - )) - return class_instantiated_methods - - def instantiate_properties(self): - instantiated_properties = instantiate_args_list( - self.original.properties, - self.original.template.typenames, - self.instantiations, - self.cpp_typename(), - ) - return instantiated_properties - - def cpp_class(self): - return self.cpp_typename().to_cpp() - - def cpp_typename(self): - """ - Return a parser.Typename including namespaces and cpp name of this - class. - """ - if self.original.template: - name = "{}<{}>".format( - self.original.name, - ", ".join([inst.to_cpp() for inst in self.instantiations])) - else: - name = self.original.name - namespaces_name = self.namespaces() - namespaces_name.append(name) - return parser.Typename(namespaces_name) - - -def instantiate_namespace_inplace(namespace): - """ - @param[in/out] namespace The namespace which content will be replaced with - the instantiated content. - """ - instantiated_content = [] - typedef_content = [] - - for element in namespace.content: - if isinstance(element, parser.Class): - original_class = element - if not original_class.template: - instantiated_content.append( - InstantiatedClass(original_class, [])) - else: - if (len(original_class.template.typenames) > 1 - and original_class.template.instantiations[0]): - raise ValueError( - "Can't instantiate multi-parameter templates here. " - "Please use typedef template instantiation." - ) - for inst in original_class.template.instantiations[0]: - instantiated_content.append( - InstantiatedClass(original_class, [inst])) - elif isinstance(element, parser.TypedefTemplateInstantiation): - typedef_inst = element - original_class = namespace.top_level().find_class( - typedef_inst.typename) - typedef_content.append( - InstantiatedClass( - original_class, - typedef_inst.typename.instantiations, - typedef_inst.new_name - ) - ) - elif isinstance(element, parser.Namespace): - instantiate_namespace_inplace(element) - instantiated_content.append(element) - else: - instantiated_content.append(element) - - instantiated_content.extend(typedef_content) - namespace.content = instantiated_content diff --git a/wrap/templates/matlab_wrapper.tpl.in b/wrap/templates/matlab_wrapper.tpl.in new file mode 100644 index 000000000..d42025726 --- /dev/null +++ b/wrap/templates/matlab_wrapper.tpl.in @@ -0,0 +1,2 @@ +#include <${GTWRAP_INCLUDE_NAME}/matlab.h> +#include diff --git a/wrap/pybind_wrapper.tpl.example b/wrap/templates/pybind_wrapper.tpl.example similarity index 65% rename from wrap/pybind_wrapper.tpl.example rename to wrap/templates/pybind_wrapper.tpl.example index 1bdd55140..485aa8d00 100644 --- a/wrap/pybind_wrapper.tpl.example +++ b/wrap/templates/pybind_wrapper.tpl.example @@ -3,15 +3,18 @@ #include #include #include +#include +#include +#include #include "gtsam/base/serialization.h" -#include "gtsam/nonlinear/utilities.h" // for RedirectCout. +#include "gtsam/base/utilities.h" // for RedirectCout. {includes} #include {boost_class_export} -{hoder_type} +{holder_type} #include "python/preamble.h" @@ -19,9 +22,13 @@ using namespace std; namespace py = pybind11; -PYBIND11_MODULE({module_name}, m_) {{ +{submodules} + +{module_def} {{ m_.doc() = "pybind11 wrapper of {module_name}"; +{submodules_init} + {wrapped_namespace} #include "python/specializations.h" diff --git a/wrap/tests/.gitignore b/wrap/tests/.gitignore index 3169b1591..2981c977b 100644 --- a/wrap/tests/.gitignore +++ b/wrap/tests/.gitignore @@ -1,3 +1 @@ -actual-python/ -actual-matlab/ -actual-xml-generation/ \ No newline at end of file +actual/** diff --git a/wrap/tests/expected-matlab/PrimitiveRef.m b/wrap/tests/expected-matlab/PrimitiveRef.m deleted file mode 100644 index 63c295078..000000000 --- a/wrap/tests/expected-matlab/PrimitiveRef.m +++ /dev/null @@ -1,54 +0,0 @@ -%class PrimitiveRef, see Doxygen page for details -%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html -% -%-------Constructors------- -%PrimitiveRef() -% -%-------Static Methods------- -%Brutal(double t) : returns This -% -%-------Serialization Interface------- -%string_serialize() : returns string -%string_deserialize(string serialized) : returns PrimitiveRef -% -classdef PrimitiveRef < handle - properties - ptr_PrimitiveRef = 0 - end - methods - function obj = PrimitiveRef(varargin) - if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) - my_ptr = varargin{2}; - geometry_wrapper(78, my_ptr); - elseif nargin == 0 - my_ptr = geometry_wrapper(79); - else - error('Arguments do not match any overload of PrimitiveRef constructor'); - end - obj.ptr_PrimitiveRef = my_ptr; - end - - function delete(obj) - geometry_wrapper(80, obj.ptr_PrimitiveRef); - end - - function display(obj), obj.print(''); end - %DISPLAY Calls print on the object - function disp(obj), obj.display; end - %DISP Calls print on the object - end - - methods(Static = true) - function varargout = Brutal(varargin) - % BRUTAL usage: Brutal(double t) : returns This - % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html - if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(81, varargin{:}); - return - end - - error('Arguments do not match any overload of function PrimitiveRef.Brutal'); - end - - end -end diff --git a/wrap/tests/expected-matlab/geometry_wrapper.cpp b/wrap/tests/expected-matlab/geometry_wrapper.cpp deleted file mode 100644 index 70f673d25..000000000 --- a/wrap/tests/expected-matlab/geometry_wrapper.cpp +++ /dev/null @@ -1,1421 +0,0 @@ -#include -#include - -#include -#include -#include - -#include -#include -#include - -typedef MyTemplate MyTemplatePoint2; -typedef MyTemplate MyTemplateMatrix; -typedef PrimitiveRef PrimitiveRefdouble; -typedef MyVector<3> MyVector3; -typedef MyVector<12> MyVector12; -typedef MyFactor MyFactorPosePoint2; - -BOOST_CLASS_EXPORT_GUID(gtsam::Point2, "gtsamPoint2"); -BOOST_CLASS_EXPORT_GUID(gtsam::Point3, "gtsamPoint3"); - -typedef std::set*> Collector_gtsamPoint2; -static Collector_gtsamPoint2 collector_gtsamPoint2; -typedef std::set*> Collector_gtsamPoint3; -static Collector_gtsamPoint3 collector_gtsamPoint3; -typedef std::set*> Collector_Test; -static Collector_Test collector_Test; -typedef std::set*> Collector_MyBase; -static Collector_MyBase collector_MyBase; -typedef std::set*> Collector_MyTemplatePoint2; -static Collector_MyTemplatePoint2 collector_MyTemplatePoint2; -typedef std::set*> Collector_MyTemplateMatrix; -static Collector_MyTemplateMatrix collector_MyTemplateMatrix; -typedef std::set*> Collector_PrimitiveRefdouble; -static Collector_PrimitiveRefdouble collector_PrimitiveRefdouble; -typedef std::set*> Collector_MyVector3; -static Collector_MyVector3 collector_MyVector3; -typedef std::set*> Collector_MyVector12; -static Collector_MyVector12 collector_MyVector12; -typedef std::set*> Collector_MyFactorPosePoint2; -static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2; - -void _deleteAllObjects() -{ - mstream mout; - std::streambuf *outbuf = std::cout.rdbuf(&mout); - - bool anyDeleted = false; - { for(Collector_gtsamPoint2::iterator iter = collector_gtsamPoint2.begin(); - iter != collector_gtsamPoint2.end(); ) { - delete *iter; - collector_gtsamPoint2.erase(iter++); - anyDeleted = true; - } } - { for(Collector_gtsamPoint3::iterator iter = collector_gtsamPoint3.begin(); - iter != collector_gtsamPoint3.end(); ) { - delete *iter; - collector_gtsamPoint3.erase(iter++); - anyDeleted = true; - } } - { for(Collector_Test::iterator iter = collector_Test.begin(); - iter != collector_Test.end(); ) { - delete *iter; - collector_Test.erase(iter++); - anyDeleted = true; - } } - { for(Collector_MyBase::iterator iter = collector_MyBase.begin(); - iter != collector_MyBase.end(); ) { - delete *iter; - collector_MyBase.erase(iter++); - anyDeleted = true; - } } - { for(Collector_MyTemplatePoint2::iterator iter = collector_MyTemplatePoint2.begin(); - iter != collector_MyTemplatePoint2.end(); ) { - delete *iter; - collector_MyTemplatePoint2.erase(iter++); - anyDeleted = true; - } } - { for(Collector_MyTemplateMatrix::iterator iter = collector_MyTemplateMatrix.begin(); - iter != collector_MyTemplateMatrix.end(); ) { - delete *iter; - collector_MyTemplateMatrix.erase(iter++); - anyDeleted = true; - } } - { for(Collector_PrimitiveRefdouble::iterator iter = collector_PrimitiveRefdouble.begin(); - iter != collector_PrimitiveRefdouble.end(); ) { - delete *iter; - collector_PrimitiveRefdouble.erase(iter++); - anyDeleted = true; - } } - { for(Collector_MyVector3::iterator iter = collector_MyVector3.begin(); - iter != collector_MyVector3.end(); ) { - delete *iter; - collector_MyVector3.erase(iter++); - anyDeleted = true; - } } - { for(Collector_MyVector12::iterator iter = collector_MyVector12.begin(); - iter != collector_MyVector12.end(); ) { - delete *iter; - collector_MyVector12.erase(iter++); - anyDeleted = true; - } } - { for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin(); - iter != collector_MyFactorPosePoint2.end(); ) { - delete *iter; - collector_MyFactorPosePoint2.erase(iter++); - anyDeleted = true; - } } - if(anyDeleted) - cout << - "WARNING: Wrap modules with variables in the workspace have been reloaded due to\n" - "calling destructors, call 'clear all' again if you plan to now recompile a wrap\n" - "module, so that your recompiled module is used instead of the old one." << endl; - std::cout.rdbuf(outbuf); -} - -void _geometry_RTTIRegister() { - const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_geometry_rttiRegistry_created"); - if(!alreadyCreated) { - std::map types; - types.insert(std::make_pair(typeid(MyBase).name(), "MyBase")); - types.insert(std::make_pair(typeid(MyTemplatePoint2).name(), "MyTemplatePoint2")); - types.insert(std::make_pair(typeid(MyTemplateMatrix).name(), "MyTemplateMatrix")); - - mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); - if(!registry) - registry = mxCreateStructMatrix(1, 1, 0, NULL); - typedef std::pair StringPair; - for(const StringPair& rtti_matlab: types) { - int fieldId = mxAddField(registry, rtti_matlab.first.c_str()); - if(fieldId < 0) - mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); - mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str()); - mxSetFieldByNumber(registry, 0, fieldId, matlabName); - } - if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) - mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); - mxDestroyArray(registry); - - mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); - if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) - mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); - mxDestroyArray(newAlreadyCreated); - } -} - -void gtsamPoint2_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr Shared; - - Shared *self = *reinterpret_cast (mxGetData(in[0])); - collector_gtsamPoint2.insert(self); -} - -void gtsamPoint2_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr Shared; - - Shared *self = new Shared(new gtsam::Point2()); - collector_gtsamPoint2.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetData(out[0])) = self; -} - -void gtsamPoint2_constructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr Shared; - - double x = unwrap< double >(in[0]); - double y = unwrap< double >(in[1]); - Shared *self = new Shared(new gtsam::Point2(x,y)); - collector_gtsamPoint2.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetData(out[0])) = self; -} - -void gtsamPoint2_deconstructor_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - typedef boost::shared_ptr Shared; - checkArguments("delete_gtsamPoint2",nargout,nargin,1); - Shared *self = *reinterpret_cast(mxGetData(in[0])); - Collector_gtsamPoint2::iterator item; - item = collector_gtsamPoint2.find(self); - if(item != collector_gtsamPoint2.end()) { - delete self; - collector_gtsamPoint2.erase(item); - } -} - -void gtsamPoint2_argChar_4(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("argChar",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); - char a = unwrap< char >(in[1]); - obj->argChar(a); -} - -void gtsamPoint2_argUChar_5(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("argUChar",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); - unsigned char a = unwrap< unsigned char >(in[1]); - obj->argUChar(a); -} - -void gtsamPoint2_dim_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("dim",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); - out[0] = wrap< int >(obj->dim()); -} - -void gtsamPoint2_eigenArguments_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("eigenArguments",nargout,nargin-1,2); - auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); - Vector v = unwrap< Vector >(in[1]); - Matrix m = unwrap< Matrix >(in[2]); - obj->eigenArguments(v,m); -} - -void gtsamPoint2_returnChar_8(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("returnChar",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); - out[0] = wrap< char >(obj->returnChar()); -} - -void gtsamPoint2_vectorConfusion_9(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("vectorConfusion",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); - out[0] = wrap_shared_ptr(boost::make_shared(obj->vectorConfusion()),"VectorNotEigen", false); -} - -void gtsamPoint2_x_10(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("x",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); - out[0] = wrap< double >(obj->x()); -} - -void gtsamPoint2_y_11(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("y",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); - out[0] = wrap< double >(obj->y()); -} - -void gtsamPoint3_collectorInsertAndMakeBase_12(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr Shared; - - Shared *self = *reinterpret_cast (mxGetData(in[0])); - collector_gtsamPoint3.insert(self); -} - -void gtsamPoint3_constructor_13(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr Shared; - - double x = unwrap< double >(in[0]); - double y = unwrap< double >(in[1]); - double z = unwrap< double >(in[2]); - Shared *self = new Shared(new gtsam::Point3(x,y,z)); - collector_gtsamPoint3.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetData(out[0])) = self; -} - -void gtsamPoint3_deconstructor_14(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - typedef boost::shared_ptr Shared; - checkArguments("delete_gtsamPoint3",nargout,nargin,1); - Shared *self = *reinterpret_cast(mxGetData(in[0])); - Collector_gtsamPoint3::iterator item; - item = collector_gtsamPoint3.find(self); - if(item != collector_gtsamPoint3.end()) { - delete self; - collector_gtsamPoint3.erase(item); - } -} - -void gtsamPoint3_norm_15(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("norm",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint3"); - out[0] = wrap< double >(obj->norm()); -} - -void gtsamPoint3_string_serialize_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - typedef boost::shared_ptr Shared; - checkArguments("string_serialize",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint3"); - ostringstream out_archive_stream; - boost::archive::text_oarchive out_archive(out_archive_stream); - out_archive << *obj; - out[0] = wrap< string >(out_archive_stream.str()); -} -void gtsamPoint3_StaticFunctionRet_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("gtsamPoint3.StaticFunctionRet",nargout,nargin,1); - double z = unwrap< double >(in[0]); - out[0] = wrap< Point3 >(gtsam::Point3::StaticFunctionRet(z)); -} - -void gtsamPoint3_staticFunction_18(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("gtsamPoint3.staticFunction",nargout,nargin,0); - out[0] = wrap< double >(gtsam::Point3::staticFunction()); -} - -void gtsamPoint3_string_deserialize_19(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - typedef boost::shared_ptr Shared; - checkArguments("gtsamPoint3.string_deserialize",nargout,nargin,1); - string serialized = unwrap< string >(in[0]); - istringstream in_archive_stream(serialized); - boost::archive::text_iarchive in_archive(in_archive_stream); - Shared output(new gtsam::Point3()); - in_archive >> *output; - out[0] = wrap_shared_ptr(output,"gtsam.Point3", false); -} -void Test_collectorInsertAndMakeBase_20(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr Shared; - - Shared *self = *reinterpret_cast (mxGetData(in[0])); - collector_Test.insert(self); -} - -void Test_constructor_21(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr Shared; - - Shared *self = new Shared(new Test()); - collector_Test.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetData(out[0])) = self; -} - -void Test_constructor_22(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr Shared; - - double a = unwrap< double >(in[0]); - Matrix b = unwrap< Matrix >(in[1]); - Shared *self = new Shared(new Test(a,b)); - collector_Test.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetData(out[0])) = self; -} - -void Test_deconstructor_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - typedef boost::shared_ptr Shared; - checkArguments("delete_Test",nargout,nargin,1); - Shared *self = *reinterpret_cast(mxGetData(in[0])); - Collector_Test::iterator item; - item = collector_Test.find(self); - if(item != collector_Test.end()) { - delete self; - collector_Test.erase(item); - } -} - -void Test_arg_EigenConstRef_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("arg_EigenConstRef",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - Matrix value = unwrap< Matrix >(in[1]); - obj->arg_EigenConstRef(value); -} - -void Test_create_MixedPtrs_25(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("create_MixedPtrs",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - auto pairResult = obj->create_MixedPtrs(); - out[0] = wrap_shared_ptr(boost::make_shared(pairResult.first),"Test", false); - out[1] = wrap_shared_ptr(pairResult.second,"Test", false); -} - -void Test_create_ptrs_26(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("create_ptrs",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - auto pairResult = obj->create_ptrs(); - out[0] = wrap_shared_ptr(pairResult.first,"Test", false); - out[1] = wrap_shared_ptr(pairResult.second,"Test", false); -} - -void Test_print_27(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("print",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - obj->print(); -} - -void Test_return_Point2Ptr_28(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_Point2Ptr",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - bool value = unwrap< bool >(in[1]); - { - boost::shared_ptr shared(obj->return_Point2Ptr(value)); - out[0] = wrap_shared_ptr(shared,"Point2"); - } -} - -void Test_return_Test_29(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_Test",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "ptr_Test"); - out[0] = wrap_shared_ptr(boost::make_shared(obj->return_Test(value)),"Test", false); -} - -void Test_return_TestPtr_30(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_TestPtr",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "ptr_Test"); - out[0] = wrap_shared_ptr(obj->return_TestPtr(value),"Test", false); -} - -void Test_return_bool_31(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_bool",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - bool value = unwrap< bool >(in[1]); - out[0] = wrap< bool >(obj->return_bool(value)); -} - -void Test_return_double_32(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_double",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - double value = unwrap< double >(in[1]); - out[0] = wrap< double >(obj->return_double(value)); -} - -void Test_return_field_33(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_field",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - Test& t = *unwrap_shared_ptr< Test >(in[1], "ptr_Test"); - out[0] = wrap< bool >(obj->return_field(t)); -} - -void Test_return_int_34(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_int",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - int value = unwrap< int >(in[1]); - out[0] = wrap< int >(obj->return_int(value)); -} - -void Test_return_matrix1_35(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_matrix1",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - Matrix value = unwrap< Matrix >(in[1]); - out[0] = wrap< Matrix >(obj->return_matrix1(value)); -} - -void Test_return_matrix2_36(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_matrix2",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - Matrix value = unwrap< Matrix >(in[1]); - out[0] = wrap< Matrix >(obj->return_matrix2(value)); -} - -void Test_return_pair_37(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_pair",nargout,nargin-1,2); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - Vector v = unwrap< Vector >(in[1]); - Matrix A = unwrap< Matrix >(in[2]); - auto pairResult = obj->return_pair(v,A); - out[0] = wrap< Vector >(pairResult.first); - out[1] = wrap< Matrix >(pairResult.second); -} - -void Test_return_pair_38(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_pair",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - Vector v = unwrap< Vector >(in[1]); - auto pairResult = obj->return_pair(v); - out[0] = wrap< Vector >(pairResult.first); - out[1] = wrap< Matrix >(pairResult.second); -} - -void Test_return_ptrs_39(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_ptrs",nargout,nargin-1,2); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - boost::shared_ptr p1 = unwrap_shared_ptr< Test >(in[1], "ptr_Test"); - boost::shared_ptr p2 = unwrap_shared_ptr< Test >(in[2], "ptr_Test"); - auto pairResult = obj->return_ptrs(p1,p2); - out[0] = wrap_shared_ptr(pairResult.first,"Test", false); - out[1] = wrap_shared_ptr(pairResult.second,"Test", false); -} - -void Test_return_size_t_40(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_size_t",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - size_t value = unwrap< size_t >(in[1]); - out[0] = wrap< size_t >(obj->return_size_t(value)); -} - -void Test_return_string_41(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_string",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - string value = unwrap< string >(in[1]); - out[0] = wrap< string >(obj->return_string(value)); -} - -void Test_return_vector1_42(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_vector1",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - Vector value = unwrap< Vector >(in[1]); - out[0] = wrap< Vector >(obj->return_vector1(value)); -} - -void Test_return_vector2_43(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_vector2",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); - Vector value = unwrap< Vector >(in[1]); - out[0] = wrap< Vector >(obj->return_vector2(value)); -} - -void MyBase_collectorInsertAndMakeBase_44(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr Shared; - - Shared *self = *reinterpret_cast (mxGetData(in[0])); - collector_MyBase.insert(self); -} - -void MyBase_upcastFromVoid_45(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr Shared; - boost::shared_ptr *asVoid = *reinterpret_cast**> (mxGetData(in[0])); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - Shared *self = new Shared(boost::static_pointer_cast(*asVoid)); - *reinterpret_cast(mxGetData(out[0])) = self; -} - -void MyBase_deconstructor_46(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - typedef boost::shared_ptr Shared; - checkArguments("delete_MyBase",nargout,nargin,1); - Shared *self = *reinterpret_cast(mxGetData(in[0])); - Collector_MyBase::iterator item; - item = collector_MyBase.find(self); - if(item != collector_MyBase.end()) { - delete self; - collector_MyBase.erase(item); - } -} - -void MyTemplatePoint2_collectorInsertAndMakeBase_47(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - - Shared *self = *reinterpret_cast (mxGetData(in[0])); - collector_MyTemplatePoint2.insert(self); - - typedef boost::shared_ptr SharedBase; - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast(mxGetData(out[0])) = new SharedBase(*self); -} - -void MyTemplatePoint2_upcastFromVoid_48(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - boost::shared_ptr *asVoid = *reinterpret_cast**> (mxGetData(in[0])); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - Shared *self = new Shared(boost::static_pointer_cast>(*asVoid)); - *reinterpret_cast(mxGetData(out[0])) = self; -} - -void MyTemplatePoint2_constructor_49(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - - Shared *self = new Shared(new MyTemplate()); - collector_MyTemplatePoint2.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetData(out[0])) = self; - - typedef boost::shared_ptr SharedBase; - out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast(mxGetData(out[1])) = new SharedBase(*self); -} - -void MyTemplatePoint2_deconstructor_50(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - typedef boost::shared_ptr> Shared; - checkArguments("delete_MyTemplatePoint2",nargout,nargin,1); - Shared *self = *reinterpret_cast(mxGetData(in[0])); - Collector_MyTemplatePoint2::iterator item; - item = collector_MyTemplatePoint2.find(self); - if(item != collector_MyTemplatePoint2.end()) { - delete self; - collector_MyTemplatePoint2.erase(item); - } -} - -void MyTemplatePoint2_accept_T_51(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("accept_T",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); - Point2 value = unwrap< Point2 >(in[1]); - obj->accept_T(value); -} - -void MyTemplatePoint2_accept_Tptr_52(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("accept_Tptr",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); - Point2 value = unwrap< Point2 >(in[1]); - obj->accept_Tptr(value); -} - -void MyTemplatePoint2_create_MixedPtrs_53(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("create_MixedPtrs",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); - auto pairResult = obj->create_MixedPtrs(); - out[0] = wrap< Point2 >(pairResult.first); - { - boost::shared_ptr shared(pairResult.second); - out[1] = wrap_shared_ptr(shared,"Point2"); - } -} - -void MyTemplatePoint2_create_ptrs_54(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("create_ptrs",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); - auto pairResult = obj->create_ptrs(); - { - boost::shared_ptr shared(pairResult.first); - out[0] = wrap_shared_ptr(shared,"Point2"); - } - { - boost::shared_ptr shared(pairResult.second); - out[1] = wrap_shared_ptr(shared,"Point2"); - } -} - -void MyTemplatePoint2_return_T_55(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_T",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); - Point2 value = unwrap< Point2 >(in[1]); - out[0] = wrap< Point2 >(obj->return_T(value)); -} - -void MyTemplatePoint2_return_Tptr_56(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_Tptr",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); - Point2 value = unwrap< Point2 >(in[1]); - { - boost::shared_ptr shared(obj->return_Tptr(value)); - out[0] = wrap_shared_ptr(shared,"Point2"); - } -} - -void MyTemplatePoint2_return_ptrs_57(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_ptrs",nargout,nargin-1,2); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); - Point2 p1 = unwrap< Point2 >(in[1]); - Point2 p2 = unwrap< Point2 >(in[2]); - auto pairResult = obj->return_ptrs(p1,p2); - { - boost::shared_ptr shared(pairResult.first); - out[0] = wrap_shared_ptr(shared,"Point2"); - } - { - boost::shared_ptr shared(pairResult.second); - out[1] = wrap_shared_ptr(shared,"Point2"); - } -} - -void MyTemplatePoint2_templatedMethod_58(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("templatedMethodMatrix",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); - Matrix t = unwrap< Matrix >(in[1]); - out[0] = wrap< Matrix >(obj->templatedMethod(t)); -} - -void MyTemplatePoint2_templatedMethod_59(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("templatedMethodPoint2",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); - Point2 t = unwrap< Point2 >(in[1]); - out[0] = wrap< Point2 >(obj->templatedMethod(t)); -} - -void MyTemplatePoint2_templatedMethod_60(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("templatedMethodPoint3",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); - Point3 t = unwrap< Point3 >(in[1]); - out[0] = wrap< Point3 >(obj->templatedMethod(t)); -} - -void MyTemplatePoint2_templatedMethod_61(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("templatedMethodVector",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); - Vector t = unwrap< Vector >(in[1]); - out[0] = wrap< Vector >(obj->templatedMethod(t)); -} - -void MyTemplatePoint2_Level_62(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("MyTemplatePoint2.Level",nargout,nargin,1); - Point2 K = unwrap< Point2 >(in[0]); - out[0] = wrap_shared_ptr(boost::make_shared>(MyTemplate::Level(K)),"MyTemplatePoint2", false); -} - -void MyTemplateMatrix_collectorInsertAndMakeBase_63(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - - Shared *self = *reinterpret_cast (mxGetData(in[0])); - collector_MyTemplateMatrix.insert(self); - - typedef boost::shared_ptr SharedBase; - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast(mxGetData(out[0])) = new SharedBase(*self); -} - -void MyTemplateMatrix_upcastFromVoid_64(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - boost::shared_ptr *asVoid = *reinterpret_cast**> (mxGetData(in[0])); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - Shared *self = new Shared(boost::static_pointer_cast>(*asVoid)); - *reinterpret_cast(mxGetData(out[0])) = self; -} - -void MyTemplateMatrix_constructor_65(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - - Shared *self = new Shared(new MyTemplate()); - collector_MyTemplateMatrix.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetData(out[0])) = self; - - typedef boost::shared_ptr SharedBase; - out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast(mxGetData(out[1])) = new SharedBase(*self); -} - -void MyTemplateMatrix_deconstructor_66(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - typedef boost::shared_ptr> Shared; - checkArguments("delete_MyTemplateMatrix",nargout,nargin,1); - Shared *self = *reinterpret_cast(mxGetData(in[0])); - Collector_MyTemplateMatrix::iterator item; - item = collector_MyTemplateMatrix.find(self); - if(item != collector_MyTemplateMatrix.end()) { - delete self; - collector_MyTemplateMatrix.erase(item); - } -} - -void MyTemplateMatrix_accept_T_67(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("accept_T",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); - Matrix value = unwrap< Matrix >(in[1]); - obj->accept_T(value); -} - -void MyTemplateMatrix_accept_Tptr_68(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("accept_Tptr",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); - Matrix value = unwrap< Matrix >(in[1]); - obj->accept_Tptr(value); -} - -void MyTemplateMatrix_create_MixedPtrs_69(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("create_MixedPtrs",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); - auto pairResult = obj->create_MixedPtrs(); - out[0] = wrap< Matrix >(pairResult.first); - { - boost::shared_ptr shared(pairResult.second); - out[1] = wrap_shared_ptr(shared,"Matrix"); - } -} - -void MyTemplateMatrix_create_ptrs_70(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("create_ptrs",nargout,nargin-1,0); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); - auto pairResult = obj->create_ptrs(); - { - boost::shared_ptr shared(pairResult.first); - out[0] = wrap_shared_ptr(shared,"Matrix"); - } - { - boost::shared_ptr shared(pairResult.second); - out[1] = wrap_shared_ptr(shared,"Matrix"); - } -} - -void MyTemplateMatrix_return_T_71(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_T",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); - Matrix value = unwrap< Matrix >(in[1]); - out[0] = wrap< Matrix >(obj->return_T(value)); -} - -void MyTemplateMatrix_return_Tptr_72(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_Tptr",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); - Matrix value = unwrap< Matrix >(in[1]); - { - boost::shared_ptr shared(obj->return_Tptr(value)); - out[0] = wrap_shared_ptr(shared,"Matrix"); - } -} - -void MyTemplateMatrix_return_ptrs_73(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_ptrs",nargout,nargin-1,2); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); - Matrix p1 = unwrap< Matrix >(in[1]); - Matrix p2 = unwrap< Matrix >(in[2]); - auto pairResult = obj->return_ptrs(p1,p2); - { - boost::shared_ptr shared(pairResult.first); - out[0] = wrap_shared_ptr(shared,"Matrix"); - } - { - boost::shared_ptr shared(pairResult.second); - out[1] = wrap_shared_ptr(shared,"Matrix"); - } -} - -void MyTemplateMatrix_templatedMethod_74(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("templatedMethodMatrix",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); - Matrix t = unwrap< Matrix >(in[1]); - out[0] = wrap< Matrix >(obj->templatedMethod(t)); -} - -void MyTemplateMatrix_templatedMethod_75(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("templatedMethodPoint2",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); - Point2 t = unwrap< Point2 >(in[1]); - out[0] = wrap< Point2 >(obj->templatedMethod(t)); -} - -void MyTemplateMatrix_templatedMethod_76(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("templatedMethodPoint3",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); - Point3 t = unwrap< Point3 >(in[1]); - out[0] = wrap< Point3 >(obj->templatedMethod(t)); -} - -void MyTemplateMatrix_templatedMethod_77(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("templatedMethodVector",nargout,nargin-1,1); - auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); - Vector t = unwrap< Vector >(in[1]); - out[0] = wrap< Vector >(obj->templatedMethod(t)); -} - -void MyTemplateMatrix_Level_78(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("MyTemplateMatrix.Level",nargout,nargin,1); - Matrix K = unwrap< Matrix >(in[0]); - out[0] = wrap_shared_ptr(boost::make_shared>(MyTemplate::Level(K)),"MyTemplateMatrix", false); -} - -void PrimitiveRefdouble_collectorInsertAndMakeBase_79(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - - Shared *self = *reinterpret_cast (mxGetData(in[0])); - collector_PrimitiveRefdouble.insert(self); -} - -void PrimitiveRefdouble_constructor_80(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - - Shared *self = new Shared(new PrimitiveRef()); - collector_PrimitiveRefdouble.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetData(out[0])) = self; -} - -void PrimitiveRefdouble_deconstructor_81(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - typedef boost::shared_ptr> Shared; - checkArguments("delete_PrimitiveRefdouble",nargout,nargin,1); - Shared *self = *reinterpret_cast(mxGetData(in[0])); - Collector_PrimitiveRefdouble::iterator item; - item = collector_PrimitiveRefdouble.find(self); - if(item != collector_PrimitiveRefdouble.end()) { - delete self; - collector_PrimitiveRefdouble.erase(item); - } -} - -void PrimitiveRefdouble_Brutal_82(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("PrimitiveRefdouble.Brutal",nargout,nargin,1); - double t = unwrap< double >(in[0]); - out[0] = wrap_shared_ptr(boost::make_shared>(PrimitiveRef::Brutal(t)),"PrimitiveRefdouble", false); -} - -void MyVector3_collectorInsertAndMakeBase_83(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - - Shared *self = *reinterpret_cast (mxGetData(in[0])); - collector_MyVector3.insert(self); -} - -void MyVector3_constructor_84(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - - Shared *self = new Shared(new MyVector<3>()); - collector_MyVector3.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetData(out[0])) = self; -} - -void MyVector3_deconstructor_85(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - typedef boost::shared_ptr> Shared; - checkArguments("delete_MyVector3",nargout,nargin,1); - Shared *self = *reinterpret_cast(mxGetData(in[0])); - Collector_MyVector3::iterator item; - item = collector_MyVector3.find(self); - if(item != collector_MyVector3.end()) { - delete self; - collector_MyVector3.erase(item); - } -} - -void MyVector12_collectorInsertAndMakeBase_86(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - - Shared *self = *reinterpret_cast (mxGetData(in[0])); - collector_MyVector12.insert(self); -} - -void MyVector12_constructor_87(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - - Shared *self = new Shared(new MyVector<12>()); - collector_MyVector12.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetData(out[0])) = self; -} - -void MyVector12_deconstructor_88(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - typedef boost::shared_ptr> Shared; - checkArguments("delete_MyVector12",nargout,nargin,1); - Shared *self = *reinterpret_cast(mxGetData(in[0])); - Collector_MyVector12::iterator item; - item = collector_MyVector12.find(self); - if(item != collector_MyVector12.end()) { - delete self; - collector_MyVector12.erase(item); - } -} - -void MyFactorPosePoint2_collectorInsertAndMakeBase_89(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - - Shared *self = *reinterpret_cast (mxGetData(in[0])); - collector_MyFactorPosePoint2.insert(self); -} - -void MyFactorPosePoint2_constructor_90(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(&_deleteAllObjects); - typedef boost::shared_ptr> Shared; - - size_t key1 = unwrap< size_t >(in[0]); - size_t key2 = unwrap< size_t >(in[1]); - double measured = unwrap< double >(in[2]); - boost::shared_ptr noiseModel = unwrap_shared_ptr< gtsam::noiseModel::Base >(in[3], "ptr_gtsamnoiseModelBase"); - Shared *self = new Shared(new MyFactor(key1,key2,measured,noiseModel)); - collector_MyFactorPosePoint2.