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Merge branch 'develop' into feature/RobustShonan

release/4.3a0
lcarlone 2020-09-24 14:37:43 -04:00
parent 9350dd71ae c7936cdeb2
commit baf1b9948d
11 changed files with 180 additions and 3326 deletions
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3346
.cproject
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File diff suppressed because it is too large Load Diff

39
.settings/language.settings.xml Normal file
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@ -0,0 +1,39 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<project>
<configuration id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544" name="MacOSX GCC">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-1627467870878423342" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
</extension>
</configuration>
<configuration id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890" name="Timing">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-1627467870878423342" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
</extension>
</configuration>
<configuration id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216" name="fast">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-1627467870878423342" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
</extension>
</configuration>
</project>

25
CMakeLists.txt
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@ -14,6 +14,11 @@ set (GTSAM_VERSION_PATCH 0)
math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}") math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
set (CMAKE_PROJECT_VERSION ${GTSAM_VERSION_STRING})
set (CMAKE_PROJECT_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
set (CMAKE_PROJECT_VERSION_MINOR ${GTSAM_VERSION_MINOR})
set (CMAKE_PROJECT_VERSION_PATCH ${GTSAM_VERSION_PATCH})
############################################################################### ###############################################################################
# Gather information, perform checks, set defaults # Gather information, perform checks, set defaults
@ -113,6 +118,22 @@ if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS)
endif() endif()
if(GTSAM_BUILD_PYTHON) if(GTSAM_BUILD_PYTHON)
# 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 ${Python3_FOUND})
message(FATAL_ERROR "Cannot find Python3 interpreter. Please install Python >= 3.6.")
endif()
if(${GTSAM_PYTHON_VERSION} STREQUAL "Default")
set(GTSAM_PYTHON_VERSION "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}"
CACHE
STRING
"The version of Python to build the wrappers against."
FORCE)
endif()
if(GTSAM_UNSTABLE_BUILD_PYTHON) if(GTSAM_UNSTABLE_BUILD_PYTHON)
if (NOT GTSAM_BUILD_UNSTABLE) if (NOT GTSAM_BUILD_UNSTABLE)
message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.") message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.")
@ -529,9 +550,9 @@ print_build_options_for_target(gtsam)
print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})") print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")
if(GTSAM_USE_TBB) if(GTSAM_USE_TBB)
print_config("Use Intel TBB" "Yes") print_config("Use Intel TBB" "Yes (Version: ${TBB_VERSION})")
elseif(TBB_FOUND) elseif(TBB_FOUND)
print_config("Use Intel TBB" "TBB found but GTSAM_WITH_TBB is disabled") print_config("Use Intel TBB" "TBB (Version: ${TBB_VERSION}) found but GTSAM_WITH_TBB is disabled")
else() else()
print_config("Use Intel TBB" "TBB not found") print_config("Use Intel TBB" "TBB not found")
endif() endif()

2
README.md
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@ -62,7 +62,7 @@ GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionali
## Wrappers ## Wrappers
We provide support for [MATLAB](matlab/README.md) and [Python](cython/README.md) wrappers for GTSAM. Please refer to the linked documents for more details. We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md) wrappers for GTSAM. Please refer to the linked documents for more details.
## The Preintegrated IMU Factor ## The Preintegrated IMU Factor

8
cmake/FindNumPy.cmake
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@ -40,18 +40,10 @@
# Finding NumPy involves calling the Python interpreter # Finding NumPy involves calling the Python interpreter
if(NumPy_FIND_REQUIRED) if(NumPy_FIND_REQUIRED)
if(GTSAM_PYTHON_VERSION STREQUAL "Default")
find_package(PythonInterp REQUIRED)
else()
find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT REQUIRED) find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT REQUIRED)
endif()
else()
if(GTSAM_PYTHON_VERSION STREQUAL "Default")
find_package(PythonInterp)
else() else()
find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT) find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT)
endif() endif()
endif()
if(NOT PYTHONINTERP_FOUND) if(NOT PYTHONINTERP_FOUND)
set(NUMPY_FOUND FALSE) set(NUMPY_FOUND FALSE)

6
cmake/GtsamMatlabWrap.cmake
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@ -215,10 +215,6 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
# Set up generation of module source file # Set up generation of module source file
file(MAKE_DIRECTORY "${generated_files_path}") file(MAKE_DIRECTORY "${generated_files_path}")
if(GTSAM_PYTHON_VERSION STREQUAL "Default")
find_package(PythonInterp REQUIRED)
find_package(PythonLibs REQUIRED)
else()
find_package(PythonInterp find_package(PythonInterp
${GTSAM_PYTHON_VERSION} ${GTSAM_PYTHON_VERSION}
EXACT EXACT
@ -227,7 +223,7 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
${GTSAM_PYTHON_VERSION} ${GTSAM_PYTHON_VERSION}
EXACT EXACT
REQUIRED) REQUIRED)
endif()
set(_ignore gtsam::Point2 set(_ignore gtsam::Point2
gtsam::Point3) gtsam::Point3)

