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Adding debugging code from branch in case problems reoccur, will clean this out in the future because it makes the code ugly

release/4.3a0
Richard Roberts 2011-02-04 02:40:23 +00:00
parent a67d974254
commit b73af0159d
1 changed files with 100 additions and 9 deletions
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109
gtsam/linear/GaussianFactor.cpp
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@ -16,6 +16,7 @@
* @author Richard Roberts, Christian Potthast * @author Richard Roberts, Christian Potthast
*/ */
#include <gtsam/base/debug.h>
#include <gtsam/base/timing.h> #include <gtsam/base/timing.h>
#include <gtsam/linear/GaussianFactor.h> #include <gtsam/linear/GaussianFactor.h>
#include <gtsam/linear/GaussianBayesNet.h> #include <gtsam/linear/GaussianBayesNet.h>
@ -35,6 +36,8 @@ namespace gtsam {
pair<GaussianBayesNet::shared_ptr, GaussianFactor::shared_ptr> GaussianFactor::CombineAndEliminate( pair<GaussianBayesNet::shared_ptr, GaussianFactor::shared_ptr> GaussianFactor::CombineAndEliminate(
const FactorGraph<GaussianFactor>& factors, size_t nrFrontals, SolveMethod solveMethod) { const FactorGraph<GaussianFactor>& factors, size_t nrFrontals, SolveMethod solveMethod) {
const bool debug = ISDEBUG("GaussianFactor::CombineAndEliminate");
// If any JacobianFactors have constrained noise models, we have to convert // If any JacobianFactors have constrained noise models, we have to convert
// all factors to JacobianFactors. Otherwise, we can convert all factors // all factors to JacobianFactors. Otherwise, we can convert all factors
// to HessianFactors. This is because QR can handle constrained noise // to HessianFactors. This is because QR can handle constrained noise
@ -58,19 +61,27 @@ namespace gtsam {
// Convert all factors to the appropriate type and call the type-specific CombineAndEliminate. // Convert all factors to the appropriate type and call the type-specific CombineAndEliminate.
if(useQR) { if(useQR) {
if(debug) cout << "Using QR:";
tic(1, "convert to Jacobian"); tic(1, "convert to Jacobian");
FactorGraph<JacobianFactor> jacobianFactors; FactorGraph<JacobianFactor> jacobianFactors;
jacobianFactors.reserve(factors.size()); jacobianFactors.reserve(factors.size());
BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, factors) { BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, factors) {
if(factor) { if(factor) {
JacobianFactor::shared_ptr jacobianFactor(boost::dynamic_pointer_cast<JacobianFactor>(factor)); JacobianFactor::shared_ptr jacobianFactor(boost::dynamic_pointer_cast<JacobianFactor>(factor));
if(jacobianFactor) if(jacobianFactor) {
jacobianFactors.push_back(jacobianFactor); jacobianFactors.push_back(jacobianFactor);
else { if(debug) jacobianFactor->print("Existing JacobianFactor: ");
} else {
HessianFactor::shared_ptr hessianFactor(boost::dynamic_pointer_cast<HessianFactor>(factor)); HessianFactor::shared_ptr hessianFactor(boost::dynamic_pointer_cast<HessianFactor>(factor));
if(!hessianFactor) throw std::invalid_argument( if(!hessianFactor) throw std::invalid_argument(
"In GaussianFactor::CombineAndEliminate, factor is neither a JacobianFactor nor a HessianFactor."); "In GaussianFactor::CombineAndEliminate, factor is neither a JacobianFactor nor a HessianFactor.");
jacobianFactors.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*hessianFactor))); jacobianFactors.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*hessianFactor)));
if(debug) {
cout << "Converted HessianFactor to JacobianFactor:\n";
hessianFactor->print("HessianFactor: ");
jacobianFactors.back()->print("JacobianFactor: ");
}
} }
} }
} }
@ -82,8 +93,11 @@ namespace gtsam {
return ret; return ret;
} else { } else {
tic(1, "convert to Hessian");
const bool checkCholesky = ISDEBUG("GaussianFactor::CombineAndEliminate Check Cholesky");
FactorGraph<HessianFactor> hessianFactors; FactorGraph<HessianFactor> hessianFactors;
tic(1, "convert to Hessian");
hessianFactors.reserve(factors.size()); hessianFactors.reserve(factors.size());
BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, factors) { BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, factors) {
if(factor) { if(factor) {
@ -94,15 +108,92 @@ namespace gtsam {