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetData(out[0])) = self; -} - -void MyFactorPosePoint2_deconstructor_91(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - typedef boost::shared_ptr> Shared; - checkArguments("delete_MyFactorPosePoint2",nargout,nargin,1); - Shared *self = *reinterpret_cast(mxGetData(in[0])); - Collector_MyFactorPosePoint2::iterator item; - item = collector_MyFactorPosePoint2.find(self); - if(item != collector_MyFactorPosePoint2.end()) { - delete self; - collector_MyFactorPosePoint2.erase(item); - } -} - -void load2D_92(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("load2D",nargout,nargin,5); - string filename = unwrap< string >(in[0]); - boost::shared_ptr model = unwrap_shared_ptr< Test >(in[1], "ptr_Test"); - int maxID = unwrap< int >(in[2]); - bool addNoise = unwrap< bool >(in[3]); - bool smart = unwrap< bool >(in[4]); - auto pairResult = load2D(filename,model,maxID,addNoise,smart); - out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false); - out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false); -} -void load2D_93(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("load2D",nargout,nargin,5); - string filename = unwrap< string >(in[0]); - boost::shared_ptr model = unwrap_shared_ptr< gtsam::noiseModel::Diagonal >(in[1], "ptr_gtsamnoiseModelDiagonal"); - int maxID = unwrap< int >(in[2]); - bool addNoise = unwrap< bool >(in[3]); - bool smart = unwrap< bool >(in[4]); - auto pairResult = load2D(filename,model,maxID,addNoise,smart); - out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false); - out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false); -} -void load2D_94(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("load2D",nargout,nargin,2); - string filename = unwrap< string >(in[0]); - boost::shared_ptr model = unwrap_shared_ptr< gtsam::noiseModel::Diagonal >(in[1], "ptr_gtsamnoiseModelDiagonal"); - auto pairResult = load2D(filename,model); - out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false); - out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false); -} -void aGlobalFunction_95(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("aGlobalFunction",nargout,nargin,0); - out[0] = wrap< Vector >(aGlobalFunction()); -} -void overloadedGlobalFunction_96(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("overloadedGlobalFunction",nargout,nargin,1); - int a = unwrap< int >(in[0]); - out[0] = wrap< Vector >(overloadedGlobalFunction(a)); -} -void overloadedGlobalFunction_97(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("overloadedGlobalFunction",nargout,nargin,2); - int a = unwrap< int >(in[0]); - double b = unwrap< double >(in[1]); - out[0] = wrap< Vector >(overloadedGlobalFunction(a,b)); -} - -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mstream mout; - std::streambuf *outbuf = std::cout.rdbuf(&mout); - - _geometry_RTTIRegister(); - - int id = unwrap(in[0]); - - try { - switch(id) { - case 0: - gtsamPoint2_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1); - break; - case 1: - gtsamPoint2_constructor_1(nargout, out, nargin-1, in+1); - break; - case 2: - gtsamPoint2_constructor_2(nargout, out, nargin-1, in+1); - break; - case 3: - gtsamPoint2_deconstructor_3(nargout, out, nargin-1, in+1); - break; - case 4: - gtsamPoint2_argChar_4(nargout, out, nargin-1, in+1); - break; - case 5: - gtsamPoint2_argUChar_5(nargout, out, nargin-1, in+1); - break; - case 6: - gtsamPoint2_dim_6(nargout, out, nargin-1, in+1); - break; - case 7: - gtsamPoint2_eigenArguments_7(nargout, out, nargin-1, in+1); - break; - case 8: - gtsamPoint2_returnChar_8(nargout, out, nargin-1, in+1); - break; - case 9: - gtsamPoint2_vectorConfusion_9(nargout, out, nargin-1, in+1); - break; - case 10: - gtsamPoint2_x_10(nargout, out, nargin-1, in+1); - break; - case 11: - gtsamPoint2_y_11(nargout, out, nargin-1, in+1); - break; - case 12: - gtsamPoint3_collectorInsertAndMakeBase_12(nargout, out, nargin-1, in+1); - break; - case 13: - gtsamPoint3_constructor_13(nargout, out, nargin-1, in+1); - break; - case 14: - gtsamPoint3_deconstructor_14(nargout, out, nargin-1, in+1); - break; - case 15: - gtsamPoint3_norm_15(nargout, out, nargin-1, in+1); - break; - case 16: - gtsamPoint3_string_serialize_16(nargout, out, nargin-1, in+1); - break; - case 17: - gtsamPoint3_StaticFunctionRet_17(nargout, out, nargin-1, in+1); - break; - case 18: - gtsamPoint3_staticFunction_18(nargout, out, nargin-1, in+1); - break; - case 19: - gtsamPoint3_string_deserialize_19(nargout, out, nargin-1, in+1); - break; - case 20: - Test_collectorInsertAndMakeBase_20(nargout, out, nargin-1, in+1); - break; - case 21: - Test_constructor_21(nargout, out, nargin-1, in+1); - break; - case 22: - Test_constructor_22(nargout, out, nargin-1, in+1); - break; - case 23: - Test_deconstructor_23(nargout, out, nargin-1, in+1); - break; - case 24: - Test_arg_EigenConstRef_24(nargout, out, nargin-1, in+1); - break; - case 25: - Test_create_MixedPtrs_25(nargout, out, nargin-1, in+1); - break; - case 26: - Test_create_ptrs_26(nargout, out, nargin-1, in+1); - break; - case 27: - Test_print_27(nargout, out, nargin-1, in+1); - break; - case 28: - Test_return_Point2Ptr_28(nargout, out, nargin-1, in+1); - break; - case 29: - Test_return_Test_29(nargout, out, nargin-1, in+1); - break; - case 30: - Test_return_TestPtr_30(nargout, out, nargin-1, in+1); - break; - case 31: - Test_return_bool_31(nargout, out, nargin-1, in+1); - break; - case 32: - Test_return_double_32(nargout, out, nargin-1, in+1); - break; - case 33: - Test_return_field_33(nargout, out, nargin-1, in+1); - break; - case 34: - Test_return_int_34(nargout, out, nargin-1, in+1); - break; - case 35: - Test_return_matrix1_35(nargout, out, nargin-1, in+1); - break; - case 36: - Test_return_matrix2_36(nargout, out, nargin-1, in+1); - break; - case 37: - Test_return_pair_37(nargout, out, nargin-1, in+1); - break; - case 38: - Test_return_pair_38(nargout, out, nargin-1, in+1); - break; - case 39: - Test_return_ptrs_39(nargout, out, nargin-1, in+1); - break; - case 40: - Test_return_size_t_40(nargout, out, nargin-1, in+1); - break; - case 41: - Test_return_string_41(nargout, out, nargin-1, in+1); - break; - case 42: - Test_return_vector1_42(nargout, out, nargin-1, in+1); - break; - case 43: - Test_return_vector2_43(nargout, out, nargin-1, in+1); - break; - case 44: - MyBase_collectorInsertAndMakeBase_44(nargout, out, nargin-1, in+1); - break; - case 45: - MyBase_upcastFromVoid_45(nargout, out, nargin-1, in+1); - break; - case 46: - MyBase_deconstructor_46(nargout, out, nargin-1, in+1); - break; - case 47: - MyTemplatePoint2_collectorInsertAndMakeBase_47(nargout, out, nargin-1, in+1); - break; - case 48: - MyTemplatePoint2_upcastFromVoid_48(nargout, out, nargin-1, in+1); - break; - case 49: - MyTemplatePoint2_constructor_49(nargout, out, nargin-1, in+1); - break; - case 50: - MyTemplatePoint2_deconstructor_50(nargout, out, nargin-1, in+1); - break; - case 51: - MyTemplatePoint2_accept_T_51(nargout, out, nargin-1, in+1); - break; - case 52: - MyTemplatePoint2_accept_Tptr_52(nargout, out, nargin-1, in+1); - break; - case 53: - MyTemplatePoint2_create_MixedPtrs_53(nargout, out, nargin-1, in+1); - break; - case 54: - MyTemplatePoint2_create_ptrs_54(nargout, out, nargin-1, in+1); - break; - case 55: - MyTemplatePoint2_return_T_55(nargout, out, nargin-1, in+1); - break; - case 56: - MyTemplatePoint2_return_Tptr_56(nargout, out, nargin-1, in+1); - break; - case 57: - MyTemplatePoint2_return_ptrs_57(nargout, out, nargin-1, in+1); - break; - case 58: - MyTemplatePoint2_templatedMethod_58(nargout, out, nargin-1, in+1); - break; - case 59: - MyTemplatePoint2_templatedMethod_59(nargout, out, nargin-1, in+1); - break; - case 60: - MyTemplatePoint2_templatedMethod_60(nargout, out, nargin-1, in+1); - break; - case 61: - MyTemplatePoint2_templatedMethod_61(nargout, out, nargin-1, in+1); - break; - case 62: - MyTemplatePoint2_Level_62(nargout, out, nargin-1, in+1); - break; - case 63: - MyTemplateMatrix_collectorInsertAndMakeBase_63(nargout, out, nargin-1, in+1); - break; - case 64: - MyTemplateMatrix_upcastFromVoid_64(nargout, out, nargin-1, in+1); - break; - case 65: - MyTemplateMatrix_constructor_65(nargout, out, nargin-1, in+1); - break; - case 66: - MyTemplateMatrix_deconstructor_66(nargout, out, nargin-1, in+1); - break; - case 67: - MyTemplateMatrix_accept_T_67(nargout, out, nargin-1, in+1); - break; - case 68: - MyTemplateMatrix_accept_Tptr_68(nargout, out, nargin-1, in+1); - break; - case 69: - MyTemplateMatrix_create_MixedPtrs_69(nargout, out, nargin-1, in+1); - break; - case 70: - MyTemplateMatrix_create_ptrs_70(nargout, out, nargin-1, in+1); - break; - case 71: - MyTemplateMatrix_return_T_71(nargout, out, nargin-1, in+1); - break; - case 72: - MyTemplateMatrix_return_Tptr_72(nargout, out, nargin-1, in+1); - break; - case 73: - MyTemplateMatrix_return_ptrs_73(nargout, out, nargin-1, in+1); - break; - case 74: - MyTemplateMatrix_templatedMethod_74(nargout, out, nargin-1, in+1); - break; - case 75: - MyTemplateMatrix_templatedMethod_75(nargout, out, nargin-1, in+1); - break; - case 76: - MyTemplateMatrix_templatedMethod_76(nargout, out, nargin-1, in+1); - break; - case 77: - MyTemplateMatrix_templatedMethod_77(nargout, out, nargin-1, in+1); - break; - case 78: - MyTemplateMatrix_Level_78(nargout, out, nargin-1, in+1); - break; - case 79: - PrimitiveRefdouble_collectorInsertAndMakeBase_79(nargout, out, nargin-1, in+1); - break; - case 80: - PrimitiveRefdouble_constructor_80(nargout, out, nargin-1, in+1); - break; - case 81: - PrimitiveRefdouble_deconstructor_81(nargout, out, nargin-1, in+1); - break; - case 82: - PrimitiveRefdouble_Brutal_82(nargout, out, nargin-1, in+1); - break; - case 83: - MyVector3_collectorInsertAndMakeBase_83(nargout, out, nargin-1, in+1); - break; - case 84: - MyVector3_constructor_84(nargout, out, nargin-1, in+1); - break; - case 85: - MyVector3_deconstructor_85(nargout, out, nargin-1, in+1); - break; - case 86: - MyVector12_collectorInsertAndMakeBase_86(nargout, out, nargin-1, in+1); - break; - case 87: - MyVector12_constructor_87(nargout, out, nargin-1, in+1); - break; - case 88: - MyVector12_deconstructor_88(nargout, out, nargin-1, in+1); - break; - case 89: - MyFactorPosePoint2_collectorInsertAndMakeBase_89(nargout, out, nargin-1, in+1); - break; - case 90: - MyFactorPosePoint2_constructor_90(nargout, out, nargin-1, in+1); - break; - case 91: - MyFactorPosePoint2_deconstructor_91(nargout, out, nargin-1, in+1); - break; - case 92: - load2D_92(nargout, out, nargin-1, in+1); - break; - case 93: - load2D_93(nargout, out, nargin-1, in+1); - break; - case 94: - load2D_94(nargout, out, nargin-1, in+1); - break; - case 95: - aGlobalFunction_95(nargout, out, nargin-1, in+1); - break; - case 96: - overloadedGlobalFunction_96(nargout, out, nargin-1, in+1); - break; - case 97: - overloadedGlobalFunction_97(nargout, out, nargin-1, in+1); - break; - } - } catch(const std::exception& e) { - mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str()); - } - - std::cout.rdbuf(outbuf); -} diff --git a/wrap/tests/expected-python/geometry_pybind.cpp b/wrap/tests/expected-python/geometry_pybind.cpp deleted file mode 100644 index 3eee55bf4..000000000 --- a/wrap/tests/expected-python/geometry_pybind.cpp +++ /dev/null @@ -1,153 +0,0 @@ - - -#include -#include -#include -#include "gtsam/nonlinear/utilities.h" // for RedirectCout. - -#include "gtsam/geometry/Point2.h" -#include "gtsam/geometry/Point3.h" -#include "folder/path/to/Test.h" - -#include "wrap/serialization.h" -#include - -BOOST_CLASS_EXPORT(gtsam::Point2) -BOOST_CLASS_EXPORT(gtsam::Point3) - - - - -using namespace std; - -namespace py = pybind11; - -PYBIND11_MODULE(geometry_py, m_) { - m_.doc() = "pybind11 wrapper of geometry_py"; - - pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule"); - - py::class_>(m_gtsam, "Point2") - .def(py::init<>()) - .def(py::init< double, double>(), py::arg("x"), py::arg("y")) - .def("x",[](gtsam::Point2* self){return self->x();}) - .def("y",[](gtsam::Point2* self){return self->y();}) - .def("dim",[](gtsam::Point2* self){return self->dim();}) - .def("returnChar",[](gtsam::Point2* self){return self->returnChar();}) - .def("argChar",[](gtsam::Point2* self, char a){ self->argChar(a);}, py::arg("a")) - .def("argUChar",[](gtsam::Point2* self, unsigned char a){ self->argUChar(a);}, py::arg("a")) - .def("eigenArguments",[](gtsam::Point2* self,const gtsam::Vector& v,const gtsam::Matrix& m){ self->eigenArguments(v, m);}, py::arg("v"), py::arg("m")) - .def("vectorConfusion",[](gtsam::Point2* self){return self->vectorConfusion();}) -.def("serialize", - [](gtsam::Point2* self){ - return gtsam::serialize(*self); - } -) -.def("deserialize", - [](gtsam::Point2* self, string serialized){ - gtsam::deserialize(serialized, *self); - }, py::arg("serialized")) -; - - py::class_>(m_gtsam, "Point3") - .def(py::init< double, double, double>(), py::arg("x"), py::arg("y"), py::arg("z")) - .def("norm",[](gtsam::Point3* self){return self->norm();}) -.def("serialize", - [](gtsam::Point3* self){ - return gtsam::serialize(*self); - } -) -.def("deserialize", - [](gtsam::Point3* self, string serialized){ - gtsam::deserialize(serialized, *self); - }, py::arg("serialized")) - - .def_static("staticFunction",[](){return gtsam::Point3::staticFunction();}) - .def_static("StaticFunctionRet",[]( double z){return gtsam::Point3::StaticFunctionRet(z);}, py::arg("z")); - - py::class_>(m_, "Test") - .def(py::init<>()) - .def(py::init< double, const gtsam::Matrix&>(), py::arg("a"), py::arg("b")) - .def("return_pair",[](Test* self,const gtsam::Vector& v,const gtsam::Matrix& A){return self->return_pair(v, A);}, py::arg("v"), py::arg("A")) - .def("return_pair",[](Test* self,const gtsam::Vector& v){return self->return_pair(v);}, py::arg("v")) - .def("return_bool",[](Test* self, bool value){return self->return_bool(value);}, py::arg("value")) - .def("return_size_t",[](Test* self, size_t value){return self->return_size_t(value);}, py::arg("value")) - .def("return_int",[](Test* self, int value){return self->return_int(value);}, py::arg("value")) - .def("return_double",[](Test* self, double value){return self->return_double(value);}, py::arg("value")) - .def("return_string",[](Test* self, string value){return self->return_string(value);}, py::arg("value")) - .def("return_vector1",[](Test* self,const gtsam::Vector& value){return self->return_vector1(value);}, py::arg("value")) - .def("return_matrix1",[](Test* self,const gtsam::Matrix& value){return self->return_matrix1(value);}, py::arg("value")) - .def("return_vector2",[](Test* self,const gtsam::Vector& value){return self->return_vector2(value);}, py::arg("value")) - .def("return_matrix2",[](Test* self,const gtsam::Matrix& value){return self->return_matrix2(value);}, py::arg("value")) - .def("arg_EigenConstRef",[](Test* self,const gtsam::Matrix& value){ self->arg_EigenConstRef(value);}, py::arg("value")) - .def("return_field",[](Test* self,const Test& t){return self->return_field(t);}, py::arg("t")) - .def("return_TestPtr",[](Test* self,const std::shared_ptr& value){return self->return_TestPtr(value);}, py::arg("value")) - .def("return_Test",[](Test* self,const std::shared_ptr& value){return self->return_Test(value);}, py::arg("value")) - .def("return_Point2Ptr",[](Test* self, bool value){return self->return_Point2Ptr(value);}, py::arg("value")) - .def("create_ptrs",[](Test* self){return self->create_ptrs();}) - .def("create_MixedPtrs",[](Test* self){return self->create_MixedPtrs();}) - .def("return_ptrs",[](Test* self,const std::shared_ptr& p1,const std::shared_ptr& p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2")) - .def("print_",[](Test* self){ self->print();}) - .def("__repr__", - [](const Test &a) { - gtsam::RedirectCout redirect; - a.print(); - return redirect.str(); - }); - - py::class_>(m_, "MyBase"); - - py::class_, MyBase, std::shared_ptr>>(m_, "MyTemplatePoint2") - .def(py::init<>()) - .def("templatedMethodPoint2",[](MyTemplate* self,const gtsam::Point2& t){return self->templatedMethod(t);}, py::arg("t")) - .def("templatedMethodPoint3",[](MyTemplate* self,const gtsam::Point3& t){return self->templatedMethod(t);}, py::arg("t")) - .def("templatedMethodVector",[](MyTemplate* self,const gtsam::Vector& t){return self->templatedMethod(t);}, py::arg("t")) - .def("templatedMethodMatrix",[](MyTemplate* self,const gtsam::Matrix& t){return self->templatedMethod(t);}, py::arg("t")) - .def("accept_T",[](MyTemplate* self,const gtsam::Point2& value){ self->accept_T(value);}, py::arg("value")) - .def("accept_Tptr",[](MyTemplate* self,const std::shared_ptr& value){ self->accept_Tptr(value);}, py::arg("value")) - .def("return_Tptr",[](MyTemplate* self,const std::shared_ptr& value){return self->return_Tptr(value);}, py::arg("value")) - .def("return_T",[](MyTemplate* self,const std::shared_ptr& value){return self->return_T(value);}, py::arg("value")) - .def("create_ptrs",[](MyTemplate* self){return self->create_ptrs();}) - .def("create_MixedPtrs",[](MyTemplate* self){return self->create_MixedPtrs();}) - .def("return_ptrs",[](MyTemplate* self,const std::shared_ptr& p1,const std::shared_ptr& p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2")) - .def_static("Level",[](const gtsam::Point2& K){return MyTemplate::Level(K);}, py::arg("K")); - - py::class_, MyBase, std::shared_ptr>>(m_, "MyTemplateMatrix") - .def(py::init<>()) - .def("templatedMethodPoint2",[](MyTemplate* self,const gtsam::Point2& t){return self->templatedMethod(t);}, py::arg("t")) - .def("templatedMethodPoint3",[](MyTemplate* self,const gtsam::Point3& t){return self->templatedMethod(t);}, py::arg("t")) - .def("templatedMethodVector",[](MyTemplate* self,const gtsam::Vector& t){return self->templatedMethod(t);}, py::arg("t")) - .def("templatedMethodMatrix",[](MyTemplate* self,const gtsam::Matrix& t){return self->templatedMethod(t);}, py::arg("t")) - .def("accept_T",[](MyTemplate* self,const gtsam::Matrix& value){ self->accept_T(value);}, py::arg("value")) - .def("accept_Tptr",[](MyTemplate* self,const std::shared_ptr& value){ self->accept_Tptr(value);}, py::arg("value")) - .def("return_Tptr",[](MyTemplate* self,const std::shared_ptr& value){return self->return_Tptr(value);}, py::arg("value")) - .def("return_T",[](MyTemplate* self,const std::shared_ptr& value){return self->return_T(value);}, py::arg("value")) - .def("create_ptrs",[](MyTemplate* self){return self->create_ptrs();}) - .def("create_MixedPtrs",[](MyTemplate* self){return self->create_MixedPtrs();}) - .def("return_ptrs",[](MyTemplate* self,const std::shared_ptr& p1,const std::shared_ptr& p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2")) - .def_static("Level",[](const gtsam::Matrix& K){return MyTemplate::Level(K);}, py::arg("K")); - - py::class_, std::shared_ptr>>(m_, "PrimitiveRefdouble") - .def(py::init<>()) - .def_static("Brutal",[](const double& t){return PrimitiveRef::Brutal(t);}, py::arg("t")); - - py::class_, std::shared_ptr>>(m_, "MyVector3") - .def(py::init<>()); - - py::class_, std::shared_ptr>>(m_, "MyVector12") - .def(py::init<>()); - - py::class_, std::shared_ptr>>(m_, "MyFactorPosePoint2") - .def(py::init< size_t, size_t, double, const std::shared_ptr&>(), py::arg("key1"), py::arg("key2"), py::arg("measured"), py::arg("noiseModel")); - - m_.def("load2D",[]( string filename,const std::shared_ptr& model, int maxID, bool addNoise, bool smart){return ::load2D(filename, model, maxID, addNoise, smart);}, py::arg("filename"), py::arg("model"), py::arg("maxID"), py::arg("addNoise"), py::arg("smart")); - m_.def("load2D",[]( string filename,const std::shared_ptr& model, int maxID, bool addNoise, bool smart){return ::load2D(filename, model, maxID, addNoise, smart);}, py::arg("filename"), py::arg("model"), py::arg("maxID"), py::arg("addNoise"), py::arg("smart")); - m_.def("load2D",[]( string filename,const std::shared_ptr& model){return ::load2D(filename, model);}, py::arg("filename"), py::arg("model")); - m_.def("aGlobalFunction",[](){return ::aGlobalFunction();}); - m_.def("overloadedGlobalFunction",[]( int a){return ::overloadedGlobalFunction(a);}, py::arg("a")); - m_.def("overloadedGlobalFunction",[]( int a, double b){return ::overloadedGlobalFunction(a, b);}, py::arg("a"), py::arg("b")); - -#include "python/specializations.h" - -} - diff --git a/wrap/tests/expected/matlab/+gtsam/Class1.m b/wrap/tests/expected/matlab/+gtsam/Class1.m new file mode 100644 index 000000000..00dd5ca74 --- /dev/null +++ b/wrap/tests/expected/matlab/+gtsam/Class1.m @@ -0,0 +1,36 @@ +%class Class1, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Constructors------- +%Class1() +% +classdef Class1 < handle + properties + ptr_gtsamClass1 = 0 + end + methods + function obj = Class1(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + multiple_files_wrapper(0, my_ptr); + elseif nargin == 0 + my_ptr = multiple_files_wrapper(1); + else + error('Arguments do not match any overload of gtsam.Class1 constructor'); + end + obj.ptr_gtsamClass1 = my_ptr; + end + + function delete(obj) + multiple_files_wrapper(2, obj.ptr_gtsamClass1); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected/matlab/+gtsam/Class2.m b/wrap/tests/expected/matlab/+gtsam/Class2.m new file mode 100644 index 000000000..93279e156 --- /dev/null +++ b/wrap/tests/expected/matlab/+gtsam/Class2.m @@ -0,0 +1,36 @@ +%class Class2, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Constructors------- +%Class2() +% +classdef Class2 < handle + properties + ptr_gtsamClass2 = 0 + end + methods + function obj = Class2(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + multiple_files_wrapper(3, my_ptr); + elseif nargin == 0 + my_ptr = multiple_files_wrapper(4); + else + error('Arguments do not match any overload of gtsam.Class2 constructor'); + end + obj.ptr_gtsamClass2 = my_ptr; + end + + function delete(obj) + multiple_files_wrapper(5, obj.ptr_gtsamClass2); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected/matlab/+gtsam/ClassA.m b/wrap/tests/expected/matlab/+gtsam/ClassA.m new file mode 100644 index 000000000..3210e93c6 --- /dev/null +++ b/wrap/tests/expected/matlab/+gtsam/ClassA.m @@ -0,0 +1,36 @@ +%class ClassA, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Constructors------- +%ClassA() +% +classdef ClassA < handle + properties + ptr_gtsamClassA = 0 + end + methods + function obj = ClassA(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + multiple_files_wrapper(6, my_ptr); + elseif nargin == 0 + my_ptr = multiple_files_wrapper(7); + else + error('Arguments do not match any overload of gtsam.ClassA constructor'); + end + obj.ptr_gtsamClassA = my_ptr; + end + + function delete(obj) + multiple_files_wrapper(8, obj.ptr_gtsamClassA); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected/matlab/+gtsam/NonlinearFactorGraph.m b/wrap/tests/expected/matlab/+gtsam/NonlinearFactorGraph.m new file mode 100644 index 000000000..4b4704e87 --- /dev/null +++ b/wrap/tests/expected/matlab/+gtsam/NonlinearFactorGraph.m @@ -0,0 +1,44 @@ +%class NonlinearFactorGraph, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Methods------- +%addPriorPinholeCameraCal3Bundler(size_t key, PinholeCamera prior, Base noiseModel) : returns void +% +classdef NonlinearFactorGraph < handle + properties + ptr_gtsamNonlinearFactorGraph = 0 + end + methods + function obj = NonlinearFactorGraph(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + special_cases_wrapper(0, my_ptr); + else + error('Arguments do not match any overload of gtsam.NonlinearFactorGraph constructor'); + end + obj.ptr_gtsamNonlinearFactorGraph = my_ptr; + end + + function delete(obj) + special_cases_wrapper(1, obj.ptr_gtsamNonlinearFactorGraph); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + function varargout = addPriorPinholeCameraCal3Bundler(this, varargin) + % ADDPRIORPINHOLECAMERACAL3BUNDLER usage: addPriorPinholeCameraCal3Bundler(size_t key, PinholeCamera prior, Base noiseModel) : returns void + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 3 && isa(varargin{1},'numeric') && isa(varargin{2},'gtsam.PinholeCameraCal3Bundler') && isa(varargin{3},'gtsam.noiseModel.Base') + special_cases_wrapper(2, this, varargin{:}); + return + end + error('Arguments do not match any overload of function gtsam.NonlinearFactorGraph.addPriorPinholeCameraCal3Bundler'); + end + + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected/matlab/+gtsam/PinholeCameraCal3Bundler.m b/wrap/tests/expected/matlab/+gtsam/PinholeCameraCal3Bundler.m new file mode 100644 index 000000000..f5b84943a --- /dev/null +++ b/wrap/tests/expected/matlab/+gtsam/PinholeCameraCal3Bundler.m @@ -0,0 +1,31 @@ +%class PinholeCameraCal3Bundler, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +classdef PinholeCameraCal3Bundler < handle + properties + ptr_gtsamPinholeCameraCal3Bundler = 0 + end + methods + function obj = PinholeCameraCal3Bundler(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + special_cases_wrapper(5, my_ptr); + else + error('Arguments do not match any overload of gtsam.PinholeCameraCal3Bundler constructor'); + end + obj.ptr_gtsamPinholeCameraCal3Bundler = my_ptr; + end + + function delete(obj) + special_cases_wrapper(6, obj.ptr_gtsamPinholeCameraCal3Bundler); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected-matlab/+gtsam/Point2.m b/wrap/tests/expected/matlab/+gtsam/Point2.m similarity index 67% rename from wrap/tests/expected-matlab/+gtsam/Point2.m rename to wrap/tests/expected/matlab/+gtsam/Point2.m index ca021439a..3c00ce3f9 100644 --- a/wrap/tests/expected-matlab/+gtsam/Point2.m +++ b/wrap/tests/expected/matlab/+gtsam/Point2.m @@ -7,6 +7,12 @@ % %-------Methods------- %argChar(char a) : returns void +%argChar(char a) : returns void +%argChar(char a) : returns void +%argChar(char a) : returns void +%argChar(char a) : returns void +%argChar(char a) : returns void +%argChar(char a) : returns void %argUChar(unsigned char a) : returns void %dim() : returns int %eigenArguments(Vector v, Matrix m) : returns void @@ -49,6 +55,42 @@ classdef Point2 < handle geometry_wrapper(4, this, varargin{:}); return end + % ARGCHAR usage: argChar(char a) : returns void + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 && isa(varargin{1},'char') + geometry_wrapper(5, this, varargin{:}); + return + end + % ARGCHAR usage: argChar(char a) : returns void + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 && isa(varargin{1},'char') + geometry_wrapper(6, this, varargin{:}); + return + end + % ARGCHAR usage: argChar(char a) : returns void + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 && isa(varargin{1},'char') + geometry_wrapper(7, this, varargin{:}); + return + end + % ARGCHAR usage: argChar(char a) : returns void + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 && isa(varargin{1},'char') + geometry_wrapper(8, this, varargin{:}); + return + end + % ARGCHAR usage: argChar(char a) : returns void + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 && isa(varargin{1},'char') + geometry_wrapper(9, this, varargin{:}); + return + end + % ARGCHAR usage: argChar(char a) : returns void + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 && isa(varargin{1},'char') + geometry_wrapper(10, this, varargin{:}); + return + end error('Arguments do not match any overload of function gtsam.Point2.argChar'); end @@ -56,7 +98,7 @@ classdef Point2 < handle % ARGUCHAR usage: argUChar(unsigned char a) : returns void % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'unsigned char') - geometry_wrapper(5, this, varargin{:}); + geometry_wrapper(11, this, varargin{:}); return end error('Arguments do not match any overload of function gtsam.Point2.argUChar'); @@ -66,7 +108,7 @@ classdef Point2 < handle % DIM usage: dim() : returns int % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - varargout{1} = geometry_wrapper(6, this, varargin{:}); + varargout{1} = geometry_wrapper(12, this, varargin{:}); return end error('Arguments do not match any overload of function gtsam.Point2.dim'); @@ -76,7 +118,7 @@ classdef Point2 < handle % EIGENARGUMENTS usage: eigenArguments(Vector v, Matrix m) : returns void % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 2 && isa(varargin{1},'double') && size(varargin{1},2)==1 && isa(varargin{2},'double') - geometry_wrapper(7, this, varargin{:}); + geometry_wrapper(13, this, varargin{:}); return end error('Arguments do not match any overload of function gtsam.Point2.eigenArguments'); @@ -86,7 +128,7 @@ classdef Point2 < handle % RETURNCHAR usage: returnChar() : returns char % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - varargout{1} = geometry_wrapper(8, this, varargin{:}); + varargout{1} = geometry_wrapper(14, this, varargin{:}); return end error('Arguments do not match any overload of function gtsam.Point2.returnChar'); @@ -96,7 +138,7 @@ classdef Point2 < handle % VECTORCONFUSION usage: vectorConfusion() : returns VectorNotEigen % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - varargout{1} = geometry_wrapper(9, this, varargin{:}); + varargout{1} = geometry_wrapper(15, this, varargin{:}); return end error('Arguments do not match any overload of function gtsam.Point2.vectorConfusion'); @@ -106,7 +148,7 @@ classdef Point2 < handle % X usage: x() : returns double % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - varargout{1} = geometry_wrapper(10, this, varargin{:}); + varargout{1} = geometry_wrapper(16, this, varargin{:}); return end error('Arguments do not match any overload of function gtsam.Point2.x'); @@ -116,7 +158,7 @@ classdef Point2 < handle % Y usage: y() : returns double % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - varargout{1} = geometry_wrapper(11, this, varargin{:}); + varargout{1} = geometry_wrapper(17, this, varargin{:}); return end error('Arguments do not match any overload of function gtsam.Point2.y'); diff --git a/wrap/tests/expected-matlab/+gtsam/Point3.m b/wrap/tests/expected/matlab/+gtsam/Point3.m similarity index 87% rename from wrap/tests/expected-matlab/+gtsam/Point3.m rename to wrap/tests/expected/matlab/+gtsam/Point3.m index 526d9d3d1..06d378ac2 100644 --- a/wrap/tests/expected-matlab/+gtsam/Point3.m +++ b/wrap/tests/expected/matlab/+gtsam/Point3.m @@ -23,9 +23,9 @@ classdef Point3 < handle function obj = Point3(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; - geometry_wrapper(12, my_ptr); + geometry_wrapper(18, my_ptr); elseif nargin == 3 && isa(varargin{1},'double') && isa(varargin{2},'double') && isa(varargin{3},'double') - my_ptr = geometry_wrapper(13, varargin{1}, varargin{2}, varargin{3}); + my_ptr = geometry_wrapper(19, varargin{1}, varargin{2}, varargin{3}); else error('Arguments do not match any overload of gtsam.Point3 constructor'); end @@ -33,7 +33,7 @@ classdef Point3 < handle end function delete(obj) - geometry_wrapper(14, obj.ptr_gtsamPoint3); + geometry_wrapper(20, obj.ptr_gtsamPoint3); end function display(obj), obj.print(''); end @@ -44,7 +44,7 @@ classdef Point3 < handle % NORM usage: norm() : returns double % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - varargout{1} = geometry_wrapper(15, this, varargin{:}); + varargout{1} = geometry_wrapper(21, this, varargin{:}); return end error('Arguments do not match any overload of function gtsam.Point3.norm'); @@ -54,7 +54,7 @@ classdef Point3 < handle % STRING_SERIALIZE usage: string_serialize() : returns string % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - varargout{1} = geometry_wrapper(16, this, varargin{:}); + varargout{1} = geometry_wrapper(22, this, varargin{:}); else error('Arguments do not match any overload of function gtsam.Point3.string_serialize'); end @@ -71,7 +71,7 @@ classdef Point3 < handle % STATICFUNCTIONRET usage: StaticFunctionRet(double z) : returns Point3 % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(17, varargin{:}); + varargout{1} = geometry_wrapper(23, varargin{:}); return end @@ -82,7 +82,7 @@ classdef Point3 < handle % STATICFUNCTION usage: staticFunction() : returns double % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - varargout{1} = geometry_wrapper(18, varargin{:}); + varargout{1} = geometry_wrapper(24, varargin{:}); return end @@ -93,7 +93,7 @@ classdef Point3 < handle % STRING_DESERIALIZE usage: string_deserialize() : returns gtsam.Point3 % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 - varargout{1} = geometry_wrapper(19, varargin{:}); + varargout{1} = geometry_wrapper(25, varargin{:}); else error('Arguments do not match any overload of function gtsam.Point3.string_deserialize'); end diff --git a/wrap/tests/expected/matlab/+ns1/ClassA.m b/wrap/tests/expected/matlab/+ns1/ClassA.m new file mode 100644 index 000000000..12ebc0d70 --- /dev/null +++ b/wrap/tests/expected/matlab/+ns1/ClassA.m @@ -0,0 +1,36 @@ +%class ClassA, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Constructors------- +%ClassA() +% +classdef ClassA < handle + properties + ptr_ns1ClassA = 0 + end + methods + function obj = ClassA(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + namespaces_wrapper(0, my_ptr); + elseif nargin == 0 + my_ptr = namespaces_wrapper(1); + else + error('Arguments do not match any overload of ns1.ClassA constructor'); + end + obj.ptr_ns1ClassA = my_ptr; + end + + function delete(obj) + namespaces_wrapper(2, obj.ptr_ns1ClassA); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected/matlab/+ns1/ClassB.m b/wrap/tests/expected/matlab/+ns1/ClassB.m new file mode 100644 index 000000000..837f67fe6 --- /dev/null +++ b/wrap/tests/expected/matlab/+ns1/ClassB.m @@ -0,0 +1,36 @@ +%class ClassB, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Constructors------- +%ClassB() +% +classdef ClassB < handle + properties + ptr_ns1ClassB = 0 + end + methods + function obj = ClassB(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + namespaces_wrapper(3, my_ptr); + elseif nargin == 0 + my_ptr = namespaces_wrapper(4); + else + error('Arguments do not match any overload of ns1.ClassB constructor'); + end + obj.ptr_ns1ClassB = my_ptr; + end + + function delete(obj) + namespaces_wrapper(5, obj.ptr_ns1ClassB); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected/matlab/+ns1/aGlobalFunction.m b/wrap/tests/expected/matlab/+ns1/aGlobalFunction.m new file mode 100644 index 000000000..b57f727bd --- /dev/null +++ b/wrap/tests/expected/matlab/+ns1/aGlobalFunction.m @@ -0,0 +1,6 @@ +function varargout = aGlobalFunction(varargin) + if length(varargin) == 0 + varargout{1} = namespaces_wrapper(6, varargin{:}); + else + error('Arguments do not match any overload of function aGlobalFunction'); + end diff --git a/wrap/tests/expected/matlab/+ns2/+ns3/ClassB.m b/wrap/tests/expected/matlab/+ns2/+ns3/ClassB.m new file mode 100644 index 000000000..6f105a209 --- /dev/null +++ b/wrap/tests/expected/matlab/+ns2/+ns3/ClassB.m @@ -0,0 +1,36 @@ +%class ClassB, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Constructors------- +%ClassB() +% +classdef ClassB < handle + properties + ptr_ns2ns3ClassB = 0 + end + methods + function obj = ClassB(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + namespaces_wrapper(14, my_ptr); + elseif nargin == 0 + my_ptr = namespaces_wrapper(15); + else + error('Arguments do not match any overload of ns2.ns3.ClassB constructor'); + end + obj.ptr_ns2ns3ClassB = my_ptr; + end + + function delete(obj) + namespaces_wrapper(16, obj.ptr_ns2ns3ClassB); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected/matlab/+ns2/ClassA.m b/wrap/tests/expected/matlab/+ns2/ClassA.m new file mode 100644 index 000000000..4640e7cca --- /dev/null +++ b/wrap/tests/expected/matlab/+ns2/ClassA.m @@ -0,0 +1,89 @@ +%class ClassA, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Constructors------- +%ClassA() +% +%-------Methods------- +%memberFunction() : returns double +%nsArg(ClassB arg) : returns int +%nsReturn(double q) : returns ns2::ns3::ClassB +% +%-------Static Methods------- +%afunction() : returns double +% +%-------Serialization Interface------- +%string_serialize() : returns string +%string_deserialize(string serialized) : returns ClassA +% +classdef ClassA < handle + properties + ptr_ns2ClassA = 0 + end + methods + function obj = ClassA(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + namespaces_wrapper(7, my_ptr); + elseif nargin == 0 + my_ptr = namespaces_wrapper(8); + else + error('Arguments do not match any overload of ns2.ClassA constructor'); + end + obj.ptr_ns2ClassA = my_ptr; + end + + function delete(obj) + namespaces_wrapper(9, obj.ptr_ns2ClassA); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + function varargout = memberFunction(this, varargin) + % MEMBERFUNCTION usage: memberFunction() : returns double + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 0 + varargout{1} = namespaces_wrapper(10, this, varargin{:}); + return + end + error('Arguments do not match any overload of function ns2.ClassA.memberFunction'); + end + + function varargout = nsArg(this, varargin) + % NSARG usage: nsArg(ClassB arg) : returns int + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 && isa(varargin{1},'ns1.ClassB') + varargout{1} = namespaces_wrapper(11, this, varargin{:}); + return + end + error('Arguments do not match any overload of function ns2.ClassA.nsArg'); + end + + function varargout = nsReturn(this, varargin) + % NSRETURN usage: nsReturn(double q) : returns