8
cmake/GtsamPrinting.cmake
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@ -46,16 +46,16 @@ endfunction()
# Prints all the relevant CMake build options for a given target: # Prints all the relevant CMake build options for a given target:
function(print_build_options_for_target target_name_) function(print_build_options_for_target target_name_)
print_padded(GTSAM_COMPILE_FEATURES_PUBLIC) print_padded(GTSAM_COMPILE_FEATURES_PUBLIC)
print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE) # print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE)
print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC) print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC)
print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE) # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE)
print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC) print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC)
foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES}) foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES})
string(TOUPPER "${build_type}" build_type_toupper) string(TOUPPER "${build_type}" build_type_toupper)
print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper}) # print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper})
print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper}) print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper})
print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper}) # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper})
print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper}) print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper})
endforeach() endforeach()
endfunction() endfunction()

5
gtsam/gtsam.i
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@ -567,6 +567,7 @@ class Rot2 {
// Lie Group // Lie Group
static gtsam::Rot2 Expmap(Vector v); static gtsam::Rot2 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot2& p); static Vector Logmap(const gtsam::Rot2& p);
Vector logmap(const gtsam::Rot2& p);
// Group Action on Point2 // Group Action on Point2
gtsam::Point2 rotate(const gtsam::Point2& point) const; gtsam::Point2 rotate(const gtsam::Point2& point) const;
@ -727,6 +728,7 @@ class Rot3 {
// Standard Interface // Standard Interface
static gtsam::Rot3 Expmap(Vector v); static gtsam::Rot3 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot3& p); static Vector Logmap(const gtsam::Rot3& p);
Vector logmap(const gtsam::Rot3& p);
Matrix matrix() const; Matrix matrix() const;
Matrix transpose() const; Matrix transpose() const;
gtsam::Point3 column(size_t index) const; gtsam::Point3 column(size_t index) const;
@ -772,6 +774,7 @@ class Pose2 {
// Lie Group // Lie Group
static gtsam::Pose2 Expmap(Vector v); static gtsam::Pose2 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose2& p); static Vector Logmap(const gtsam::Pose2& p);
Vector logmap(const gtsam::Pose2& p);
static Matrix ExpmapDerivative(Vector v); static Matrix ExpmapDerivative(Vector v);
static Matrix LogmapDerivative(const gtsam::Pose2& v); static Matrix LogmapDerivative(const gtsam::Pose2& v);
Matrix AdjointMap() const; Matrix AdjointMap() const;
@ -825,6 +828,7 @@ class Pose3 {
// Lie Group // Lie Group
static gtsam::Pose3 Expmap(Vector v); static gtsam::Pose3 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose3& pose); static Vector Logmap(const gtsam::Pose3& pose);
Vector logmap(const gtsam::Pose3& pose);
Matrix AdjointMap() const; Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const; Vector Adjoint(Vector xi) const;
static Matrix adjointMap_(Vector xi); static Matrix adjointMap_(Vector xi);
@ -2847,6 +2851,7 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
#include <gtsam/slam/dataset.h> #include <gtsam/slam/dataset.h>
class SfmTrack { class SfmTrack {
Point3 point3() const;
size_t number_measurements() const; size_t number_measurements() const;
pair<size_t, gtsam::Point2> measurement(size_t idx) const; pair<size_t, gtsam::Point2> measurement(size_t idx) const;
pair<size_t, size_t> siftIndex(size_t idx) const; pair<size_t, size_t> siftIndex(size_t idx) const;

3
gtsam/slam/dataset.h
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@ -233,6 +233,9 @@ struct SfmTrack {
SiftIndex siftIndex(size_t idx) const { SiftIndex siftIndex(size_t idx) const {
return siftIndices[idx]; return siftIndices[idx];
} }
Point3 point3() const {
return p;
}
}; };
/// Define the structure for the camera poses /// Define the structure for the camera poses

6
python/README.md
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@ -18,8 +18,10 @@ This is the Python wrapper around the GTSAM C++ library. We use our custom [wrap
## Install ## Install
- Run cmake with the `GTSAM_BUILD_PYTHON` cmake flag enabled to configure building the wrapper. The wrapped module will be built and copied to the directory `<PROJECT_BINARY_DIR>/python`. - Run cmake with the `GTSAM_BUILD_PYTHON` cmake flag enabled to configure building the wrapper. The wrapped module will be built and copied to the directory `<PROJECT_BINARY_DIR>/python`. For example, if your local Python version is 3.6.10, then you should run:
```bash
cmake .. -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=3.6.10
```
- Build GTSAM and the wrapper with `make` (or `ninja` if you use `-GNinja`). - Build GTSAM and the wrapper with `make` (or `ninja` if you use `-GNinja`).
- To install, simply run `make python-install` (`ninja python-install`). - To install, simply run `make python-install` (`ninja python-install`).