JacobianFactor::shared_ptr jacobianFactor(boost::dynamic_pointer_cast<JacobianFactor>(factor)); JacobianFactor::shared_ptr jacobianFactor(boost::dynamic_pointer_cast<JacobianFactor>(factor));
if(!jacobianFactor) throw std::invalid_argument( if(!jacobianFactor) throw std::invalid_argument(
"In GaussianFactor::CombineAndEliminate, factor is neither a JacobianFactor nor a HessianFactor."); "In GaussianFactor::CombineAndEliminate, factor is neither a JacobianFactor nor a HessianFactor.");
hessianFactors.push_back(HessianFactor::shared_ptr(new HessianFactor(*jacobianFactor))); HessianFactor::shared_ptr convertedHessianFactor;
try {
convertedHessianFactor.reset(new HessianFactor(*jacobianFactor));
if(checkCholesky)
if(!assert_equal(HessianFactor(*jacobianFactor), HessianFactor(JacobianFactor(*convertedHessianFactor)), 1e-3))
throw runtime_error("Conversion between Jacobian and Hessian incorrect");
} catch(const exception& e) {
cout << "Exception converting to Hessian: " << e.what() << endl;
jacobianFactor->print("jacobianFactor: ");
convertedHessianFactor->print("convertedHessianFactor: ");
SETDEBUG("choleskyPartial", true);
SETDEBUG("choleskyCareful", true);
HessianFactor(JacobianFactor(*convertedHessianFactor)).print("Jacobian->Hessian->Jacobian->Hessian: ");
throw;
}
hessianFactors.push_back(convertedHessianFactor);
} }
} }
} }
toc(1, "convert to Hessian"); toc(1, "convert to Hessian");
tic(2, "Hessian CombineAndEliminate");
pair<GaussianBayesNet::shared_ptr, GaussianFactor::shared_ptr> ret( pair<GaussianBayesNet::shared_ptr, GaussianFactor::shared_ptr> ret;
HessianFactor::CombineAndEliminate(hessianFactors, nrFrontals)); try {
toc(2, "Hessian CombineAndEliminate"); tic(2, "Hessian CombineAndEliminate");
ret = HessianFactor::CombineAndEliminate(hessianFactors, nrFrontals);
toc(2, "Hessian CombineAndEliminate");
} catch(const exception& e) {
cout << "Exception in HessianFactor::CombineAndEliminate: " << e.what() << endl;
SETDEBUG("HessianFactor::CombineAndEliminate", true);
SETDEBUG("updateATA", true);
SETDEBUG("JacobianFactor::eliminate", true);
SETDEBUG("JacobianFactor::Combine", true);
SETDEBUG("choleskyPartial", true);
jacobianFactors.print("Jacobian Factors: ");
factors.print("Combining factors: ");
JacobianFactor::CombineAndEliminate(jacobianFactors, nrFrontals);
HessianFactor::CombineAndEliminate(hessianFactors, nrFrontals);
throw;
}
if(checkCholesky) {
pair<GaussianBayesNet::shared_ptr, GaussianFactor::shared_ptr> expected;
FactorGraph<JacobianFactor> jacobianFactors;
try {
// Compare with QR
jacobianFactors.reserve(factors.size());
BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, factors) {
if(factor) {
JacobianFactor::shared_ptr jacobianFactor(boost::dynamic_pointer_cast<JacobianFactor>(factor));
if(jacobianFactor)
jacobianFactors.push_back(jacobianFactor);
else {
HessianFactor::shared_ptr hessianFactor(boost::dynamic_pointer_cast<HessianFactor>(factor));
if(!hessianFactor) throw std::invalid_argument(
"In GaussianFactor::CombineAndEliminate, factor is neither a JacobianFactor nor a HessianFactor.");
JacobianFactor::shared_ptr convertedJacobianFactor(new JacobianFactor(*hessianFactor));
// if(!assert_equal(*hessianFactor, HessianFactor(*convertedJacobianFactor), 1e-3))
// throw runtime_error("Conversion between Jacobian and Hessian incorrect");
jacobianFactors.push_back(convertedJacobianFactor);
}
}
}
expected = JacobianFactor::CombineAndEliminate(jacobianFactors, nrFrontals);
} catch(...) {
cout << "Exception in QR" << endl;
throw;
}
HessianFactor actual_factor(*ret.second);
HessianFactor expected_factor(*expected.second);
if(!assert_equal(*expected.first, *ret.first, 100.0) || !assert_equal(expected_factor, actual_factor, 1.0)) {
cout << "Cholesky and QR do not agree" << endl;
SETDEBUG("HessianFactor::CombineAndEliminate", true);
SETDEBUG("updateATA", true);
SETDEBUG("JacobianFactor::eliminate", true);
SETDEBUG("JacobianFactor::Combine", true);
jacobianFactors.print("Jacobian Factors: ");
JacobianFactor::CombineAndEliminate(jacobianFactors, nrFrontals);
HessianFactor::CombineAndEliminate(hessianFactors, nrFrontals);
factors.print("Combining factors: ");
throw runtime_error("Cholesky and QR do not agree");
}
}
return ret; return ret;
} }