ns2.ns3.ClassB + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 && isa(varargin{1},'double') + varargout{1} = namespaces_wrapper(12, this, varargin{:}); + return + end + error('Arguments do not match any overload of function ns2.ClassA.nsReturn'); + end + + end + + methods(Static = true) + function varargout = Afunction(varargin) + % AFUNCTION usage: afunction() : returns double + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 0 + varargout{1} = namespaces_wrapper(13, varargin{:}); + return + end + + error('Arguments do not match any overload of function ClassA.afunction'); + end + + end +end diff --git a/wrap/tests/expected/matlab/+ns2/ClassC.m b/wrap/tests/expected/matlab/+ns2/ClassC.m new file mode 100644 index 000000000..a0267beb5 --- /dev/null +++ b/wrap/tests/expected/matlab/+ns2/ClassC.m @@ -0,0 +1,36 @@ +%class ClassC, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Constructors------- +%ClassC() +% +classdef ClassC < handle + properties + ptr_ns2ClassC = 0 + end + methods + function obj = ClassC(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + namespaces_wrapper(17, my_ptr); + elseif nargin == 0 + my_ptr = namespaces_wrapper(18); + else + error('Arguments do not match any overload of ns2.ClassC constructor'); + end + obj.ptr_ns2ClassC = my_ptr; + end + + function delete(obj) + namespaces_wrapper(19, obj.ptr_ns2ClassC); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected/matlab/+ns2/aGlobalFunction.m b/wrap/tests/expected/matlab/+ns2/aGlobalFunction.m new file mode 100644 index 000000000..b8c5a339b --- /dev/null +++ b/wrap/tests/expected/matlab/+ns2/aGlobalFunction.m @@ -0,0 +1,6 @@ +function varargout = aGlobalFunction(varargin) + if length(varargin) == 0 + varargout{1} = namespaces_wrapper(20, varargin{:}); + else + error('Arguments do not match any overload of function aGlobalFunction'); + end diff --git a/wrap/tests/expected/matlab/+ns2/overloadedGlobalFunction.m b/wrap/tests/expected/matlab/+ns2/overloadedGlobalFunction.m new file mode 100644 index 000000000..2ba3a9c74 --- /dev/null +++ b/wrap/tests/expected/matlab/+ns2/overloadedGlobalFunction.m @@ -0,0 +1,8 @@ +function varargout = overloadedGlobalFunction(varargin) + if length(varargin) == 1 && isa(varargin{1},'ns1.ClassA') + varargout{1} = namespaces_wrapper(21, varargin{:}); + elseif length(varargin) == 2 && isa(varargin{1},'ns1.ClassA') && isa(varargin{2},'double') + varargout{1} = namespaces_wrapper(22, varargin{:}); + else + error('Arguments do not match any overload of function overloadedGlobalFunction'); + end diff --git a/wrap/tests/expected/matlab/ClassD.m b/wrap/tests/expected/matlab/ClassD.m new file mode 100644 index 000000000..890839677 --- /dev/null +++ b/wrap/tests/expected/matlab/ClassD.m @@ -0,0 +1,36 @@ +%class ClassD, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Constructors------- +%ClassD() +% +classdef ClassD < handle + properties + ptr_ClassD = 0 + end + methods + function obj = ClassD(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + namespaces_wrapper(23, my_ptr); + elseif nargin == 0 + my_ptr = namespaces_wrapper(24); + else + error('Arguments do not match any overload of ClassD constructor'); + end + obj.ptr_ClassD = my_ptr; + end + + function delete(obj) + namespaces_wrapper(25, obj.ptr_ClassD); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected/matlab/FunDouble.m b/wrap/tests/expected/matlab/FunDouble.m new file mode 100644 index 000000000..ca0efcacf --- /dev/null +++ b/wrap/tests/expected/matlab/FunDouble.m @@ -0,0 +1,73 @@ +%class FunDouble, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Methods------- +%multiTemplatedMethodStringSize_t(double d, string t, size_t u) : returns Fun +%templatedMethodString(double d, string t) : returns Fun +% +%-------Static Methods------- +%staticMethodWithThis() : returns Fun +% +%-------Serialization Interface------- +%string_serialize() : returns string +%string_deserialize(string serialized) : returns FunDouble +% +classdef FunDouble < handle + properties + ptr_FunDouble = 0 + end + methods + function obj = FunDouble(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + class_wrapper(5, my_ptr); + else + error('Arguments do not match any overload of FunDouble constructor'); + end + obj.ptr_FunDouble = my_ptr; + end + + function delete(obj) + class_wrapper(6, obj.ptr_FunDouble); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + function varargout = multiTemplatedMethodStringSize_t(this, varargin) + % MULTITEMPLATEDMETHODSTRINGSIZE_T usage: multiTemplatedMethodStringSize_t(double d, string t, size_t u) : returns Fun + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 3 && isa(varargin{1},'double') && isa(varargin{2},'char') && isa(varargin{3},'numeric') + varargout{1} = class_wrapper(7, this, varargin{:}); + return + end + error('Arguments do not match any overload of function FunDouble.multiTemplatedMethodStringSize_t'); + end + + function varargout = templatedMethodString(this, varargin) + % TEMPLATEDMETHODSTRING usage: templatedMethodString(double d, string t) : returns Fun + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 2 && isa(varargin{1},'double') && isa(varargin{2},'char') + varargout{1} = class_wrapper(8, this, varargin{:}); + return + end + error('Arguments do not match any overload of function FunDouble.templatedMethodString'); + end + + end + + methods(Static = true) + function varargout = StaticMethodWithThis(varargin) + % STATICMETHODWITHTHIS usage: staticMethodWithThis() : returns Fundouble + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 0 + varargout{1} = class_wrapper(9, varargin{:}); + return + end + + error('Arguments do not match any overload of function FunDouble.staticMethodWithThis'); + end + + end +end diff --git a/wrap/tests/expected/matlab/FunRange.m b/wrap/tests/expected/matlab/FunRange.m new file mode 100644 index 000000000..1d1a6f7b8 --- /dev/null +++ b/wrap/tests/expected/matlab/FunRange.m @@ -0,0 +1,67 @@ +%class FunRange, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Constructors------- +%FunRange() +% +%-------Methods------- +%range(double d) : returns FunRange +% +%-------Static Methods------- +%create() : returns FunRange +% +%-------Serialization Interface------- +%string_serialize() : returns string +%string_deserialize(string serialized) : returns FunRange +% +classdef FunRange < handle + properties + ptr_FunRange = 0 + end + methods + function obj = FunRange(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + class_wrapper(0, my_ptr); + elseif nargin == 0 + my_ptr = class_wrapper(1); + else + error('Arguments do not match any overload of FunRange constructor'); + end + obj.ptr_FunRange = my_ptr; + end + + function delete(obj) + class_wrapper(2, obj.ptr_FunRange); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + function varargout = range(this, varargin) + % RANGE usage: range(double d) : returns FunRange + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 && isa(varargin{1},'double') + varargout{1} = class_wrapper(3, this, varargin{:}); + return + end + error('Arguments do not match any overload of function FunRange.range'); + end + + end + + methods(Static = true) + function varargout = Create(varargin) + % CREATE usage: create() : returns FunRange + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 0 + varargout{1} = class_wrapper(4, varargin{:}); + return + end + + error('Arguments do not match any overload of function FunRange.create'); + end + + end +end diff --git a/wrap/tests/expected/matlab/MultiTemplatedFunctionDoubleSize_tDouble.m b/wrap/tests/expected/matlab/MultiTemplatedFunctionDoubleSize_tDouble.m new file mode 100644 index 000000000..e106ad4d2 --- /dev/null +++ b/wrap/tests/expected/matlab/MultiTemplatedFunctionDoubleSize_tDouble.m @@ -0,0 +1,6 @@ +function varargout = MultiTemplatedFunctionDoubleSize_tDouble(varargin) + if length(varargin) == 2 && isa(varargin{1},'T') && isa(varargin{2},'numeric') + varargout{1} = functions_wrapper(7, varargin{:}); + else + error('Arguments do not match any overload of function MultiTemplatedFunctionDoubleSize_tDouble'); + end diff --git a/wrap/tests/expected/matlab/MultiTemplatedFunctionStringSize_tDouble.m b/wrap/tests/expected/matlab/MultiTemplatedFunctionStringSize_tDouble.m new file mode 100644 index 000000000..70557f3aa --- /dev/null +++ b/wrap/tests/expected/matlab/MultiTemplatedFunctionStringSize_tDouble.m @@ -0,0 +1,6 @@ +function varargout = MultiTemplatedFunctionStringSize_tDouble(varargin) + if length(varargin) == 2 && isa(varargin{1},'T') && isa(varargin{2},'numeric') + varargout{1} = functions_wrapper(6, varargin{:}); + else + error('Arguments do not match any overload of function MultiTemplatedFunctionStringSize_tDouble'); + end diff --git a/wrap/tests/expected/matlab/MultipleTemplatesIntDouble.m b/wrap/tests/expected/matlab/MultipleTemplatesIntDouble.m new file mode 100644 index 000000000..1a00572e0 --- /dev/null +++ b/wrap/tests/expected/matlab/MultipleTemplatesIntDouble.m @@ -0,0 +1,31 @@ +%class MultipleTemplatesIntDouble, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +classdef MultipleTemplatesIntDouble < handle + properties + ptr_MultipleTemplatesIntDouble = 0 + end + methods + function obj = MultipleTemplatesIntDouble(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + class_wrapper(49, my_ptr); + else + error('Arguments do not match any overload of MultipleTemplatesIntDouble constructor'); + end + obj.ptr_MultipleTemplatesIntDouble = my_ptr; + end + + function delete(obj) + class_wrapper(50, obj.ptr_MultipleTemplatesIntDouble); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected/matlab/MultipleTemplatesIntFloat.m b/wrap/tests/expected/matlab/MultipleTemplatesIntFloat.m new file mode 100644 index 000000000..6239b1bd1 --- /dev/null +++ b/wrap/tests/expected/matlab/MultipleTemplatesIntFloat.m @@ -0,0 +1,31 @@ +%class MultipleTemplatesIntFloat, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +classdef MultipleTemplatesIntFloat < handle + properties + ptr_MultipleTemplatesIntFloat = 0 + end + methods + function obj = MultipleTemplatesIntFloat(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + class_wrapper(51, my_ptr); + else + error('Arguments do not match any overload of MultipleTemplatesIntFloat constructor'); + end + obj.ptr_MultipleTemplatesIntFloat = my_ptr; + end + + function delete(obj) + class_wrapper(52, obj.ptr_MultipleTemplatesIntFloat); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected-matlab/MyBase.m b/wrap/tests/expected/matlab/MyBase.m similarity index 84% rename from wrap/tests/expected-matlab/MyBase.m rename to wrap/tests/expected/matlab/MyBase.m index 4d4d35ee5..2691677a9 100644 --- a/wrap/tests/expected-matlab/MyBase.m +++ b/wrap/tests/expected/matlab/MyBase.m @@ -11,9 +11,9 @@ classdef MyBase < handle if nargin == 2 my_ptr = varargin{2}; else - my_ptr = geometry_wrapper(45, varargin{2}); + my_ptr = inheritance_wrapper(1, varargin{2}); end - geometry_wrapper(44, my_ptr); + inheritance_wrapper(0, my_ptr); else error('Arguments do not match any overload of MyBase constructor'); end @@ -21,7 +21,7 @@ classdef MyBase < handle end function delete(obj) - geometry_wrapper(46, obj.ptr_MyBase); + inheritance_wrapper(2, obj.ptr_MyBase); end function display(obj), obj.print(''); end diff --git a/wrap/tests/expected-matlab/MyFactorPosePoint2.m b/wrap/tests/expected/matlab/MyFactorPosePoint2.m similarity index 59% rename from wrap/tests/expected-matlab/MyFactorPosePoint2.m rename to wrap/tests/expected/matlab/MyFactorPosePoint2.m index 04381f1dc..2dd4b5428 100644 --- a/wrap/tests/expected-matlab/MyFactorPosePoint2.m +++ b/wrap/tests/expected/matlab/MyFactorPosePoint2.m @@ -4,6 +4,9 @@ %-------Constructors------- %MyFactorPosePoint2(size_t key1, size_t key2, double measured, Base noiseModel) % +%-------Methods------- +%print(string s, KeyFormatter keyFormatter) : returns void +% classdef MyFactorPosePoint2 < handle properties ptr_MyFactorPosePoint2 = 0 @@ -12,9 +15,9 @@ classdef MyFactorPosePoint2 < handle function obj = MyFactorPosePoint2(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; - geometry_wrapper(89, my_ptr); + class_wrapper(56, my_ptr); elseif nargin == 4 && isa(varargin{1},'numeric') && isa(varargin{2},'numeric') && isa(varargin{3},'double') && isa(varargin{4},'gtsam.noiseModel.Base') - my_ptr = geometry_wrapper(90, varargin{1}, varargin{2}, varargin{3}, varargin{4}); + my_ptr = class_wrapper(57, varargin{1}, varargin{2}, varargin{3}, varargin{4}); else error('Arguments do not match any overload of MyFactorPosePoint2 constructor'); end @@ -22,13 +25,23 @@ classdef MyFactorPosePoint2 < handle end function delete(obj) - geometry_wrapper(91, obj.ptr_MyFactorPosePoint2); + class_wrapper(58, obj.ptr_MyFactorPosePoint2); end function display(obj), obj.print(''); end %DISPLAY Calls print on the object function disp(obj), obj.display; end %DISP Calls print on the object + function varargout = print(this, varargin) + % PRINT usage: print(string s, KeyFormatter keyFormatter) : returns void + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 2 && isa(varargin{1},'char') && isa(varargin{2},'gtsam.KeyFormatter') + class_wrapper(59, this, varargin{:}); + return + end + error('Arguments do not match any overload of function MyFactorPosePoint2.print'); + end + end methods(Static = true) diff --git a/wrap/tests/expected-matlab/MyTemplateMatrix.m b/wrap/tests/expected/matlab/MyTemplateMatrix.m similarity index 86% rename from wrap/tests/expected-matlab/MyTemplateMatrix.m rename to wrap/tests/expected/matlab/MyTemplateMatrix.m index 54245921d..03ec7b741 100644 --- a/wrap/tests/expected-matlab/MyTemplateMatrix.m +++ b/wrap/tests/expected/matlab/MyTemplateMatrix.m @@ -34,11 +34,11 @@ classdef MyTemplateMatrix < MyBase if nargin == 2 my_ptr = varargin{2}; else - my_ptr = geometry_wrapper(64, varargin{2}); + my_ptr = inheritance_wrapper(20, varargin{2}); end - base_ptr = geometry_wrapper(63, my_ptr); + base_ptr = inheritance_wrapper(19, my_ptr); elseif nargin == 0 - [ my_ptr, base_ptr ] = geometry_wrapper(65); + [ my_ptr, base_ptr ] = inheritance_wrapper(21); else error('Arguments do not match any overload of MyTemplateMatrix constructor'); end @@ -47,7 +47,7 @@ classdef MyTemplateMatrix < MyBase end function delete(obj) - geometry_wrapper(66, obj.ptr_MyTemplateMatrix); + inheritance_wrapper(22, obj.ptr_MyTemplateMatrix); end function display(obj), obj.print(''); end @@ -58,7 +58,7 @@ classdef MyTemplateMatrix < MyBase % ACCEPT_T usage: accept_T(Matrix value) : returns void % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - geometry_wrapper(67, this, varargin{:}); + inheritance_wrapper(23, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplateMatrix.accept_T'); @@ -68,7 +68,7 @@ classdef MyTemplateMatrix < MyBase % ACCEPT_TPTR usage: accept_Tptr(Matrix value) : returns void % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - geometry_wrapper(68, this, varargin{:}); + inheritance_wrapper(24, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplateMatrix.accept_Tptr'); @@ -78,7 +78,7 @@ classdef MyTemplateMatrix < MyBase % CREATE_MIXEDPTRS usage: create_MixedPtrs() : returns pair< Matrix, Matrix > % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - [ varargout{1} varargout{2} ] = geometry_wrapper(69, this, varargin{:}); + [ varargout{1} varargout{2} ] = inheritance_wrapper(25, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplateMatrix.create_MixedPtrs'); @@ -88,7 +88,7 @@ classdef MyTemplateMatrix < MyBase % CREATE_PTRS usage: create_ptrs() : returns pair< Matrix, Matrix > % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - [ varargout{1} varargout{2} ] = geometry_wrapper(70, this, varargin{:}); + [ varargout{1} varargout{2} ] = inheritance_wrapper(26, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplateMatrix.create_ptrs'); @@ -98,7 +98,7 @@ classdef MyTemplateMatrix < MyBase % RETURN_T usage: return_T(Matrix value) : returns Matrix % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(71, this, varargin{:}); + varargout{1} = inheritance_wrapper(27, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplateMatrix.return_T'); @@ -108,7 +108,7 @@ classdef MyTemplateMatrix < MyBase % RETURN_TPTR usage: return_Tptr(Matrix value) : returns Matrix % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(72, this, varargin{:}); + varargout{1} = inheritance_wrapper(28, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplateMatrix.return_Tptr'); @@ -118,7 +118,7 @@ classdef MyTemplateMatrix < MyBase % RETURN_PTRS usage: return_ptrs(Matrix p1, Matrix p2) : returns pair< Matrix, Matrix > % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 2 && isa(varargin{1},'double') && isa(varargin{2},'double') - [ varargout{1} varargout{2} ] = geometry_wrapper(73, this, varargin{:}); + [ varargout{1} varargout{2} ] = inheritance_wrapper(29, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplateMatrix.return_ptrs'); @@ -128,7 +128,7 @@ classdef MyTemplateMatrix < MyBase % TEMPLATEDMETHODMATRIX usage: templatedMethodMatrix(Matrix t) : returns Matrix % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(74, this, varargin{:}); + varargout{1} = inheritance_wrapper(30, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplateMatrix.templatedMethodMatrix'); @@ -138,7 +138,7 @@ classdef MyTemplateMatrix < MyBase % TEMPLATEDMETHODPOINT2 usage: templatedMethodPoint2(Point2 t) : returns Point2 % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1 - varargout{1} = geometry_wrapper(75, this, varargin{:}); + varargout{1} = inheritance_wrapper(31, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplateMatrix.templatedMethodPoint2'); @@ -148,7 +148,7 @@ classdef MyTemplateMatrix < MyBase % TEMPLATEDMETHODPOINT3 usage: templatedMethodPoint3(Point3 t) : returns Point3 % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==3 && size(varargin{1},2)==1 - varargout{1} = geometry_wrapper(76, this, varargin{:}); + varargout{1} = inheritance_wrapper(32, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplateMatrix.templatedMethodPoint3'); @@ -158,7 +158,7 @@ classdef MyTemplateMatrix < MyBase % TEMPLATEDMETHODVECTOR usage: templatedMethodVector(Vector t) : returns Vector % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1 - varargout{1} = geometry_wrapper(77, this, varargin{:}); + varargout{1} = inheritance_wrapper(33, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplateMatrix.templatedMethodVector'); @@ -171,7 +171,7 @@ classdef MyTemplateMatrix < MyBase % LEVEL usage: Level(Matrix K) : returns MyTemplateMatrix % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(78, varargin{:}); + varargout{1} = inheritance_wrapper(34, varargin{:}); return end diff --git a/wrap/tests/expected-matlab/MyTemplatePoint2.m b/wrap/tests/expected/matlab/MyTemplatePoint2.m similarity index 86% rename from wrap/tests/expected-matlab/MyTemplatePoint2.m rename to wrap/tests/expected/matlab/MyTemplatePoint2.m index 89fb3c452..bf3d37a07 100644 --- a/wrap/tests/expected-matlab/MyTemplatePoint2.m +++ b/wrap/tests/expected/matlab/MyTemplatePoint2.m @@ -34,11 +34,11 @@ classdef MyTemplatePoint2 < MyBase if nargin == 2 my_ptr = varargin{2}; else - my_ptr = geometry_wrapper(48, varargin{2}); + my_ptr = inheritance_wrapper(4, varargin{2}); end - base_ptr = geometry_wrapper(47, my_ptr); + base_ptr = inheritance_wrapper(3, my_ptr); elseif nargin == 0 - [ my_ptr, base_ptr ] = geometry_wrapper(49); + [ my_ptr, base_ptr ] = inheritance_wrapper(5); else error('Arguments do not match any overload of MyTemplatePoint2 constructor'); end @@ -47,7 +47,7 @@ classdef MyTemplatePoint2 < MyBase end function delete(obj) - geometry_wrapper(50, obj.ptr_MyTemplatePoint2); + inheritance_wrapper(6, obj.ptr_MyTemplatePoint2); end function display(obj), obj.print(''); end @@ -58,7 +58,7 @@ classdef MyTemplatePoint2 < MyBase % ACCEPT_T usage: accept_T(Point2 value) : returns void % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1 - geometry_wrapper(51, this, varargin{:}); + inheritance_wrapper(7, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplatePoint2.accept_T'); @@ -68,7 +68,7 @@ classdef MyTemplatePoint2 < MyBase % ACCEPT_TPTR usage: accept_Tptr(Point2 value) : returns void % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1 - geometry_wrapper(52, this, varargin{:}); + inheritance_wrapper(8, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplatePoint2.accept_Tptr'); @@ -78,7 +78,7 @@ classdef MyTemplatePoint2 < MyBase % CREATE_MIXEDPTRS usage: create_MixedPtrs() : returns pair< Point2, Point2 > % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - [ varargout{1} varargout{2} ] = geometry_wrapper(53, this, varargin{:}); + [ varargout{1} varargout{2} ] = inheritance_wrapper(9, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplatePoint2.create_MixedPtrs'); @@ -88,7 +88,7 @@ classdef MyTemplatePoint2 < MyBase % CREATE_PTRS usage: create_ptrs() : returns pair< Point2, Point2 > % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - [ varargout{1} varargout{2} ] = geometry_wrapper(54, this, varargin{:}); + [ varargout{1} varargout{2} ] = inheritance_wrapper(10, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplatePoint2.create_ptrs'); @@ -98,7 +98,7 @@ classdef MyTemplatePoint2 < MyBase % RETURN_T usage: return_T(Point2 value) : returns Point2 % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1 - varargout{1} = geometry_wrapper(55, this, varargin{:}); + varargout{1} = inheritance_wrapper(11, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplatePoint2.return_T'); @@ -108,7 +108,7 @@ classdef MyTemplatePoint2 < MyBase % RETURN_TPTR usage: return_Tptr(Point2 value) : returns Point2 % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1 - varargout{1} = geometry_wrapper(56, this, varargin{:}); + varargout{1} = inheritance_wrapper(12, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplatePoint2.return_Tptr'); @@ -118,7 +118,7 @@ classdef MyTemplatePoint2 < MyBase % RETURN_PTRS usage: return_ptrs(Point2 p1, Point2 p2) : returns pair< Point2, Point2 > % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 2 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1 && isa(varargin{2},'double') && size(varargin{2},1)==2 && size(varargin{2},2)==1 - [ varargout{1} varargout{2} ] = geometry_wrapper(57, this, varargin{:}); + [ varargout{1} varargout{2} ] = inheritance_wrapper(13, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplatePoint2.return_ptrs'); @@ -128,7 +128,7 @@ classdef MyTemplatePoint2 < MyBase % TEMPLATEDMETHODMATRIX usage: templatedMethodMatrix(Matrix t) : returns Matrix % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(58, this, varargin{:}); + varargout{1} = inheritance_wrapper(14, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplatePoint2.templatedMethodMatrix'); @@ -138,7 +138,7 @@ classdef MyTemplatePoint2 < MyBase % TEMPLATEDMETHODPOINT2 usage: templatedMethodPoint2(Point2 t) : returns Point2 % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1 - varargout{1} = geometry_wrapper(59, this, varargin{:}); + varargout{1} = inheritance_wrapper(15, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplatePoint2.templatedMethodPoint2'); @@ -148,7 +148,7 @@ classdef MyTemplatePoint2 < MyBase % TEMPLATEDMETHODPOINT3 usage: templatedMethodPoint3(Point3 t) : returns Point3 % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==3 && size(varargin{1},2)==1 - varargout{1} = geometry_wrapper(60, this, varargin{:}); + varargout{1} = inheritance_wrapper(16, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplatePoint2.templatedMethodPoint3'); @@ -158,7 +158,7 @@ classdef MyTemplatePoint2 < MyBase % TEMPLATEDMETHODVECTOR usage: templatedMethodVector(Vector t) : returns Vector % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1 - varargout{1} = geometry_wrapper(61, this, varargin{:}); + varargout{1} = inheritance_wrapper(17, this, varargin{:}); return end error('Arguments do not match any overload of function MyTemplatePoint2.templatedMethodVector'); @@ -171,7 +171,7 @@ classdef MyTemplatePoint2 < MyBase % LEVEL usage: Level(Point2 K) : returns MyTemplatePoint2 % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1 - varargout{1} = geometry_wrapper(62, varargin{:}); + varargout{1} = inheritance_wrapper(18, varargin{:}); return end diff --git a/wrap/tests/expected-matlab/MyVector12.m b/wrap/tests/expected/matlab/MyVector12.m similarity index 86% rename from wrap/tests/expected-matlab/MyVector12.m rename to wrap/tests/expected/matlab/MyVector12.m index 8e13cc993..00a8f1965 100644 --- a/wrap/tests/expected-matlab/MyVector12.m +++ b/wrap/tests/expected/matlab/MyVector12.m @@ -12,9 +12,9 @@ classdef MyVector12 < handle function obj = MyVector12(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; - geometry_wrapper(86, my_ptr); + class_wrapper(46, my_ptr); elseif nargin == 0 - my_ptr = geometry_wrapper(87); + my_ptr = class_wrapper(47); else error('Arguments do not match any overload of MyVector12 constructor'); end @@ -22,7 +22,7 @@ classdef MyVector12 < handle end function delete(obj) - geometry_wrapper(88, obj.ptr_MyVector12); + class_wrapper(48, obj.ptr_MyVector12); end function display(obj), obj.print(''); end diff --git a/wrap/tests/expected-matlab/MyVector3.m b/wrap/tests/expected/matlab/MyVector3.m similarity index 86% rename from wrap/tests/expected-matlab/MyVector3.m rename to wrap/tests/expected/matlab/MyVector3.m index 1f8140f4f..5d4a80cd8 100644 --- a/wrap/tests/expected-matlab/MyVector3.m +++ b/wrap/tests/expected/matlab/MyVector3.m @@ -12,9 +12,9 @@ classdef MyVector3 < handle function obj = MyVector3(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; - geometry_wrapper(83, my_ptr); + class_wrapper(43, my_ptr); elseif nargin == 0 - my_ptr = geometry_wrapper(84); + my_ptr = class_wrapper(44); else error('Arguments do not match any overload of MyVector3 constructor'); end @@ -22,7 +22,7 @@ classdef MyVector3 < handle end function delete(obj) - geometry_wrapper(85, obj.ptr_MyVector3); + class_wrapper(45, obj.ptr_MyVector3); end function display(obj), obj.print(''); end diff --git a/wrap/tests/expected-matlab/PrimitiveRefdouble.m b/wrap/tests/expected/matlab/PrimitiveRefDouble.m similarity index 66% rename from wrap/tests/expected-matlab/PrimitiveRefdouble.m rename to wrap/tests/expected/matlab/PrimitiveRefDouble.m index 095c132e2..14f04a825 100644 --- a/wrap/tests/expected-matlab/PrimitiveRefdouble.m +++ b/wrap/tests/expected/matlab/PrimitiveRefDouble.m @@ -1,35 +1,35 @@ -%class PrimitiveRefdouble, see Doxygen page for details +%class PrimitiveRefDouble, see Doxygen page for details %at https://gtsam.org/doxygen/ % %-------Constructors------- -%PrimitiveRefdouble() +%PrimitiveRefDouble() % %-------Static Methods------- %Brutal(double t) : returns PrimitiveRef % %-------Serialization Interface------- %string_serialize() : returns string -%string_deserialize(string serialized) : returns PrimitiveRefdouble +%string_deserialize(string serialized) : returns PrimitiveRefDouble % -classdef PrimitiveRefdouble < handle +classdef PrimitiveRefDouble < handle properties - ptr_PrimitiveRefdouble = 0 + ptr_PrimitiveRefDouble = 0 end methods - function obj = PrimitiveRefdouble(varargin) + function obj = PrimitiveRefDouble(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; - geometry_wrapper(79, my_ptr); + class_wrapper(39, my_ptr); elseif nargin == 0 - my_ptr = geometry_wrapper(80); + my_ptr = class_wrapper(40); else - error('Arguments do not match any overload of PrimitiveRefdouble constructor'); + error('Arguments do not match any overload of PrimitiveRefDouble constructor'); end - obj.ptr_PrimitiveRefdouble = my_ptr; + obj.ptr_PrimitiveRefDouble = my_ptr; end function delete(obj) - geometry_wrapper(81, obj.ptr_PrimitiveRefdouble); + class_wrapper(41, obj.ptr_PrimitiveRefDouble); end function display(obj), obj.print(''); end @@ -43,11 +43,11 @@ classdef PrimitiveRefdouble < handle % BRUTAL usage: Brutal(double t) : returns PrimitiveRefdouble % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(82, varargin{:}); + varargout{1} = class_wrapper(42, varargin{:}); return end - error('Arguments do not match any overload of function PrimitiveRefdouble.Brutal'); + error('Arguments do not match any overload of function PrimitiveRefDouble.Brutal'); end end diff --git a/wrap/tests/expected/matlab/TemplatedFunctionRot3.m b/wrap/tests/expected/matlab/TemplatedFunctionRot3.m new file mode 100644 index 000000000..4216201b4 --- /dev/null +++ b/wrap/tests/expected/matlab/TemplatedFunctionRot3.m @@ -0,0 +1,6 @@ +function varargout = TemplatedFunctionRot3(varargin) + if length(varargin) == 1 && isa(varargin{1},'gtsam.Rot3') + functions_wrapper(14, varargin{:}); + else + error('Arguments do not match any overload of function TemplatedFunctionRot3'); + end diff --git a/wrap/tests/expected-matlab/Test.m b/wrap/tests/expected/matlab/Test.m similarity index 72% rename from wrap/tests/expected-matlab/Test.m rename to wrap/tests/expected/matlab/Test.m index 16b5289c4..c39882a93 100644 --- a/wrap/tests/expected-matlab/Test.m +++ b/wrap/tests/expected/matlab/Test.m @@ -9,6 +9,8 @@ %arg_EigenConstRef(Matrix value) : returns void %create_MixedPtrs() : returns pair< Test, Test > %create_ptrs() : returns pair< Test, Test > +%get_container() : returns std::vector +%lambda() : returns void %print() : returns void %return_Point2Ptr(bool value) : returns Point2 %return_Test(Test value) : returns Test @@ -26,6 +28,9 @@ %return_string(string value) : returns string %return_vector1(Vector value) : returns Vector %return_vector2(Vector value) : returns Vector +%set_container(vector container) : returns void +%set_container(vector container) : returns void +%set_container(vector container) : returns void % classdef Test < handle properties @@ -35,11 +40,11 @@ classdef Test < handle function obj = Test(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; - geometry_wrapper(20, my_ptr); + class_wrapper(10, my_ptr); elseif nargin == 0 - my_ptr = geometry_wrapper(21); + my_ptr = class_wrapper(11); elseif nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double') - my_ptr = geometry_wrapper(22, varargin{1}, varargin{2}); + my_ptr = class_wrapper(12, varargin{1}, varargin{2}); else error('Arguments do not match any overload of Test constructor'); end @@ -47,7 +52,7 @@ classdef Test < handle end function delete(obj) - geometry_wrapper(23, obj.ptr_Test); + class_wrapper(13, obj.ptr_Test); end function display(obj), obj.print(''); end @@ -58,7 +63,7 @@ classdef Test < handle % ARG_EIGENCONSTREF usage: arg_EigenConstRef(Matrix value) : returns void % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - geometry_wrapper(24, this, varargin{:}); + class_wrapper(14, this, varargin{:}); return end error('Arguments do not match any overload of function Test.arg_EigenConstRef'); @@ -68,7 +73,7 @@ classdef Test < handle % CREATE_MIXEDPTRS usage: create_MixedPtrs() : returns pair< Test, Test > % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - [ varargout{1} varargout{2} ] = geometry_wrapper(25, this, varargin{:}); + [ varargout{1} varargout{2} ] = class_wrapper(15, this, varargin{:}); return end error('Arguments do not match any overload of function Test.create_MixedPtrs'); @@ -78,17 +83,37 @@ classdef Test < handle % CREATE_PTRS usage: create_ptrs() : returns pair< Test, Test > % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - [ varargout{1} varargout{2} ] = geometry_wrapper(26, this, varargin{:}); + [ varargout{1} varargout{2} ] = class_wrapper(16, this, varargin{:}); return end error('Arguments do not match any overload of function Test.create_ptrs'); end + function varargout = get_container(this, varargin) + % GET_CONTAINER usage: get_container() : returns std.vectorTest + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 0 + varargout{1} = class_wrapper(17, this, varargin{:}); + return + end + error('Arguments do not match any overload of function Test.get_container'); + end + + function varargout = lambda(this, varargin) + % LAMBDA usage: lambda() : returns void + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 0 + class_wrapper(18, this, varargin{:}); + return + end + error('Arguments do not match any overload of function Test.lambda'); + end + function varargout = print(this, varargin) % PRINT usage: print() : returns void % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - geometry_wrapper(27, this, varargin{:}); + class_wrapper(19, this, varargin{:}); return end error('Arguments do not match any overload of function Test.print'); @@ -98,7 +123,7 @@ classdef Test < handle % RETURN_POINT2PTR usage: return_Point2Ptr(bool value) : returns Point2 % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'logical') - varargout{1} = geometry_wrapper(28, this, varargin{:}); + varargout{1} = class_wrapper(20, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_Point2Ptr'); @@ -108,7 +133,7 @@ classdef Test < handle % RETURN_TEST usage: return_Test(Test value) : returns Test % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'Test') - varargout{1} = geometry_wrapper(29, this, varargin{:}); + varargout{1} = class_wrapper(21, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_Test'); @@ -118,7 +143,7 @@ classdef Test < handle % RETURN_TESTPTR usage: return_TestPtr(Test value) : returns Test % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'Test') - varargout{1} = geometry_wrapper(30, this, varargin{:}); + varargout{1} = class_wrapper(22, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_TestPtr'); @@ -128,7 +153,7 @@ classdef Test < handle % RETURN_BOOL usage: return_bool(bool value) : returns bool % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'logical') - varargout{1} = geometry_wrapper(31, this, varargin{:}); + varargout{1} = class_wrapper(23, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_bool'); @@ -138,7 +163,7 @@ classdef Test < handle % RETURN_DOUBLE usage: return_double(double value) : returns double % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(32, this, varargin{:}); + varargout{1} = class_wrapper(24, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_double'); @@ -148,7 +173,7 @@ classdef Test < handle % RETURN_FIELD usage: return_field(Test t) : returns bool % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'Test') - varargout{1} = geometry_wrapper(33, this, varargin{:}); + varargout{1} = class_wrapper(25, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_field'); @@ -158,7 +183,7 @@ classdef Test < handle % RETURN_INT usage: return_int(int value) : returns int % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'numeric') - varargout{1} = geometry_wrapper(34, this, varargin{:}); + varargout{1} = class_wrapper(26, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_int'); @@ -168,7 +193,7 @@ classdef Test < handle % RETURN_MATRIX1 usage: return_matrix1(Matrix value) : returns Matrix % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(35, this, varargin{:}); + varargout{1} = class_wrapper(27, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_matrix1'); @@ -178,7 +203,7 @@ classdef Test < handle % RETURN_MATRIX2 usage: return_matrix2(Matrix value) : returns Matrix % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(36, this, varargin{:}); + varargout{1} = class_wrapper(28, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_matrix2'); @@ -188,13 +213,13 @@ classdef Test < handle % RETURN_PAIR usage: return_pair(Vector v, Matrix A) : returns pair< Vector, Matrix > % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 2 && isa(varargin{1},'double') && size(varargin{1},2)==1 && isa(varargin{2},'double') - [ varargout{1} varargout{2} ] = geometry_wrapper(37, this, varargin{:}); + [ varargout{1} varargout{2} ] = class_wrapper(29, this, varargin{:}); return end % RETURN_PAIR usage: return_pair(Vector v) : returns pair< Vector, Matrix > % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1 - [ varargout{1} varargout{2} ] = geometry_wrapper(38, this, varargin{:}); + [ varargout{1} varargout{2} ] = class_wrapper(30, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_pair'); @@ -204,7 +229,7 @@ classdef Test < handle % RETURN_PTRS usage: return_ptrs(Test p1, Test p2) : returns pair< Test, Test > % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 2 && isa(varargin{1},'Test') && isa(varargin{2},'Test') - [ varargout{1} varargout{2} ] = geometry_wrapper(39, this, varargin{:}); + [ varargout{1} varargout{2} ] = class_wrapper(31, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_ptrs'); @@ -214,7 +239,7 @@ classdef Test < handle % RETURN_SIZE_T usage: return_size_t(size_t value) : returns size_t % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'numeric') - varargout{1} = geometry_wrapper(40, this, varargin{:}); + varargout{1} = class_wrapper(32, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_size_t'); @@ -224,7 +249,7 @@ classdef Test < handle % RETURN_STRING usage: return_string(string value) : returns string % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'char') - varargout{1} = geometry_wrapper(41, this, varargin{:}); + varargout{1} = class_wrapper(33, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_string'); @@ -234,7 +259,7 @@ classdef Test < handle % RETURN_VECTOR1 usage: return_vector1(Vector value) : returns Vector % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1 - varargout{1} = geometry_wrapper(42, this, varargin{:}); + varargout{1} = class_wrapper(34, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_vector1'); @@ -244,12 +269,34 @@ classdef Test < handle % RETURN_VECTOR2 usage: return_vector2(Vector value) : returns Vector % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1 - varargout{1} = geometry_wrapper(43, this, varargin{:}); + varargout{1} = class_wrapper(35, this, varargin{:}); return end error('Arguments do not match any overload of function Test.return_vector2'); end + function varargout = set_container(this, varargin) + % SET_CONTAINER usage: set_container(vector container) : returns void + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 && isa(varargin{1},'std.vectorTest') + class_wrapper(36, this, varargin{:}); + return + end + % SET_CONTAINER usage: set_container(vector container) : returns void + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 && isa(varargin{1},'std.vectorTest') + class_wrapper(37, this, varargin{:}); + return + end + % SET_CONTAINER usage: set_container(vector container) : returns void + % Doxygen can be found at https://gtsam.org/doxygen/ + if length(varargin) == 1 && isa(varargin{1},'std.vectorTest') + class_wrapper(38, this, varargin{:}); + return + end + error('Arguments do not match any overload of function Test.set_container'); + end + end methods(Static = true) diff --git a/wrap/tests/expected-matlab/aGlobalFunction.m b/wrap/tests/expected/matlab/aGlobalFunction.m similarity index 75% rename from wrap/tests/expected-matlab/aGlobalFunction.m rename to wrap/tests/expected/matlab/aGlobalFunction.m index 0f0b225fa..49850fc3e 100644 --- a/wrap/tests/expected-matlab/aGlobalFunction.m +++ b/wrap/tests/expected/matlab/aGlobalFunction.m @@ -1,6 +1,6 @@ function varargout = aGlobalFunction(varargin) if length(varargin) == 0 - varargout{1} = geometry_wrapper(95, varargin{:}); + varargout{1} = functions_wrapper(3, varargin{:}); else error('Arguments do not match any overload of function aGlobalFunction'); end diff --git a/wrap/tests/expected/matlab/class_wrapper.cpp b/wrap/tests/expected/matlab/class_wrapper.cpp new file mode 100644 index 000000000..fab9c1450 --- /dev/null +++ b/wrap/tests/expected/matlab/class_wrapper.cpp @@ -0,0 +1,929 @@ +#include +#include + +#include +#include +#include + +#include + +typedef Fun FunDouble; +typedef PrimitiveRef PrimitiveRefDouble; +typedef MyVector<3> MyVector3; +typedef MyVector<12> MyVector12; +typedef MultipleTemplates MultipleTemplatesIntDouble; +typedef MultipleTemplates MultipleTemplatesIntFloat; +typedef MyFactor MyFactorPosePoint2; + +typedef std::set*> Collector_FunRange; +static Collector_FunRange collector_FunRange; +typedef std::set*> Collector_FunDouble; +static Collector_FunDouble collector_FunDouble; +typedef std::set*> Collector_Test; +static Collector_Test collector_Test; +typedef std::set*> Collector_PrimitiveRefDouble; +static Collector_PrimitiveRefDouble collector_PrimitiveRefDouble; +typedef std::set*> Collector_MyVector3; +static Collector_MyVector3 collector_MyVector3; +typedef std::set*> Collector_MyVector12; +static Collector_MyVector12 collector_MyVector12; +typedef std::set*> Collector_MultipleTemplatesIntDouble; +static Collector_MultipleTemplatesIntDouble collector_MultipleTemplatesIntDouble; +typedef std::set*> Collector_MultipleTemplatesIntFloat; +static Collector_MultipleTemplatesIntFloat collector_MultipleTemplatesIntFloat; +typedef std::set*> Collector_ForwardKinematics; +static Collector_ForwardKinematics collector_ForwardKinematics; +typedef std::set*> Collector_MyFactorPosePoint2; +static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2; + + +void _deleteAllObjects() +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + bool anyDeleted = false; + { for(Collector_FunRange::iterator iter = collector_FunRange.begin(); + iter != collector_FunRange.end(); ) { + delete *iter; + collector_FunRange.erase(iter++); + anyDeleted = true; + } } + { for(Collector_FunDouble::iterator iter = collector_FunDouble.begin(); + iter != collector_FunDouble.end(); ) { + delete *iter; + collector_FunDouble.erase(iter++); + anyDeleted = true; + } } + { for(Collector_Test::iterator iter = collector_Test.begin(); + iter != collector_Test.end(); ) { + delete *iter; + collector_Test.erase(iter++); + anyDeleted = true; + } } + { for(Collector_PrimitiveRefDouble::iterator iter = collector_PrimitiveRefDouble.begin(); + iter != collector_PrimitiveRefDouble.end(); ) { + delete *iter; + collector_PrimitiveRefDouble.erase(iter++); + anyDeleted = true; + } } + { for(Collector_MyVector3::iterator iter = collector_MyVector3.begin(); + iter != collector_MyVector3.end(); ) { + delete *iter; + collector_MyVector3.erase(iter++); + anyDeleted = true; + } } + { for(Collector_MyVector12::iterator iter = collector_MyVector12.begin(); + iter != collector_MyVector12.end(); ) { + delete *iter; + collector_MyVector12.erase(iter++); + anyDeleted = true; + } } + { for(Collector_MultipleTemplatesIntDouble::iterator iter = collector_MultipleTemplatesIntDouble.begin(); + iter != collector_MultipleTemplatesIntDouble.end(); ) { + delete *iter; + collector_MultipleTemplatesIntDouble.erase(iter++); + anyDeleted = true; + } } + { for(Collector_MultipleTemplatesIntFloat::iterator iter = collector_MultipleTemplatesIntFloat.begin(); + iter != collector_MultipleTemplatesIntFloat.end(); ) { + delete *iter; + collector_MultipleTemplatesIntFloat.erase(iter++); + anyDeleted = true; + } } + { for(Collector_ForwardKinematics::iterator iter = collector_ForwardKinematics.begin(); + iter != collector_ForwardKinematics.end(); ) { + delete *iter; + collector_ForwardKinematics.erase(iter++); + anyDeleted = true; + } } + { for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin(); + iter != collector_MyFactorPosePoint2.end(); ) { + delete *iter; + collector_MyFactorPosePoint2.erase(iter++); + anyDeleted = true; + } } + + if(anyDeleted) + cout << + "WARNING: Wrap modules with variables in the workspace have been reloaded due to\n" + "calling destructors, call 'clear all' again if you plan to now recompile a wrap\n" + "module, so that your recompiled module is used instead of the old one." << endl; + std::cout.rdbuf(outbuf); +} + +void _class_RTTIRegister() { + const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_class_rttiRegistry_created"); + if(!alreadyCreated) { + std::map types; + + + + mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); + if(!registry) + registry = mxCreateStructMatrix(1, 1, 0, NULL); + typedef std::pair StringPair; + for(const StringPair& rtti_matlab: types) { + int fieldId = mxAddField(registry, rtti_matlab.first.c_str()); + if(fieldId < 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str()); + mxSetFieldByNumber(registry, 0, fieldId, matlabName); + } + if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(registry); + + mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); + if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(newAlreadyCreated); + } +} + +void FunRange_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_FunRange.insert(self); +} + +void FunRange_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new FunRange()); + collector_FunRange.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void FunRange_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_FunRange",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_FunRange::iterator item; + item = collector_FunRange.find(self); + if(item != collector_FunRange.end()) { + delete self; + collector_FunRange.erase(item); + } +} + +void FunRange_range_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("range",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_FunRange"); + double d = unwrap< double >(in[1]); + out[0] = wrap_shared_ptr(boost::make_shared(obj->range(d)),"FunRange", false); +} + +void FunRange_create_4(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("FunRange.create",nargout,nargin,0); + out[0] = wrap_shared_ptr(boost::make_shared(FunRange::create()),"FunRange", false); +} + +void FunDouble_collectorInsertAndMakeBase_5(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_FunDouble.insert(self); +} + +void FunDouble_deconstructor_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr> Shared; + checkArguments("delete_FunDouble",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_FunDouble::iterator item; + item = collector_FunDouble.find(self); + if(item != collector_FunDouble.end()) { + delete self; + collector_FunDouble.erase(item); + } +} + +void FunDouble_multiTemplatedMethod_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("multiTemplatedMethodStringSize_t",nargout,nargin-1,3); + auto obj = unwrap_shared_ptr>(in[0], "ptr_FunDouble"); + double d = unwrap< double >(in[1]); + string t = unwrap< string >(in[2]); + size_t u = unwrap< size_t >(in[3]); + out[0] = wrap_shared_ptr(boost::make_shared>(obj->multiTemplatedMethod(d,t,u)),"Fun", false); +} + +void FunDouble_templatedMethod_8(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("templatedMethodString",nargout,nargin-1,2); + auto obj = unwrap_shared_ptr>(in[0], "ptr_FunDouble"); + double d = unwrap< double >(in[1]); + string t = unwrap< string >(in[2]); + out[0] = wrap_shared_ptr(boost::make_shared>(obj->templatedMethod(d,t)),"Fun", false); +} + +void FunDouble_staticMethodWithThis_9(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("FunDouble.staticMethodWithThis",nargout,nargin,0); + out[0] = wrap_shared_ptr(boost::make_shared>(Fun::staticMethodWithThis()),"Fundouble", false); +} + +void Test_collectorInsertAndMakeBase_10(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_Test.insert(self); +} + +void Test_constructor_11(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new Test()); + collector_Test.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void Test_constructor_12(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + double a = unwrap< double >(in[0]); + Matrix b = unwrap< Matrix >(in[1]); + Shared *self = new Shared(new Test(a,b)); + collector_Test.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void Test_deconstructor_13(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_Test",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_Test::iterator item; + item = collector_Test.find(self); + if(item != collector_Test.end()) { + delete self; + collector_Test.erase(item); + } +} + +void Test_arg_EigenConstRef_14(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("arg_EigenConstRef",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + Matrix value = unwrap< Matrix >(in[1]); + obj->arg_EigenConstRef(value); +} + +void Test_create_MixedPtrs_15(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("create_MixedPtrs",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + auto pairResult = obj->create_MixedPtrs(); + out[0] = wrap_shared_ptr(boost::make_shared(pairResult.first),"Test", false); + out[1] = wrap_shared_ptr(pairResult.second,"Test", false); +} + +void Test_create_ptrs_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("create_ptrs",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + auto pairResult = obj->create_ptrs(); + out[0] = wrap_shared_ptr(pairResult.first,"Test", false); + out[1] = wrap_shared_ptr(pairResult.second,"Test", false); +} + +void Test_get_container_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("get_container",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + out[0] = wrap_shared_ptr(boost::make_shared>(obj->get_container()),"std.vectorTest", false); +} + +void Test_lambda_18(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("lambda",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + obj->lambda(); +} + +void Test_print_19(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("print",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + obj->print(); +} + +void Test_return_Point2Ptr_20(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_Point2Ptr",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + bool value = unwrap< bool >(in[1]); + { + boost::shared_ptr shared(obj->return_Point2Ptr(value)); + out[0] = wrap_shared_ptr(shared,"Point2"); + } +} + +void Test_return_Test_21(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_Test",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "ptr_Test"); + out[0] = wrap_shared_ptr(boost::make_shared(obj->return_Test(value)),"Test", false); +} + +void Test_return_TestPtr_22(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_TestPtr",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "ptr_Test"); + out[0] = wrap_shared_ptr(obj->return_TestPtr(value),"Test", false); +} + +void Test_return_bool_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_bool",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + bool value = unwrap< bool >(in[1]); + out[0] = wrap< bool >(obj->return_bool(value)); +} + +void Test_return_double_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_double",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + double value = unwrap< double >(in[1]); + out[0] = wrap< double >(obj->return_double(value)); +} + +void Test_return_field_25(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_field",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + Test& t = *unwrap_shared_ptr< Test >(in[1], "ptr_Test"); + out[0] = wrap< bool >(obj->return_field(t)); +} + +void Test_return_int_26(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_int",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + int value = unwrap< int >(in[1]); + out[0] = wrap< int >(obj->return_int(value)); +} + +void Test_return_matrix1_27(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_matrix1",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + Matrix value = unwrap< Matrix >(in[1]); + out[0] = wrap< Matrix >(obj->return_matrix1(value)); +} + +void Test_return_matrix2_28(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_matrix2",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + Matrix value = unwrap< Matrix >(in[1]); + out[0] = wrap< Matrix >(obj->return_matrix2(value)); +} + +void Test_return_pair_29(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_pair",nargout,nargin-1,2); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + Vector v = unwrap< Vector >(in[1]); + Matrix A = unwrap< Matrix >(in[2]); + auto pairResult = obj->return_pair(v,A); + out[0] = wrap< Vector >(pairResult.first); + out[1] = wrap< Matrix >(pairResult.second); +} + +void Test_return_pair_30(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_pair",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + Vector v = unwrap< Vector >(in[1]); + auto pairResult = obj->return_pair(v); + out[0] = wrap< Vector >(pairResult.first); + out[1] = wrap< Matrix >(pairResult.second); +} + +void Test_return_ptrs_31(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_ptrs",nargout,nargin-1,2); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + boost::shared_ptr p1 = unwrap_shared_ptr< Test >(in[1], "ptr_Test"); + boost::shared_ptr p2 = unwrap_shared_ptr< Test >(in[2], "ptr_Test"); + auto pairResult = obj->return_ptrs(p1,p2); + out[0] = wrap_shared_ptr(pairResult.first,"Test", false); + out[1] = wrap_shared_ptr(pairResult.second,"Test", false); +} + +void Test_return_size_t_32(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_size_t",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + size_t value = unwrap< size_t >(in[1]); + out[0] = wrap< size_t >(obj->return_size_t(value)); +} + +void Test_return_string_33(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_string",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + string value = unwrap< string >(in[1]); + out[0] = wrap< string >(obj->return_string(value)); +} + +void Test_return_vector1_34(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_vector1",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + Vector value = unwrap< Vector >(in[1]); + out[0] = wrap< Vector >(obj->return_vector1(value)); +} + +void Test_return_vector2_35(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_vector2",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + Vector value = unwrap< Vector >(in[1]); + out[0] = wrap< Vector >(obj->return_vector2(value)); +} + +void Test_set_container_36(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("set_container",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + boost::shared_ptr> container = unwrap_shared_ptr< std::vector >(in[1], "ptr_stdvectorTest"); + obj->set_container(*container); +} + +void Test_set_container_37(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("set_container",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + boost::shared_ptr> container = unwrap_shared_ptr< std::vector >(in[1], "ptr_stdvectorTest"); + obj->set_container(*container); +} + +void Test_set_container_38(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("set_container",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_Test"); + boost::shared_ptr> container = unwrap_shared_ptr< std::vector >(in[1], "ptr_stdvectorTest"); + obj->set_container(*container); +} + +void PrimitiveRefDouble_collectorInsertAndMakeBase_39(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_PrimitiveRefDouble.insert(self); +} + +void PrimitiveRefDouble_constructor_40(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = new Shared(new PrimitiveRef()); + collector_PrimitiveRefDouble.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void PrimitiveRefDouble_deconstructor_41(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr> Shared; + checkArguments("delete_PrimitiveRefDouble",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_PrimitiveRefDouble::iterator item; + item = collector_PrimitiveRefDouble.find(self); + if(item != collector_PrimitiveRefDouble.end()) { + delete self; + collector_PrimitiveRefDouble.erase(item); + } +} + +void PrimitiveRefDouble_Brutal_42(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("PrimitiveRefDouble.Brutal",nargout,nargin,1); + double t = unwrap< double >(in[0]); + out[0] = wrap_shared_ptr(boost::make_shared>(PrimitiveRef::Brutal(t)),"PrimitiveRefdouble", false); +} + +void MyVector3_collectorInsertAndMakeBase_43(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_MyVector3.insert(self); +} + +void MyVector3_constructor_44(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = new Shared(new MyVector<3>()); + collector_MyVector3.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void MyVector3_deconstructor_45(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr> Shared; + checkArguments("delete_MyVector3",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_MyVector3::iterator item; + item = collector_MyVector3.find(self); + if(item != collector_MyVector3.end()) { + delete self; + collector_MyVector3.erase(item); + } +} + +void MyVector12_collectorInsertAndMakeBase_46(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_MyVector12.insert(self); +} + +void MyVector12_constructor_47(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = new Shared(new MyVector<12>()); + collector_MyVector12.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void MyVector12_deconstructor_48(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr> Shared; + checkArguments("delete_MyVector12",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_MyVector12::iterator item; + item = collector_MyVector12.find(self); + if(item != collector_MyVector12.end()) { + delete self; + collector_MyVector12.erase(item); + } +} + +void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_49(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_MultipleTemplatesIntDouble.insert(self); +} + +void MultipleTemplatesIntDouble_deconstructor_50(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr> Shared; + checkArguments("delete_MultipleTemplatesIntDouble",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_MultipleTemplatesIntDouble::iterator item; + item = collector_MultipleTemplatesIntDouble.find(self); + if(item != collector_MultipleTemplatesIntDouble.end()) { + delete self; + collector_MultipleTemplatesIntDouble.erase(item); + } +} + +void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_51(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_MultipleTemplatesIntFloat.insert(self); +} + +void MultipleTemplatesIntFloat_deconstructor_52(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr> Shared; + checkArguments("delete_MultipleTemplatesIntFloat",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_MultipleTemplatesIntFloat::iterator item; + item = collector_MultipleTemplatesIntFloat.find(self); + if(item != collector_MultipleTemplatesIntFloat.end()) { + delete self; + collector_MultipleTemplatesIntFloat.erase(item); + } +} + +void ForwardKinematics_collectorInsertAndMakeBase_53(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_ForwardKinematics.insert(self); +} + +void ForwardKinematics_constructor_54(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + gtdynamics::Robot& robot = *unwrap_shared_ptr< gtdynamics::Robot >(in[0], "ptr_gtdynamicsRobot"); + string& start_link_name = *unwrap_shared_ptr< string >(in[1], "ptr_string"); + string& end_link_name = *unwrap_shared_ptr< string >(in[2], "ptr_string"); + gtsam::Values& joint_angles = *unwrap_shared_ptr< gtsam::Values >(in[3], "ptr_gtsamValues"); + gtsam::Pose3& l2Tp = *unwrap_shared_ptr< gtsam::Pose3 >(in[4], "ptr_gtsamPose3"); + Shared *self = new Shared(new ForwardKinematics(robot,start_link_name,end_link_name,joint_angles,l2Tp)); + collector_ForwardKinematics.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void ForwardKinematics_deconstructor_55(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_ForwardKinematics",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_ForwardKinematics::iterator item; + item = collector_ForwardKinematics.find(self); + if(item != collector_ForwardKinematics.end()) { + delete self; + collector_ForwardKinematics.erase(item); + } +} + +void MyFactorPosePoint2_collectorInsertAndMakeBase_56(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_MyFactorPosePoint2.insert(self); +} + +void MyFactorPosePoint2_constructor_57(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + size_t key1 = unwrap< size_t >(in[0]); + size_t key2 = unwrap< size_t >(in[1]); + double measured = unwrap< double >(in[2]); + boost::shared_ptr noiseModel = unwrap_shared_ptr< gtsam::noiseModel::Base >(in[3], "ptr_gtsamnoiseModelBase"); + Shared *self = new Shared(new MyFactor(key1,key2,measured,noiseModel)); + collector_MyFactorPosePoint2.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void MyFactorPosePoint2_deconstructor_58(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr> Shared; + checkArguments("delete_MyFactorPosePoint2",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_MyFactorPosePoint2::iterator item; + item = collector_MyFactorPosePoint2.find(self); + if(item != collector_MyFactorPosePoint2.end()) { + delete self; + collector_MyFactorPosePoint2.erase(item); + } +} + +void MyFactorPosePoint2_print_59(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("print",nargout,nargin-1,2); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyFactorPosePoint2"); + string& s = *unwrap_shared_ptr< string >(in[1], "ptr_string"); + gtsam::KeyFormatter& keyFormatter = *unwrap_shared_ptr< gtsam::KeyFormatter >(in[2], "ptr_gtsamKeyFormatter"); + obj->print(s,keyFormatter); +} + + +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + _class_RTTIRegister(); + + int id = unwrap(in[0]); + + try { + switch(id) { + case 0: + FunRange_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1); + break; + case 1: + FunRange_constructor_1(nargout, out, nargin-1, in+1); + break; + case 2: + FunRange_deconstructor_2(nargout, out, nargin-1, in+1); + break; + case 3: + FunRange_range_3(nargout, out, nargin-1, in+1); + break; + case 4: + FunRange_create_4(nargout, out, nargin-1, in+1); + break; + case 5: + FunDouble_collectorInsertAndMakeBase_5(nargout, out, nargin-1, in+1); + break; + case 6: + FunDouble_deconstructor_6(nargout, out, nargin-1, in+1); + break; + case 7: + FunDouble_multiTemplatedMethod_7(nargout, out, nargin-1, in+1); + break; + case 8: + FunDouble_templatedMethod_8(nargout, out, nargin-1, in+1); + break; + case 9: + FunDouble_staticMethodWithThis_9(nargout, out, nargin-1, in+1); + break; + case 10: + Test_collectorInsertAndMakeBase_10(nargout, out, nargin-1, in+1); + break; + case 11: + Test_constructor_11(nargout, out, nargin-1, in+1); + break; + case 12: + Test_constructor_12(nargout, out, nargin-1, in+1); + break; + case 13: + Test_deconstructor_13(nargout, out, nargin-1, in+1); + break; + case 14: + Test_arg_EigenConstRef_14(nargout, out, nargin-1, in+1); + break; + case 15: + Test_create_MixedPtrs_15(nargout, out, nargin-1, in+1); + break; + case 16: + Test_create_ptrs_16(nargout, out, nargin-1, in+1); + break; + case 17: + Test_get_container_17(nargout, out, nargin-1, in+1); + break; + case 18: + Test_lambda_18(nargout, out, nargin-1, in+1); + break; + case 19: + Test_print_19(nargout, out, nargin-1, in+1); + break; + case 20: + Test_return_Point2Ptr_20(nargout, out, nargin-1, in+1); + break; + case 21: + Test_return_Test_21(nargout, out, nargin-1, in+1); + break; + case 22: + Test_return_TestPtr_22(nargout, out, nargin-1, in+1); + break; + case 23: + Test_return_bool_23(nargout, out, nargin-1, in+1); + break; + case 24: + Test_return_double_24(nargout, out, nargin-1, in+1); + break; + case 25: + Test_return_field_25(nargout, out, nargin-1, in+1); + break; + case 26: + Test_return_int_26(nargout, out, nargin-1, in+1); + break; + case 27: + Test_return_matrix1_27(nargout, out, nargin-1, in+1); + break; + case 28: + Test_return_matrix2_28(nargout, out, nargin-1, in+1); + break; + case 29: + Test_return_pair_29(nargout, out, nargin-1, in+1); + break; + case 30: + Test_return_pair_30(nargout, out, nargin-1, in+1); + break; + case 31: + Test_return_ptrs_31(nargout, out, nargin-1, in+1); + break; + case 32: + Test_return_size_t_32(nargout, out, nargin-1, in+1); + break; + case 33: + Test_return_string_33(nargout, out, nargin-1, in+1); + break; + case 34: + Test_return_vector1_34(nargout, out, nargin-1, in+1); + break; + case 35: + Test_return_vector2_35(nargout, out, nargin-1, in+1); + break; + case 36: + Test_set_container_36(nargout, out, nargin-1, in+1); + break; + case 37: + Test_set_container_37(nargout, out, nargin-1, in+1); + break; + case 38: + Test_set_container_38(nargout, out, nargin-1, in+1); + break; + case 39: + PrimitiveRefDouble_collectorInsertAndMakeBase_39(nargout, out, nargin-1, in+1); + break; + case 40: + PrimitiveRefDouble_constructor_40(nargout, out, nargin-1, in+1); + break; + case 41: + PrimitiveRefDouble_deconstructor_41(nargout, out, nargin-1, in+1); + break; + case 42: + PrimitiveRefDouble_Brutal_42(nargout, out, nargin-1, in+1); + break; + case 43: + MyVector3_collectorInsertAndMakeBase_43(nargout, out, nargin-1, in+1); + break; + case 44: + MyVector3_constructor_44(nargout, out, nargin-1, in+1); + break; + case 45: + MyVector3_deconstructor_45(nargout, out, nargin-1, in+1); + break; + case 46: + MyVector12_collectorInsertAndMakeBase_46(nargout, out, nargin-1, in+1); + break; + case 47: + MyVector12_constructor_47(nargout, out, nargin-1, in+1); + break; + case 48: + MyVector12_deconstructor_48(nargout, out, nargin-1, in+1); + break; + case 49: + MultipleTemplatesIntDouble_collectorInsertAndMakeBase_49(nargout, out, nargin-1, in+1); + break; + case 50: + MultipleTemplatesIntDouble_deconstructor_50(nargout, out, nargin-1, in+1); + break; + case 51: + MultipleTemplatesIntFloat_collectorInsertAndMakeBase_51(nargout, out, nargin-1, in+1); + break; + case 52: + MultipleTemplatesIntFloat_deconstructor_52(nargout, out, nargin-1, in+1); + break; + case 53: + ForwardKinematics_collectorInsertAndMakeBase_53(nargout, out, nargin-1, in+1); + break; + case 54: + ForwardKinematics_constructor_54(nargout, out, nargin-1, in+1); + break; + case 55: + ForwardKinematics_deconstructor_55(nargout, out, nargin-1, in+1); + break; + case 56: + MyFactorPosePoint2_collectorInsertAndMakeBase_56(nargout, out, nargin-1, in+1); + break; + case 57: + MyFactorPosePoint2_constructor_57(nargout, out, nargin-1, in+1); + break; + case 58: + MyFactorPosePoint2_deconstructor_58(nargout, out, nargin-1, in+1); + break; + case 59: + MyFactorPosePoint2_print_59(nargout, out, nargin-1, in+1); + break; + } + } catch(const std::exception& e) { + mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str()); + } + + std::cout.rdbuf(outbuf); +} diff --git a/wrap/tests/expected/matlab/functions_wrapper.cpp b/wrap/tests/expected/matlab/functions_wrapper.cpp new file mode 100644 index 000000000..d0f0f8ca6 --- /dev/null +++ b/wrap/tests/expected/matlab/functions_wrapper.cpp @@ -0,0 +1,238 @@ +#include +#include + +#include +#include +#include + + + + + + + +void _deleteAllObjects() +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + bool anyDeleted = false; + + if(anyDeleted) + cout << + "WARNING: Wrap modules with variables in the workspace have been reloaded due to\n" + "calling destructors, call 'clear all' again if you plan to now recompile a wrap\n" + "module, so that your recompiled module is used instead of the old one." << endl; + std::cout.rdbuf(outbuf); +} + +void _functions_RTTIRegister() { + const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_functions_rttiRegistry_created"); + if(!alreadyCreated) { + std::map types; + + + + mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); + if(!registry) + registry = mxCreateStructMatrix(1, 1, 0, NULL); + typedef std::pair StringPair; + for(const StringPair& rtti_matlab: types) { + int fieldId = mxAddField(registry, rtti_matlab.first.c_str()); + if(fieldId < 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str()); + mxSetFieldByNumber(registry, 0, fieldId, matlabName); + } + if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(registry); + + mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); + if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(newAlreadyCreated); + } +} + +void load2D_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("load2D",nargout,nargin,5); + string filename = unwrap< string >(in[0]); + boost::shared_ptr model = unwrap_shared_ptr< Test >(in[1], "ptr_Test"); + int maxID = unwrap< int >(in[2]); + bool addNoise = unwrap< bool >(in[3]); + bool smart = unwrap< bool >(in[4]); + auto pairResult = load2D(filename,model,maxID,addNoise,smart); + out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false); + out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false); +} +void load2D_1(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("load2D",nargout,nargin,5); + string filename = unwrap< string >(in[0]); + boost::shared_ptr model = unwrap_shared_ptr< gtsam::noiseModel::Diagonal >(in[1], "ptr_gtsamnoiseModelDiagonal"); + int maxID = unwrap< int >(in[2]); + bool addNoise = unwrap< bool >(in[3]); + bool smart = unwrap< bool >(in[4]); + auto pairResult = load2D(filename,model,maxID,addNoise,smart); + out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false); + out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false); +} +void load2D_2(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("load2D",nargout,nargin,2); + string filename = unwrap< string >(in[0]); + boost::shared_ptr model = unwrap_shared_ptr< gtsam::noiseModel::Diagonal >(in[1], "ptr_gtsamnoiseModelDiagonal"); + auto pairResult = load2D(filename,model); + out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false); + out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false); +} +void aGlobalFunction_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("aGlobalFunction",nargout,nargin,0); + out[0] = wrap< Vector >(aGlobalFunction()); +} +void overloadedGlobalFunction_4(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("overloadedGlobalFunction",nargout,nargin,1); + int a = unwrap< int >(in[0]); + out[0] = wrap< Vector >(overloadedGlobalFunction(a)); +} +void overloadedGlobalFunction_5(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("overloadedGlobalFunction",nargout,nargin,2); + int a = unwrap< int >(in[0]); + double b = unwrap< double >(in[1]); + out[0] = wrap< Vector >(overloadedGlobalFunction(a,b)); +} +void MultiTemplatedFunctionStringSize_tDouble_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("MultiTemplatedFunctionStringSize_tDouble",nargout,nargin,2); + T& x = *unwrap_shared_ptr< T >(in[0], "ptr_T"); + size_t y = unwrap< size_t >(in[1]); + out[0] = wrap< double >(MultiTemplatedFunctionStringSize_tDouble(x,y)); +} +void MultiTemplatedFunctionDoubleSize_tDouble_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("MultiTemplatedFunctionDoubleSize_tDouble",nargout,nargin,2); + T& x = *unwrap_shared_ptr< T >(in[0], "ptr_T"); + size_t y = unwrap< size_t >(in[1]); + out[0] = wrap< double >(MultiTemplatedFunctionDoubleSize_tDouble(x,y)); +} +void DefaultFuncInt_8(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("DefaultFuncInt",nargout,nargin,2); + int a = unwrap< int >(in[0]); + int b = unwrap< int >(in[1]); + DefaultFuncInt(a,b); +} +void DefaultFuncString_9(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("DefaultFuncString",nargout,nargin,2); + string& s = *unwrap_shared_ptr< string >(in[0], "ptr_string"); + string& name = *unwrap_shared_ptr< string >(in[1], "ptr_string"); + DefaultFuncString(s,name); +} +void DefaultFuncObj_10(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("DefaultFuncObj",nargout,nargin,1); + gtsam::KeyFormatter& keyFormatter = *unwrap_shared_ptr< gtsam::KeyFormatter >(in[0], "ptr_gtsamKeyFormatter"); + DefaultFuncObj(keyFormatter); +} +void DefaultFuncZero_11(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("DefaultFuncZero",nargout,nargin,5); + int a = unwrap< int >(in[0]); + int b = unwrap< int >(in[1]); + double c = unwrap< double >(in[2]); + bool d = unwrap< bool >(in[3]); + bool e = unwrap< bool >(in[4]); + DefaultFuncZero(a,b,c,d,e); +} +void DefaultFuncVector_12(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("DefaultFuncVector",nargout,nargin,2); + std::vector& i = *unwrap_shared_ptr< std::vector >(in[0], "ptr_stdvectorint"); + std::vector& s = *unwrap_shared_ptr< std::vector >(in[1], "ptr_stdvectorstring"); + DefaultFuncVector(i,s); +} +void setPose_13(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("setPose",nargout,nargin,1); + gtsam::Pose3& pose = *unwrap_shared_ptr< gtsam::Pose3 >(in[0], "ptr_gtsamPose3"); + setPose(pose); +} +void TemplatedFunctionRot3_14(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("TemplatedFunctionRot3",nargout,nargin,1); + gtsam::Rot3& t = *unwrap_shared_ptr< gtsam::Rot3 >(in[0], "ptr_gtsamRot3"); + TemplatedFunctionRot3(t); +} + +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + _functions_RTTIRegister(); + + int id = unwrap(in[0]); + + try { + switch(id) { + case 0: + load2D_0(nargout, out, nargin-1, in+1); + break; + case 1: + load2D_1(nargout, out, nargin-1, in+1); + break; + case 2: + load2D_2(nargout, out, nargin-1, in+1); + break; + case 3: + aGlobalFunction_3(nargout, out, nargin-1, in+1); + break; + case 4: + overloadedGlobalFunction_4(nargout, out, nargin-1, in+1); + break; + case 5: + overloadedGlobalFunction_5(nargout, out, nargin-1, in+1); + break; + case 6: + MultiTemplatedFunctionStringSize_tDouble_6(nargout, out, nargin-1, in+1); + break; + case 7: + MultiTemplatedFunctionDoubleSize_tDouble_7(nargout, out, nargin-1, in+1); + break; + case 8: + DefaultFuncInt_8(nargout, out, nargin-1, in+1); + break; + case 9: + DefaultFuncString_9(nargout, out, nargin-1, in+1); + break; + case 10: + DefaultFuncObj_10(nargout, out, nargin-1, in+1); + break; + case 11: + DefaultFuncZero_11(nargout, out, nargin-1, in+1); + break; + case 12: + DefaultFuncVector_12(nargout, out, nargin-1, in+1); + break; + case 13: + setPose_13(nargout, out, nargin-1, in+1); + break; + case 14: + TemplatedFunctionRot3_14(nargout, out, nargin-1, in+1); + break; + } + } catch(const std::exception& e) { + mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str()); + } + + std::cout.rdbuf(outbuf); +} diff --git a/wrap/tests/expected/matlab/geometry_wrapper.cpp b/wrap/tests/expected/matlab/geometry_wrapper.cpp new file mode 100644 index 000000000..81631390c --- /dev/null +++ b/wrap/tests/expected/matlab/geometry_wrapper.cpp @@ -0,0 +1,407 @@ +#include +#include + +#include +#include +#include + +#include +#include + + +BOOST_CLASS_EXPORT_GUID(gtsam::Point2, "gtsamPoint2"); +BOOST_CLASS_EXPORT_GUID(gtsam::Point3, "gtsamPoint3"); + +typedef std::set*> Collector_gtsamPoint2; +static Collector_gtsamPoint2 collector_gtsamPoint2; +typedef std::set*> Collector_gtsamPoint3; +static Collector_gtsamPoint3 collector_gtsamPoint3; + + +void _deleteAllObjects() +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + bool anyDeleted = false; + { for(Collector_gtsamPoint2::iterator iter = collector_gtsamPoint2.begin(); + iter != collector_gtsamPoint2.end(); ) { + delete *iter; + collector_gtsamPoint2.erase(iter++); + anyDeleted = true; + } } + { for(Collector_gtsamPoint3::iterator iter = collector_gtsamPoint3.begin(); + iter != collector_gtsamPoint3.end(); ) { + delete *iter; + collector_gtsamPoint3.erase(iter++); + anyDeleted = true; + } } + + if(anyDeleted) + cout << + "WARNING: Wrap modules with variables in the workspace have been reloaded due to\n" + "calling destructors, call 'clear all' again if you plan to now recompile a wrap\n" + "module, so that your recompiled module is used instead of the old one." << endl; + std::cout.rdbuf(outbuf); +} + +void _geometry_RTTIRegister() { + const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_geometry_rttiRegistry_created"); + if(!alreadyCreated) { + std::map types; + + + + mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); + if(!registry) + registry = mxCreateStructMatrix(1, 1, 0, NULL); + typedef std::pair StringPair; + for(const StringPair& rtti_matlab: types) { + int fieldId = mxAddField(registry, rtti_matlab.first.c_str()); + if(fieldId < 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str()); + mxSetFieldByNumber(registry, 0, fieldId, matlabName); + } + if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(registry); + + mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); + if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(newAlreadyCreated); + } +} + +void gtsamPoint2_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_gtsamPoint2.insert(self); +} + +void gtsamPoint2_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new gtsam::Point2()); + collector_gtsamPoint2.