Merged in feature/ordering (pull request #34)

METIS Ordering
release/4.3a0
Chris Beall 2014-11-24 18:04:35 -05:00
commit e34a237162
167 changed files with 748 additions and 146 deletions

View File

@ -59,7 +59,7 @@ option(GTSAM_BUILD_STATIC_LIBRARY "Build a static gtsam library, instead
option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF)
option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON)
option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" ON)
option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" ON)
@ -101,6 +101,8 @@ if(MSVC)
add_definitions(-DBOOST_ALL_NO_LIB)
add_definitions(-DBOOST_ALL_DYN_LINK)
endif()
# Also disable certain warnings
add_definitions(/wd4503)
endif()
find_package(Boost 1.43 COMPONENTS serialization system filesystem thread program_options date_time regex timer chrono)
@ -203,13 +205,13 @@ set(GTSAM_USE_SYSTEM_EIGEN OFF)
if(GTSAM_USE_SYSTEM_EIGEN)
# Use generic Eigen include paths e.g. <Eigen/Core>
set(GTSAM_EIGEN_INCLUDE_PREFIX "")
find_package(Eigen3 REQUIRED)
include_directories(AFTER "${EIGEN3_INCLUDE_DIR}")
else()
# Use bundled Eigen include paths e.g. <gtsam/3rdparty/Eigen/Eigen/Core>
set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/")
# Clear any variables set by FindEigen3
if(EIGEN3_INCLUDE_DIR)
set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
@ -222,7 +224,6 @@ configure_file(gtsam/3rdparty/gtsam_eigen_includes.h.in gtsam/3rdparty/gtsam_eig
# Install the configuration file for Eigen
install(FILES ${PROJECT_BINARY_DIR}/gtsam/3rdparty/gtsam_eigen_includes.h DESTINATION include/gtsam/3rdparty)
###############################################################################
# Global compile options
@ -269,11 +270,11 @@ include_directories(BEFORE ${Boost_INCLUDE_DIR})
# paths so that the compiler uses GTSAM headers in our source directory instead
# of any previously installed GTSAM headers.
include_directories(BEFORE
gtsam/3rdparty/UFconfig
gtsam/3rdparty/UFconfig
gtsam/3rdparty/CCOLAMD/Include
gtsam/3rdparty/metis-5.1.0/include
gtsam/3rdparty/metis-5.1.0/libmetis
gtsam/3rdparty/metis-5.1.0/GKlib
gtsam/3rdparty/metis/include
gtsam/3rdparty/metis/libmetis
gtsam/3rdparty/metis/GKlib
${PROJECT_SOURCE_DIR}
${PROJECT_BINARY_DIR} # So we can include generated config header files
CppUnitLite)
@ -329,8 +330,10 @@ endif(GTSAM_BUILD_UNSTABLE)
# Install config and export files
GtsamMakeConfigFile(GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in")
message("GTSAM export: ${GTSAM_EXPORTED_TARGETS}")
export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake)
# Check for doxygen availability - optional dependency
find_package(Doxygen)

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@ -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 METISOrdering.cpp
* @brief Simple robot motion example, with prior and two odometry measurements, using a METIS ordering
* @author Frank Dellaert
* @author Andrew Melim
*/
/**
* Example of a simple 2D localization example optimized using METIS ordering
* - For more details on the full optimization pipeline, see OdometryExample.cpp
*/
#include <gtsam/geometry/Pose2.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/nonlinear/Values.h>
using namespace std;
using namespace gtsam;
int main(int argc, char** argv) {
NonlinearFactorGraph graph;
Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin
noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1));
graph.add(PriorFactor<Pose2>(1, priorMean, priorNoise));
Pose2 odometry(2.0, 0.0, 0.0);
noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
graph.add(BetweenFactor<Pose2>(1, 2, odometry, odometryNoise));
graph.add(BetweenFactor<Pose2>(2, 3, odometry, odometryNoise));
graph.print("\nFactor Graph:\n"); // print
Values initial;
initial.insert(1, Pose2(0.5, 0.0, 0.2));
initial.insert(2, Pose2(2.3, 0.1, -0.2));
initial.insert(3, Pose2(4.1, 0.1, 0.1));
initial.print("\nInitial Estimate:\n"); // print
// optimize using Levenberg-Marquardt optimization
LevenbergMarquardtParams params;
// In order to specify the ordering type, we need to se the NonlinearOptimizerParameter "orderingType"
// By default this parameter is set to OrderingType::COLAMD
params.orderingType = Ordering::METIS;
LevenbergMarquardtOptimizer optimizer(graph, initial, params);
Values result = optimizer.optimize();
result.print("Final Result:\n");
return 0;
}