34
python/gtsam/examples/README.md
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@ -3,50 +3,62 @@
| C++ Example Name | Ported | | C++ Example Name | Ported |
|-------------------------------------------------------|--------| |-------------------------------------------------------|--------|
| CameraResectioning | | | CameraResectioning | |
| CombinedImuFactorsExample | |
| CreateSFMExampleData | | | CreateSFMExampleData | |
| DiscreteBayesNetExample | |
| DiscreteBayesNet_FG | none of the required discrete functionality is exposed through Python | | DiscreteBayesNet_FG | none of the required discrete functionality is exposed through Python |
| easyPoint2KalmanFilter | ExtendedKalmanFilter not yet exposed through Python | | easyPoint2KalmanFilter | ExtendedKalmanFilter not yet exposed through Python |
| elaboratePoint2KalmanFilter | GaussianSequentialSolver not yet exposed through Python | | elaboratePoint2KalmanFilter | GaussianSequentialSolver not yet exposed through Python |
| ImuFactorExample2 | X | | FisheyeExample | |
| HMMExample | |
| ImuFactorsExample2 | :heavy_check_mark: |
| ImuFactorsExample | | | ImuFactorsExample | |
| IMUKittiExampleGPS | |
| InverseKinematicsExampleExpressions.cpp | |
| ISAM2Example_SmartFactor | | | ISAM2Example_SmartFactor | |
| ISAM2_SmartFactorStereo_IMU | | | ISAM2_SmartFactorStereo_IMU | |
| LocalizationExample | impossible? | | LocalizationExample | impossible? |
| METISOrderingExample | | | METISOrderingExample | |
| OdometryExample | X | | OdometryExample | :heavy_check_mark: |
| PlanarSLAMExample | X | | PlanarSLAMExample | :heavy_check_mark: |
| Pose2SLAMExample | X | | Pose2SLAMExample | :heavy_check_mark: |
| Pose2SLAMExampleExpressions | | | Pose2SLAMExampleExpressions | |
| Pose2SLAMExample_g2o | X | | Pose2SLAMExample_g2o | :heavy_check_mark: |
| Pose2SLAMExample_graph | | | Pose2SLAMExample_graph | |
| Pose2SLAMExample_graphviz | | | Pose2SLAMExample_graphviz | |
| Pose2SLAMExample_lago | lago not yet exposed through Python | | Pose2SLAMExample_lago | lago not yet exposed through Python |
| Pose2SLAMStressTest | | | Pose2SLAMStressTest | |
| Pose2SLAMwSPCG | | | Pose2SLAMwSPCG | |
| Pose3Localization | |
| Pose3SLAMExample_changeKeys | | | Pose3SLAMExample_changeKeys | |
| Pose3SLAMExampleExpressions_BearingRangeWithTransform | | | Pose3SLAMExampleExpressions_BearingRangeWithTransform | |
| Pose3SLAMExample_g2o | X | | Pose3SLAMExample_g2o | :heavy_check_mark: |
| Pose3SLAMExample_initializePose3Chordal | | | Pose3SLAMExample_initializePose3Chordal | :heavy_check_mark: |
| Pose3SLAMExample_initializePose3Gradient | | | Pose3SLAMExample_initializePose3Gradient | |
| RangeISAMExample_plaza2 | | | RangeISAMExample_plaza2 | |
| SelfCalibrationExample | | | SelfCalibrationExample | |
| SFMdata | |
| SFMExample_bal_COLAMD_METIS | | | SFMExample_bal_COLAMD_METIS | |
| SFMExample_bal | | | SFMExample_bal | |
| SFMExample | X | | SFMExample | :heavy_check_mark: |
| SFMExampleExpressions_bal | | | SFMExampleExpressions_bal | |
| SFMExampleExpressions | | | SFMExampleExpressions | |
| SFMExample_SmartFactor | | | SFMExample_SmartFactor | |
| SFMExample_SmartFactorPCG | | | SFMExample_SmartFactorPCG | |
| SimpleRotation | X | | ShonanAveragingCLI | :heavy_check_mark: |
| SimpleRotation | :heavy_check_mark: |
| SolverComparer | | | SolverComparer | |
| StereoVOExample | | | StereoVOExample | |
| StereoVOExample_large | | | StereoVOExample_large | |
| TimeTBB | | | TimeTBB | |
| UGM_chain | discrete functionality not yet exposed | | UGM_chain | discrete functionality not yet exposed |
| UGM_small | discrete functionality not yet exposed | | UGM_small | discrete functionality not yet exposed |
| VisualISAM2Example | X | | VisualISAM2Example | :heavy_check_mark: |
| VisualISAMExample | X | | VisualISAMExample | :heavy_check_mark: |
Extra Examples (with no C++ equivalent) Extra Examples (with no C++ equivalent)
- DogLegOptimizerExample
- GPSFactorExample
- PlanarManipulatorExample - PlanarManipulatorExample
- PreintegrationExample
- SFMData - SFMData