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void gtsamPoint2_constructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + double x = unwrap< double >(in[0]); + double y = unwrap< double >(in[1]); + Shared *self = new Shared(new gtsam::Point2(x,y)); + collector_gtsamPoint2.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void gtsamPoint2_deconstructor_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_gtsamPoint2",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_gtsamPoint2::iterator item; + item = collector_gtsamPoint2.find(self); + if(item != collector_gtsamPoint2.end()) { + delete self; + collector_gtsamPoint2.erase(item); + } +} + +void gtsamPoint2_argChar_4(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("argChar",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + char a = unwrap< char >(in[1]); + obj->argChar(a); +} + +void gtsamPoint2_argChar_5(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("argChar",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + boost::shared_ptr a = unwrap_shared_ptr< char >(in[1], "ptr_char"); + obj->argChar(a); +} + +void gtsamPoint2_argChar_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("argChar",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + char a = unwrap< char >(in[1]); + obj->argChar(a); +} + +void gtsamPoint2_argChar_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("argChar",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + boost::shared_ptr a = unwrap_shared_ptr< char >(in[1], "ptr_char"); + obj->argChar(a); +} + +void gtsamPoint2_argChar_8(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("argChar",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + boost::shared_ptr a = unwrap_shared_ptr< char >(in[1], "ptr_char"); + obj->argChar(a); +} + +void gtsamPoint2_argChar_9(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("argChar",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + char a = unwrap< char >(in[1]); + obj->argChar(a); +} + +void gtsamPoint2_argChar_10(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("argChar",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + boost::shared_ptr a = unwrap_shared_ptr< char >(in[1], "ptr_char"); + obj->argChar(a); +} + +void gtsamPoint2_argUChar_11(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("argUChar",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + unsigned char a = unwrap< unsigned char >(in[1]); + obj->argUChar(a); +} + +void gtsamPoint2_dim_12(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("dim",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + out[0] = wrap< int >(obj->dim()); +} + +void gtsamPoint2_eigenArguments_13(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("eigenArguments",nargout,nargin-1,2); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + Vector v = unwrap< Vector >(in[1]); + Matrix m = unwrap< Matrix >(in[2]); + obj->eigenArguments(v,m); +} + +void gtsamPoint2_returnChar_14(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("returnChar",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + out[0] = wrap< char >(obj->returnChar()); +} + +void gtsamPoint2_vectorConfusion_15(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("vectorConfusion",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + out[0] = wrap_shared_ptr(boost::make_shared(obj->vectorConfusion()),"VectorNotEigen", false); +} + +void gtsamPoint2_x_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("x",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + out[0] = wrap< double >(obj->x()); +} + +void gtsamPoint2_y_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("y",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint2"); + out[0] = wrap< double >(obj->y()); +} + +void gtsamPoint3_collectorInsertAndMakeBase_18(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_gtsamPoint3.insert(self); +} + +void gtsamPoint3_constructor_19(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + double x = unwrap< double >(in[0]); + double y = unwrap< double >(in[1]); + double z = unwrap< double >(in[2]); + Shared *self = new Shared(new gtsam::Point3(x,y,z)); + collector_gtsamPoint3.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void gtsamPoint3_deconstructor_20(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_gtsamPoint3",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_gtsamPoint3::iterator item; + item = collector_gtsamPoint3.find(self); + if(item != collector_gtsamPoint3.end()) { + delete self; + collector_gtsamPoint3.erase(item); + } +} + +void gtsamPoint3_norm_21(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("norm",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint3"); + out[0] = wrap< double >(obj->norm()); +} + +void gtsamPoint3_string_serialize_22(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("string_serialize",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr(in[0], "ptr_gtsamPoint3"); + ostringstream out_archive_stream; + boost::archive::text_oarchive out_archive(out_archive_stream); + out_archive << *obj; + out[0] = wrap< string >(out_archive_stream.str()); +} +void gtsamPoint3_StaticFunctionRet_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("gtsamPoint3.StaticFunctionRet",nargout,nargin,1); + double z = unwrap< double >(in[0]); + out[0] = wrap< Point3 >(gtsam::Point3::StaticFunctionRet(z)); +} + +void gtsamPoint3_staticFunction_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("gtsamPoint3.staticFunction",nargout,nargin,0); + out[0] = wrap< double >(gtsam::Point3::staticFunction()); +} + +void gtsamPoint3_string_deserialize_25(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("gtsamPoint3.string_deserialize",nargout,nargin,1); + string serialized = unwrap< string >(in[0]); + istringstream in_archive_stream(serialized); + boost::archive::text_iarchive in_archive(in_archive_stream); + Shared output(new gtsam::Point3()); + in_archive >> *output; + out[0] = wrap_shared_ptr(output,"gtsam.Point3", false); +} + +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + _geometry_RTTIRegister(); + + int id = unwrap(in[0]); + + try { + switch(id) { + case 0: + gtsamPoint2_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1); + break; + case 1: + gtsamPoint2_constructor_1(nargout, out, nargin-1, in+1); + break; + case 2: + gtsamPoint2_constructor_2(nargout, out, nargin-1, in+1); + break; + case 3: + gtsamPoint2_deconstructor_3(nargout, out, nargin-1, in+1); + break; + case 4: + gtsamPoint2_argChar_4(nargout, out, nargin-1, in+1); + break; + case 5: + gtsamPoint2_argChar_5(nargout, out, nargin-1, in+1); + break; + case 6: + gtsamPoint2_argChar_6(nargout, out, nargin-1, in+1); + break; + case 7: + gtsamPoint2_argChar_7(nargout, out, nargin-1, in+1); + break; + case 8: + gtsamPoint2_argChar_8(nargout, out, nargin-1, in+1); + break; + case 9: + gtsamPoint2_argChar_9(nargout, out, nargin-1, in+1); + break; + case 10: + gtsamPoint2_argChar_10(nargout, out, nargin-1, in+1); + break; + case 11: + gtsamPoint2_argUChar_11(nargout, out, nargin-1, in+1); + break; + case 12: + gtsamPoint2_dim_12(nargout, out, nargin-1, in+1); + break; + case 13: + gtsamPoint2_eigenArguments_13(nargout, out, nargin-1, in+1); + break; + case 14: + gtsamPoint2_returnChar_14(nargout, out, nargin-1, in+1); + break; + case 15: + gtsamPoint2_vectorConfusion_15(nargout, out, nargin-1, in+1); + break; + case 16: + gtsamPoint2_x_16(nargout, out, nargin-1, in+1); + break; + case 17: + gtsamPoint2_y_17(nargout, out, nargin-1, in+1); + break; + case 18: + gtsamPoint3_collectorInsertAndMakeBase_18(nargout, out, nargin-1, in+1); + break; + case 19: + gtsamPoint3_constructor_19(nargout, out, nargin-1, in+1); + break; + case 20: + gtsamPoint3_deconstructor_20(nargout, out, nargin-1, in+1); + break; + case 21: + gtsamPoint3_norm_21(nargout, out, nargin-1, in+1); + break; + case 22: + gtsamPoint3_string_serialize_22(nargout, out, nargin-1, in+1); + break; + case 23: + gtsamPoint3_StaticFunctionRet_23(nargout, out, nargin-1, in+1); + break; + case 24: + gtsamPoint3_staticFunction_24(nargout, out, nargin-1, in+1); + break; + case 25: + gtsamPoint3_string_deserialize_25(nargout, out, nargin-1, in+1); + break; + } + } catch(const std::exception& e) { + mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str()); + } + + std::cout.rdbuf(outbuf); +} diff --git a/wrap/tests/expected/matlab/inheritance_wrapper.cpp b/wrap/tests/expected/matlab/inheritance_wrapper.cpp new file mode 100644 index 000000000..8e61ac8c6 --- /dev/null +++ b/wrap/tests/expected/matlab/inheritance_wrapper.cpp @@ -0,0 +1,632 @@ +#include +#include + +#include +#include +#include + + + +typedef MyTemplate MyTemplatePoint2; +typedef MyTemplate MyTemplateMatrix; + +typedef std::set*> Collector_MyBase; +static Collector_MyBase collector_MyBase; +typedef std::set*> Collector_MyTemplatePoint2; +static Collector_MyTemplatePoint2 collector_MyTemplatePoint2; +typedef std::set*> Collector_MyTemplateMatrix; +static Collector_MyTemplateMatrix collector_MyTemplateMatrix; +typedef std::set*> Collector_ForwardKinematicsFactor; +static Collector_ForwardKinematicsFactor collector_ForwardKinematicsFactor; + + +void _deleteAllObjects() +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + bool anyDeleted = false; + { for(Collector_MyBase::iterator iter = collector_MyBase.begin(); + iter != collector_MyBase.end(); ) { + delete *iter; + collector_MyBase.erase(iter++); + anyDeleted = true; + } } + { for(Collector_MyTemplatePoint2::iterator iter = collector_MyTemplatePoint2.begin(); + iter != collector_MyTemplatePoint2.end(); ) { + delete *iter; + collector_MyTemplatePoint2.erase(iter++); + anyDeleted = true; + } } + { for(Collector_MyTemplateMatrix::iterator iter = collector_MyTemplateMatrix.begin(); + iter != collector_MyTemplateMatrix.end(); ) { + delete *iter; + collector_MyTemplateMatrix.erase(iter++); + anyDeleted = true; + } } + { for(Collector_ForwardKinematicsFactor::iterator iter = collector_ForwardKinematicsFactor.begin(); + iter != collector_ForwardKinematicsFactor.end(); ) { + delete *iter; + collector_ForwardKinematicsFactor.erase(iter++); + anyDeleted = true; + } } + + if(anyDeleted) + cout << + "WARNING: Wrap modules with variables in the workspace have been reloaded due to\n" + "calling destructors, call 'clear all' again if you plan to now recompile a wrap\n" + "module, so that your recompiled module is used instead of the old one." << endl; + std::cout.rdbuf(outbuf); +} + +void _inheritance_RTTIRegister() { + const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_inheritance_rttiRegistry_created"); + if(!alreadyCreated) { + std::map types; + + types.insert(std::make_pair(typeid(MyBase).name(), "MyBase")); + types.insert(std::make_pair(typeid(MyTemplatePoint2).name(), "MyTemplatePoint2")); + types.insert(std::make_pair(typeid(MyTemplateMatrix).name(), "MyTemplateMatrix")); + types.insert(std::make_pair(typeid(ForwardKinematicsFactor).name(), "ForwardKinematicsFactor")); + + + mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); + if(!registry) + registry = mxCreateStructMatrix(1, 1, 0, NULL); + typedef std::pair StringPair; + for(const StringPair& rtti_matlab: types) { + int fieldId = mxAddField(registry, rtti_matlab.first.c_str()); + if(fieldId < 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str()); + mxSetFieldByNumber(registry, 0, fieldId, matlabName); + } + if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(registry); + + mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); + if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(newAlreadyCreated); + } +} + +void MyBase_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_MyBase.insert(self); +} + +void MyBase_upcastFromVoid_1(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + boost::shared_ptr *asVoid = *reinterpret_cast**> (mxGetData(in[0])); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + Shared *self = new Shared(boost::static_pointer_cast(*asVoid)); + *reinterpret_cast(mxGetData(out[0])) = self; +} + +void MyBase_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_MyBase",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_MyBase::iterator item; + item = collector_MyBase.find(self); + if(item != collector_MyBase.end()) { + delete self; + collector_MyBase.erase(item); + } +} + +void MyTemplatePoint2_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_MyTemplatePoint2.insert(self); + + typedef boost::shared_ptr SharedBase; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast(mxGetData(out[0])) = new SharedBase(*self); +} + +void MyTemplatePoint2_upcastFromVoid_4(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + boost::shared_ptr *asVoid = *reinterpret_cast**> (mxGetData(in[0])); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + Shared *self = new Shared(boost::static_pointer_cast>(*asVoid)); + *reinterpret_cast(mxGetData(out[0])) = self; +} + +void MyTemplatePoint2_constructor_5(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = new Shared(new MyTemplate()); + collector_MyTemplatePoint2.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; + + typedef boost::shared_ptr SharedBase; + out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast(mxGetData(out[1])) = new SharedBase(*self); +} + +void MyTemplatePoint2_deconstructor_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr> Shared; + checkArguments("delete_MyTemplatePoint2",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_MyTemplatePoint2::iterator item; + item = collector_MyTemplatePoint2.find(self); + if(item != collector_MyTemplatePoint2.end()) { + delete self; + collector_MyTemplatePoint2.erase(item); + } +} + +void MyTemplatePoint2_accept_T_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("accept_T",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); + Point2 value = unwrap< Point2 >(in[1]); + obj->accept_T(value); +} + +void MyTemplatePoint2_accept_Tptr_8(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("accept_Tptr",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); + Point2 value = unwrap< Point2 >(in[1]); + obj->accept_Tptr(value); +} + +void MyTemplatePoint2_create_MixedPtrs_9(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("create_MixedPtrs",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); + auto pairResult = obj->create_MixedPtrs(); + out[0] = wrap< Point2 >(pairResult.first); + { + boost::shared_ptr shared(pairResult.second); + out[1] = wrap_shared_ptr(shared,"Point2"); + } +} + +void MyTemplatePoint2_create_ptrs_10(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("create_ptrs",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); + auto pairResult = obj->create_ptrs(); + { + boost::shared_ptr shared(pairResult.first); + out[0] = wrap_shared_ptr(shared,"Point2"); + } + { + boost::shared_ptr shared(pairResult.second); + out[1] = wrap_shared_ptr(shared,"Point2"); + } +} + +void MyTemplatePoint2_return_T_11(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_T",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); + Point2 value = unwrap< Point2 >(in[1]); + out[0] = wrap< Point2 >(obj->return_T(value)); +} + +void MyTemplatePoint2_return_Tptr_12(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_Tptr",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); + Point2 value = unwrap< Point2 >(in[1]); + { + boost::shared_ptr shared(obj->return_Tptr(value)); + out[0] = wrap_shared_ptr(shared,"Point2"); + } +} + +void MyTemplatePoint2_return_ptrs_13(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_ptrs",nargout,nargin-1,2); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); + Point2 p1 = unwrap< Point2 >(in[1]); + Point2 p2 = unwrap< Point2 >(in[2]); + auto pairResult = obj->return_ptrs(p1,p2); + { + boost::shared_ptr shared(pairResult.first); + out[0] = wrap_shared_ptr(shared,"Point2"); + } + { + boost::shared_ptr shared(pairResult.second); + out[1] = wrap_shared_ptr(shared,"Point2"); + } +} + +void MyTemplatePoint2_templatedMethod_14(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("templatedMethodMatrix",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); + Matrix t = unwrap< Matrix >(in[1]); + out[0] = wrap< Matrix >(obj->templatedMethod(t)); +} + +void MyTemplatePoint2_templatedMethod_15(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("templatedMethodPoint2",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); + Point2 t = unwrap< Point2 >(in[1]); + out[0] = wrap< Point2 >(obj->templatedMethod(t)); +} + +void MyTemplatePoint2_templatedMethod_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("templatedMethodPoint3",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); + Point3 t = unwrap< Point3 >(in[1]); + out[0] = wrap< Point3 >(obj->templatedMethod(t)); +} + +void MyTemplatePoint2_templatedMethod_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("templatedMethodVector",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplatePoint2"); + Vector t = unwrap< Vector >(in[1]); + out[0] = wrap< Vector >(obj->templatedMethod(t)); +} + +void MyTemplatePoint2_Level_18(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("MyTemplatePoint2.Level",nargout,nargin,1); + Point2 K = unwrap< Point2 >(in[0]); + out[0] = wrap_shared_ptr(boost::make_shared>(MyTemplate::Level(K)),"MyTemplatePoint2", false); +} + +void MyTemplateMatrix_collectorInsertAndMakeBase_19(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_MyTemplateMatrix.insert(self); + + typedef boost::shared_ptr SharedBase; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast(mxGetData(out[0])) = new SharedBase(*self); +} + +void MyTemplateMatrix_upcastFromVoid_20(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + boost::shared_ptr *asVoid = *reinterpret_cast**> (mxGetData(in[0])); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + Shared *self = new Shared(boost::static_pointer_cast>(*asVoid)); + *reinterpret_cast(mxGetData(out[0])) = self; +} + +void MyTemplateMatrix_constructor_21(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = new Shared(new MyTemplate()); + collector_MyTemplateMatrix.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; + + typedef boost::shared_ptr SharedBase; + out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast(mxGetData(out[1])) = new SharedBase(*self); +} + +void MyTemplateMatrix_deconstructor_22(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr> Shared; + checkArguments("delete_MyTemplateMatrix",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_MyTemplateMatrix::iterator item; + item = collector_MyTemplateMatrix.find(self); + if(item != collector_MyTemplateMatrix.end()) { + delete self; + collector_MyTemplateMatrix.erase(item); + } +} + +void MyTemplateMatrix_accept_T_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("accept_T",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); + Matrix value = unwrap< Matrix >(in[1]); + obj->accept_T(value); +} + +void MyTemplateMatrix_accept_Tptr_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("accept_Tptr",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); + Matrix value = unwrap< Matrix >(in[1]); + obj->accept_Tptr(value); +} + +void MyTemplateMatrix_create_MixedPtrs_25(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("create_MixedPtrs",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); + auto pairResult = obj->create_MixedPtrs(); + out[0] = wrap< Matrix >(pairResult.first); + { + boost::shared_ptr shared(pairResult.second); + out[1] = wrap_shared_ptr(shared,"Matrix"); + } +} + +void MyTemplateMatrix_create_ptrs_26(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("create_ptrs",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); + auto pairResult = obj->create_ptrs(); + { + boost::shared_ptr shared(pairResult.first); + out[0] = wrap_shared_ptr(shared,"Matrix"); + } + { + boost::shared_ptr shared(pairResult.second); + out[1] = wrap_shared_ptr(shared,"Matrix"); + } +} + +void MyTemplateMatrix_return_T_27(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_T",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); + Matrix value = unwrap< Matrix >(in[1]); + out[0] = wrap< Matrix >(obj->return_T(value)); +} + +void MyTemplateMatrix_return_Tptr_28(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_Tptr",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); + Matrix value = unwrap< Matrix >(in[1]); + { + boost::shared_ptr shared(obj->return_Tptr(value)); + out[0] = wrap_shared_ptr(shared,"Matrix"); + } +} + +void MyTemplateMatrix_return_ptrs_29(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("return_ptrs",nargout,nargin-1,2); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); + Matrix p1 = unwrap< Matrix >(in[1]); + Matrix p2 = unwrap< Matrix >(in[2]); + auto pairResult = obj->return_ptrs(p1,p2); + { + boost::shared_ptr shared(pairResult.first); + out[0] = wrap_shared_ptr(shared,"Matrix"); + } + { + boost::shared_ptr shared(pairResult.second); + out[1] = wrap_shared_ptr(shared,"Matrix"); + } +} + +void MyTemplateMatrix_templatedMethod_30(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("templatedMethodMatrix",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); + Matrix t = unwrap< Matrix >(in[1]); + out[0] = wrap< Matrix >(obj->templatedMethod(t)); +} + +void MyTemplateMatrix_templatedMethod_31(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("templatedMethodPoint2",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); + Point2 t = unwrap< Point2 >(in[1]); + out[0] = wrap< Point2 >(obj->templatedMethod(t)); +} + +void MyTemplateMatrix_templatedMethod_32(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("templatedMethodPoint3",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); + Point3 t = unwrap< Point3 >(in[1]); + out[0] = wrap< Point3 >(obj->templatedMethod(t)); +} + +void MyTemplateMatrix_templatedMethod_33(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("templatedMethodVector",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr>(in[0], "ptr_MyTemplateMatrix"); + Vector t = unwrap< Vector >(in[1]); + out[0] = wrap< Vector >(obj->templatedMethod(t)); +} + +void MyTemplateMatrix_Level_34(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("MyTemplateMatrix.Level",nargout,nargin,1); + Matrix K = unwrap< Matrix >(in[0]); + out[0] = wrap_shared_ptr(boost::make_shared>(MyTemplate::Level(K)),"MyTemplateMatrix", false); +} + +void ForwardKinematicsFactor_collectorInsertAndMakeBase_35(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_ForwardKinematicsFactor.insert(self); + + typedef boost::shared_ptr> SharedBase; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast(mxGetData(out[0])) = new SharedBase(*self); +} + +void ForwardKinematicsFactor_upcastFromVoid_36(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + boost::shared_ptr *asVoid = *reinterpret_cast**> (mxGetData(in[0])); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + Shared *self = new Shared(boost::static_pointer_cast(*asVoid)); + *reinterpret_cast(mxGetData(out[0])) = self; +} + +void ForwardKinematicsFactor_deconstructor_37(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_ForwardKinematicsFactor",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_ForwardKinematicsFactor::iterator item; + item = collector_ForwardKinematicsFactor.find(self); + if(item != collector_ForwardKinematicsFactor.end()) { + delete self; + collector_ForwardKinematicsFactor.erase(item); + } +} + + +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + _inheritance_RTTIRegister(); + + int id = unwrap(in[0]); + + try { + switch(id) { + case 0: + MyBase_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1); + break; + case 1: + MyBase_upcastFromVoid_1(nargout, out, nargin-1, in+1); + break; + case 2: + MyBase_deconstructor_2(nargout, out, nargin-1, in+1); + break; + case 3: + MyTemplatePoint2_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1); + break; + case 4: + MyTemplatePoint2_upcastFromVoid_4(nargout, out, nargin-1, in+1); + break; + case 5: + MyTemplatePoint2_constructor_5(nargout, out, nargin-1, in+1); + break; + case 6: + MyTemplatePoint2_deconstructor_6(nargout, out, nargin-1, in+1); + break; + case 7: + MyTemplatePoint2_accept_T_7(nargout, out, nargin-1, in+1); + break; + case 8: + MyTemplatePoint2_accept_Tptr_8(nargout, out, nargin-1, in+1); + break; + case 9: + MyTemplatePoint2_create_MixedPtrs_9(nargout, out, nargin-1, in+1); + break; + case 10: + MyTemplatePoint2_create_ptrs_10(nargout, out, nargin-1, in+1); + break; + case 11: + MyTemplatePoint2_return_T_11(nargout, out, nargin-1, in+1); + break; + case 12: + MyTemplatePoint2_return_Tptr_12(nargout, out, nargin-1, in+1); + break; + case 13: + MyTemplatePoint2_return_ptrs_13(nargout, out, nargin-1, in+1); + break; + case 14: + MyTemplatePoint2_templatedMethod_14(nargout, out, nargin-1, in+1); + break; + case 15: + MyTemplatePoint2_templatedMethod_15(nargout, out, nargin-1, in+1); + break; + case 16: + MyTemplatePoint2_templatedMethod_16(nargout, out, nargin-1, in+1); + break; + case 17: + MyTemplatePoint2_templatedMethod_17(nargout, out, nargin-1, in+1); + break; + case 18: + MyTemplatePoint2_Level_18(nargout, out, nargin-1, in+1); + break; + case 19: + MyTemplateMatrix_collectorInsertAndMakeBase_19(nargout, out, nargin-1, in+1); + break; + case 20: + MyTemplateMatrix_upcastFromVoid_20(nargout, out, nargin-1, in+1); + break; + case 21: + MyTemplateMatrix_constructor_21(nargout, out, nargin-1, in+1); + break; + case 22: + MyTemplateMatrix_deconstructor_22(nargout, out, nargin-1, in+1); + break; + case 23: + MyTemplateMatrix_accept_T_23(nargout, out, nargin-1, in+1); + break; + case 24: + MyTemplateMatrix_accept_Tptr_24(nargout, out, nargin-1, in+1); + break; + case 25: + MyTemplateMatrix_create_MixedPtrs_25(nargout, out, nargin-1, in+1); + break; + case 26: + MyTemplateMatrix_create_ptrs_26(nargout, out, nargin-1, in+1); + break; + case 27: + MyTemplateMatrix_return_T_27(nargout, out, nargin-1, in+1); + break; + case 28: + MyTemplateMatrix_return_Tptr_28(nargout, out, nargin-1, in+1); + break; + case 29: + MyTemplateMatrix_return_ptrs_29(nargout, out, nargin-1, in+1); + break; + case 30: + MyTemplateMatrix_templatedMethod_30(nargout, out, nargin-1, in+1); + break; + case 31: + MyTemplateMatrix_templatedMethod_31(nargout, out, nargin-1, in+1); + break; + case 32: + MyTemplateMatrix_templatedMethod_32(nargout, out, nargin-1, in+1); + break; + case 33: + MyTemplateMatrix_templatedMethod_33(nargout, out, nargin-1, in+1); + break; + case 34: + MyTemplateMatrix_Level_34(nargout, out, nargin-1, in+1); + break; + case 35: + ForwardKinematicsFactor_collectorInsertAndMakeBase_35(nargout, out, nargin-1, in+1); + break; + case 36: + ForwardKinematicsFactor_upcastFromVoid_36(nargout, out, nargin-1, in+1); + break; + case 37: + ForwardKinematicsFactor_deconstructor_37(nargout, out, nargin-1, in+1); + break; + } + } catch(const std::exception& e) { + mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str()); + } + + std::cout.rdbuf(outbuf); +} diff --git a/wrap/tests/expected-matlab/load2D.m b/wrap/tests/expected/matlab/load2D.m similarity index 77% rename from wrap/tests/expected-matlab/load2D.m rename to wrap/tests/expected/matlab/load2D.m index fec762dc5..eebb4a5bf 100644 --- a/wrap/tests/expected-matlab/load2D.m +++ b/wrap/tests/expected/matlab/load2D.m @@ -1,10 +1,10 @@ function varargout = load2D(varargin) if length(varargin) == 5 && isa(varargin{1},'char') && isa(varargin{2},'Test') && isa(varargin{3},'numeric') && isa(varargin{4},'logical') && isa(varargin{5},'logical') - [ varargout{1} varargout{2} ] = geometry_wrapper(92, varargin{:}); + [ varargout{1} varargout{2} ] = functions_wrapper(0, varargin{:}); elseif length(varargin) == 5 && isa(varargin{1},'char') && isa(varargin{2},'gtsam.noiseModel.Diagonal') && isa(varargin{3},'numeric') && isa(varargin{4},'logical') && isa(varargin{5},'logical') - [ varargout{1} varargout{2} ] = geometry_wrapper(93, varargin{:}); + [ varargout{1} varargout{2} ] = functions_wrapper(1, varargin{:}); elseif length(varargin) == 2 && isa(varargin{1},'char') && isa(varargin{2},'gtsam.noiseModel.Diagonal') - [ varargout{1} varargout{2} ] = geometry_wrapper(94, varargin{:}); + [ varargout{1} varargout{2} ] = functions_wrapper(2, varargin{:}); else error('Arguments do not match any overload of function load2D'); end diff --git a/wrap/tests/expected/matlab/multiple_files_wrapper.cpp b/wrap/tests/expected/matlab/multiple_files_wrapper.cpp new file mode 100644 index 000000000..66ab7ff73 --- /dev/null +++ b/wrap/tests/expected/matlab/multiple_files_wrapper.cpp @@ -0,0 +1,229 @@ +#include +#include + +#include +#include +#include + + + + + +typedef std::set*> Collector_gtsamClass1; +static Collector_gtsamClass1 collector_gtsamClass1; +typedef std::set*> Collector_gtsamClass2; +static Collector_gtsamClass2 collector_gtsamClass2; +typedef std::set*> Collector_gtsamClassA; +static Collector_gtsamClassA collector_gtsamClassA; + + +void _deleteAllObjects() +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + bool anyDeleted = false; + { for(Collector_gtsamClass1::iterator iter = collector_gtsamClass1.begin(); + iter != collector_gtsamClass1.end(); ) { + delete *iter; + collector_gtsamClass1.erase(iter++); + anyDeleted = true; + } } + { for(Collector_gtsamClass2::iterator iter = collector_gtsamClass2.begin(); + iter != collector_gtsamClass2.end(); ) { + delete *iter; + collector_gtsamClass2.erase(iter++); + anyDeleted = true; + } } + { for(Collector_gtsamClassA::iterator iter = collector_gtsamClassA.begin(); + iter != collector_gtsamClassA.end(); ) { + delete *iter; + collector_gtsamClassA.erase(iter++); + anyDeleted = true; + } } + + if(anyDeleted) + cout << + "WARNING: Wrap modules with variables in the workspace have been reloaded due to\n" + "calling destructors, call 'clear all' again if you plan to now recompile a wrap\n" + "module, so that your recompiled module is used instead of the old one." << endl; + std::cout.rdbuf(outbuf); +} + +void _multiple_files_RTTIRegister() { + const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_multiple_files_rttiRegistry_created"); + if(!alreadyCreated) { + std::map types; + + + + mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); + if(!registry) + registry = mxCreateStructMatrix(1, 1, 0, NULL); + typedef std::pair StringPair; + for(const StringPair& rtti_matlab: types) { + int fieldId = mxAddField(registry, rtti_matlab.first.c_str()); + if(fieldId < 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str()); + mxSetFieldByNumber(registry, 0, fieldId, matlabName); + } + if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(registry); + + mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); + if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(newAlreadyCreated); + } +} + +void gtsamClass1_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_gtsamClass1.insert(self); +} + +void gtsamClass1_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new gtsam::Class1()); + collector_gtsamClass1.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void gtsamClass1_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_gtsamClass1",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_gtsamClass1::iterator item; + item = collector_gtsamClass1.find(self); + if(item != collector_gtsamClass1.end()) { + delete self; + collector_gtsamClass1.erase(item); + } +} + +void gtsamClass2_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_gtsamClass2.insert(self); +} + +void gtsamClass2_constructor_4(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new gtsam::Class2()); + collector_gtsamClass2.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void gtsamClass2_deconstructor_5(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_gtsamClass2",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_gtsamClass2::iterator item; + item = collector_gtsamClass2.find(self); + if(item != collector_gtsamClass2.end()) { + delete self; + collector_gtsamClass2.erase(item); + } +} + +void gtsamClassA_collectorInsertAndMakeBase_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_gtsamClassA.insert(self); +} + +void gtsamClassA_constructor_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new gtsam::ClassA()); + collector_gtsamClassA.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void gtsamClassA_deconstructor_8(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_gtsamClassA",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_gtsamClassA::iterator item; + item = collector_gtsamClassA.find(self); + if(item != collector_gtsamClassA.end()) { + delete self; + collector_gtsamClassA.erase(item); + } +} + + +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + _multiple_files_RTTIRegister(); + + int id = unwrap(in[0]); + + try { + switch(id) { + case 0: + gtsamClass1_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1); + break; + case 1: + gtsamClass1_constructor_1(nargout, out, nargin-1, in+1); + break; + case 2: + gtsamClass1_deconstructor_2(nargout, out, nargin-1, in+1); + break; + case 3: + gtsamClass2_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1); + break; + case 4: + gtsamClass2_constructor_4(nargout, out, nargin-1, in+1); + break; + case 5: + gtsamClass2_deconstructor_5(nargout, out, nargin-1, in+1); + break; + case 6: + gtsamClassA_collectorInsertAndMakeBase_6(nargout, out, nargin-1, in+1); + break; + case 7: + gtsamClassA_constructor_7(nargout, out, nargin-1, in+1); + break; + case 8: + gtsamClassA_deconstructor_8(nargout, out, nargin-1, in+1); + break; + } + } catch(const std::exception& e) { + mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str()); + } + + std::cout.rdbuf(outbuf); +} diff --git a/wrap/tests/expected/matlab/namespaces_wrapper.cpp b/wrap/tests/expected/matlab/namespaces_wrapper.cpp new file mode 100644 index 000000000..604ede5da --- /dev/null +++ b/wrap/tests/expected/matlab/namespaces_wrapper.cpp @@ -0,0 +1,549 @@ +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include + + + +typedef std::set*> Collector_ns1ClassA; +static Collector_ns1ClassA collector_ns1ClassA; +typedef std::set*> Collector_ns1ClassB; +static Collector_ns1ClassB collector_ns1ClassB; +typedef std::set*> Collector_ns2ClassA; +static Collector_ns2ClassA collector_ns2ClassA; +typedef std::set*> Collector_ns2ns3ClassB; +static Collector_ns2ns3ClassB collector_ns2ns3ClassB; +typedef std::set*> Collector_ns2ClassC; +static Collector_ns2ClassC collector_ns2ClassC; +typedef std::set*> Collector_ClassD; +static Collector_ClassD collector_ClassD; +typedef std::set*> Collector_gtsamValues; +static Collector_gtsamValues collector_gtsamValues; + + +void _deleteAllObjects() +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + bool anyDeleted = false; + { for(Collector_ns1ClassA::iterator iter = collector_ns1ClassA.begin(); + iter != collector_ns1ClassA.end(); ) { + delete *iter; + collector_ns1ClassA.erase(iter++); + anyDeleted = true; + } } + { for(Collector_ns1ClassB::iterator iter = collector_ns1ClassB.begin(); + iter != collector_ns1ClassB.end(); ) { + delete *iter; + collector_ns1ClassB.erase(iter++); + anyDeleted = true; + } } + { for(Collector_ns2ClassA::iterator iter = collector_ns2ClassA.begin(); + iter != collector_ns2ClassA.end(); ) { + delete *iter; + collector_ns2ClassA.erase(iter++); + anyDeleted = true; + } } + { for(Collector_ns2ns3ClassB::iterator iter = collector_ns2ns3ClassB.begin(); + iter != collector_ns2ns3ClassB.end(); ) { + delete *iter; + collector_ns2ns3ClassB.erase(iter++); + anyDeleted = true; + } } + { for(Collector_ns2ClassC::iterator iter = collector_ns2ClassC.begin(); + iter != collector_ns2ClassC.end(); ) { + delete *iter; + collector_ns2ClassC.erase(iter++); + anyDeleted = true; + } } + { for(Collector_ClassD::iterator iter = collector_ClassD.begin(); + iter != collector_ClassD.end(); ) { + delete *iter; + collector_ClassD.erase(iter++); + anyDeleted = true; + } } + { for(Collector_gtsamValues::iterator iter = collector_gtsamValues.begin(); + iter != collector_gtsamValues.end(); ) { + delete *iter; + collector_gtsamValues.erase(iter++); + anyDeleted = true; + } } + + if(anyDeleted) + cout << + "WARNING: Wrap modules with variables in the workspace have been reloaded due to\n" + "calling destructors, call 'clear all' again if you plan to now recompile a wrap\n" + "module, so that your recompiled module is used instead of the old one." << endl; + std::cout.rdbuf(outbuf); +} + +void _namespaces_RTTIRegister() { + const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_namespaces_rttiRegistry_created"); + if(!alreadyCreated) { + std::map types; + + + + mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); + if(!registry) + registry = mxCreateStructMatrix(1, 1, 0, NULL); + typedef std::pair StringPair; + for(const StringPair& rtti_matlab: types) { + int fieldId = mxAddField(registry, rtti_matlab.first.c_str()); + if(fieldId < 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str()); + mxSetFieldByNumber(registry, 0, fieldId, matlabName); + } + if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(registry); + + mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); + if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(newAlreadyCreated); + } +} + +void ns1ClassA_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_ns1ClassA.insert(self); +} + +void ns1ClassA_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new ns1::ClassA()); + collector_ns1ClassA.