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@ -589,7 +589,7 @@ void runStats()
{
cout << "Gathering statistics..." << endl;
GaussianFactorGraph linear = *datasetMeasurements.linearize(initial);
GaussianJunctionTree jt(GaussianEliminationTree(linear, Ordering::COLAMD(linear)));
GaussianJunctionTree jt(GaussianEliminationTree(linear, Ordering::colamd(linear)));
treeTraversal::ForestStatistics statistics = treeTraversal::GatherStatistics(jt);
ofstream file;

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@ -103,7 +103,9 @@ int main(int argc, char** argv){
cout << "Optimizing" << endl;
//create Levenberg-Marquardt optimizer to optimize the factor graph
LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate);
LevenbergMarquardtParams params;
params.orderingType = Ordering::METIS;
LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate, params);
Values result = optimizer.optimize();
cout << "Final result sample:" << endl;

View File

@ -18,7 +18,7 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN)
# do the same for the unsupported eigen folder
file(GLOB_RECURSE unsupported_eigen_headers "${CMAKE_CURRENT_SOURCE_DIR}/Eigen/unsupported/Eigen/*.h")
file(GLOB unsupported_eigen_dir_headers_all "Eigen/unsupported/Eigen/*")
foreach(unsupported_eigen_dir ${unsupported_eigen_dir_headers_all})
get_filename_component(filename ${unsupported_eigen_dir} NAME)
@ -36,17 +36,15 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN)
install(DIRECTORY Eigen/Eigen
DESTINATION include/gtsam/3rdparty/Eigen
FILES_MATCHING PATTERN "*.h")
install(DIRECTORY Eigen/unsupported/Eigen
DESTINATION include/gtsam/3rdparty/Eigen/unsupported/
FILES_MATCHING PATTERN "*.h")
endif()
option(GTSAM_BUILD_METIS "Build metis library" ON)
option(GTSAM_BUILD_METIS_EXECUTABLES "Build metis library executables" OFF)
if(GTSAM_BUILD_METIS)
add_subdirectory(metis-5.1.0)
endif(GTSAM_BUILD_METIS)
add_subdirectory(metis)
############ NOTE: When updating GeographicLib be sure to disable building their examples
############ and unit tests by commenting out their lines:
# add_subdirectory (examples)
@ -73,3 +71,5 @@ endif()
if(GTSAM_INSTALL_GEOGRAPHICLIB)
add_subdirectory(GeographicLib)
endif()
set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)

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@ -1,16 +0,0 @@
# Add this directory for internal users.
include_directories(.)
# Find sources.
file(GLOB metis_sources *.c)
# Build libmetis.
add_library(metis ${METIS_LIBRARY_TYPE} ${GKlib_sources} ${metis_sources})
if(UNIX)
target_link_libraries(metis m)
endif()
install(TARGETS metis
LIBRARY DESTINATION include/gtsam/3rdparty/metis/lib
RUNTIME DESTINATION include/gtsam/3rdparty/metis/lib
ARCHIVE DESTINATION include/gtsam/3rdparty/metis/lib)

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@ -46,3 +46,6 @@ add_subdirectory("libmetis")
if(GTSAM_BUILD_METIS_EXECUTABLES)
add_subdirectory("programs")
endif()
set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)