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void ns1ClassA_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_ns1ClassA",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_ns1ClassA::iterator item; + item = collector_ns1ClassA.find(self); + if(item != collector_ns1ClassA.end()) { + delete self; + collector_ns1ClassA.erase(item); + } +} + +void ns1ClassB_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_ns1ClassB.insert(self); +} + +void ns1ClassB_constructor_4(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new ns1::ClassB()); + collector_ns1ClassB.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void ns1ClassB_deconstructor_5(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_ns1ClassB",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_ns1ClassB::iterator item; + item = collector_ns1ClassB.find(self); + if(item != collector_ns1ClassB.end()) { + delete self; + collector_ns1ClassB.erase(item); + } +} + +void aGlobalFunction_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("aGlobalFunction",nargout,nargin,0); + out[0] = wrap< Vector >(ns1::aGlobalFunction()); +} +void ns2ClassA_collectorInsertAndMakeBase_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_ns2ClassA.insert(self); +} + +void ns2ClassA_constructor_8(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new ns2::ClassA()); + collector_ns2ClassA.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void ns2ClassA_deconstructor_9(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_ns2ClassA",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_ns2ClassA::iterator item; + item = collector_ns2ClassA.find(self); + if(item != collector_ns2ClassA.end()) { + delete self; + collector_ns2ClassA.erase(item); + } +} + +void ns2ClassA_memberFunction_10(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("memberFunction",nargout,nargin-1,0); + auto obj = unwrap_shared_ptr(in[0], "ptr_ns2ClassA"); + out[0] = wrap< double >(obj->memberFunction()); +} + +void ns2ClassA_nsArg_11(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("nsArg",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_ns2ClassA"); + ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ptr_ns1ClassB"); + out[0] = wrap< int >(obj->nsArg(arg)); +} + +void ns2ClassA_nsReturn_12(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("nsReturn",nargout,nargin-1,1); + auto obj = unwrap_shared_ptr(in[0], "ptr_ns2ClassA"); + double q = unwrap< double >(in[1]); + out[0] = wrap_shared_ptr(boost::make_shared(obj->nsReturn(q)),"ns2.ns3.ClassB", false); +} + +void ns2ClassA_afunction_13(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("ns2ClassA.afunction",nargout,nargin,0); + out[0] = wrap< double >(ns2::ClassA::afunction()); +} + +void ns2ns3ClassB_collectorInsertAndMakeBase_14(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_ns2ns3ClassB.insert(self); +} + +void ns2ns3ClassB_constructor_15(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new ns2::ns3::ClassB()); + collector_ns2ns3ClassB.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void ns2ns3ClassB_deconstructor_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_ns2ns3ClassB",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_ns2ns3ClassB::iterator item; + item = collector_ns2ns3ClassB.find(self); + if(item != collector_ns2ns3ClassB.end()) { + delete self; + collector_ns2ns3ClassB.erase(item); + } +} + +void ns2ClassC_collectorInsertAndMakeBase_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_ns2ClassC.insert(self); +} + +void ns2ClassC_constructor_18(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new ns2::ClassC()); + collector_ns2ClassC.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void ns2ClassC_deconstructor_19(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_ns2ClassC",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_ns2ClassC::iterator item; + item = collector_ns2ClassC.find(self); + if(item != collector_ns2ClassC.end()) { + delete self; + collector_ns2ClassC.erase(item); + } +} + +void aGlobalFunction_20(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("aGlobalFunction",nargout,nargin,0); + out[0] = wrap< Vector >(ns2::aGlobalFunction()); +} +void overloadedGlobalFunction_21(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("overloadedGlobalFunction",nargout,nargin,1); + ns1::ClassA& a = *unwrap_shared_ptr< ns1::ClassA >(in[0], "ptr_ns1ClassA"); + out[0] = wrap_shared_ptr(boost::make_shared(ns2::overloadedGlobalFunction(a)),"ns1.ClassA", false); +} +void overloadedGlobalFunction_22(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("overloadedGlobalFunction",nargout,nargin,2); + ns1::ClassA& a = *unwrap_shared_ptr< ns1::ClassA >(in[0], "ptr_ns1ClassA"); + double b = unwrap< double >(in[1]); + out[0] = wrap_shared_ptr(boost::make_shared(ns2::overloadedGlobalFunction(a,b)),"ns1.ClassA", false); +} +void ClassD_collectorInsertAndMakeBase_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_ClassD.insert(self); +} + +void ClassD_constructor_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new ClassD()); + collector_ClassD.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void ClassD_deconstructor_25(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_ClassD",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_ClassD::iterator item; + item = collector_ClassD.find(self); + if(item != collector_ClassD.end()) { + delete self; + collector_ClassD.erase(item); + } +} + +void gtsamValues_collectorInsertAndMakeBase_26(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_gtsamValues.insert(self); +} + +void gtsamValues_constructor_27(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new gtsam::Values()); + collector_gtsamValues.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void gtsamValues_constructor_28(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + gtsam::Values& other = *unwrap_shared_ptr< gtsam::Values >(in[0], "ptr_gtsamValues"); + Shared *self = new Shared(new gtsam::Values(other)); + collector_gtsamValues.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void gtsamValues_deconstructor_29(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_gtsamValues",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_gtsamValues::iterator item; + item = collector_gtsamValues.find(self); + if(item != collector_gtsamValues.end()) { + delete self; + collector_gtsamValues.erase(item); + } +} + +void gtsamValues_insert_30(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("insert",nargout,nargin-1,2); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamValues"); + size_t j = unwrap< size_t >(in[1]); + Vector vector = unwrap< Vector >(in[2]); + obj->insert(j,vector); +} + +void gtsamValues_insert_31(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("insert",nargout,nargin-1,2); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamValues"); + size_t j = unwrap< size_t >(in[1]); + Matrix matrix = unwrap< Matrix >(in[2]); + obj->insert(j,matrix); +} + + +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + _namespaces_RTTIRegister(); + + int id = unwrap(in[0]); + + try { + switch(id) { + case 0: + ns1ClassA_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1); + break; + case 1: + ns1ClassA_constructor_1(nargout, out, nargin-1, in+1); + break; + case 2: + ns1ClassA_deconstructor_2(nargout, out, nargin-1, in+1); + break; + case 3: + ns1ClassB_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1); + break; + case 4: + ns1ClassB_constructor_4(nargout, out, nargin-1, in+1); + break; + case 5: + ns1ClassB_deconstructor_5(nargout, out, nargin-1, in+1); + break; + case 6: + aGlobalFunction_6(nargout, out, nargin-1, in+1); + break; + case 7: + ns2ClassA_collectorInsertAndMakeBase_7(nargout, out, nargin-1, in+1); + break; + case 8: + ns2ClassA_constructor_8(nargout, out, nargin-1, in+1); + break; + case 9: + ns2ClassA_deconstructor_9(nargout, out, nargin-1, in+1); + break; + case 10: + ns2ClassA_memberFunction_10(nargout, out, nargin-1, in+1); + break; + case 11: + ns2ClassA_nsArg_11(nargout, out, nargin-1, in+1); + break; + case 12: + ns2ClassA_nsReturn_12(nargout, out, nargin-1, in+1); + break; + case 13: + ns2ClassA_afunction_13(nargout, out, nargin-1, in+1); + break; + case 14: + ns2ns3ClassB_collectorInsertAndMakeBase_14(nargout, out, nargin-1, in+1); + break; + case 15: + ns2ns3ClassB_constructor_15(nargout, out, nargin-1, in+1); + break; + case 16: + ns2ns3ClassB_deconstructor_16(nargout, out, nargin-1, in+1); + break; + case 17: + ns2ClassC_collectorInsertAndMakeBase_17(nargout, out, nargin-1, in+1); + break; + case 18: + ns2ClassC_constructor_18(nargout, out, nargin-1, in+1); + break; + case 19: + ns2ClassC_deconstructor_19(nargout, out, nargin-1, in+1); + break; + case 20: + aGlobalFunction_20(nargout, out, nargin-1, in+1); + break; + case 21: + overloadedGlobalFunction_21(nargout, out, nargin-1, in+1); + break; + case 22: + overloadedGlobalFunction_22(nargout, out, nargin-1, in+1); + break; + case 23: + ClassD_collectorInsertAndMakeBase_23(nargout, out, nargin-1, in+1); + break; + case 24: + ClassD_constructor_24(nargout, out, nargin-1, in+1); + break; + case 25: + ClassD_deconstructor_25(nargout, out, nargin-1, in+1); + break; + case 26: + gtsamValues_collectorInsertAndMakeBase_26(nargout, out, nargin-1, in+1); + break; + case 27: + gtsamValues_constructor_27(nargout, out, nargin-1, in+1); + break; + case 28: + gtsamValues_constructor_28(nargout, out, nargin-1, in+1); + break; + case 29: + gtsamValues_deconstructor_29(nargout, out, nargin-1, in+1); + break; + case 30: + gtsamValues_insert_30(nargout, out, nargin-1, in+1); + break; + case 31: + gtsamValues_insert_31(nargout, out, nargin-1, in+1); + break; + } + } catch(const std::exception& e) { + mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str()); + } + + std::cout.rdbuf(outbuf); +} diff --git a/wrap/tests/expected-matlab/overloadedGlobalFunction.m b/wrap/tests/expected/matlab/overloadedGlobalFunction.m similarity index 73% rename from wrap/tests/expected-matlab/overloadedGlobalFunction.m rename to wrap/tests/expected/matlab/overloadedGlobalFunction.m index 168c83c67..e916c0adb 100644 --- a/wrap/tests/expected-matlab/overloadedGlobalFunction.m +++ b/wrap/tests/expected/matlab/overloadedGlobalFunction.m @@ -1,8 +1,8 @@ function varargout = overloadedGlobalFunction(varargin) if length(varargin) == 1 && isa(varargin{1},'numeric') - varargout{1} = geometry_wrapper(96, varargin{:}); + varargout{1} = functions_wrapper(4, varargin{:}); elseif length(varargin) == 2 && isa(varargin{1},'numeric') && isa(varargin{2},'double') - varargout{1} = geometry_wrapper(97, varargin{:}); + varargout{1} = functions_wrapper(5, varargin{:}); else error('Arguments do not match any overload of function overloadedGlobalFunction'); end diff --git a/wrap/tests/expected/matlab/special_cases_wrapper.cpp b/wrap/tests/expected/matlab/special_cases_wrapper.cpp new file mode 100644 index 000000000..69abbf73b --- /dev/null +++ b/wrap/tests/expected/matlab/special_cases_wrapper.cpp @@ -0,0 +1,237 @@ +#include +#include + +#include +#include +#include + +#include + +typedef gtsam::PinholeCamera PinholeCameraCal3Bundler; +typedef gtsam::GeneralSFMFactor, gtsam::Point3> GeneralSFMFactorCal3Bundler; + +typedef std::set*> Collector_gtsamNonlinearFactorGraph; +static Collector_gtsamNonlinearFactorGraph collector_gtsamNonlinearFactorGraph; +typedef std::set*> Collector_gtsamSfmTrack; +static Collector_gtsamSfmTrack collector_gtsamSfmTrack; +typedef std::set*> Collector_gtsamPinholeCameraCal3Bundler; +static Collector_gtsamPinholeCameraCal3Bundler collector_gtsamPinholeCameraCal3Bundler; +typedef std::set*> Collector_gtsamGeneralSFMFactorCal3Bundler; +static Collector_gtsamGeneralSFMFactorCal3Bundler collector_gtsamGeneralSFMFactorCal3Bundler; + + +void _deleteAllObjects() +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + bool anyDeleted = false; + { for(Collector_gtsamNonlinearFactorGraph::iterator iter = collector_gtsamNonlinearFactorGraph.begin(); + iter != collector_gtsamNonlinearFactorGraph.end(); ) { + delete *iter; + collector_gtsamNonlinearFactorGraph.erase(iter++); + anyDeleted = true; + } } + { for(Collector_gtsamSfmTrack::iterator iter = collector_gtsamSfmTrack.begin(); + iter != collector_gtsamSfmTrack.end(); ) { + delete *iter; + collector_gtsamSfmTrack.erase(iter++); + anyDeleted = true; + } } + { for(Collector_gtsamPinholeCameraCal3Bundler::iterator iter = collector_gtsamPinholeCameraCal3Bundler.begin(); + iter != collector_gtsamPinholeCameraCal3Bundler.end(); ) { + delete *iter; + collector_gtsamPinholeCameraCal3Bundler.erase(iter++); + anyDeleted = true; + } } + { for(Collector_gtsamGeneralSFMFactorCal3Bundler::iterator iter = collector_gtsamGeneralSFMFactorCal3Bundler.begin(); + iter != collector_gtsamGeneralSFMFactorCal3Bundler.end(); ) { + delete *iter; + collector_gtsamGeneralSFMFactorCal3Bundler.erase(iter++); + anyDeleted = true; + } } + + if(anyDeleted) + cout << + "WARNING: Wrap modules with variables in the workspace have been reloaded due to\n" + "calling destructors, call 'clear all' again if you plan to now recompile a wrap\n" + "module, so that your recompiled module is used instead of the old one." << endl; + std::cout.rdbuf(outbuf); +} + +void _special_cases_RTTIRegister() { + const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_special_cases_rttiRegistry_created"); + if(!alreadyCreated) { + std::map types; + + + + mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); + if(!registry) + registry = mxCreateStructMatrix(1, 1, 0, NULL); + typedef std::pair StringPair; + for(const StringPair& rtti_matlab: types) { + int fieldId = mxAddField(registry, rtti_matlab.first.c_str()); + if(fieldId < 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str()); + mxSetFieldByNumber(registry, 0, fieldId, matlabName); + } + if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(registry); + + mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); + if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + } + mxDestroyArray(newAlreadyCreated); + } +} + +void gtsamNonlinearFactorGraph_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_gtsamNonlinearFactorGraph.insert(self); +} + +void gtsamNonlinearFactorGraph_deconstructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_gtsamNonlinearFactorGraph",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_gtsamNonlinearFactorGraph::iterator item; + item = collector_gtsamNonlinearFactorGraph.find(self); + if(item != collector_gtsamNonlinearFactorGraph.end()) { + delete self; + collector_gtsamNonlinearFactorGraph.erase(item); + } +} + +void gtsamNonlinearFactorGraph_addPrior_2(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("addPriorPinholeCameraCal3Bundler",nargout,nargin-1,3); + auto obj = unwrap_shared_ptr(in[0], "ptr_gtsamNonlinearFactorGraph"); + size_t key = unwrap< size_t >(in[1]); + gtsam::PinholeCamera& prior = *unwrap_shared_ptr< gtsam::PinholeCamera >(in[2], "ptr_gtsamPinholeCameraCal3Bundler"); + boost::shared_ptr noiseModel = unwrap_shared_ptr< gtsam::noiseModel::Base >(in[3], "ptr_gtsamnoiseModelBase"); + obj->addPrior>(key,prior,noiseModel); +} + +void gtsamSfmTrack_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_gtsamSfmTrack.insert(self); +} + +void gtsamSfmTrack_deconstructor_4(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_gtsamSfmTrack",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_gtsamSfmTrack::iterator item; + item = collector_gtsamSfmTrack.find(self); + if(item != collector_gtsamSfmTrack.end()) { + delete self; + collector_gtsamSfmTrack.erase(item); + } +} + +void gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_5(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr> Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_gtsamPinholeCameraCal3Bundler.insert(self); +} + +void gtsamPinholeCameraCal3Bundler_deconstructor_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr> Shared; + checkArguments("delete_gtsamPinholeCameraCal3Bundler",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_gtsamPinholeCameraCal3Bundler::iterator item; + item = collector_gtsamPinholeCameraCal3Bundler.find(self); + if(item != collector_gtsamPinholeCameraCal3Bundler.end()) { + delete self; + collector_gtsamPinholeCameraCal3Bundler.erase(item); + } +} + +void gtsamGeneralSFMFactorCal3Bundler_collectorInsertAndMakeBase_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr, gtsam::Point3>> Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_gtsamGeneralSFMFactorCal3Bundler.insert(self); +} + +void gtsamGeneralSFMFactorCal3Bundler_deconstructor_8(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr, gtsam::Point3>> Shared; + checkArguments("delete_gtsamGeneralSFMFactorCal3Bundler",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_gtsamGeneralSFMFactorCal3Bundler::iterator item; + item = collector_gtsamGeneralSFMFactorCal3Bundler.find(self); + if(item != collector_gtsamGeneralSFMFactorCal3Bundler.end()) { + delete self; + collector_gtsamGeneralSFMFactorCal3Bundler.erase(item); + } +} + + +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + _special_cases_RTTIRegister(); + + int id = unwrap(in[0]); + + try { + switch(id) { + case 0: + gtsamNonlinearFactorGraph_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1); + break; + case 1: + gtsamNonlinearFactorGraph_deconstructor_1(nargout, out, nargin-1, in+1); + break; + case 2: + gtsamNonlinearFactorGraph_addPrior_2(nargout, out, nargin-1, in+1); + break; + case 3: + gtsamSfmTrack_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1); + break; + case 4: + gtsamSfmTrack_deconstructor_4(nargout, out, nargin-1, in+1); + break; + case 5: + gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_5(nargout, out, nargin-1, in+1); + break; + case 6: + gtsamPinholeCameraCal3Bundler_deconstructor_6(nargout, out, nargin-1, in+1); + break; + case 7: + gtsamGeneralSFMFactorCal3Bundler_collectorInsertAndMakeBase_7(nargout, out, nargin-1, in+1); + break; + case 8: + gtsamGeneralSFMFactorCal3Bundler_deconstructor_8(nargout, out, nargin-1, in+1); + break; + } + } catch(const std::exception& e) { + mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str()); + } + + std::cout.rdbuf(outbuf); +} diff --git a/wrap/tests/expected/python/class_pybind.cpp b/wrap/tests/expected/python/class_pybind.cpp new file mode 100644 index 000000000..4c2371a42 --- /dev/null +++ b/wrap/tests/expected/python/class_pybind.cpp @@ -0,0 +1,104 @@ + + +#include +#include +#include +#include +#include "gtsam/nonlinear/utilities.h" // for RedirectCout. + +#include "folder/path/to/Test.h" + +#include "wrap/serialization.h" +#include + + + + + +using namespace std; + +namespace py = pybind11; + +PYBIND11_MODULE(class_py, m_) { + m_.doc() = "pybind11 wrapper of class_py"; + + + py::class_>(m_, "FunRange") + .def(py::init<>()) + .def("range",[](FunRange* self, double d){return self->range(d);}, py::arg("d")) + .def_static("create",[](){return FunRange::create();}); + + py::class_, std::shared_ptr>>(m_, "FunDouble") + .def("templatedMethodString",[](Fun* self, double d, string t){return self->templatedMethod(d, t);}, py::arg("d"), py::arg("t")) + .def("multiTemplatedMethodStringSize_t",[](Fun* self, double d, string t, size_t u){return self->multiTemplatedMethod(d, t, u);}, py::arg("d"), py::arg("t"), py::arg("u")) + .def_static("staticMethodWithThis",[](){return Fun::staticMethodWithThis();}); + + py::class_>(m_, "Test") + .def(py::init<>()) + .def(py::init(), py::arg("a"), py::arg("b")) + .def("return_pair",[](Test* self, const gtsam::Vector& v, const gtsam::Matrix& A){return self->return_pair(v, A);}, py::arg("v"), py::arg("A")) + .def("return_pair",[](Test* self, const gtsam::Vector& v){return self->return_pair(v);}, py::arg("v")) + .def("return_bool",[](Test* self, bool value){return self->return_bool(value);}, py::arg("value")) + .def("return_size_t",[](Test* self, size_t value){return self->return_size_t(value);}, py::arg("value")) + .def("return_int",[](Test* self, int value){return self->return_int(value);}, py::arg("value")) + .def("return_double",[](Test* self, double value){return self->return_double(value);}, py::arg("value")) + .def("return_string",[](Test* self, string value){return self->return_string(value);}, py::arg("value")) + .def("return_vector1",[](Test* self, const gtsam::Vector& value){return self->return_vector1(value);}, py::arg("value")) + .def("return_matrix1",[](Test* self, const gtsam::Matrix& value){return self->return_matrix1(value);}, py::arg("value")) + .def("return_vector2",[](Test* self, const gtsam::Vector& value){return self->return_vector2(value);}, py::arg("value")) + .def("return_matrix2",[](Test* self, const gtsam::Matrix& value){return self->return_matrix2(value);}, py::arg("value")) + .def("arg_EigenConstRef",[](Test* self, const gtsam::Matrix& value){ self->arg_EigenConstRef(value);}, py::arg("value")) + .def("return_field",[](Test* self, const Test& t){return self->return_field(t);}, py::arg("t")) + .def("return_TestPtr",[](Test* self, const std::shared_ptr value){return self->return_TestPtr(value);}, py::arg("value")) + .def("return_Test",[](Test* self, std::shared_ptr value){return self->return_Test(value);}, py::arg("value")) + .def("return_Point2Ptr",[](Test* self, bool value){return self->return_Point2Ptr(value);}, py::arg("value")) + .def("create_ptrs",[](Test* self){return self->create_ptrs();}) + .def("create_MixedPtrs",[](Test* self){return self->create_MixedPtrs();}) + .def("return_ptrs",[](Test* self, std::shared_ptr p1, std::shared_ptr p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2")) + .def("print",[](Test* self){ py::scoped_ostream_redirect output; self->print();}) + .def("__repr__", + [](const Test& self){ + gtsam::RedirectCout redirect; + self.print(); + return redirect.str(); + }) + .def("lambda_",[](Test* self){ self->lambda();}) + .def("set_container",[](Test* self, std::vector container){ self->set_container(container);}, py::arg("container")) + .def("set_container",[](Test* self, std::vector> container){ self->set_container(container);}, py::arg("container")) + .def("set_container",[](Test* self, std::vector container){ self->set_container(container);}, py::arg("container")) + .def("get_container",[](Test* self){return self->get_container();}) + .def_readwrite("model_ptr", &Test::model_ptr); + + py::class_, std::shared_ptr>>(m_, "PrimitiveRefDouble") + .def(py::init<>()) + .def_static("Brutal",[](const double& t){return PrimitiveRef::Brutal(t);}, py::arg("t")); + + py::class_, std::shared_ptr>>(m_, "MyVector3") + .def(py::init<>()); + + py::class_, std::shared_ptr>>(m_, "MyVector12") + .def(py::init<>()); + + py::class_, std::shared_ptr>>(m_, "MultipleTemplatesIntDouble"); + + py::class_, std::shared_ptr>>(m_, "MultipleTemplatesIntFloat"); + + py::class_>(m_, "ForwardKinematics") + .def(py::init(), py::arg("robot"), py::arg("start_link_name"), py::arg("end_link_name"), py::arg("joint_angles"), py::arg("l2Tp") = gtsam::Pose3()); + + py::class_, std::shared_ptr>>(m_, "MyFactorPosePoint2") + .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("measured"), py::arg("noiseModel")) + .def("print",[](MyFactor* self, const string& s, const gtsam::KeyFormatter& keyFormatter){ py::scoped_ostream_redirect output; self->print(s, keyFormatter);}, py::arg("s") = "factor: ", py::arg("keyFormatter") = gtsam::DefaultKeyFormatter) + .def("__repr__", + [](const MyFactor& self, const string& s, const gtsam::KeyFormatter& keyFormatter){ + gtsam::RedirectCout redirect; + self.print(s, keyFormatter); + return redirect.str(); + }, py::arg("s") = "factor: ", py::arg("keyFormatter") = gtsam::DefaultKeyFormatter); + + py::class_, std::shared_ptr>>(m_, "SuperCoolFactorPose3") + +#include "python/specializations.h" + +} + diff --git a/wrap/tests/expected/python/enum_pybind.cpp b/wrap/tests/expected/python/enum_pybind.cpp new file mode 100644 index 000000000..ffc68ece0 --- /dev/null +++ b/wrap/tests/expected/python/enum_pybind.cpp @@ -0,0 +1,76 @@ + + +#include +#include +#include +#include +#include "gtsam/nonlinear/utilities.h" // for RedirectCout. + + +#include "wrap/serialization.h" +#include + + + + + +using namespace std; + +namespace py = pybind11; + +PYBIND11_MODULE(enum_py, m_) { + m_.doc() = "pybind11 wrapper of enum_py"; + + py::enum_(m_, "Color", py::arithmetic()) + .value("Red", Color::Red) + .value("Green", Color::Green) + .value("Blue", Color::Blue); + + + py::class_> pet(m_, "Pet"); + pet + .def(py::init(), py::arg("name"), py::arg("type")) + .def_readwrite("name", &Pet::name) + .def_readwrite("type", &Pet::type); + + py::enum_(pet, "Kind", py::arithmetic()) + .value("Dog", Pet::Kind::Dog) + .value("Cat", Pet::Kind::Cat); + + pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule"); + py::enum_(m_gtsam, "VerbosityLM", py::arithmetic()) + .value("SILENT", gtsam::VerbosityLM::SILENT) + .value("SUMMARY", gtsam::VerbosityLM::SUMMARY) + .value("TERMINATION", gtsam::VerbosityLM::TERMINATION) + .value("LAMBDA", gtsam::VerbosityLM::LAMBDA) + .value("TRYLAMBDA", gtsam::VerbosityLM::TRYLAMBDA) + .value("TRYCONFIG", gtsam::VerbosityLM::TRYCONFIG) + .value("DAMPED", gtsam::VerbosityLM::DAMPED) + .value("TRYDELTA", gtsam::VerbosityLM::TRYDELTA); + + + py::class_> mcu(m_gtsam, "MCU"); + mcu + .def(py::init<>()); + + py::enum_(mcu, "Avengers", py::arithmetic()) + .value("CaptainAmerica", gtsam::MCU::Avengers::CaptainAmerica) + .value("IronMan", gtsam::MCU::Avengers::IronMan) + .value("Hulk", gtsam::MCU::Avengers::Hulk) + .value("Hawkeye", gtsam::MCU::Avengers::Hawkeye) + .value("Thor", gtsam::MCU::Avengers::Thor); + + + py::enum_(mcu, "GotG", py::arithmetic()) + .value("Starlord", gtsam::MCU::GotG::Starlord) + .value("Gamorra", gtsam::MCU::GotG::Gamorra) + .value("Rocket", gtsam::MCU::GotG::Rocket) + .value("Drax", gtsam::MCU::GotG::Drax) + .value("Groot", gtsam::MCU::GotG::Groot); + + + +#include "python/specializations.h" + +} + diff --git a/wrap/tests/expected/python/functions_pybind.cpp b/wrap/tests/expected/python/functions_pybind.cpp new file mode 100644 index 000000000..bee95ec03 --- /dev/null +++ b/wrap/tests/expected/python/functions_pybind.cpp @@ -0,0 +1,44 @@ + + +#include +#include +#include +#include +#include "gtsam/nonlinear/utilities.h" // for RedirectCout. + + +#include "wrap/serialization.h" +#include + + + + + +using namespace std; + +namespace py = pybind11; + +PYBIND11_MODULE(functions_py, m_) { + m_.doc() = "pybind11 wrapper of functions_py"; + + + m_.def("load2D",[](string filename, std::shared_ptr model, int maxID, bool addNoise, bool smart){return ::load2D(filename, model, maxID, addNoise, smart);}, py::arg("filename"), py::arg("model"), py::arg("maxID"), py::arg("addNoise"), py::arg("smart")); + m_.def("load2D",[](string filename, const std::shared_ptr model, int maxID, bool addNoise, bool smart){return ::load2D(filename, model, maxID, addNoise, smart);}, py::arg("filename"), py::arg("model"), py::arg("maxID"), py::arg("addNoise"), py::arg("smart")); + m_.def("load2D",[](string filename, gtsam::noiseModel::Diagonal* model){return ::load2D(filename, model);}, py::arg("filename"), py::arg("model")); + m_.def("aGlobalFunction",[](){return ::aGlobalFunction();}); + m_.def("overloadedGlobalFunction",[](int a){return ::overloadedGlobalFunction(a);}, py::arg("a")); + m_.def("overloadedGlobalFunction",[](int a, double b){return ::overloadedGlobalFunction(a, b);}, py::arg("a"), py::arg("b")); + m_.def("MultiTemplatedFunctionStringSize_tDouble",[](const T& x, size_t y){return ::MultiTemplatedFunction(x, y);}, py::arg("x"), py::arg("y")); + m_.def("MultiTemplatedFunctionDoubleSize_tDouble",[](const T& x, size_t y){return ::MultiTemplatedFunction(x, y);}, py::arg("x"), py::arg("y")); + m_.def("DefaultFuncInt",[](int a, int b){ ::DefaultFuncInt(a, b);}, py::arg("a") = 123, py::arg("b") = 0); + m_.def("DefaultFuncString",[](const string& s, const string& name){ ::DefaultFuncString(s, name);}, py::arg("s") = "hello", py::arg("name") = ""); + m_.def("DefaultFuncObj",[](const gtsam::KeyFormatter& keyFormatter){ ::DefaultFuncObj(keyFormatter);}, py::arg("keyFormatter") = gtsam::DefaultKeyFormatter); + m_.def("DefaultFuncZero",[](int a, int b, double c, bool d, bool e){ ::DefaultFuncZero(a, b, c, d, e);}, py::arg("a") = 0, py::arg("b"), py::arg("c") = 0.0, py::arg("d") = false, py::arg("e")); + m_.def("DefaultFuncVector",[](const std::vector& i, const std::vector& s){ ::DefaultFuncVector(i, s);}, py::arg("i") = {1, 2, 3}, py::arg("s") = {"borglab", "gtsam"}); + m_.def("setPose",[](const gtsam::Pose3& pose){ ::setPose(pose);}, py::arg("pose") = gtsam::Pose3()); + m_.def("TemplatedFunctionRot3",[](const gtsam::Rot3& t){ ::TemplatedFunction(t);}, py::arg("t")); + +#include "python/specializations.h" + +} + diff --git a/wrap/tests/expected/python/geometry_pybind.cpp b/wrap/tests/expected/python/geometry_pybind.cpp new file mode 100644 index 000000000..64ba5485d --- /dev/null +++ b/wrap/tests/expected/python/geometry_pybind.cpp @@ -0,0 +1,68 @@ + + +#include +#include +#include +#include +#include "gtsam/nonlinear/utilities.h" // for RedirectCout. + +#include "gtsam/geometry/Point2.h" +#include "gtsam/geometry/Point3.h" + +#include "wrap/serialization.h" +#include + +BOOST_CLASS_EXPORT(gtsam::Point2) +BOOST_CLASS_EXPORT(gtsam::Point3) + + + + +using namespace std; + +namespace py = pybind11; + +PYBIND11_MODULE(geometry_py, m_) { + m_.doc() = "pybind11 wrapper of geometry_py"; + + pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule"); + + py::class_>(m_gtsam, "Point2") + .def(py::init<>()) + .def(py::init(), py::arg("x"), py::arg("y")) + .def("x",[](gtsam::Point2* self){return self->x();}) + .def("y",[](gtsam::Point2* self){return self->y();}) + .def("dim",[](gtsam::Point2* self){return self->dim();}) + .def("returnChar",[](gtsam::Point2* self){return self->returnChar();}) + .def("argChar",[](gtsam::Point2* self, char a){ self->argChar(a);}, py::arg("a")) + .def("argChar",[](gtsam::Point2* self, std::shared_ptr a){ self->argChar(a);}, py::arg("a")) + .def("argChar",[](gtsam::Point2* self, char& a){ self->argChar(a);}, py::arg("a")) + .def("argChar",[](gtsam::Point2* self, char* a){ self->argChar(a);}, py::arg("a")) + .def("argChar",[](gtsam::Point2* self, const std::shared_ptr a){ self->argChar(a);}, py::arg("a")) + .def("argChar",[](gtsam::Point2* self, const char& a){ self->argChar(a);}, py::arg("a")) + .def("argChar",[](gtsam::Point2* self, const char* a){ self->argChar(a);}, py::arg("a")) + .def("argUChar",[](gtsam::Point2* self, unsigned char a){ self->argUChar(a);}, py::arg("a")) + .def("eigenArguments",[](gtsam::Point2* self, const gtsam::Vector& v, const gtsam::Matrix& m){ self->eigenArguments(v, m);}, py::arg("v"), py::arg("m")) + .def("vectorConfusion",[](gtsam::Point2* self){return self->vectorConfusion();}) + .def("serialize", [](gtsam::Point2* self){ return gtsam::serialize(*self); }) + .def("deserialize", [](gtsam::Point2* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) + .def(py::pickle( + [](const gtsam::Point2 &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, + [](py::tuple t){ /* __setstate__ */ gtsam::Point2 obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); + + py::class_>(m_gtsam, "Point3") + .def(py::init(), py::arg("x"), py::arg("y"), py::arg("z")) + .def("norm",[](gtsam::Point3* self){return self->norm();}) + .def("serialize", [](gtsam::Point3* self){ return gtsam::serialize(*self); }) + .def("deserialize", [](gtsam::Point3* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) + .def(py::pickle( + [](const gtsam::Point3 &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, + [](py::tuple t){ /* __setstate__ */ gtsam::Point3 obj; gtsam::deserialize(t[0].cast(), obj); return obj; })) + .def_static("staticFunction",[](){return gtsam::Point3::staticFunction();}) + .def_static("StaticFunctionRet",[](double z){return gtsam::Point3::StaticFunctionRet(z);}, py::arg("z")); + + +#include "python/specializations.h" + +} + diff --git a/wrap/tests/expected/python/inheritance_pybind.cpp b/wrap/tests/expected/python/inheritance_pybind.cpp new file mode 100644 index 000000000..d6cd77ca0 --- /dev/null +++ b/wrap/tests/expected/python/inheritance_pybind.cpp @@ -0,0 +1,63 @@ + + +#include +#include +#include +#include +#include "gtsam/nonlinear/utilities.h" // for RedirectCout. + + +#include "wrap/serialization.h" +#include + + + + + +using namespace std; + +namespace py = pybind11; + +PYBIND11_MODULE(inheritance_py, m_) { + m_.doc() = "pybind11 wrapper of inheritance_py"; + + + py::class_>(m_, "MyBase"); + + py::class_, MyBase, std::shared_ptr>>(m_, "MyTemplatePoint2") + .def(py::init<>()) + .def("templatedMethodPoint2",[](MyTemplate* self, const gtsam::Point2& t){return self->templatedMethod(t);}, py::arg("t")) + .def("templatedMethodPoint3",[](MyTemplate* self, const gtsam::Point3& t){return self->templatedMethod(t);}, py::arg("t")) + .def("templatedMethodVector",[](MyTemplate* self, const gtsam::Vector& t){return self->templatedMethod(t);}, py::arg("t")) + .def("templatedMethodMatrix",[](MyTemplate* self, const gtsam::Matrix& t){return self->templatedMethod(t);}, py::arg("t")) + .def("accept_T",[](MyTemplate* self, const gtsam::Point2& value){ self->accept_T(value);}, py::arg("value")) + .def("accept_Tptr",[](MyTemplate* self, std::shared_ptr value){ self->accept_Tptr(value);}, py::arg("value")) + .def("return_Tptr",[](MyTemplate* self, std::shared_ptr value){return self->return_Tptr(value);}, py::arg("value")) + .def("return_T",[](MyTemplate* self, gtsam::Point2* value){return self->return_T(value);}, py::arg("value")) + .def("create_ptrs",[](MyTemplate* self){return self->create_ptrs();}) + .def("create_MixedPtrs",[](MyTemplate* self){return self->create_MixedPtrs();}) + .def("return_ptrs",[](MyTemplate* self, std::shared_ptr p1, std::shared_ptr p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2")) + .def_static("Level",[](const gtsam::Point2& K){return MyTemplate::Level(K);}, py::arg("K")); + + py::class_, MyBase, std::shared_ptr>>(m_, "MyTemplateMatrix") + .def(py::init<>()) + .def("templatedMethodPoint2",[](MyTemplate* self, const gtsam::Point2& t){return self->templatedMethod(t);}, py::arg("t")) + .def("templatedMethodPoint3",[](MyTemplate* self, const gtsam::Point3& t){return self->templatedMethod(t);}, py::arg("t")) + .def("templatedMethodVector",[](MyTemplate* self, const gtsam::Vector& t){return self->templatedMethod(t);}, py::arg("t")) + .def("templatedMethodMatrix",[](MyTemplate* self, const gtsam::Matrix& t){return self->templatedMethod(t);}, py::arg("t")) + .def("accept_T",[](MyTemplate* self, const gtsam::Matrix& value){ self->accept_T(value);}, py::arg("value")) + .def("accept_Tptr",[](MyTemplate* self, const std::shared_ptr value){ self->accept_Tptr(value);}, py::arg("value")) + .def("return_Tptr",[](MyTemplate* self, const std::shared_ptr value){return self->return_Tptr(value);}, py::arg("value")) + .def("return_T",[](MyTemplate* self, const gtsam::Matrix* value){return self->return_T(value);}, py::arg("value")) + .def("create_ptrs",[](MyTemplate* self){return self->create_ptrs();}) + .def("create_MixedPtrs",[](MyTemplate* self){return self->create_MixedPtrs();}) + .def("return_ptrs",[](MyTemplate* self, const std::shared_ptr p1, const std::shared_ptr p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2")) + .def_static("Level",[](const gtsam::Matrix& K){return MyTemplate::Level(K);}, py::arg("K")); + + py::class_, std::shared_ptr>(m_, "ForwardKinematicsFactor"); + + +#include "python/specializations.h" + +} + diff --git a/wrap/tests/expected/python/namespaces_pybind.cpp b/wrap/tests/expected/python/namespaces_pybind.cpp new file mode 100644 index 000000000..53e9d186a --- /dev/null +++ b/wrap/tests/expected/python/namespaces_pybind.cpp @@ -0,0 +1,75 @@ + + +#include +#include +#include +#include +#include "gtsam/nonlinear/utilities.h" // for RedirectCout. + +#include "path/to/ns1.h" +#include "path/to/ns1/ClassB.h" +#include "path/to/ns2.h" +#include "path/to/ns2/ClassA.h" +#include "path/to/ns3.h" +#include "gtsam/nonlinear/Values.h" + +#include "wrap/serialization.h" +#include + + + + + +using namespace std; + +namespace py = pybind11; + +PYBIND11_MODULE(namespaces_py, m_) { + m_.doc() = "pybind11 wrapper of namespaces_py"; + + pybind11::module m_ns1 = m_.def_submodule("ns1", "ns1 submodule"); + + py::class_>(m_ns1, "ClassA") + .def(py::init<>()); + + py::class_>(m_ns1, "ClassB") + .def(py::init<>()); + + m_ns1.def("aGlobalFunction",[](){return ns1::aGlobalFunction();}); pybind11::module m_ns2 = m_.def_submodule("ns2", "ns2 submodule"); + + py::class_>(m_ns2, "ClassA") + .def(py::init<>()) + .def("memberFunction",[](ns2::ClassA* self){return self->memberFunction();}) + .def("nsArg",[](ns2::ClassA* self, const ns1::ClassB& arg){return self->nsArg(arg);}, py::arg("arg")) + .def("nsReturn",[](ns2::ClassA* self, double q){return self->nsReturn(q);}, py::arg("q")) + .def_static("afunction",[](){return ns2::ClassA::afunction();}); + pybind11::module m_ns2_ns3 = m_ns2.def_submodule("ns3", "ns3 submodule"); + + py::class_>(m_ns2_ns3, "ClassB") + .def(py::init<>()); + + py::class_>(m_ns2, "ClassC") + .def(py::init<>()); + + m_ns2.attr("aNs2Var") = ns2::aNs2Var; + m_ns2.def("aGlobalFunction",[](){return ns2::aGlobalFunction();}); + m_ns2.def("overloadedGlobalFunction",[](const ns1::ClassA& a){return ns2::overloadedGlobalFunction(a);}, py::arg("a")); + m_ns2.def("overloadedGlobalFunction",[](const ns1::ClassA& a, double b){return ns2::overloadedGlobalFunction(a, b);}, py::arg("a"), py::arg("b")); + py::class_>(m_, "ClassD") + .def(py::init<>()); + + m_.attr("aGlobalVar") = aGlobalVar; pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule"); + + py::class_>(m_gtsam, "Values") + .def(py::init<>()) + .def(py::init(), py::arg("other")) + .def("insert_vector",[](gtsam::Values* self, size_t j, const gtsam::Vector& vector){ self->insert(j, vector);}, py::arg("j"), py::arg("vector")) + .def("insert",[](gtsam::Values* self, size_t j, const gtsam::Vector& vector){ self->insert(j, vector);}, py::arg("j"), py::arg("vector")) + .def("insert_matrix",[](gtsam::Values* self, size_t j, const gtsam::Matrix& matrix){ self->insert(j, matrix);}, py::arg("j"), py::arg("matrix")) + .def("insert",[](gtsam::Values* self, size_t j, const gtsam::Matrix& matrix){ self->insert(j, matrix);}, py::arg("j"), py::arg("matrix")); + + +#include "python/specializations.h" + +} + diff --git a/wrap/tests/expected/python/operator_pybind.cpp b/wrap/tests/expected/python/operator_pybind.cpp new file mode 100644 index 000000000..536d4f7da --- /dev/null +++ b/wrap/tests/expected/python/operator_pybind.cpp @@ -0,0 +1,40 @@ + + +#include +#include +#include +#include +#include "gtsam/nonlinear/utilities.h" // for RedirectCout. + +#include "gtsam/geometry/Pose3.h" + +#include "wrap/serialization.h" +#include + + + + + +using namespace std; + +namespace py = pybind11; + +PYBIND11_MODULE(operator_py, m_) { + m_.doc() = "pybind11 wrapper of operator_py"; + + pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule"); + + py::class_>(m_gtsam, "Pose3") + .def(py::init<>()) + .def(py::init(), py::arg("R"), py::arg("t")) + .def(py::self * py::self); + + py::class_, std::shared_ptr>>(m_gtsam, "ContainerMatrix") + .def("__call__", >sam::Container::operator()) + .def("__getitem__", >sam::Container::operator[]); + + +#include "python/specializations.h" + +} + diff --git a/wrap/tests/expected/python/special_cases_pybind.cpp b/wrap/tests/expected/python/special_cases_pybind.cpp new file mode 100644 index 000000000..d436cdb06 --- /dev/null +++ b/wrap/tests/expected/python/special_cases_pybind.cpp @@ -0,0 +1,41 @@ + + +#include +#include +#include +#include +#include "gtsam/nonlinear/utilities.h" // for RedirectCout. + +#include "gtsam/geometry/Cal3Bundler.h" + +#include "wrap/serialization.h" +#include + + + + + +using namespace std; + +namespace py = pybind11; + +PYBIND11_MODULE(special_cases_py, m_) { + m_.doc() = "pybind11 wrapper of special_cases_py"; + + pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule"); + + py::class_>(m_gtsam, "NonlinearFactorGraph") + .def("addPriorPinholeCameraCal3Bundler",[](gtsam::NonlinearFactorGraph* self, size_t key, const gtsam::PinholeCamera& prior, const std::shared_ptr noiseModel){ self->addPrior>(key, prior, noiseModel);}, py::arg("key"), py::arg("prior"), py::arg("noiseModel")); + + py::class_>(m_gtsam, "SfmTrack") + .def_readwrite("measurements", >sam::SfmTrack::measurements); + + py::class_, std::shared_ptr>>(m_gtsam, "PinholeCameraCal3Bundler"); + + py::class_, gtsam::Point3>, std::shared_ptr, gtsam::Point3>>>(m_gtsam, "GeneralSFMFactorCal3Bundler"); + + +#include "python/specializations.h" + +} + diff --git a/wrap/tests/expected-xml-generation/xml/JacobianFactorQ_8h.xml b/wrap/tests/expected/xml/JacobianFactorQ_8h.