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@ -1,7 +1,7 @@
// ISO C9x compliant stdint.h for Microsoft Visual Studio
// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124
//
// Copyright (c) 2006 Alexander Chemeris
// Copyright (c) 2006-2013 Alexander Chemeris
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
@ -13,8 +13,9 @@
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// 3. The name of the author may be used to endorse or promote products
// derived from this software without specific prior written permission.
// 3. Neither the name of the product 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 AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
@ -40,30 +41,59 @@
#pragma once
#endif
#if _MSC_VER >= 1600 // [
#include <stdint.h>
#else // ] _MSC_VER >= 1600 [
#include <limits.h>
// For Visual Studio 6 in C++ mode wrap <wchar.h> include with 'extern "C++" {}'
// For Visual Studio 6 in C++ mode and for many Visual Studio versions when
// compiling for ARM we should wrap <wchar.h> include with 'extern "C++" {}'
// or compiler give many errors like this:
// error C2733: second C linkage of overloaded function 'wmemchr' not allowed
#if (_MSC_VER < 1300) && defined(__cplusplus)
extern "C++" {
#endif
# include <wchar.h>
#if (_MSC_VER < 1300) && defined(__cplusplus)
}
#ifdef __cplusplus
extern "C" {
#endif
# include <wchar.h>
#ifdef __cplusplus
}
#endif
// Define _W64 macros to mark types changing their size, like intptr_t.
#ifndef _W64
# if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) && _MSC_VER >= 1300
# define _W64 __w64
# else
# define _W64
# endif
#endif
// 7.18.1 Integer types
// 7.18.1.1 Exact-width integer types
typedef __int8 int8_t;
typedef __int16 int16_t;
typedef __int32 int32_t;
typedef __int64 int64_t;
// Visual Studio 6 and Embedded Visual C++ 4 doesn't
// realize that, e.g. char has the same size as __int8
// so we give up on __intX for them.
#if (_MSC_VER < 1300)
typedef signed char int8_t;
typedef signed short int16_t;
typedef signed int int32_t;
typedef unsigned char uint8_t;
typedef unsigned short uint16_t;
typedef unsigned int uint32_t;
#else
typedef signed __int8 int8_t;
typedef signed __int16 int16_t;
typedef signed __int32 int32_t;
typedef unsigned __int8 uint8_t;
typedef unsigned __int16 uint16_t;
typedef unsigned __int32 uint32_t;
typedef unsigned __int64 uint64_t;
#endif
typedef signed __int64 int64_t;
typedef unsigned __int64 uint64_t;
// 7.18.1.2 Minimum-width integer types
typedef int8_t int_least8_t;
@ -87,11 +117,11 @@ typedef uint64_t uint_fast64_t;
// 7.18.1.4 Integer types capable of holding object pointers
#ifdef _WIN64 // [
typedef __int64 intptr_t;
typedef unsigned __int64 uintptr_t;
typedef signed __int64 intptr_t;
typedef unsigned __int64 uintptr_t;
#else // _WIN64 ][
typedef int intptr_t;
typedef unsigned int uintptr_t;
typedef _W64 signed int intptr_t;
typedef _W64 unsigned int uintptr_t;
#endif // _WIN64 ]
// 7.18.1.5 Greatest-width integer types
@ -213,10 +243,17 @@ typedef uint64_t uintmax_t;
#define UINT64_C(val) val##ui64
// 7.18.4.2 Macros for greatest-width integer constants
#define INTMAX_C INT64_C
#define UINTMAX_C UINT64_C
// These #ifndef's are needed to prevent collisions with <boost/cstdint.hpp>.
// Check out Issue 9 for the details.
#ifndef INTMAX_C // [
# define INTMAX_C INT64_C
#endif // INTMAX_C ]
#ifndef UINTMAX_C // [
# define UINTMAX_C UINT64_C
#endif // UINTMAX_C ]
#endif // __STDC_CONSTANT_MACROS ]
#endif // _MSC_VER >= 1600 ]
#endif // _MSC_STDINT_H_ ]
#endif // _MSC_STDINT_H_ ]

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@ -65,17 +65,29 @@
#ifndef _GKLIB_H_
#ifdef COMPILER_MSC
#include <limits.h>
typedef __int32 int32_t;
typedef __int64 int64_t;
#define PRId32 "I32d"
#define PRId64 "I64d"
#define SCNd32 "ld"
#define SCNd64 "I64d"
#ifndef INT32_MIN
#define INT32_MIN ((int32_t)_I32_MIN)
#endif
#ifndef INT32_MAX
#define INT32_MAX _I32_MAX
#endif
#ifndef INT64_MIN
#define INT64_MIN ((int64_t)_I64_MIN)
#endif
#ifndef INT64_MAX
#define INT64_MAX _I64_MAX
#endif
#else
#include <inttypes.h>
#endif

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@ -0,0 +1,19 @@
# Add this directory for internal users.
include_directories(.)
# Find sources.
file(GLOB metis_sources *.c)
# Build libmetis.
add_library(metis ${METIS_LIBRARY_TYPE} ${GKlib_sources} ${metis_sources})
if(UNIX)
target_link_libraries(metis m)
endif()
if(WIN32)
set_target_properties(metis PROPERTIES
PREFIX ""
RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/../../../bin")
endif()
install(TARGETS metis EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
list(APPEND GTSAM_EXPORTED_TARGETS metis)
set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)

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