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/JacobianFactorQ_8h.xml rename to wrap/tests/expected/xml/JacobianFactorQ_8h.xml diff --git a/wrap/tests/expected-xml-generation/xml/NonlinearFactor_8h.xml b/wrap/tests/expected/xml/NonlinearFactor_8h.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/NonlinearFactor_8h.xml rename to wrap/tests/expected/xml/NonlinearFactor_8h.xml diff --git a/wrap/tests/expected-xml-generation/xml/classgtsam_1_1JacobianFactorQ.xml b/wrap/tests/expected/xml/classgtsam_1_1JacobianFactorQ.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/classgtsam_1_1JacobianFactorQ.xml rename to wrap/tests/expected/xml/classgtsam_1_1JacobianFactorQ.xml diff --git a/wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor.xml b/wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor.xml rename to wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor.xml diff --git a/wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor1.xml b/wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor1.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor1.xml rename to wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor1.xml diff --git a/wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor2.xml b/wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor2.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor2.xml rename to wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor2.xml diff --git a/wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor3.xml b/wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor3.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor3.xml rename to wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor3.xml diff --git a/wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor4.xml b/wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor4.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor4.xml rename to wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor4.xml diff --git a/wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor5.xml b/wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor5.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor5.xml rename to wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor5.xml diff --git a/wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor6.xml b/wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor6.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor6.xml rename to wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor6.xml diff --git a/wrap/tests/expected-xml-generation/xml/classgtsam_1_1NonlinearFactor.xml b/wrap/tests/expected/xml/classgtsam_1_1NonlinearFactor.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/classgtsam_1_1NonlinearFactor.xml rename to wrap/tests/expected/xml/classgtsam_1_1NonlinearFactor.xml diff --git a/wrap/tests/expected-xml-generation/xml/combine.xslt b/wrap/tests/expected/xml/combine.xslt similarity index 100% rename from wrap/tests/expected-xml-generation/xml/combine.xslt rename to wrap/tests/expected/xml/combine.xslt diff --git a/wrap/tests/expected-xml-generation/xml/compound.xsd b/wrap/tests/expected/xml/compound.xsd similarity index 100% rename from wrap/tests/expected-xml-generation/xml/compound.xsd rename to wrap/tests/expected/xml/compound.xsd diff --git a/wrap/tests/expected-xml-generation/xml/deprecated.xml b/wrap/tests/expected/xml/deprecated.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/deprecated.xml rename to wrap/tests/expected/xml/deprecated.xml diff --git a/wrap/tests/expected-xml-generation/xml/dir_59425e443f801f1f2fd8bbe4959a3ccf.xml b/wrap/tests/expected/xml/dir_59425e443f801f1f2fd8bbe4959a3ccf.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/dir_59425e443f801f1f2fd8bbe4959a3ccf.xml rename to wrap/tests/expected/xml/dir_59425e443f801f1f2fd8bbe4959a3ccf.xml diff --git a/wrap/tests/expected-xml-generation/xml/dir_e4787312bc569bb879bb1171628269de.xml b/wrap/tests/expected/xml/dir_e4787312bc569bb879bb1171628269de.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/dir_e4787312bc569bb879bb1171628269de.xml rename to wrap/tests/expected/xml/dir_e4787312bc569bb879bb1171628269de.xml diff --git a/wrap/tests/expected-xml-generation/xml/index.xml b/wrap/tests/expected/xml/index.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/index.xml rename to wrap/tests/expected/xml/index.xml diff --git a/wrap/tests/expected-xml-generation/xml/index.xsd b/wrap/tests/expected/xml/index.xsd similarity index 100% rename from wrap/tests/expected-xml-generation/xml/index.xsd rename to wrap/tests/expected/xml/index.xsd diff --git a/wrap/tests/expected-xml-generation/xml/namespacegtsam.xml b/wrap/tests/expected/xml/namespacegtsam.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/namespacegtsam.xml rename to wrap/tests/expected/xml/namespacegtsam.xml diff --git a/wrap/tests/expected-xml-generation/xml/structgtsam_1_1traits_3_01JacobianFactorQ_3_01D_00_01ZDim_01_4_01_4.xml b/wrap/tests/expected/xml/structgtsam_1_1traits_3_01JacobianFactorQ_3_01D_00_01ZDim_01_4_01_4.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/structgtsam_1_1traits_3_01JacobianFactorQ_3_01D_00_01ZDim_01_4_01_4.xml rename to wrap/tests/expected/xml/structgtsam_1_1traits_3_01JacobianFactorQ_3_01D_00_01ZDim_01_4_01_4.xml diff --git a/wrap/tests/expected-xml-generation/xml/structgtsam_1_1traits_3_01NonlinearFactor_01_4.xml b/wrap/tests/expected/xml/structgtsam_1_1traits_3_01NonlinearFactor_01_4.xml similarity index 100% rename from wrap/tests/expected-xml-generation/xml/structgtsam_1_1traits_3_01NonlinearFactor_01_4.xml rename to wrap/tests/expected/xml/structgtsam_1_1traits_3_01NonlinearFactor_01_4.xml diff --git a/wrap/tests/fixtures/class.i b/wrap/tests/fixtures/class.i new file mode 100644 index 000000000..9e30b17b5 --- /dev/null +++ b/wrap/tests/fixtures/class.i @@ -0,0 +1,122 @@ +class FunRange { + FunRange(); + This range(double d); + + static This create(); +}; + +template +class Fun { + static This staticMethodWithThis(); + + template + This templatedMethod(double d, T t); + + template + This multiTemplatedMethod(double d, T t, U u); +}; + + +// An include! Can go anywhere outside of a class, in any order +#include + +class Test { + + /* a comment! */ + // another comment + Test(); + + // Test a shared ptr property + gtsam::noiseModel::Base* model_ptr; + + pair return_pair (Vector v, Matrix A) const; // intentionally the first method + pair return_pair (Vector v) const; // overload + + bool return_bool (bool value) const; // comment after a line! + size_t return_size_t (size_t value) const; + int return_int (int value) const; + double return_double (double value) const; + + Test(double a, Matrix b); // a constructor in the middle of a class + + // comments in the middle! + + // (more) comments in the middle! + + string return_string (string value) const; + Vector return_vector1(Vector value) const; + Matrix return_matrix1(Matrix value) const; + Vector return_vector2(Vector value) const; + Matrix return_matrix2(Matrix value) const; + void arg_EigenConstRef(const Matrix& value) const; + + bool return_field(const Test& t) const; + + Test* return_TestPtr(const Test* value) const; + Test return_Test(Test* value) const; + + gtsam::Point2* return_Point2Ptr(bool value) const; + + pair create_ptrs () const; + pair create_MixedPtrs () const; + pair return_ptrs (Test* p1, Test* p2) const; + + // This should be callable as .print() in python + void print() const; + // Since this is a reserved keyword, it should be updated to `lambda_` + void lambda() const; + + void set_container(std::vector container); + void set_container(std::vector container); + void set_container(std::vector container); + std::vector get_container() const; + + // comments at the end! + + // even more comments at the end! +}; + +virtual class ns::OtherClass; + +// A doubly templated class +template +class MyFactor { + MyFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); + void print(const string &s = "factor: ", + const gtsam::KeyFormatter &keyFormatter = gtsam::DefaultKeyFormatter); +}; + +// and a typedef specializing it +typedef MyFactor MyFactorPosePoint2; + +template +class PrimitiveRef { + PrimitiveRef(); + + static This Brutal(const T& t); +}; + +// A class with integer template arguments +template +class MyVector { + MyVector(); +}; + +// comments at the end! + +// even more comments at the end! + +// Class with multiple instantiated templates +template +class MultipleTemplates {}; + +// Test for default args in constructor +class ForwardKinematics { + ForwardKinematics(const gtdynamics::Robot& robot, + const string& start_link_name, const string& end_link_name, + const gtsam::Values& joint_angles, + const gtsam::Pose3& l2Tp = gtsam::Pose3()); +}; + +class SuperCoolFactor; +typedef SuperCoolFactor SuperCoolFactorPose3; diff --git a/wrap/tests/fixtures/enum.i b/wrap/tests/fixtures/enum.i new file mode 100644 index 000000000..9386a33df --- /dev/null +++ b/wrap/tests/fixtures/enum.i @@ -0,0 +1,45 @@ +enum Color { Red, Green, Blue }; + +class Pet { + enum Kind { Dog, Cat }; + + Pet(const string &name, Kind type); + + string name; + Kind type; +}; + +namespace gtsam { +enum VerbosityLM { + SILENT, + SUMMARY, + TERMINATION, + LAMBDA, + TRYLAMBDA, + TRYCONFIG, + DAMPED, + TRYDELTA +}; + +class MCU { + MCU(); + + enum Avengers { + CaptainAmerica, + IronMan, + Hulk, + Hawkeye, + Thor + }; + + enum GotG { + Starlord, + Gamorra, + Rocket, + Drax, + Groot + }; + +}; + +} // namespace gtsam diff --git a/wrap/tests/fixtures/functions.i b/wrap/tests/fixtures/functions.i new file mode 100644 index 000000000..0852a3e1e --- /dev/null +++ b/wrap/tests/fixtures/functions.i @@ -0,0 +1,38 @@ +/** + * A multi-line comment! + */ +// another comment + +class gtsam::NonlinearFactorGraph; +class gtsam::Values; +class gtsam::noiseModel::Diagonal; + +pair load2D(string filename, Test* model, int maxID, bool addNoise, bool smart); +pair load2D(string filename, const gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart); +pair load2D(string filename, gtsam::noiseModel::Diagonal@ model); + +Vector aGlobalFunction(); + +// An overloaded global function +Vector overloadedGlobalFunction(int a); +Vector overloadedGlobalFunction(int a, double b); + +// A templated free/global function. Multiple templates supported. +template +R MultiTemplatedFunction(const T& x, T2 y); + +// Check if we can typedef the templated function +template +void TemplatedFunction(const T& t); + +typedef TemplatedFunction TemplatedFunctionRot3; + +// Check default arguments +void DefaultFuncInt(int a = 123, int b = 0); +void DefaultFuncString(const string& s = "hello", const string& name = ""); +void DefaultFuncObj(const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter); +void DefaultFuncZero(int a = 0, int b, double c = 0.0, bool d = false, bool e); +void DefaultFuncVector(const std::vector &i = {1, 2, 3}, const std::vector &s = {"borglab", "gtsam"}); + +// Test for non-trivial default constructor +void setPose(const gtsam::Pose3& pose = gtsam::Pose3()); diff --git a/wrap/tests/fixtures/geometry.i b/wrap/tests/fixtures/geometry.i new file mode 100644 index 000000000..a7b900f80 --- /dev/null +++ b/wrap/tests/fixtures/geometry.i @@ -0,0 +1,49 @@ +// comments! + +class VectorNotEigen; + +namespace gtsam { + +#include +class Point2 { + Point2(); + Point2(double x, double y); + double x() const; + double y() const; + int dim() const; + char returnChar() const; + void argChar(char a) const; + void argChar(char* a) const; + void argChar(char& a) const; + void argChar(char@ a) const; + void argChar(const char* a) const; + void argChar(const char& a) const; + void argChar(const char@ a) const; + void argUChar(unsigned char a) const; + void eigenArguments(Vector v, Matrix m) const; + VectorNotEigen vectorConfusion(); + + void serializable() const; // Sets flag and creates export, but does not make serialization functions + + // enable pickling in python + void pickle() const; +}; + +#include +class Point3 { + Point3(double x, double y, double z); + double norm() const; + + // static functions - use static keyword and uppercase + static double staticFunction(); + static gtsam::Point3 StaticFunctionRet(double z); + + // enabling serialization functionality + void serialize() const; // Just triggers a flag internally and removes actual function + + // enable pickling in python + void pickle() const; +}; + +} +// another comment diff --git a/wrap/tests/fixtures/inheritance.i b/wrap/tests/fixtures/inheritance.i new file mode 100644 index 000000000..ddf9745df --- /dev/null +++ b/wrap/tests/fixtures/inheritance.i @@ -0,0 +1,27 @@ +// A base class +virtual class MyBase { + +}; + +// A templated class +template +virtual class MyTemplate : MyBase { + MyTemplate(); + + template + ARG templatedMethod(const ARG& t); + + // Stress test templates and pointer combinations + void accept_T(const T& value) const; + void accept_Tptr(T* value) const; + T* return_Tptr(T* value) const; + T return_T(T@ value) const; + pair create_ptrs () const; + pair create_MixedPtrs () const; + pair return_ptrs (T* p1, T* p2) const; + + static This Level(const T& K); +}; + + +virtual class ForwardKinematicsFactor : gtsam::BetweenFactor {}; diff --git a/wrap/tests/testNamespaces.h b/wrap/tests/fixtures/namespaces.i similarity index 74% rename from wrap/tests/testNamespaces.h rename to wrap/tests/fixtures/namespaces.i index a9b23cad1..871087a37 100644 --- a/wrap/tests/testNamespaces.h +++ b/wrap/tests/fixtures/namespaces.i @@ -17,7 +17,7 @@ class ClassB { // check namespace handling Vector aGlobalFunction(); -} +} // namespace ns1 #include namespace ns2 { @@ -38,7 +38,7 @@ class ClassB { ClassB(); }; -} +} // namespace ns3 class ClassC { ClassC(); @@ -51,10 +51,23 @@ Vector aGlobalFunction(); ns1::ClassA overloadedGlobalFunction(const ns1::ClassA& a); ns1::ClassA overloadedGlobalFunction(const ns1::ClassA& a, double b); -} //\namespace ns2 +int aNs2Var; + +} // namespace ns2 class ClassD { ClassD(); }; +int aGlobalVar; +namespace gtsam { + #include +class Values { + Values(); + Values(const gtsam::Values& other); + + void insert(size_t j, Vector vector); + void insert(size_t j, Matrix matrix); +}; +} \ No newline at end of file diff --git a/wrap/tests/fixtures/operator.i b/wrap/tests/fixtures/operator.i new file mode 100644 index 000000000..817244e3e --- /dev/null +++ b/wrap/tests/fixtures/operator.i @@ -0,0 +1,16 @@ +namespace gtsam { + +#include +class Pose3 { + Pose3(); + Pose3(gtsam::Rot3 R, gtsam::Point3 t); + + gtsam::Pose3 operator*(gtsam::Pose3 other) const; +}; + +template +class Container { + gtsam::JacobianFactor operator()(const T& m) const; + T operator[](size_t idx) const; +}; +} diff --git a/wrap/tests/fixtures/part1.i b/wrap/tests/fixtures/part1.i new file mode 100644 index 000000000..b69850baf --- /dev/null +++ b/wrap/tests/fixtures/part1.i @@ -0,0 +1,11 @@ +// First file to test for multi-file support. + +namespace gtsam { +class Class1 { + Class1(); +}; + +class Class2 { + Class2(); +}; +} // namespace gtsam \ No newline at end of file diff --git a/wrap/tests/fixtures/part2.i b/wrap/tests/fixtures/part2.i new file mode 100644 index 000000000..29ad86a7f --- /dev/null +++ b/wrap/tests/fixtures/part2.i @@ -0,0 +1,7 @@ +// Second file to test for multi-file support. + +namespace gtsam { +class ClassA { + ClassA(); +}; +} // namespace gtsam \ No newline at end of file diff --git a/wrap/tests/fixtures/special_cases.i b/wrap/tests/fixtures/special_cases.i new file mode 100644 index 000000000..87efca54c --- /dev/null +++ b/wrap/tests/fixtures/special_cases.i @@ -0,0 +1,36 @@ +// Check for templated class as template argument for method! +namespace gtsam { + +#include + +class Cal3Bundler; + +template +class PinholeCamera {}; +typedef gtsam::PinholeCamera PinholeCameraCal3Bundler; + +class NonlinearFactorGraph { + template }> + void addPrior(size_t key, const T& prior, + const gtsam::noiseModel::Base* noiseModel); +}; + +// Typedef with template as template arg. +template +class GeneralSFMFactor {}; +typedef gtsam::GeneralSFMFactor, gtsam::Point3> GeneralSFMFactorCal3Bundler; + +// Template as template arg for class property. +class SfmTrack { + std::vector> measurements; +}; + +} // namespace gtsam + + +// class VariableIndex { +// VariableIndex(); +// // template +// VariableIndex(const T& graph); +// VariableIndex(const T& graph, size_t nVariables); +// }; diff --git a/wrap/tests/geometry.h b/wrap/tests/geometry.h deleted file mode 100644 index 40d878c9f..000000000 --- a/wrap/tests/geometry.h +++ /dev/null @@ -1,156 +0,0 @@ - // comments! - -class VectorNotEigen; -virtual class ns::OtherClass; -class gtsam::NonlinearFactorGraph; -class gtsam::Values; -class gtsam::noiseModel::Diagonal; - -namespace gtsam { - -#include -class Point2 { - Point2(); - Point2(double x, double y); - double x() const; - double y() const; - int dim() const; - char returnChar() const; - void argChar(char a) const; - void argUChar(unsigned char a) const; - void eigenArguments(Vector v, Matrix m) const; - VectorNotEigen vectorConfusion(); - - void serializable() const; // Sets flag and creates export, but does not make serialization functions -}; - -#include -class Point3 { - Point3(double x, double y, double z); - double norm() const; - - // static functions - use static keyword and uppercase - static double staticFunction(); - static gtsam::Point3 StaticFunctionRet(double z); - - // enabling serialization functionality - void serialize() const; // Just triggers a flag internally and removes actual function -}; - -} -// another comment - -// another comment - -/** - * A multi-line comment! - */ - -// An include! Can go anywhere outside of a class, in any order -#include - -class Test { - - /* a comment! */ - // another comment - Test(); - - pair return_pair (Vector v, Matrix A) const; // intentionally the first method - pair return_pair (Vector v) const; // overload - - bool return_bool (bool value) const; // comment after a line! - size_t return_size_t (size_t value) const; - int return_int (int value) const; - double return_double (double value) const; - - Test(double a, Matrix b); // a constructor in the middle of a class - - // comments in the middle! - - // (more) comments in the middle! - - string return_string (string value) const; - Vector return_vector1(Vector value) const; - Matrix return_matrix1(Matrix value) const; - Vector return_vector2(Vector value) const; - Matrix return_matrix2(Matrix value) const; - void arg_EigenConstRef(const Matrix& value) const; - - bool return_field(const Test& t) const; - - Test* return_TestPtr(Test* value) const; - Test return_Test(Test* value) const; - - gtsam::Point2* return_Point2Ptr(bool value) const; - - pair create_ptrs () const; - pair create_MixedPtrs () const; - pair return_ptrs (Test* p1, Test* p2) const; - - void print() const; - - // comments at the end! - - // even more comments at the end! -}; - -pair load2D(string filename, Test* model, int maxID, bool addNoise, bool smart); -pair load2D(string filename, gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart); -pair load2D(string filename, gtsam::noiseModel::Diagonal* model); - -Vector aGlobalFunction(); - -// An overloaded global function -Vector overloadedGlobalFunction(int a); -Vector overloadedGlobalFunction(int a, double b); - -// A base class -virtual class MyBase { - -}; - -// A templated class -template -virtual class MyTemplate : MyBase { - MyTemplate(); - - template - ARG templatedMethod(const ARG& t); - - // Stress test templates and pointer combinations - void accept_T(const T& value) const; - void accept_Tptr(T* value) const; - T* return_Tptr(T* value) const; - T return_T(T* value) const; - pair create_ptrs () const; - pair create_MixedPtrs () const; - pair return_ptrs (T* p1, T* p2) const; - - static This Level(const T& K); -}; - -// A doubly templated class -template -class MyFactor { - MyFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); -}; - -// and a typedef specializing it -typedef MyFactor MyFactorPosePoint2; - -template -class PrimitiveRef { - PrimitiveRef(); - - static This Brutal(const T& t); -}; - -// A class with integer template arguments -template -class MyVector { - MyVector(); -}; - -// comments at the end! - -// even more comments at the end! diff --git a/wrap/tests/interface_parser_test.py b/wrap/tests/interface_parser_test.py deleted file mode 100644 index 3e989a519..000000000 --- a/wrap/tests/interface_parser_test.py +++ /dev/null @@ -1,258 +0,0 @@ -# TODO(duy): make them proper tests!!! -import unittest - -import sys, os -sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) - -from interface_parser import * - - -class TestPyparsing(unittest.TestCase): - def test_argument_list(self): - arg_string = "int a, C1 c1, C2& c2, C3* c3, "\ - "const C4 c4, const C5& c5,"\ - "const C6* c6" - args = ArgumentList.rule.parseString(arg_string) - print(ArgumentList(args)) - - -empty_args = ArgumentList.rule.parseString("")[0] -print(empty_args) - -arg_string = "int a, C1 c1, C2& c2, C3* c3, "\ - "const C4 c4, const C5& c5,"\ - "const C6* c6" -args = ArgumentList.rule.parseString(arg_string)[0] -print(args) - -# Test ReturnType -ReturnType.rule.parseString("pair")[0] -ReturnType.rule.parseString("cdwdc")[0] - -# expect throw -# ReturnType.parseString("int&") -# ReturnType.parseString("const int") - -ret = Class.rule.parseString(""" -virtual class SymbolicFactorGraph { - SymbolicFactorGraph(); - SymbolicFactorGraph(const gtsam::SymbolicBayesNet& bayesNet); - SymbolicFactorGraph(const gtsam::SymbolicBayesTree& bayesTree); - - // From FactorGraph. - void push_back(gtsam::SymbolicFactor* factor); - void print(string s) const; - bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const; - size_t size() const; - bool exists(size_t idx) const; - - // Standard interface - gtsam::KeySet keys() const; - void push_back(const gtsam::SymbolicFactorGraph& graph); - void push_back(const gtsam::SymbolicBayesNet& bayesNet); - void push_back(const gtsam::SymbolicBayesTree& bayesTree); - - /* Advanced interface */ - void push_factor(size_t key); - void push_factor(size_t key1, size_t key2); - void push_factor(size_t key1, size_t key2, size_t key3); - void push_factor(size_t key1, size_t key2, size_t key3, size_t key4); - - gtsam::SymbolicBayesNet* eliminateSequential(); - gtsam::SymbolicBayesNet* eliminateSequential( - const gtsam::Ordering& ordering); - gtsam::SymbolicBayesTree* eliminateMultifrontal(); - gtsam::SymbolicBayesTree* eliminateMultifrontal( - const gtsam::Ordering& ordering); - pair - eliminatePartialSequential(const gtsam::Ordering& ordering); - pair - eliminatePartialSequential(const gtsam::KeyVector& keys); - pair - eliminatePartialMultifrontal(const gtsam::Ordering& ordering); - gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet( - const gtsam::Ordering& ordering); - gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet( - const gtsam::KeyVector& key_vector, - const gtsam::Ordering& marginalizedVariableOrdering); - gtsam::SymbolicFactorGraph* marginal(const gtsam::KeyVector& key_vector); -}; -""")[0] - -ret = Class.rule.parseString(""" -virtual class Base { -}; -""")[0] - -ret = Class.rule.parseString(""" -virtual class Null: gtsam::noiseModel::mEstimator::Base { - Null(); - void print(string s) const; - static gtsam::noiseModel::mEstimator::Null* Create(); - - // enabling serialization functionality - void serializable() const; -}; -""")[0] - -retFactorIndices = Class.rule.parseString(""" -class FactorIndices {}; -""")[0] - -retIsam2 = Class.rule.parseString(""" -class ISAM2 { - ISAM2(); - ISAM2(const gtsam::ISAM2Params& params); - ISAM2(const gtsam::ISAM2& other); - - bool equals(const gtsam::ISAM2& other, double tol) const; - void print(string s) const; - void printStats() const; - void saveGraph(string s) const; - - gtsam::ISAM2Result update(); - gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, - const gtsam::Values& newTheta); - gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, - const gtsam::Values& newTheta, const gtsam::FactorIndices& - removeFactorIndices); - gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, - const gtsam::Values& newTheta, - const gtsam::FactorIndices& removeFactorIndices, - const gtsam::KeyGroupMap& constrainedKeys); - - gtsam::Values getLinearizationPoint() const; - gtsam::Values calculateEstimate() const; - template - VALUE calculateEstimate(size_t key) const; - gtsam::Values calculateBestEstimate() const; - Matrix marginalCovariance(size_t key) const; - gtsam::VectorValues getDelta() const; - gtsam::NonlinearFactorGraph getFactorsUnsafe() const; - gtsam::VariableIndex getVariableIndex() const; - gtsam::ISAM2Params params() const; -}; -""")[0] -# if __name__ == '__main__': -# unittest.main() - -typename = Typename.rule.parseString("rew")[0] -ret = ReturnType.rule.parseString("pair")[0] -ret1 = Method.rule.parseString( - "int f(const int x, const Class& c, Class* t) const;")[0] -ret = Method.rule.parseString("int f() const;")[0] - -ret1 = StaticMethod.rule.parseString( - "static int f(const int x, const Class& c, Class* t);")[0] -ret = StaticMethod.rule.parseString("static int f();")[0] -ret1 = Constructor.rule.parseString( - "f(const int x, const Class& c, Class* t);")[0] -ret = Constructor.rule.parseString("f();")[0] - -typedef = TypedefTemplateInstantiation.rule.parseString(""" -typedef gtsam::BearingFactor - BearingFactor2D; -""")[0] - -include = Include.rule.parseString("#include ")[0] -print(include) - -fwd = ForwardDeclaration.rule.parseString( - "virtual class Test:gtsam::Point3;")[0] - -func = GlobalFunction.rule.parseString(""" -gtsam::Values localToWorld(const gtsam::Values& local, - const gtsam::Pose2& base, const gtsam::KeyVector& keys); -""")[0] -print(func) - -try: - namespace = Namespace.rule.parseString(""" -namespace gtsam { -#include -class Point2 { -Point2(); -Point2(double x, double y); -double x() const; -double y() const; -int dim() const; -char returnChar() const; -void argChar(char a) const; -void argUChar(unsigned char a) const; -void eigenArguments(Vector v, Matrix m) const; -VectorNotEigen vectorConfusion(); -}; - -#include -class Point3 { -Point3(double x, double y, double z); -double norm() const; - -// static functions - use static keyword and uppercase -static double staticFunction(); -static gtsam::Point3 StaticFunctionRet(double z); - -// enabling serialization functionality -void serialize() const; // Just triggers a flag internally -}; - -} - """) -except ParseException as pe: - print(pe.markInputline()) - -# filename = "tools/workspace/pybind_wrapper/gtsam.h" -# with open(filename, "r") as f: -# content = f.read() -# module = Module.parseString(content) - -module = Module.parseString(""" -namespace one { - namespace two { - namespace three { - class Class123 { - }; - } - class Class12a { - }; - } - namespace two_dummy { - namespace three_dummy{ - - } - namespace fourth_dummy{ - - } - } - namespace two { - class Class12b { - - }; - } -} - -class Global{ -}; -""") - -print("module: ", module) - -sub_namespace = find_sub_namespace(module, ['one', 'two', 'three']) -print("Found namespace:", sub_namespace[0].name) -print(find_sub_namespace(module, ['one', 'two_test', 'three'])) -print(find_sub_namespace(module, ['one', 'two'])) - -found_class = module.find_class( - Typename(namespaces_name=['one', 'two', 'three', 'Class123'])) -print(found_class) - -found_class = module.find_class( - Typename(namespaces_name=['one', 'two', 'Class12b'])) -print(found_class.name) - -found_class = module.find_class( - Typename(namespaces_name=['one', 'two', 'Class12a'])) -print(found_class.name) diff --git a/wrap/tests/pybind_wrapper.tpl b/wrap/tests/pybind_wrapper.tpl index 2674824b8..b23f5bee7 100644 --- a/wrap/tests/pybind_wrapper.tpl +++ b/wrap/tests/pybind_wrapper.tpl @@ -3,6 +3,7 @@ #include #include #include +#include #include "gtsam/nonlinear/utilities.h" // for RedirectCout. {includes} @@ -11,7 +12,7 @@ {boost_class_export} -{hoder_type} +{holder_type} using namespace std; diff --git a/wrap/tests/test_docs.py b/wrap/tests/test_docs.py index 2fe4f2086..ca8cdbdde 100644 --- a/wrap/tests/test_docs.py +++ b/wrap/tests/test_docs.py @@ -1,11 +1,11 @@ """ Unit test for documentation generation -Author: Matthew Sklar +Author: Matthew Sklar, Varun Agrawal Date: May 2019 """ import filecmp import os -import os.path as path +from os import path import shutil import sys import unittest @@ -16,7 +16,6 @@ sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) import docs.parser.parse_doxygen_xml as parser from docs.docs import ClassDoc, Doc, Docs, FreeDoc - tree_root = ET.Element('a') tree_left = ET.SubElement(tree_root, 'b') tree_right = ET.SubElement(tree_root, 1) @@ -31,44 +30,52 @@ d2 = ET.SubElement(d, 'd') class TestDocument(unittest.TestCase): + """Test class for document generation utilities.""" DIR_NAME = path.dirname(__file__) DOC_DIR = 'doc-test-files' - OUTPUT_XML_DIR = 'actual-xml-generation' - EXPECTED_XML_DIR = 'expected-xml-generation' + OUTPUT_XML_DIR = 'actual/xml' + EXPECTED_XML_DIR = 'expected/xml' DOC_DIR_PATH = path.abspath(path.join(DIR_NAME, DOC_DIR)) OUTPUT_XML_DIR_PATH = path.abspath(path.join(DIR_NAME, OUTPUT_XML_DIR)) EXPECTED_XML_DIR_PATH = path.abspath(path.join(DIR_NAME, EXPECTED_XML_DIR)) def test_generate_xml(self): - '''Test parse_xml.generate_xml''' - shutil.rmtree(self.OUTPUT_XML_DIR_PATH, ignore_errors=True) - parser.generate_xml( - self.DOC_DIR_PATH, self.OUTPUT_XML_DIR_PATH, quiet=True) + """Test parse_xml.generate_xml""" + if path.exists(self.OUTPUT_XML_DIR_PATH): + shutil.rmtree(self.OUTPUT_XML_DIR_PATH, ignore_errors=True) + + parser.generate_xml(self.DOC_DIR_PATH, + self.OUTPUT_XML_DIR_PATH, + quiet=True) self.assertTrue(os.path.isdir(self.OUTPUT_XML_DIR_PATH)) - shutil.rmtree(path.join(self.OUTPUT_XML_DIR_PATH, 'xml')) - parser.generate_xml( - self.DOC_DIR_PATH, self.OUTPUT_XML_DIR_PATH, quiet=True) + xml_path = self.OUTPUT_XML_DIR_PATH + if path.exists(xml_path): + shutil.rmtree(xml_path) + parser.generate_xml(self.DOC_DIR_PATH, + self.OUTPUT_XML_DIR_PATH, + quiet=True) - dircmp = filecmp.dircmp( - self.OUTPUT_XML_DIR_PATH, self.EXPECTED_XML_DIR_PATH) + dircmp = filecmp.dircmp(self.OUTPUT_XML_DIR_PATH, + self.EXPECTED_XML_DIR_PATH) self.assertTrue(not dircmp.diff_files and not dircmp.funny_files) def test_parse(self): - docs = parser.ParseDoxygenXML( - self.DOC_DIR_PATH, self.OUTPUT_XML_DIR_PATH).run() + """Test the parsing of the XML generated by Doxygen.""" + docs = parser.ParseDoxygenXML(self.DOC_DIR_PATH, + self.OUTPUT_XML_DIR_PATH).run() for class_name in docs.get_class_docs_keys_list(): actual_tree_root = docs.get_class_docs( class_name).get_tree().getroot() expected_tree_root = ET.parse(class_name).getroot() - self.assertEqual( - ET.tostring(actual_tree_root), ET.tostring(expected_tree_root)) + self.assertEqual(ET.tostring(actual_tree_root), + ET.tostring(expected_tree_root)) class TestDocTemplate(unittest.TestCase): @@ -102,7 +109,7 @@ class TestDocTemplate(unittest.TestCase): # ClassDoc def test_class_doc(self): - '''Test the constructor in ClassDoc''' + """Test the constructor in ClassDoc""" self.assertIs(self.class_doc_root.tree, tree_root) self.assertIs(self.class_doc_left.tree, tree_left) self.assertIs(self.class_doc_right.tree, tree_right) @@ -110,7 +117,7 @@ class TestDocTemplate(unittest.TestCase): self.assertIs(self.class_doc_recursive.tree, tree_recursive) def test_class_doc_get_tree(self): - '''Test the get_tree() method is ClassDoc''' + """Test the get_tree() method is ClassDoc""" self.assertIs(self.class_doc_root.get_tree(), tree_root) self.assertIs(self.class_doc_left.get_tree(), tree_left) self.assertIs(self.class_doc_right.get_tree(), tree_right) @@ -118,7 +125,7 @@ class TestDocTemplate(unittest.TestCase): self.assertIs(self.class_doc_recursive.get_tree(), tree_recursive) def test_class_doc_eq(self): - '''Test ClassDoc.__eq__''' + """Test ClassDoc.__eq__""" doc1 = ClassDoc(ET.ElementTree(a)) doc2 = ClassDoc(ET.ElementTree(d)) doc3 = ClassDoc(ET.ElementTree(d2)) @@ -132,7 +139,7 @@ class TestDocTemplate(unittest.TestCase): # FreeDoc def test_free_doc(self): - '''Test the constructor in FreeDoc''' + """Test the constructor in FreeDoc""" self.assertIs(self.free_doc_root.tree, tree_root) self.assertIs(self.free_doc_left.tree, tree_left) self.assertIs(self.free_doc_right.tree, tree_right) @@ -140,7 +147,7 @@ class TestDocTemplate(unittest.TestCase): self.assertIs(self.free_doc_recursive.tree, tree_recursive) def test_free_doc_get_tree(self): - '''Test the get_tree() method is FreeDoc''' + """Test the get_tree() method is FreeDoc""" self.assertIs(self.free_doc_root.get_tree(), tree_root) self.assertIs(self.free_doc_left.get_tree(), tree_left) self.assertIs(self.free_doc_right.get_tree(), tree_right) @@ -148,7 +155,7 @@ class TestDocTemplate(unittest.TestCase): self.assertIs(self.free_doc_recursive.get_tree(), tree_recursive) def test_free_doc_eq(self): - '''Test FreeDoc.__eq__''' + """Test FreeDoc.__eq__""" doc1 = FreeDoc(ET.ElementTree(a)) doc2 = FreeDoc(ET.ElementTree(d)) doc3 = FreeDoc(ET.ElementTree(d2)) @@ -162,7 +169,7 @@ class TestDocTemplate(unittest.TestCase): # Docs def test_docs(self): - '''Test Docs template constructor''' + """Test Docs template constructor""" docs = Docs(self.CLASS_DOCS, self.FREE_DOCS) self.assertIs(docs.class_docs, self.CLASS_DOCS) @@ -172,15 +179,15 @@ class TestDocTemplate(unittest.TestCase): docs = Docs(self.CLASS_DOCS, self.FREE_DOCS) for doc_name in self.CLASS_DOCS.keys(): - self.assertIs( - self.CLASS_DOCS.get(doc_name), docs.get_class_docs(doc_name)) + self.assertIs(self.CLASS_DOCS.get(doc_name), + docs.get_class_docs(doc_name)) def test_get_free_docs(self): docs = Docs(self.CLASS_DOCS, self.FREE_DOCS) for doc_name in self.FREE_DOCS.keys(): - self.assertIs( - self.FREE_DOCS.get(doc_name), docs.get_free_docs(doc_name)) + self.assertIs(self.FREE_DOCS.get(doc_name), + docs.get_free_docs(doc_name)) def test_get_class_docs_keys_list(self): docs = Docs(self.CLASS_DOCS, self.FREE_DOCS) diff --git a/wrap/tests/test_interface_parser.py b/wrap/tests/test_interface_parser.py new file mode 100644 index 000000000..95987f42f --- /dev/null +++ b/wrap/tests/test_interface_parser.py @@ -0,0 +1,636 @@ +""" +GTSAM Copyright 2010-2020, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Tests for interface_parser. + +Author: Varun Agrawal +""" + +# pylint: disable=import-error,wrong-import-position + +import os +import sys +import unittest + +sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) + +from gtwrap.interface_parser import ( + ArgumentList, Class, Constructor, Enum, Enumerator, ForwardDeclaration, + GlobalFunction, Include, Method, Module, Namespace, Operator, ReturnType, + StaticMethod, TemplatedType, Type, TypedefTemplateInstantiation, Typename, + Variable) + + +class TestInterfaceParser(unittest.TestCase): + """Test driver for all classes in interface_parser.py.""" + def test_typename(self): + """Test parsing of Typename.""" + typename = Typename.rule.parseString("size_t")[0] + self.assertEqual("size_t", typename.name) + + def test_basic_type(self): + """Tests for BasicType.""" + # Check basis type + t = Type.rule.parseString("int x")[0] + self.assertEqual("int", t.typename.name) + self.assertTrue(t.is_basic) + + # Check const + t = Type.rule.parseString("const int x")[0] + self.assertEqual("int", t.typename.name) + self.assertTrue(t.is_basic) + self.assertTrue(t.is_const) + + # Check shared pointer + t = Type.rule.parseString("int* x")[0] + self.assertEqual("int", t.typename.name) + self.assertTrue(t.is_shared_ptr) + + # Check raw pointer + t = Type.rule.parseString("int@ x")[0] + self.assertEqual("int", t.typename.name) + self.assertTrue(t.is_ptr) + + # Check reference + t = Type.rule.parseString("int& x")[0] + self.assertEqual("int", t.typename.name) + self.assertTrue(t.is_ref) + + # Check const reference + t = Type.rule.parseString("const int& x")[0] + self.assertEqual("int", t.typename.name) + self.assertTrue(t.is_const) + self.assertTrue(t.is_ref) + + def test_custom_type(self): + """Tests for CustomType.""" + # Check qualified type + t = Type.rule.parseString("gtsam::Pose3 x")[0] + self.assertEqual("Pose3", t.typename.name) + self.assertEqual(["gtsam"], t.typename.namespaces) + self.assertTrue(not t.is_basic) + + # Check const + t = Type.rule.parseString("const gtsam::Pose3 x")[0] + self.assertEqual("Pose3", t.typename.name) + self.assertEqual(["gtsam"], t.typename.namespaces) + self.assertTrue(t.is_const) + + # Check shared pointer + t = Type.rule.parseString("gtsam::Pose3* x")[0] + self.assertEqual("Pose3", t.typename.name) + self.assertEqual(["gtsam"], t.typename.namespaces) + self.assertTrue(t.is_shared_ptr) + self.assertEqual("std::shared_ptr", + t.to_cpp(use_boost=False)) + self.assertEqual("boost::shared_ptr", + t.to_cpp(use_boost=True)) + + # Check raw pointer + t = Type.rule.parseString("gtsam::Pose3@ x")[0] + self.assertEqual("Pose3", t.typename.name) + self.assertEqual(["gtsam"], t.typename.namespaces) + self.assertTrue(t.is_ptr) + + # Check reference + t = Type.rule.parseString("gtsam::Pose3& x")[0] + self.assertEqual("Pose3", t.typename.name) + self.assertEqual(["gtsam"], t.typename.namespaces) + self.assertTrue(t.is_ref) + + # Check const reference + t = Type.rule.parseString("const gtsam::Pose3& x")[0] + self.assertEqual("Pose3", t.typename.name) + self.assertEqual(["gtsam"], t.typename.namespaces) + self.assertTrue(t.is_const) + self.assertTrue(t.is_ref) + + def test_templated_type(self): + """Test a templated type.""" + t = TemplatedType.rule.parseString("Eigen::Matrix")[0] + self.assertEqual("Matrix", t.typename.name) + self.assertEqual(["Eigen"], t.typename.namespaces) + self.assertEqual("double", t.typename.instantiations[0].name) + self.assertEqual("3", t.typename.instantiations[1].name) + self.assertEqual("4", t.typename.instantiations[2].name) + + t = TemplatedType.rule.parseString( + "gtsam::PinholeCamera")[0] + self.assertEqual("PinholeCamera", t.typename.name) + self.assertEqual(["gtsam"], t.typename.namespaces) + self.assertEqual("Cal3S2", t.typename.instantiations[0].name) + self.assertEqual(["gtsam"], t.typename.instantiations[0].namespaces) + + t = TemplatedType.rule.parseString("PinholeCamera")[0] + self.assertEqual("PinholeCamera", t.typename.name) + self.assertEqual("Cal3S2", t.typename.instantiations[0].name) + self.assertTrue(t.template_params[0].is_shared_ptr) + + def test_empty_arguments(self): + """Test no arguments.""" + empty_args = ArgumentList.rule.parseString("")[0] + self.assertEqual(0, len(empty_args)) + + def test_argument_list(self): + """Test arguments list for a method/function.""" + arg_string = "int a, C1 c1, C2& c2, C3* c3, "\ + "const C4 c4, const C5& c5,"\ + "const C6* c6" + args = ArgumentList.rule.parseString(arg_string)[0] + + self.assertEqual(7, len(args.list())) + self.assertEqual(['a', 'c1', 'c2', 'c3', 'c4', 'c5', 'c6'], + args.names()) + + def test_argument_list_qualifiers(self): + """ + Test arguments list where the arguments are qualified with `const` + and can be either raw pointers, shared pointers or references. + """ + arg_string = "double x1, double* x2, double& x3, double@ x4, " \ + "const double x5, const double* x6, const double& x7, const double@ x8" + args = ArgumentList.rule.parseString(arg_string)[0].list() + self.assertEqual(8, len(args)) + self.assertFalse(args[1].ctype.is_ptr and args[1].ctype.is_shared_ptr + and args[1].ctype.is_ref) + self.assertTrue(args[1].ctype.is_shared_ptr) + self.assertTrue(args[2].ctype.is_ref) + self.assertTrue(args[3].ctype.is_ptr) + self.assertTrue(args[4].ctype.is_const) + self.assertTrue(args[5].ctype.is_shared_ptr and args[5].ctype.is_const) + self.assertTrue(args[6].ctype.is_ref and args[6].ctype.is_const) + self.assertTrue(args[7].ctype.is_ptr and args[7].ctype.is_const) + + def test_argument_list_templated(self): + """Test arguments list where the arguments can be templated.""" + arg_string = "std::pair steps, vector vector_of_pointers" + args = ArgumentList.rule.parseString(arg_string)[0] + args_list = args.list() + self.assertEqual(2, len(args_list)) + self.assertEqual("std::pair", + args_list[0].ctype.to_cpp(False)) + self.assertEqual("vector>", + args_list[1].ctype.to_cpp(False)) + self.assertEqual("vector>", + args_list[1].ctype.to_cpp(True)) + + def test_default_arguments(self): + """Tests any expression that is a valid default argument""" + args = ArgumentList.rule.parseString(""" + string c = "", int z = 0, double z2 = 0.0, bool f = false, + string s="hello"+"goodbye", char c='a', int a=3, + int b, double pi = 3.1415""")[0].list() + + # Test for basic types + self.assertEqual(args[0].default, '""') + self.assertEqual(args[1].default, '0') + self.assertEqual(args[2].default, '0.0') + self.assertEqual(args[3].default, "false") + self.assertEqual(args[4].default, '"hello"+"goodbye"') + self.assertEqual(args[5].default, "'a'") + self.assertEqual(args[6].default, '3') + # No default argument should set `default` to None + self.assertIsNone(args[7].default) + self.assertEqual(args[8].default, '3.1415') + + arg0 = 'gtsam::DefaultKeyFormatter' + arg1 = 'std::vector()' + arg2 = '{1, 2}' + arg3 = '[&c1, &c2](string s=5, int a){return s+"hello"+a+c1+c2;}' + arg4 = 'gtsam::Pose3()' + arg5 = 'Factor()' + arg6 = 'gtsam::Point3(1, 2, 3)' + arg7 = 'ns::Class(3, 2, 1, "name")' + + argument_list = """ + gtsam::KeyFormatter kf = {arg0}, + std::vector v = {arg1}, + std::vector l = {arg2}, + gtsam::KeyFormatter lambda = {arg3}, + gtsam::Pose3 p = {arg4}, + Factor x = {arg5}, + gtsam::Point3 x = {arg6}, + ns::Class obj = {arg7} + """.format(arg0=arg0, + arg1=arg1, + arg2=arg2, + arg3=arg3, + arg4=arg4, + arg5=arg5, + arg6=arg6, + arg7=arg7) + args = ArgumentList.rule.parseString(argument_list)[0].list() + + # Test non-basic type + self.assertEqual(args[0].default, arg0) + # Test templated type + self.assertEqual(args[1].default, arg1) + self.assertEqual(args[2].default, arg2) + self.assertEqual(args[3].default, arg3) + self.assertEqual(args[4].default, arg4) + self.assertEqual(args[5].default, arg5) + self.assertEqual(args[6].default, arg6) + # Test for default argument with multiple templates and params + self.assertEqual(args[7].default, arg7) + + def test_return_type(self): + """Test ReturnType""" + # Test void + return_type = ReturnType.rule.parseString("void")[0] + self.assertEqual("void", return_type.type1.typename.name) + self.assertTrue(return_type.type1.is_basic) + + # Test basis type + return_type = ReturnType.rule.parseString("size_t")[0] + self.assertEqual("size_t", return_type.type1.typename.name) + self.assertTrue(not return_type.type2) + self.assertTrue(return_type.type1.is_basic) + + # Test with qualifiers + return_type = ReturnType.rule.parseString("int&")[0] + self.assertEqual("int", return_type.type1.typename.name) + self.assertTrue(return_type.type1.is_basic + and return_type.type1.is_ref) + + return_type = ReturnType.rule.parseString("const int")[0] + self.assertEqual("int", return_type.type1.typename.name) + self.assertTrue(return_type.type1.is_basic + and return_type.type1.is_const) + + # Test pair return + return_type = ReturnType.rule.parseString("pair")[0] + self.assertEqual("char", return_type.type1.typename.name) + self.assertEqual("int", return_type.type2.typename.name) + + def test_method(self): + """Test for a class method.""" + ret = Method.rule.parseString("int f();")[0] + self.assertEqual("f", ret.name) + self.assertEqual(0, len(ret.args)) + self.assertTrue(not ret.is_const) + + ret = Method.rule.parseString("int f() const;")[0] + self.assertEqual("f", ret.name) + self.assertEqual(0, len(ret.args)) + self.assertTrue(ret.is_const) + + ret = Method.rule.parseString( + "int f(const int x, const Class& c, Class* t) const;")[0] + self.assertEqual("f", ret.name) + self.assertEqual(3, len(ret.args)) + + def test_static_method(self): + """Test for static methods.""" + ret = StaticMethod.rule.parseString("static int f();")[0] + self.assertEqual("f", ret.name) + self.assertEqual(0, len(ret.args)) + + ret = StaticMethod.rule.parseString( + "static int f(const int x, const Class& c, Class* t);")[0] + self.assertEqual("f", ret.name) + self.assertEqual(3, len(ret.args)) + + def test_constructor(self): + """Test for class constructor.""" + ret = Constructor.rule.parseString("f();")[0] + self.assertEqual("f", ret.name) + self.assertEqual(0, len(ret.args)) + + ret = Constructor.rule.parseString( + "f(const int x, const Class& c, Class* t);")[0] + self.assertEqual("f", ret.name) + self.assertEqual(3, len(ret.args)) + + ret = Constructor.rule.parseString( + """ForwardKinematics(const gtdynamics::Robot& robot, + const string& start_link_name, const string& end_link_name, + const gtsam::Values& joint_angles, + const gtsam::Pose3& l2Tp = gtsam::Pose3());""")[0] + self.assertEqual("ForwardKinematics", ret.name) + self.assertEqual(5, len(ret.args)) + self.assertEqual("gtsam::Pose3()", ret.args.list()[4].default) + + def test_operator_overload(self): + """Test for operator overloading.""" + # Unary operator + wrap_string = "gtsam::Vector2 operator-() const;" + ret = Operator.rule.parseString(wrap_string)[0] + self.assertEqual("operator", ret.name) + self.assertEqual("-", ret.operator) + self.assertEqual("Vector2", ret.return_type.type1.typename.name) + self.assertEqual("gtsam::Vector2", + ret.return_type.type1.typename.to_cpp()) + self.assertTrue(len(ret.args) == 0) + self.assertTrue(ret.is_unary) + + # Binary operator + wrap_string = "gtsam::Vector2 operator*(const gtsam::Vector2 &v) const;" + ret = Operator.rule.parseString(wrap_string)[0] + self.assertEqual("operator", ret.name) + self.assertEqual("*", ret.operator) + self.assertEqual("Vector2", ret.return_type.type1.typename.name) + self.assertEqual("gtsam::Vector2", + ret.return_type.type1.typename.to_cpp()) + self.assertTrue(len(ret.args) == 1) + self.assertEqual("const gtsam::Vector2 &", + repr(ret.args.list()[0].ctype)) + self.assertTrue(not ret.is_unary) + + def test_typedef_template_instantiation(self): + """Test for typedef'd instantiation of a template.""" + typedef = TypedefTemplateInstantiation.rule.parseString(""" + typedef gtsam::BearingFactor + BearingFactor2D; + """)[0] + self.assertEqual("BearingFactor2D", typedef.new_name) + self.assertEqual("BearingFactor", typedef.typename.name) + self.assertEqual(["gtsam"], typedef.typename.namespaces) + self.assertEqual(3, len(typedef.typename.instantiations)) + + def test_base_class(self): + """Test a base class.""" + ret = Class.rule.parseString(""" + virtual class Base { + }; + """)[0] + self.assertEqual("Base", ret.name) + self.assertEqual(0, len(ret.ctors)) + self.assertEqual(0, len(ret.methods)) + self.assertEqual(0, len(ret.static_methods)) + self.assertEqual(0, len(ret.properties)) + self.assertTrue(ret.is_virtual) + + def test_empty_class(self): + """Test an empty class declaration.""" + ret = Class.rule.parseString(""" + class FactorIndices {}; + """)[0] + self.assertEqual("FactorIndices", ret.name) + self.assertEqual(0, len(ret.ctors)) + self.assertEqual(0, len(ret.methods)) + self.assertEqual(0, len(ret.static_methods)) + self.assertEqual(0, len(ret.properties)) + self.assertTrue(not ret.is_virtual) + + def test_class(self): + """Test a non-trivial class.""" + ret = Class.rule.parseString(""" + class SymbolicFactorGraph { + SymbolicFactorGraph(); + SymbolicFactorGraph(const gtsam::SymbolicBayesNet& bayesNet); + SymbolicFactorGraph(const gtsam::SymbolicBayesTree& bayesTree); + + // Dummy static method + static gtsam::SymbolidFactorGraph CreateGraph(); + + void push_back(gtsam::SymbolicFactor* factor); + void print(string s) const; + bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const; + size_t size() const; + bool exists(size_t idx) const; + + // Standard interface + gtsam::KeySet keys() const; + void push_back(const gtsam::SymbolicFactorGraph& graph); + void push_back(const gtsam::SymbolicBayesNet& bayesNet); + void push_back(const gtsam::SymbolicBayesTree& bayesTree); + + /* Advanced interface */ + void push_factor(size_t key); + void push_factor(size_t key1, size_t key2); + void push_factor(size_t key1, size_t key2, size_t key3); + void push_factor(size_t key1, size_t key2, size_t key3, size_t key4); + + gtsam::SymbolicBayesNet* eliminateSequential(); + gtsam::SymbolicBayesNet* eliminateSequential( + const gtsam::Ordering& ordering); + gtsam::SymbolicBayesTree* eliminateMultifrontal(); + gtsam::SymbolicBayesTree* eliminateMultifrontal( + const gtsam::Ordering& ordering); + pair + eliminatePartialSequential(const gtsam::Ordering& ordering); + pair + eliminatePartialSequential(const gtsam::KeyVector& keys); + pair + eliminatePartialMultifrontal(const gtsam::Ordering& ordering); + gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet( + const gtsam::Ordering& ordering); + gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet( + const gtsam::KeyVector& key_vector, + const gtsam::Ordering& marginalizedVariableOrdering); + gtsam::SymbolicFactorGraph* marginal(const gtsam::KeyVector& key_vector); + }; + """)[0] + + self.assertEqual("SymbolicFactorGraph", ret.name) + self.assertEqual(3, len(ret.ctors)) + self.assertEqual(23, len(ret.methods)) + self.assertEqual(1, len(ret.static_methods)) + self.assertEqual(0, len(ret.properties)) + self.assertTrue(not ret.is_virtual) + + def test_templated_class(self): + """Test a templated class.""" + ret = Class.rule.parseString(""" + template + class MyFactor {}; + """)[0] + + self.assertEqual("MyFactor", ret.name) + self.assertEqual("", repr(ret.template)) + + def test_class_inheritance(self): + """Test for class inheritance.""" + ret = Class.rule.parseString(""" + virtual class Null: gtsam::noiseModel::mEstimator::Base { + Null(); + void print(string s) const; + static gtsam::noiseModel::mEstimator::Null* Create(); + + // enabling serialization functionality + void serializable() const; + }; + """)[0] + self.assertEqual("Null", ret.name) + self.assertEqual(1, len(ret.ctors)) + self.assertEqual(2, len(ret.methods)) + self.assertEqual(1, len(ret.static_methods)) + self.assertEqual(0, len(ret.properties)) + self.assertEqual("Base", ret.parent_class.name) + self.assertEqual(["gtsam", "noiseModel", "mEstimator"], + ret.parent_class.namespaces) + self.assertTrue(ret.is_virtual) + + ret = Class.rule.parseString( + "class ForwardKinematicsFactor : gtsam::BetweenFactor {};" + )[0] + self.assertEqual("ForwardKinematicsFactor", ret.name) + self.assertEqual("BetweenFactor", ret.parent_class.name) + self.assertEqual(["gtsam"], ret.parent_class.namespaces) + self.assertEqual("Pose3", ret.parent_class.instantiations[0].name) + self.assertEqual(["gtsam"], + ret.parent_class.instantiations[0].namespaces) + + def test_class_with_enum(self): + """Test for class with nested enum.""" + ret = Class.rule.parseString(""" + class Pet { + Pet(const string &name, Kind type); + enum Kind { Dog, Cat }; + }; + """)[0] + self.assertEqual(ret.name, "Pet") + self.assertEqual(ret.enums[0].name, "Kind") + + def test_include(self): + """Test for include statements.""" + include = Include.rule.parseString( + "#include ")[0] + self.assertEqual("gtsam/slam/PriorFactor.h", include.header) + + def test_forward_declaration(self): + """Test for forward declarations.""" + fwd = ForwardDeclaration.rule.parseString( + "virtual class Test:gtsam::Point3;")[0] + + self.assertEqual("Test", fwd.name) + self.assertTrue(fwd.is_virtual) + + def test_function(self): + """Test for global/free function.""" + func = GlobalFunction.rule.parseString(""" + gtsam::Values localToWorld(const gtsam::Values& local, + const gtsam::Pose2& base, const gtsam::KeyVector& keys); + """)[0] + self.assertEqual("localToWorld", func.name) + self.assertEqual("Values", func.return_type.type1.typename.name) + self.assertEqual(3, len(func.args)) + + def test_global_variable(self): + """Test for global variable.""" + variable = Variable.rule.parseString("string kGravity;")[0] + self.assertEqual(variable.name, "kGravity") + self.assertEqual(variable.ctype.typename.name, "string") + + variable = Variable.rule.parseString("string kGravity = 9.81;")[0] + self.assertEqual(variable.name, "kGravity") + self.assertEqual(variable.ctype.typename.name, "string") + self.assertEqual(variable.default, "9.81") + + variable = Variable.rule.parseString( + "const string kGravity = 9.81;")[0] + self.assertEqual(variable.name, "kGravity") + self.assertEqual(variable.ctype.typename.name, "string") + self.assertTrue(variable.ctype.is_const) + self.assertEqual(variable.default, "9.81") + + variable = Variable.rule.parseString( + "gtsam::Pose3 wTc = gtsam::Pose3();")[0] + self.assertEqual(variable.name, "wTc") + self.assertEqual(variable.ctype.typename.name, "Pose3") + self.assertEqual(variable.default, "gtsam::Pose3()") + + variable = Variable.rule.parseString( + "gtsam::Pose3 wTc = gtsam::Pose3(1, 2, 0);")[0] + self.assertEqual(variable.name, "wTc") + self.assertEqual(variable.ctype.typename.name, "Pose3") + self.assertEqual(variable.default, "gtsam::Pose3(1, 2, 0)") + + def test_enumerator(self): + """Test for enumerator.""" + enumerator = Enumerator.rule.parseString("Dog")[0] + self.assertEqual(enumerator.name, "Dog") + + enumerator = Enumerator.rule.parseString("Cat")[0] + self.assertEqual(enumerator.name, "Cat") + + def test_enum(self): + """Test for enums.""" + enum = Enum.rule.parseString(""" + enum Kind { + Dog, + Cat + }; + """)[0] + self.assertEqual(enum.name, "Kind") + self.assertEqual(enum.enumerators[0].name, "Dog") + self.assertEqual(enum.enumerators[1].name, "Cat") + + def test_namespace(self): + """Test for namespace parsing.""" + namespace = Namespace.rule.parseString(""" + namespace gtsam { + #include + class Point2 { + Point2(); + Point2(double x, double y); + double x() const; + double y() const; + int dim() const; + char returnChar() const; + void argChar(char a) const; + void argUChar(unsigned char a) const; + }; + + #include + class Point3 { + Point3(double x, double y, double z); + double norm() const; + + // static functions - use static keyword and uppercase + static double staticFunction(); + static gtsam::Point3 StaticFunctionRet(double z); + + // enabling serialization functionality + void serialize() const; // Just triggers a flag internally + }; + }""")[0] + self.assertEqual("gtsam", namespace.name) + + def test_module(self): + """Test module parsing.""" + module = Module.parseString(""" + namespace one { + namespace two { + namespace three { + class Class123 { + }; + } + class Class12a { + }; + } + namespace two_dummy { + namespace three_dummy{ + + } + namespace fourth_dummy{ + + } + } + namespace two { + class Class12b { + + }; + } + int oneVar; + } + + class Global{ + }; + int globalVar; + """) + + # print("module: ", module) + # print(dir(module.content[0].name)) + self.assertEqual(["one", "Global", "globalVar"], + [x.name for x in module.content]) + self.assertEqual(["two", "two_dummy", "two", "oneVar"], + [x.name for x in module.content[0].content]) + + +if __name__ == '__main__': + unittest.main() diff --git a/wrap/tests/test_matlab_wrapper.py b/wrap/tests/test_matlab_wrapper.py index 18dc49baf..112750721 100644 --- a/wrap/tests/test_matlab_wrapper.py +++ b/wrap/tests/test_matlab_wrapper.py @@ -1,140 +1,218 @@ """ -Unit test for Matlab wrap program -Author: Matthew Sklar +Unit tests for Matlab wrap program +Author: Matthew Sklar, Varun Agrawal Date: March 2019 """ +# pylint: disable=import-error, wrong-import-position + +import filecmp import os +import os.path as osp import sys import unittest -import filecmp -sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) +sys.path.append(osp.dirname(osp.dirname(osp.abspath(__file__)))) -import template_instantiator as instantiator -import interface_parser as parser -from matlab_wrapper import MatlabWrapper +from gtwrap.matlab_wrapper import MatlabWrapper class TestWrap(unittest.TestCase): - TEST_DIR = os.path.dirname(os.path.realpath(__file__)) + "/" - MATLAB_TEST_DIR = TEST_DIR + "expected-matlab/" - MATLAB_ACTUAL_DIR = TEST_DIR + "actual-matlab/" + """ + Test the Matlab wrapper + """ + def setUp(self) -> None: + super().setUp() - def _generate_content(self, cc_content, path=''): - """Generate files and folders from matlab wrapper content. + # Set up all the directories + self.TEST_DIR = osp.dirname(osp.realpath(__file__)) + self.INTERFACE_DIR = osp.join(self.TEST_DIR, "fixtures") + self.MATLAB_TEST_DIR = osp.join(self.TEST_DIR, "expected", "matlab") + self.MATLAB_ACTUAL_DIR = osp.join(self.TEST_DIR, "actual", "matlab") - Keyword arguments: - cc_content -- the content to generate formatted as - (file_name, file_content) or - (folder_name, [(file_name, file_content)]) - path -- the path to the files parent folder within the main folder + if not osp.exists(self.MATLAB_ACTUAL_DIR): + os.mkdir(self.MATLAB_ACTUAL_DIR) + + # Generate the matlab.h file if it does not exist + template_file = osp.join(self.TEST_DIR, "..", "gtwrap", + "matlab_wrapper", "matlab_wrapper.tpl") + if not osp.exists(template_file): + with open(template_file, 'w') as tpl: + tpl.write("#include \n#include \n") + + # Create the `actual/matlab` directory + os.makedirs(self.MATLAB_ACTUAL_DIR, exist_ok=True) + + def compare_and_diff(self, file): """ - if path == '': - path = self.MATLAB_ACTUAL_DIR - for c in cc_content: - if type(c) == list: - if len(c) == 0: - continue - import sys - print("c object: {}".format(c[0][0]), file=sys.stderr) - path_to_folder = path + '/' + c[0][0] + Compute the comparison between the expected and actual file, + and assert if diff is zero. + """ + output = osp.join(self.MATLAB_ACTUAL_DIR, file) + expected = osp.join(self.MATLAB_TEST_DIR, file) + success = filecmp.cmp(output, expected) + if not success: + print("Differ in file: {}".format(file)) + os.system("diff {} {}".format(output, expected)) + self.assertTrue(success, "Mismatch for file {0}".format(file)) - if not os.path.isdir(path_to_folder): - try: - os.makedirs(path_to_folder, exist_ok=True) - except OSError: - pass - - for sub_content in c: - import sys - print("sub object: {}".format(sub_content[1][0][0]), file=sys.stderr) - self._generate_content(sub_content[1], path_to_folder) - elif type(c[1]) == list: - path_to_folder = path + '/' + c[0] - - import sys - print("[generate_content_global]: {}".format(path_to_folder), file=sys.stderr) - if not os.path.isdir(path_to_folder): - try: - os.makedirs(path_to_folder, exist_ok=True) - except OSError: - pass - for sub_content in c[1]: - import sys - path_to_file = path_to_folder + '/' + sub_content[0] - print("[generate_global_method]: {}".format(path_to_file), file=sys.stderr) - with open(path_to_file, 'w') as f: - f.write(sub_content[1]) - else: - path_to_file = path + '/' + c[0] - - import sys - print("[generate_content]: {}".format(path_to_file), file=sys.stderr) - if not os.path.isdir(path_to_file): - try: - os.mkdir(path) - except OSError: - pass - - with open(path_to_file, 'w') as f: - f.write(c[1]) - - def test_geometry_matlab(self): - """ Check generation of matlab geometry wrapper. + def test_geometry(self): + """ + Check generation of matlab geometry wrapper. python3 wrap/matlab_wrapper.py --src wrap/tests/geometry.h --module_name geometry --out wrap/tests/actual-matlab """ - with open(self.TEST_DIR + 'geometry.h', 'r') as f: - content = f.read() - - if not os.path.exists(self.MATLAB_ACTUAL_DIR): - os.mkdir(self.MATLAB_ACTUAL_DIR) - - module = parser.Module.parseString(content) - - instantiator.instantiate_namespace_inplace(module) + file = osp.join(self.INTERFACE_DIR, 'geometry.i') # Create MATLAB wrapper instance wrapper = MatlabWrapper( - module=module, module_name='geometry', top_module_namespace=['gtsam'], ignore_classes=[''], ) - cc_content = wrapper.wrap() + wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR) - self._generate_content(cc_content) + files = ['+gtsam/Point2.m', '+gtsam/Point3.m', 'geometry_wrapper.cpp'] - def compare_and_diff(file): - output = self.MATLAB_ACTUAL_DIR + file - expected = self.MATLAB_TEST_DIR + file - success = filecmp.cmp(output, expected) - if not success: - print("Differ in file: {}".format(file)) - os.system("diff {} {}".format(output, expected)) - self.assertTrue(success) + self.assertTrue(osp.isdir(osp.join(self.MATLAB_ACTUAL_DIR, '+gtsam'))) - self.assertTrue(os.path.isdir(self.MATLAB_ACTUAL_DIR + '+gtsam')) + for file in files: + self.compare_and_diff(file) + + def test_functions(self): + """Test interface file with function info.""" + file = osp.join(self.INTERFACE_DIR, 'functions.i') + + wrapper = MatlabWrapper( + module_name='functions', + top_module_namespace=['gtsam'], + ignore_classes=[''], + ) + + wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR) files = [ - '+gtsam/Point2.m', - '+gtsam/Point3.m', - 'Test.m', - 'MyBase.m', - 'load2D.m', - 'MyTemplatePoint2.m', - 'MyTemplateMatrix.m', - 'MyVector3.m', - 'MyVector12.m', - 'MyFactorPosePoint2.m', - 'aGlobalFunction.m', - 'overloadedGlobalFunction.m', - 'geometry_wrapper.cpp' + 'functions_wrapper.cpp', 'aGlobalFunction.m', 'load2D.m', + 'MultiTemplatedFunctionDoubleSize_tDouble.m', + 'MultiTemplatedFunctionStringSize_tDouble.m', + 'overloadedGlobalFunction.m', 'TemplatedFunctionRot3.m' ] for file in files: - compare_and_diff(file) + self.compare_and_diff(file) + + def test_class(self): + """Test interface file with only class info.""" + file = osp.join(self.INTERFACE_DIR, 'class.i') + + wrapper = MatlabWrapper( + module_name='class', + top_module_namespace=['gtsam'], + ignore_classes=[''], + ) + + wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR) + + files = [ + 'class_wrapper.cpp', 'FunDouble.m', 'FunRange.m', + 'MultipleTemplatesIntDouble.m', 'MultipleTemplatesIntFloat.m', + 'MyFactorPosePoint2.m', 'MyVector3.m', 'MyVector12.m', + 'PrimitiveRefDouble.m', 'Test.m' + ] + + for file in files: + self.compare_and_diff(file) + + def test_inheritance(self): + """Test interface file with class inheritance definitions.""" + file = osp.join(self.INTERFACE_DIR, 'inheritance.i') + + wrapper = MatlabWrapper( + module_name='inheritance', + top_module_namespace=['gtsam'], + ignore_classes=[''], + ) + wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR) + + files = [ + 'inheritance_wrapper.cpp', 'MyBase.m', 'MyTemplateMatrix.m', + 'MyTemplatePoint2.m' + ] + + for file in files: + self.compare_and_diff(file) + + def test_namespaces(self): + """ + Test interface file with full namespace definition. + """ + file = osp.join(self.INTERFACE_DIR, 'namespaces.i') + + wrapper = MatlabWrapper( + module_name='namespaces', + top_module_namespace=['gtsam'], + ignore_classes=[''], + ) + + wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR) + + files = [ + 'namespaces_wrapper.cpp', '+ns1/aGlobalFunction.m', + '+ns1/ClassA.m', '+ns1/ClassB.m', '+ns2/+ns3/ClassB.m', + '+ns2/aGlobalFunction.m', '+ns2/ClassA.m', '+ns2/ClassC.m', + '+ns2/overloadedGlobalFunction.m', 'ClassD.m' + ] + + for file in files: + self.compare_and_diff(file) + + def test_special_cases(self): + """ + Tests for some unique, non-trivial features. + """ + file = osp.join(self.INTERFACE_DIR, 'special_cases.i') + + wrapper = MatlabWrapper( + module_name='special_cases', + top_module_namespace=['gtsam'], + ignore_classes=[''], + ) + wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR) + + files = [ + 'special_cases_wrapper.cpp', + '+gtsam/PinholeCameraCal3Bundler.m', + '+gtsam/NonlinearFactorGraph.m', + ] + + for file in files: + self.compare_and_diff(file) + + def test_multiple_files(self): + """ + Test for when multiple interface files are specified. + """ + file1 = osp.join(self.INTERFACE_DIR, 'part1.i') + file2 = osp.join(self.INTERFACE_DIR, 'part2.i') + + wrapper = MatlabWrapper( + module_name='multiple_files', + top_module_namespace=['gtsam'], + ignore_classes=[''], + ) + + wrapper.wrap([file1, file2], path=self.MATLAB_ACTUAL_DIR) + + files = [ + 'multiple_files_wrapper.cpp', + '+gtsam/Class1.m', + '+gtsam/Class2.m', + '+gtsam/ClassA.m', + ] + + for file in files: + self.compare_and_diff(file) + if __name__ == '__main__': unittest.main() diff --git a/wrap/tests/test_pybind_wrapper.py b/wrap/tests/test_pybind_wrapper.py index 80032cbcd..67c637d14 100644 --- a/wrap/tests/test_pybind_wrapper.py +++ b/wrap/tests/test_pybind_wrapper.py @@ -1,71 +1,149 @@ """ Unit test for Pybind wrap program -Author: Matthew Sklar +Author: Matthew Sklar, Varun Agrawal Date: February 2019 """ +# pylint: disable=import-error, wrong-import-position, too-many-branches + +import filecmp import os +import os.path as osp import sys import unittest -import filecmp -import os.path as path +sys.path.append(osp.dirname(osp.dirname(osp.abspath(__file__)))) +sys.path.append( + osp.normpath(osp.abspath(osp.join(__file__, '../../../build/wrap')))) -sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) -sys.path.append(os.path.normpath(os.path.abspath(os.path.join(__file__, '../../../build/wrap')))) +from gtwrap.pybind_wrapper import PybindWrapper -from pybind_wrapper import PybindWrapper -import interface_parser as parser -import template_instantiator as instantiator - -sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) +sys.path.append(osp.dirname(osp.dirname(osp.abspath(__file__)))) class TestWrap(unittest.TestCase): - TEST_DIR = os.path.dirname(os.path.realpath(__file__)) + "/" + """Tests for Python wrapper based on Pybind11.""" + TEST_DIR = osp.dirname(osp.realpath(__file__)) + INTERFACE_DIR = osp.join(TEST_DIR, 'fixtures') + PYTHON_TEST_DIR = osp.join(TEST_DIR, 'expected', 'python') + PYTHON_ACTUAL_DIR = osp.join(TEST_DIR, "actual", "python") - def test_geometry_python(self): + # Create the `actual/python` directory + os.makedirs(PYTHON_ACTUAL_DIR, exist_ok=True) + + def wrap_content(self, sources, module_name, output_dir): + """ + Common function to wrap content in `sources`. + """ + with open(osp.join(self.TEST_DIR, + "pybind_wrapper.tpl")) as template_file: + module_template = template_file.read() + + # Create Pybind wrapper instance + wrapper = PybindWrapper(module_name=module_name, + use_boost=False, + top_module_namespaces=[''], + ignore_classes=[''], + module_template=module_template) + + output = osp.join(self.TEST_DIR, output_dir, module_name + ".cpp") + + if not osp.exists(osp.join(self.TEST_DIR, output_dir)): + os.mkdir(osp.join(self.TEST_DIR, output_dir)) + + wrapper.wrap(sources, output) + + return output + + def compare_and_diff(self, file, actual): + """ + Compute the comparison between the expected and actual file, + and assert if diff is zero. + """ + expected = osp.join(self.PYTHON_TEST_DIR, file) + success = filecmp.cmp(actual, expected) + + if not success: + os.system("diff {} {}".format(actual, expected)) + self.assertTrue(success, "Mismatch for file {0}".format(file)) + + def test_geometry(self): """ Check generation of python geometry wrapper. python3 ../pybind_wrapper.py --src geometry.h --module_name - geometry_py --out output/geometry_py.cc" + geometry_py --out output/geometry_py.cc """ - with open(os.path.join(self.TEST_DIR, 'geometry.h'), 'r') as f: - content = f.read() + source = osp.join(self.INTERFACE_DIR, 'geometry.i') + output = self.wrap_content([source], 'geometry_py', + self.PYTHON_ACTUAL_DIR) - module = parser.Module.parseString(content) + self.compare_and_diff('geometry_pybind.cpp', output) - instantiator.instantiate_namespace_inplace(module) + def test_functions(self): + """Test interface file with function info.""" + source = osp.join(self.INTERFACE_DIR, 'functions.i') + output = self.wrap_content([source], 'functions_py', + self.PYTHON_ACTUAL_DIR) - with open(self.TEST_DIR + "pybind_wrapper.tpl") as template_file: - module_template = template_file.read() - - # Create Pybind wrapper instance - wrapper = PybindWrapper( - module=module, - module_name='geometry_py', - use_boost=False, - top_module_namespaces=[''], - ignore_classes=[''], - module_template=module_template - ) + self.compare_and_diff('functions_pybind.cpp', output) - cc_content = wrapper.wrap() + def test_class(self): + """Test interface file with only class info.""" + source = osp.join(self.INTERFACE_DIR, 'class.i') + output = self.wrap_content([source], 'class_py', + self.PYTHON_ACTUAL_DIR) - output = path.join(self.TEST_DIR, 'actual-python/geometry_py.cpp') + self.compare_and_diff('class_pybind.cpp', output) - if not path.exists(path.join(self.TEST_DIR, 'actual-python')): - os.mkdir(path.join(self.TEST_DIR, 'actual-python')) + def test_inheritance(self): + """Test interface file with class inheritance definitions.""" + source = osp.join(self.INTERFACE_DIR, 'inheritance.i') + output = self.wrap_content([source], 'inheritance_py', + self.PYTHON_ACTUAL_DIR) - with open(output, 'w') as f: - f.write(cc_content) + self.compare_and_diff('inheritance_pybind.cpp', output) - expected = path.join(self.TEST_DIR, 'expected-python/geometry_pybind.cpp') - success = filecmp.cmp(output, expected) + def test_namespaces(self): + """ + Check generation of python wrapper for full namespace definition. + python3 ../pybind_wrapper.py --src namespaces.i --module_name + namespaces_py --out output/namespaces_py.cpp + """ + source = osp.join(self.INTERFACE_DIR, 'namespaces.i') + output = self.wrap_content([source], 'namespaces_py', + self.PYTHON_ACTUAL_DIR) + + self.compare_and_diff('namespaces_pybind.cpp', output) + + def test_operator_overload(self): + """ + Tests for operator overloading. + """ + source = osp.join(self.INTERFACE_DIR, 'operator.i') + output = self.wrap_content([source], 'operator_py', + self.PYTHON_ACTUAL_DIR) + + self.compare_and_diff('operator_pybind.cpp', output) + + def test_special_cases(self): + """ + Tests for some unique, non-trivial features. + """ + source = osp.join(self.INTERFACE_DIR, 'special_cases.i') + output = self.wrap_content([source], 'special_cases_py', + self.PYTHON_ACTUAL_DIR) + + self.compare_and_diff('special_cases_pybind.cpp', output) + + def test_enum(self): + """ + Test if enum generation is correct. + """ + source = osp.join(self.INTERFACE_DIR, 'enum.i') + output = self.wrap_content([source], 'enum_py', self.PYTHON_ACTUAL_DIR) + + self.compare_and_diff('enum_pybind.cpp', output) - if not success: - os.system("diff {} {}".format(output, expected)) - self.assertTrue(success) if __name__ == '__main__': unittest.main()